AGRICULTURAL SYSTEM AND METHOD FOR DETECTING FAILURE OF A GROUND-ENGAGING TOOL OF AN AGRICULTURAL IMPLEMENT

An agricultural system for detecting failure of a ground-engaging tool of an agricultural implement includes a ground-engaging tool supported on an agricultural implement, with the ground-engaging tool being configured to engage a field during an agricultural operation of the agricultural implement within the field. The system further includes a field profile sensor configured to generate data indicative of a profile of an aft portion of the field located rearward of the ground-engaging tool relative to a direction of travel of the agricultural implement. Additionally, the system includes a computing system configured to monitor the profile of the aft portion of the field during the agricultural operation based at least in part on the data generated by the field profile sensor and determine that the ground-engaging tool failed based at least in part on the profile of the field.

FIELD OF THE INVENTION

The present disclosure relates generally to agricultural implements, and more particularly, to an agricultural system and an associated agricultural method for detecting failure of a ground-engaging tool of an agricultural implement during the performance of an agricultural operation.

BACKGROUND OF THE INVENTION

A wide range of agricultural implements have been developed and are presently in use for tilling, cultivating, harvesting, and so forth. Tillage implements, for example, are commonly towed behind tractors and may cover wide swaths of ground. Tillage implements can include one or more ground-engaging tools configured to engage the soil as the implement is moved across the field. For example, in certain configurations, the implement may include one or more harrow disks, shanks, leveling disks, rolling baskets, tines, and/or the like. Such ground-engaging tools loosen and/or otherwise agitate the soil to prepare the field for subsequent field operations.

When performing a tillage operation, it is desirable to create a level and uniform layer of tilled soil across the field to form a proper seedbed for subsequent planting operations. However, due to poor visibility during operation, it is often very difficult for an operator to determine when one or more of the ground-engaging tools has failed such that it is no longer properly engaging the field and requires operator intervention to be corrected, such as when a shear bolt for a shank has broken, a leveling disk has fallen off, and/or the like. As such, an extensive portion of the field may have been worked before an operator discovers the failed ground-engaging tool(s), which negatively affects subsequent field operations and, ultimately, yields.

Accordingly, an agricultural system and method for detecting failure of a ground-engaging tool of an agricultural implement would be welcomed in the technology.

BRIEF DESCRIPTION OF THE INVENTION

In one aspect, the present subject matter is directed to an agricultural system for detecting failure of a ground-engaging tool of an agricultural implement. The agricultural system may include a ground-engaging tool supported on an agricultural implement, where the ground-engaging tool may be configured to engage a field during an agricultural operation of the agricultural implement within the field. Further, the agricultural system may include a field profile sensor configured to generate data indicative of a profile of an aft portion of the field located rearward of the ground-engaging tool relative to a direction of travel of the agricultural implement. Additionally, the system may include a computing system communicatively coupled to the field profile sensor, with the computing system being configured to monitor the profile of the aft portion of the field during the agricultural operation based at least in part on the data generated by the field profile sensor and determine that the ground-engaging tool failed based at least in part on the profile of the field.

In another aspect, the present subject matter is directed to an agricultural method for detecting failure of a ground-engaging tool of an agricultural implement, where the ground-engaging tool may be supported on the agricultural implement, and where the ground-engaging tool may be configured to engage a field during an agricultural operation of the agricultural implement within the field. The agricultural method may include receiving, with a computing system, data indicative of a profile of an aft portion of the field located rearward of the ground-engaging tool relative to a direction of travel of the agricultural implement, the data being generated by a field profile sensor. Further, the agricultural method may include monitoring, with the computing system, the profile of the aft portion of the field during the agricultural operation based at least in part on the data generated by the field profile sensor. Moreover, the agricultural method may include determining, with the computing system, that the ground-engaging tool failed based at least in part on the profile of the aft portion of the field. Additionally, the method may include performing, with the computing system, a control action in response to determining that the ground-engaging tool failed.

DETAILED DESCRIPTION OF THE INVENTION

In general, the present subject matter is directed to systems and methods for detecting failure of one or more ground-engaging tools of an agricultural implement. Specifically, in several embodiments, the disclosed system may monitor a profile of the field behind the implement as the implement performs an operation within the field to determine when ground-engaging tools have failed, particularly when shear bolts holding shanks in an engagement position have failed and/or when leveling disks have failed (i.e., are no longer attached). For instance, in accordance with aspects of the present subject matter, a field profile sensor may be provided in association with the implement, with the field profile sensor being configured to generate data indicative of at least one profile (e.g., a surface profile and/or a sub-surface profile) of the field rearward of at least a portion of the implement. During normal operation, the shanks should break up the compaction layer beneath the surface of the field, leaving behind a surface profile with a generally v-shaped trench and a mound on either side of the trench, while the leveling disks following the shanks should level the mounds on the sides of the trench, filling in the trench and leaving a relatively smooth surface profile. However, when a shear bolt holding a shank in an operating configuration shears or fails, the shank rotates up out of the ground and cannot re-engage the ground reliably. As such, when the shank (i.e., the shear bolt associated with the shank) fails, any compaction layer in the portion of the field associated with the shank is not broken up and no v-shaped trench is formed. Similarly, when a leveling disk breaks or falls off, the v-shaped trench (if present) created by the associated shank is not closed such that the surface profile retains the v-shaped trench, and optionally one or both of the mounds surrounding the trench.

Accordingly, a computing system may be configured to monitor the profile of the aft portion of the field based on the data generated by one or more of the field profile sensors, to determine when one or more ground-engaging tools of the implement has failed. In some embodiments, the computing system may further be configured to automatically initiate a control action to mitigate the effects of the failed tool. For instance, in one embodiment, the computing system may slow down or stop the implement and/or may issue a notification to an operator indicating that the ground-engaging tool(s) failed.

Referring now to the drawings,FIGS.1and2illustrate differing perspective views of one embodiment of an agricultural implement10in accordance with aspects of the present subject matter. Specifically,FIG.1illustrates a perspective view of the agricultural implement10coupled to a work vehicle12. Additionally,FIG.2illustrates a perspective view of the implement10, particularly illustrating various components of the implement10.

In general, the implement10may be configured to be towed across a field in a direction of travel (e.g., as indicated by arrow14inFIG.1) by the work vehicle12. As shown, the implement10may be configured as a tillage implement, and the work vehicle12may be configured as an agricultural tractor. However, in other embodiments, the implement10may be configured as any other suitable type of implement, such as a seed-planting implement, a fertilizer-dispensing implement, and/or the like. Similarly, the work vehicle12may be configured as any other suitable type of vehicle, such as an agricultural harvester, a self-propelled sprayer, and/or the like.

As shown inFIG.1, the work vehicle12may include a pair of front track assemblies16, a pair of rear track assemblies18, and a frame or chassis20coupled to and supported by the track assemblies16,18. An operator's cab22may be supported by a portion of the chassis20and may house various input devices for permitting an operator to control the operation of one or more components of the work vehicle12and/or one or more components of the implement10. Additionally, as is generally understood, the work vehicle12may include an engine24and a transmission26mounted on the chassis20. The transmission26may be operably coupled to the engine24and may provide variably adjusted gear ratios for transferring engine power to the track assemblies16,18via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).

As shown particularly inFIG.2, the implement10may include a frame28. More specifically, the frame28may extend longitudinally between a forward end30and an aft end32. The frame28may also extend laterally between a first side34and a second side36. In this respect, the frame28generally includes a plurality of structural frame members38, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly40may be connected to the frame28and configured to couple the implement10to the work vehicle12. Additionally, a plurality of wheels42(one of which is shown inFIG.2) may be coupled to the frame28to facilitate towing the implement10in the direction of travel14.

In several embodiments, one or more ground-engaging tools may be coupled to and/or supported by the frame28. More particularly, in certain embodiments, the ground-engaging tools may include one or more disk blades46and/or one or more shanks50supported relative to the frame28. In one embodiment, each disk blade46and/or shank50may be individually supported relative to the frame28. Alternatively, one or more groups or sections of the ground-engaging tools may be ganged together to form one or more ganged tool assemblies. For instance, the disk blades46may be ganged together to form one or more disk gang assemblies44as shown inFIGS.1and2. More particularly, as illustrated inFIG.2, each disk gang assembly44includes a toolbar48coupled to the implement frame28and a plurality of disk blades46supported by the toolbar48relative to the implement frame28. Each disk blade46may, in turn, be configured to penetrate into or otherwise engage the soil as the implement10is being pulled through the field. As is generally understood, the various disk gang assemblies44may be oriented at an angle relative to the direction of travel14to promote more effective tilling of the soil. Further, the implement10may include one or more sets of the ground-engaging tools along the longitudinal direction. For example, the implement10shown inFIGS.1and2includes two sets of shanks50spaced apart along the longitudinal direction, where at least some of the forward set of shanks50is also laterally offset from the rearward set of shanks50, such that the offset shanks of the forward set of shanks50work different lateral sections of the field from the shanks of the rearward set of shanks50.

InFIG.3, a side-view of a shank assembly including one of the shanks50of the tillage implement10described above with reference toFIGS.1and2is illustrated in accordance with aspects of the present subject matter. As shown in the illustrated embodiment, the shank assembly includes the shank50and an associated attachment structure60for pivotably coupling the shank50to the implement frame28(e.g., about a first pivot point66). More particularly, the attachment structure60includes a first attachment member61, a second attachment member62, and a third attachment member64. The first attachment member61is fixed to the implement frame28(e.g., to frame member38). A first end of the second attachment member62is pivotably coupled to the first attachment member61at the first pivot joint66. The third attachment member64is fixed to a second end of the second attachment member62.

The shank50extends between a proximal or tip end50A and a distal end50B, with the shank50being pivotably coupled to the attachment structure60(e.g., to the third attachment member64) of the shank assembly at a second pivot point68proximate the distal end50B. For instance, the shank50may be coupled to the third attachment member64via an associated pivot member70(e.g., a support pivot bolt or pin, hereinafter referred to as “the support pin70”) extending through both the shank50and the attachment member64at the second pivot point68. As such, the shank50may pivot about the second pivot point68relative to the frame28independent of the pivoting about the first pivot point66.

Further, as shown inFIG.3, the shank assembly may include a shear bolt or pin72(hereinafter referred to as “the shear pin72”) for preventing pivoting of the shank50about the second pivot point68during normal operation of the tillage implement. For instance, the shear pin72at least partially extends through both the attachment structure60(e.g., through third attachment member64) and the shank50at a location spaced apart from the second pivot point68. For example, in the illustrated embodiment, the shear pin72is received within openings formed above the second pivot point68in the attachment member64and the shank50. However, the shear pin72may be positioned at any other suitable location relative to the second pivot point68. In one embodiment, the shear pin72may correspond to a mechanical pin designed such that the pin breaks when a predetermined force is applied through the pin or a certain amount of fatigue of the pin has occurred. For instance, the shear pin72may be designed to withstand normal or expected loading conditions for the shank50and fail when the loads applied through the shear pin72exceed or substantially exceed such normal/expected loading conditions or when the fatigue life of the shear pin72is reached. Particularly, the shear pin72may be configured to fail before other components of the shank assembly. More particularly, the shear pin72is configured to fail before the support pin70and the shank50. As such, the shear pin72has a lower fatigue life threshold (e.g., a shorter fatigue life) than a fatigue life threshold of the support pin70and a fatigue life threshold of the shank50. Accordingly, the shear pin72may break to protect at least the support pin70and/or the shank50from damage or failure.

Additionally, in several embodiments, the shank assembly may include a biasing element74for biasing the shank50towards a ground-engaging tool position relative to the frame28. In general, the shank50is configured to penetrate the soil to a desired depth when the shank50is in the ground-engaging tool position. In operation, the biasing element74may permit relative movement between the shank50and the frame28. For example, the biasing element74may be configured to bias the shank50(and the attachment structure60) to pivot relative to the frame28in a first pivot direction (e.g., as indicated by arrow76). The biasing element74also allows the shank50(and the attachment structure60) to pivot away from the ground-engaging tool position (e.g., to a shallower depth of penetration), such as in a second pivot direction (e.g., as indicated by arrow78inFIG.3) opposite the first pivot direction76, when encountering rocks or other impediments in the field. In the embodiment shown, the biasing element74is configured as a spring. It should be recognized, however, that the biasing element74may be configured as an actuator or any other suitable biasing element.

During normal operation, the tip end50A of the shank50may encounter impediments in the field causing the shank assembly to rotate about the first pivot point66in the second pivot direction78. Typically, the shank50will pivot upwards in the second pivot direction78about the first pivot point66to clear the impediment and then will return to its home or ground-engaging position via the action of the biasing element74. However, in certain instances, a larger amount of force than typical may be transmitted through the shank assembly and/or the shear pin72may reach its fatigue limit. In such instances the shear pin72may be designed to fracture or fail, thereby allowing the shank50to rotate about the second pivot point68relative to the attachment member64. For instance, the shank50may rotate about the second pivot point68(as indicated by arrow80inFIG.3) to the shank position indicated by dashed lines inFIG.3. As such, when the shear pin72has failed, the shank50can no longer perform the tillage operation. As indicated above, the longer an operator continues to perform the tillage operation with the broken shear pin72, the worse the overall quality of the tillage operation.

Referring back toFIGS.1and2, it should be appreciated that, in addition to the disk blades46and the shanks50, the implement frame28may be configured to support any other suitable ground-engaging tools. For instance, in the illustrated embodiment, the frame28is also configured to support a plurality of leveling blades or disks52and rolling (or crumbler) basket assemblies54. In other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame28. The leveling disks52are positioned generally aft of the shanks50, and the basket assemblies54are generally positioned aft of the leveling disks52. In some instances, the spacing of the leveling disks52is different from the spacing of the shanks50. For instance, the leveling disks52may be laterally spaced apart from each other by about seven to about ten inches, whereas the shanks50may be laterally spaced apart from each other by about twenty to about thirty inches. During normal operation, the leveling disks52are configured to smooth out the trenches in the field created by the shanks50. However, if one or more of the leveling disks52falls off, one or more of the trenches closest to the missing leveling disks52remains open.

As indicated above, it can be difficult for an operator to determine when the ground engaging tool(s), such as the shank(s)50and the leveling disk(s)52, fail, which negatively affects subsequent field operations and, ultimately, yields. Thus, in accordance with aspects of the present subject matter one or more field profile sensors are provided for monitoring a profile of an aft portion of the field located aft or rearward of one or more of the ground-engaging tools of the implement10. For instance, in some embodiments, one or more first sensors100A are provided, where each of the first sensor(s)100A has a field of view directed aft of the disk blades46and is configured to generate data indicative of a profile of the portion of field within the field of view, after the disk blades46have worked the portion of the field and before the shanks50have worked the portion of the field. Similarly, in some embodiments, one or more second sensors100B are provided, where each of the second sensor(s)100B has a field of view directed aft of the shanks50and is configured to generate data indicative of a profile of the portion of the field within the field of view after the shanks50have worked the portion of the field and before the leveling disks52have worked the portion of the field. Additionally, or alternatively, in some embodiments, one or more third sensors100C are provided, where each of the third sensor(s)100C has a field of view directed aft of the leveling disks52and/or basket assemblies54and is configured to generate data indicative of a profile of the portion of the field after the leveling disks52and/or basket assemblies54have worked the portion of the field (e.g., after the implement10has completed working the portion of the field).

As will be described in greater detail below, in some embodiments, the field profile sensor(s)100A,100B,100C may be configured to generate data indicative of a surface profile of a surface of the aft portion(s) of the field and/or a sub-surface profile of a sub-surface of the aft portion(s) of the field. For instance, the surface profile may include a shape, a dimension, and/or the like of the surface of the aft portion(s) of the field. The sub-surface profile may indicate a profile of a compaction layer and/or the like beneath a surface of the aft portion(s) of the field. In this regard, the field profile sensor(s)100A,100B,100C may include one or more cameras (including stereo camera(s), and/or the like), LIDAR sensors (e.g., single and/or multiple frequency LIDAR sensors), radar sensors, ultrasonic sensors (e.g., 2D and/or 3D ultrasonic sensors), electromagnetic induction (EMI) sensors, and/or the like, that allows the sensor(s)100A,100B,100C to generate image data, point-cloud data, radar data, ultrasound data, EMI data, and/or the like indicative of the surface profile of the aft portion(s) of the field, one or more ground-penetrating radar (GPR) sensors and/or the like that allows the sensor(s)100A,100B,100C to generate GPR data indicative of the sub-surface profile of the aft portion(s) of the field, and/or any suitable combination of such sensor(s).

It should be appreciated that the sensor(s)100A,100B,100C may be positioned at any suitable location relative to the implement10to generate data indicative of the profile(s) of the aft portion(s) of the field. For example, in some instances, the sensor(s)100A,100B,100C are positioned on the implement10, such as on the frame28. However, in some instances, the sensor(s)100A,100B,100C are additionally, or alternatively, positioned remote from the implement10, such as on an unmanned aerial vehicle (UAV), on the vehicle12towing the implement10, and/or the like. It should additionally be appreciated that, in some instances, multiples of the sensor(s)100A,100B,100C are provided and spaced apart along the lateral direction L1so that the profile(s) of an entire swath worked by the implement10may be monitored at a given instance.

It should be appreciated that the configuration of the implement10described above and shown inFIGS.1and2is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of implement configuration.

Referring now toFIGS.4-6, various partial section views of a field are illustrated in accordance with aspects of the present subject matter, particularly illustrating different profiles indicated by the data generated by the sensor(s)100A,100B,100C. For instance,FIG.4particularly illustrates exemplary profiles of the field detectable directly prior to being worked by the shank assemblies50of the implement10.FIG.5illustrates exemplary profiles of the field detectable directly after being worked by the shank assemblies50, and before being worked by leveling disks52of the implement10. Additionally,FIG.6illustrates exemplary profiles of the field detectable directly after being worked by the implement10.

As can be appreciated fromFIGS.4-6, the aft portion(s) of the field located rearward of various tools of the implement10may be divided along the lateral direction L1into lateral portions or “lanes”, such as a first lane154A, a second lane154B, a third lane154C, a fourth lane154D, and so on. Each lane is associated with a respective one of the shanks50. Specifically, each lane is aligned along the direction of travel14with and worked by the respective shank assembly100. For instance, the first lane154A is associated with and worked by a first one of the shanks50, the second lane154B is associated with and worked by a second one of the shanks50, the third lane154C is associated with and worked by a third one of the shanks50, and the fourth lane154D is associated with and worked by a fourth one of the shanks50. The sensor(s)100A,100B,100C are configured to generate data indicative of the profile within one or more of the lanes154A,154B,154C,154D.

InFIG.4, an example first surface profile156and an example first sub-surface profile158of the portion of the field aft of the disk gangs44, and before the shanks50, produced by data generated by the first sensor(s)100A are shown. Particularly, the first surface profile156is substantially level across the different lanes154A,154B,154C,154D, without any significant changes between the lanes154A,154B,154C,154D. The first sub-surface profile158is positioned an average distance D1beneath the surface profile156in the vertical direction V1. The first sub-surface profile158is also substantially level across the lanes154A,154B,154C,154D, without any prominent changes between the lanes154A,154B,154C,154D. It should be appreciated that, as used herein, the first sub-surface profile158generally represents a compaction layer below where disk gang assemblies44typically operate. As the first surface and sub-surface profiles156,158are generally level, it is assumed that the disk gang assemblies44are operating correctly. Thus, the first surface and sub-surface profiles156,158may be used as reference profiles for monitoring the performance of subsequent ground-engaging tools, such as the shanks50and leveling disks52, as will be described in greater detail below.

InFIG.5, an example second surface profile156′ and an example second sub-surface profile158′ of the portion of the field aft of the shanks50, and before the leveling disks52, produced by data generated by the second sensor(s)100B are shown. Particularly, the second surface profile156′ includes surface features within each lane154A,154B,154C,154D that can be correlated to the performance of each associated shank50. For instance, a first lane surface profile160A of the first lane154A, a second lane surface profile160B in the second lane154B, a third lane surface profile160C in the third lane154C, and a fourth lane surface profile160D in the fourth lane154D may be correlated to the performance or status of the respective shank50. For example, the first, third, and fourth lane surface profile160A,160C,160D within the first, third, and fourth lanes154A,154C,154D, respectively, include generally v-shaped trenches161A,161C,161D having a width W1and a depth D2, a first mound162generated directly adjacent to one lateral side of each trench, and a second mound163generated directly adjacent to the other lateral side of each trench, where the mounds162,163each have a height H1above the trenches161A,161C,161D. The presence of the v-shaped trenches161A,161C,161D and respective pairs of mounds162,163within the lanes154A,154C,154D is generally indicative that the corresponding shanks50are properly engaging the field. The second lane surface profile160B within the second lane154B, however, does not include a v-shaped trench and associated mounds. Instead, the second lane surface profile160B is almost the same, or is the same, as seen in the second lane154B of the first surface profile156inFIG.4. As such, it can be assumed that the shank50corresponding to the second lane154B is not properly engaging the field and thus, could have failed. For instance, if the shear bolt of the shank50corresponding to the second lane154B has broken, the shank50may be barely engaging the field or completely raised out of engagement with the field.

The second sub-surface profile158′ also indicates that the shanks50associated with the first, third and fourth lanes154A,154C,154D are properly engaging the field and that the shank50corresponding to the second lane154B is not properly engaging the field and thus, could have failed. For instance, the second sub-surface profile158′ extends at a depth D3within the first, third and fourth lanes154A,154C,154D, such that the second sub-surface profile158′ is below the first sub-surface profile158fromFIG.4. In some instances, the depth D3corresponds to the depth D2. However, in other embodiments, the depth D3is larger than the depth D2, such that the sub-surface profile158′ extends below the trenches generated by the shanks50, such as the trenches within the lanes154A,154C,154D. Generally, as the second sub-surface profile158′ within the first, third and fourth lanes154A,154C,154D is below the first sub-surface profile158fromFIG.4in the vertical direction V1, it can be assumed that the shanks50associated with the first, third and fourth lanes154A,154C,154D are properly engaging the field, breaking up the compaction layer at the depth D1up to the depth D3. Whereas, the portion158′A of the second sub-surface profile158′ within the second lane154B still extends at the depth D1, indicating that the shank50associated with the second lane154B is not properly engaging the field and thus, could have failed. In some instances, hard objects (e.g., rocks and/or the like) that can cause the shank50to trip may be identified in the data generated by the sensor(s)100B (FIGS.1and2). Thus, if no hard object has been identified within the second lane154B just before or when the shank50associated with the second lane154B is determined to potentially have failed, then it may be assumed that the shank50associated with the second lane154B has likely failed.

As will be described in greater detail below, in some embodiments, once one or more of the shanks50is determined to have potentially failed, the potentially failed shank(s)50may continue to be monitored. For instance, the data generated by the sensor(s)100B (FIGS.1and2) may continue to be monitored to see if the shank50associated with the second lane154B begins to engage with the soil and cause an expected trench and associated mounds adjacent the trench. If it is determined that the shank50associated with the second lane154B does not begin to engage with the soil in such a way as to create the expected trench and associated mounds after a given period of time, such as after a few seconds, it can be confirmed that the shank50has failed, instead of tripping or floating momentarily.

InFIG.6, an example third surface profile156″ and an example third sub-surface profile158″ of the portion of the field aft of the leveling disks52, produced by data generated by the third sensor(s)100C are shown. Particularly, the third surface profile156″ is substantially smooth across the first, second, and fourth lanes154A,154B,154D, indicating that the leveling disks52associated with the first and fourth lanes154A,154D have redistributed the mounds162A,162B fromFIG.5adjacent the trenches to fill in the trenches within the first and fourth lanes154A,154D shown inFIG.5, and that the leveling disks52associated with the second lane154B has further smoothed the surface within the second lane154B compared to the surface within the second lane154B shown inFIG.5. As such, it can be assumed that the leveling disks52associated with the first, second, and fourth lanes154A,154B,154D are properly engaging the field. Conversely, the lane surface profile160C′ of the third surface profile156″ within the third lane154C still has a trench161C′ which corresponds to a portion of the v-shaped trench161C (FIG.5) and retains the first mound162, while the second mound163shown inFIG.5has been substantially or completely smoothed. Accordingly, it can be determined that at least one of the leveling disks52associated with the third lane154C, such as the leveling disk52closest aligned with the first mound162, has failed. For instance, if the leveling disk52closest aligned with the first mound162has fallen or broken off, the leveling disk52is no longer able to engage and redistribute the first mound162.

The third sub-surface profile158″ confirms the determinations fromFIG.5. Particularly, the third sub-surface profile158″ extends at a depth D3within the first, third and fourth lanes154A,154C,154D, such that the third sub-surface profile158″ is also below the first sub-surface profile158fromFIG.4, whereas, the portion158″A of the third sub-surface profile158″ within the second lane154B still extends at the depth D1. As such, it can be assumed that the shanks50associated with the first, third and fourth lanes154A,154C,154D are properly engaging the field, while the shank50associated with the second lane154B is not properly engaging the field.

It should be appreciated that the different positions of the sensor(s)100A,100B,100C along the direction of travel14may be taken into account when comparing the data generated by the sensor(s)100A,100B,100C.

Turning now toFIG.7, a schematic view is illustrated of one embodiment of an agricultural system200for detecting failure of a ground-engaging tool of an agricultural implement. In general, the system200will be described herein with reference to the implement10and vehicle12described above with reference to FIGS.1and2, the shank50described above with reference toFIG.3, and the example profiles described with reference toFIGS.4-6. However, it should be appreciated that the disclosed system200may generally be utilized with any other suitable implement/vehicle combination having any other suitable implement/vehicle configuration and/or with shanks having any other suitable shank configuration. Additionally, it should be appreciated that, for purposes of illustration, communicative links or electrical couplings of the system200shown inFIG.7are indicated by dashed lines.

In several embodiments, the system200may include a computing system202and various other components configured to be communicatively coupled to and/or controlled by the computing system202, such as the field profile sensor(s)100A,100B,100C configured to generate data indicative of profile(s) (e.g., surface profile(s)156,156′,156″, sub-surface profile(s)158,158′,158″, and/or the like) of the field, actuator(s) of the implement10(e.g., implement actuator(s)82,84,86), drive device(s) of the vehicle12(e.g., engine24, transmission26, etc.), and/or a user interface(s) (e.g., user interface(s)120). The user interface(s)120described herein may include, without limitation, any combination of input and/or output devices that allow an operator to provide operator inputs to the computing system202and/or that allow the computing system202to provide feedback to the operator, such as a keyboard, keypad, pointing device, buttons, knobs, touch sensitive screen, mobile device, audio input device, audio output device, and/or the like. Additionally, the computing system202may be communicatively coupled to one or more position sensors122configured to generate data indicative of the location of the implement10and/or the vehicle12, such as a satellite navigation positioning device (e.g., a GPS system, a Galileo positioning system, a Global Navigation satellite system (GLONASS), a BeiDou Satellite Navigation and Positioning system, a dead reckoning device, and/or the like).

In general, the computing system202may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown inFIG.7, the computing system202may generally include one or more processor(s)204and associated memory devices206configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations and the like disclosed herein). As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory206may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory206may generally be configured to store information accessible to the processor(s)204, including data208that can be retrieved, manipulated, created and/or stored by the processor(s)204and instructions210that can be executed by the processor(s)204.

It should be appreciated that the computing system202may correspond to an existing computing device for the implement10or the vehicle12or may correspond to a separate processing device. For instance, in one embodiment, the computing system202may form all or part of a separate plug-in module that may be installed in operative association with the implement10or the vehicle12to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the implement10or the vehicle12.

In several embodiments, the data208may be stored in one or more databases. For example, the memory206may include a sensor database212for storing data generated by the sensors100A,100B,100C,122. For instance, each of the field profile sensor(s)100A,100B,100C may be configured to continuously or periodically capture data associated with an aft portion of the field. Additionally, the data from the sensor(s)100A,100B,100C may be taken with reference to the position of the implement10and/or the vehicle12within the field based on the position data from the position sensor(s)122. The data transmitted to the computing system202from the sensor(s)100A,100B,100C,122may be stored within the sensor database212for subsequent processing and/or analysis. It should be appreciated that, as used herein, the term “sensor data212” may include any suitable type of data received from the sensor(s)100A,100B,100C,122that allows for the field profile(s) to be accurately analyzed including image data, point-cloud data, radar data, ultrasound data, EMI data, GPR data, GPS coordinates, and/or other suitable type of data.

The instructions210stored within the memory206of the computing system202may be executed by the processor(s)204to implement a tool failure module214. In general, the tool failure module214may be configured to assess the sensor data212deriving from the sensor(s)100A,100B,100C,122to determine field profile(s) (e.g., surface profile(s), sub-surface profile(s), etc.) of the field. For instance, as indicated above, the field profile data generated by the field profile sensor(s)100A,100B,100C may be indicative of the field surface profile of the surface of the field and/or the field sub-surface profile below the surface of the field, which in turn, is indicative of whether tools (e.g., shanks50, leveling disks52, and/or the like) of the implement10have failed. For example, the tool failure module214may compare the profile(s) of the aft portion(s) of the field determined from the data212generated by the field profile sensor(s)100A,100B,100C to a baseline profile(s) of the field to determine if the ground engaging tool(s) (e.g., shank(s)50, leveling disk(s)52, and/or the like) has failed. More particularly, the tool failure module214may compare a lane profile associated with a lane (e.g., lane(s)154A,154B,154C,154D) worked by the ground engaging tool (e.g., shank(s)50, leveling disk(s)52, and/or the like) to a baseline profile of the field.

For instance, the baseline profile of the field may be an expected lane profile expected to have been created by an associated ground engaging tool. If a dimension or shape of a feature associated with the lane profile differs from a dimension or shape of a corresponding feature associated with the expected lane profile, the tool failure module214may determine that the ground engaging tool(s) corresponding to the particular lane(s) has failed. In some embodiments, the tool failure module214may determine that the ground engaging tool(s) corresponding to the lane(s) has failed only when the dimension or shape of the feature associated with the lane profile differs from the dimension or shape of the corresponding feature associated with the expected lane profile for a given time and/or distance along the direction of travel14of the implement10.

When the data212generated by the sensor(s)100B is indicative of a surface profile of the portion of the field aft of the shank(s)50, the tool failure module214may compare the surface profile to an expected surface profile expected to be created after the shanks50have worked the field to a prescribed or desired depth to determine if one or more of the shanks50has failed. For instance, the tool failure module214may compare the surface profile (e.g., surface profile156′ inFIG.5) to an expected surface profile to be created after the shanks50have worked the field to a prescribed or desired depth (e.g., depth D2inFIG.5) to determine if one or more of the shanks50has failed. For example, the tool failure module214may compare each of the surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) of the surface profile (e.g., surface profile156′ inFIG.5) to an expected lane profile of the expected surface profile to be created after each of the shanks50have worked the field to a prescribed or desired depth (e.g., depth D2) to determine if one or more of the shanks50has failed. It should be appreciated that the expected lane profile may be an average lane profile determined from the surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.5), a predetermined lane surface profile such as a lane surface profile confirmed to have been generated when the shank(s)50have not failed, a theoretical or calculated lane profile expected to be generated based on the geometry of the shank(s)50and the operating settings of the implement (e.g., the operating depth (e.g., depth D2), traveling speed, etc.), and/or the like.

In such embodiment, if the surface profile within one or more of the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) does not have one or more features having a given shape (e.g., trench, mound(s), etc.) of the expected lane surface profile, and/or if dimensions of the features of the surface profile within one or more of the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) differs from dimensions associated with the corresponding features of the expected lane surface profile, then the tool failure module214may determine that the shank(s)50associated with those lane(s) (e.g., lanes154A,154B,154C,154D inFIG.5) has failed. For instance, as discussed above, the surface profile160B within the second lane154B inFIG.5is missing or without a trench and associated mounds. As such, the tool failure module214determines that the shape, and thus, the dimensions, of the lane surface profile associated with the second lane154B differ from the expected shape and dimensions of the expected lane surface profile. Accordingly, the tool failure module214determines that the shank50associated with the second lane154B may have failed (e.g., that the shear bolt associated with the shank50has broken). The shape of the surface profiles160A,160C,160D within the first, third, and fourth lanes154A,154C,154D inFIG.5each have a trench161A,161C,161D and associated mounds162,163, where the dimensions of the trenches161A,161C,161D (e.g., the width W1and the depth D2) are within tolerance of expected dimensions (e.g., an expected width and an expected depth), and the dimension of the mounds162,163(e.g., height H1) is within a tolerance of an expected dimension (e.g., an expected height). Therefore, the tool failure module214determines that the shanks50associated with the first, third, and fourth lanes154A,154C,154D have not failed.

Similarly, when the data212generated by the sensor(s)100B is indicative of a sub-surface profile of the portion of the field aft of the shank(s)50, the tool failure module214may compare the sub-surface profile to an expected sub-surface profile to be created after the shanks50have worked the field to a prescribed or desired depth to determine if one or more of the shanks50has failed. For instance, the tool failure module214may compare the sub-surface profile (e.g., sub-surface profile158′ inFIG.5) to an expected sub-surface profile to be created after the shanks50have worked the field to a prescribed or desired depth (e.g., depth D2) to determine if one or more of the shanks50has failed. For example, the tool failure module214may compare each of the sub-surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) of the sub-surface profile (e.g., sub-surface profile158′ inFIG.5) to an expected lane profile of the expected sub-surface profile to be created after each of the shanks50have worked the field to a prescribed or desired depth (e.g., depth D2) to determine if one or more of the shanks50has failed. It should be appreciated that the expected lane profile may be an average lane profile determined from the sub-surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.5), a predetermined lane sub-surface profile such as a lane sub-surface profile confirmed to have been generated when the shank(s)50have not failed, a theoretical or calculated lane sub-surface profile (e.g., a level sub-surface profile at depth D3) expected to be generated based on the geometry of the shank(s)50and the operating settings of the implement (e.g., the operating depth (e.g., depth D2), traveling speed, etc.), and/or the like.

In such embodiment, if the features of the sub-surface profile within one or more of the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) has shapes that are not present in the expected lane surface profile, and/or if dimensions or shapes of the sub-surface profile within one or more of the lanes (e.g., lanes154A,154B,154C,154D inFIG.5) differs from dimensions associated with the corresponding features of the expected lane sub-surface profile, then the tool failure module214may determine that the shank(s)50associated with the lane(s) (e.g., lane(s)154A,154B,154C,154D inFIG.5) has failed. For instance, as discussed above, the portion158′A of the sub-surface profile158′ within the second lane154B inFIG.5has a plateau in the compaction layer at a depth D1below the surface of the field, where the depth D1is above an expected sub-surface at depth D3. As such, the tool failure module214determines that the shape and the dimensions of the portion158′A of the sub-surface profile158′ associated with the second lane154B differ from the expected shape (e.g., planar, without a plateau) and dimensions (e.g., depth D3) of the expected lane sub-surface profile. Therefore, the tool failure module214determines that the shank50associated with the second lane154B may have failed (e.g., that the shear bolt associated with the shank50has broken). The portions of the sub-surface profile158′ within the first, third, and fourth lanes154A,154C,154D inFIG.5are all substantially flat and extend at the depth D3, which matches, or substantially matches within a tolerance, the expected shape (e.g., planar) and dimension (e.g., depth D3) of an expected sub-profile. Accordingly, the tool failure module214determines that the shanks50associated with the first, third, and fourth lanes154A,154C,154D have not failed.

When the data212generated by the sensor(s)100C is indicative of a surface profile of the portion of the field aft of the leveling disk(s)52, the tool failure module214may compare the surface profile to an expected surface profile to be created after the leveling disks52have worked the field to determine if one or more of the leveling disks52has failed. For instance, the tool failure module214may compare the surface profile (e.g., surface profile156″ inFIG.6) to an expected surface profile to be created after the leveling disks52have worked the field to determine if one or more of the leveling disks52has failed. For example, the tool failure module214may compare the surface profile within each of the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) of the surface profile (e.g., surface profile156″ inFIG.6) to an expected lane profile of the expected surface profile to be created after each of the leveling disks52have worked the field to determine if one or more of the leveling disks52has failed. Again, it should be appreciated that the expected lane profile may be an average lane profile determined from the surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.6), a predetermined lane surface profile such as a lane surface profile confirmed to have been generated when the leveling disk(s)52have not failed, a theoretical or calculated lane surface profile expected to be generated based on the geometry of the leveling disks52and the operating settings of the implement (e.g., traveling speed, etc.), and/or the like.

In such embodiment, if the surface profile within one or more of the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) has one or more features that does not match the expected level, lane surface profile, and/or if dimensions or shapes of the surface profile within one or more of the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) differs from dimensions or shapes associated with the corresponding features of the expected lane surface profile, then the tool failure module214may determine that the leveling disk(s)52associated with the respective lane(s) (e.g., lane(s)154A,154B,154C,154D inFIG.6) has failed. For instance, as discussed above, the surface profile160C′ within the third lane154C inFIG.6has a trench161C′ corresponding to a portion of the v-shaped trench161C fromFIG.5and retains the mound162. As such, the tool failure module214determines that the shape (e.g., trench161C′ and mound162) and the dimensions of the lane surface profile (e.g., depth of trench161C′ and height H1of mound162) associated with the third lane154C differ from the expected shape (e.g., planar) and dimensions (e.g., essentially no height or depth) of the expected lane surface profile (e.g., a substantially planar surface profile, generally smoother than after the disk blades46). Thus, the tool failure module214determines that one of the leveling disks52associated with the third lane154C may be missing. The shape of the surface profiles160A,160B,160D within the first, second, and fourth lanes154A,154B,154D inFIG.6are each substantially planar and thus, match expected shape and dimensions of an expected lane profile within tolerances. As such, the tool failure module214determines that the leveling disks52associated with the first, second, and fourth lanes154A,154B,154D are not missing.

Similarly, when the data212is indicative of a sub-surface profile of the portion of the field aft of the leveling disks52, the tool failure module214may compare the sub-surface profile to an expected sub-surface profile to be created after the leveling disks52have worked the field to determine if one or more of the shanks50has failed. For instance, the tool failure module214may compare the sub-surface profile (e.g., sub-surface profile158″ inFIG.6) to an expected sub-surface profile to be created after the leveling disks52have worked the field to determine if one or more of the shanks50has failed. For example, the tool failure module214may compare each of the sub-surface profiles within the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) of the sub-surface profile (e.g., sub-surface profile158″ inFIG.6) to an expected lane profile of the expected sub-surface profile to be created after the leveling disks52have worked the field to determine if one or more of the shanks50has failed. It should again be appreciated that the expected lane profile may be an average lane profile determined from the sub-surface profiles within the lanes (e.g., lanes154A,154B,154C,154D inFIG.6), a predetermined lane sub-surface profile such as a lane sub-surface profile confirmed to have been generated when the shank(s)50have not failed, a theoretical or calculated lane sub-surface profile (e.g., a level sub-surface at depth D3) expected to be generated based on the geometry of the shank(s)50and the operating settings of the implement (e.g., the operating depth (e.g., depth D2), traveling speed, etc.), and/or the like.

In such embodiment, if the sub-surface profile within one or more of the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) has features that are not present in the expected lane surface profile, and/or if dimensions or shapes of the sub-surface profile within one or more of the lanes (e.g., lane(s)154A,154B,154C,154D inFIG.6) differs from dimensions associated with the corresponding features of the expected lane sub-surface profile, then the tool failure module214may determine that the shank(s)50associated with the lane(s) (e.g., lane(s)154A,154B,154C,154D inFIG.6) has failed. For instance, as discussed above, the portion158″A of the sub-surface profile158″ within the second lane154B inFIG.6has a plateau at the depth D1, which is above an expected sub-surface at depth D3. As such, the tool failure module214determines that the shape (e.g., plateau) and the dimensions (e.g., depth D1) of the portion158′A of the sub-surface profile158″ associated with the second lane154B differ from the expected shape (e.g., planar) and dimensions (e.g., depth D3) of the expected lane sub-surface profile. Therefore, the tool failure module214determines that the shank50associated with the second lane154B may have failed (e.g., that the shear bolt associated with the shank50has broken). The shape of the portions of the sub-surface profile158″ within the first, third, and fourth lanes154A,154C,154D inFIG.6are all substantially flat and extend at the depth D3, which matches, within tolerance, the expected depth of an expected sub-profile. As such, the tool failure module214determines that the shanks50associated with the first, third, and fourth lanes154A,154C,154D have not failed.

Again, once a ground-engaging tool (e.g., shank(s)50, leveling disk(s)52, etc.) is determined to have potentially failed, the tool failure module214may continue monitoring the potentially failed ground-engaging tool to confirm whether the ground-engaging tool has actually failed. For instance, if the tool failure module214determines that the potentially failed ground-engaging tool creates a lane profile (e.g., a surface lane profile, a sub-surface lane profile, etc.) that differs from an expected lane profile (e.g., an expected surface lane profile, an expected sub-surface lane profile, etc.) for at least a predetermined or given time or predetermined or given distance along the direction of travel14of the implement10, the tool failure module214determines that the potentially failed ground-engaging tool has actually failed.

Further, as indicated above, the tool failure module214may compare the data from multiple sensors100A,100B,100C to confirm when a tool has failed. For instance, the tool failure module214may determine from the data generated by the first sensor(s)100A, whether the profile (e.g., the surface profile156and/or sub-surface profile158inFIG.4) of the portion of the field aft of the disk blades46is substantially level, such that the shanks50should subsequently create an expected profile (e.g., an expected surface profile and/or an expected sub-surface profile). Similarly, whether the profile (e.g., the surface profile156′ and/or sub-surface profile158′ inFIG.5) of the portion of the field aft of the shanks50is as expected, such that the leveling disks52should subsequently create an expected profile (e.g., an expected surface profile and/or an expected sub-surface profile).

It should be appreciated that the tool failure module214may use any known correlation (e.g., look-up tables, suitable mathematical formulas, and/or algorithms) between the data212generated by the sensor(s)100A,100B,100C and expected field profiles to determine whether tools (e.g., shanks50, leveling disks52, and/or the like) of the implement10have failed. Such known correlations may also be stored within the memory206, or otherwise be accessible to the tool failure module214. In some embodiments, the tool failure module214may also generate a field map based at least in part on the data212generated by the field profile sensor(s)100A,100B,100C that indicates the location in the field where ground engaging tool(s) have failed. It should additionally be appreciated that, in some embodiments, the tool failure module214may also be configured to control the sensor(s)100A,100B,100C,122to generate data.

Additionally, in some embodiments, the control module216may be configured to perform a control action based at least in part on the monitored field profiles. For instance, the control action, in one embodiment, includes adjusting the operation of one or more of the drive device(s)24,26to adjust a speed of (e.g., slow down or stop) the implement10and/or the vehicle12when it is determined that one or more of the ground engaging tools has failed based on the monitored field profiles. In some embodiments, the control action may include controlling the operation of the user interface120to notify an operator of the field profiles, failed ground-engaging tools (e.g., broken shear bolt of shank(s)50, missing leveling disk(s)52), and/or the like. Moreover, in some embodiments, the control action may include adjusting the operation of the implement10based on an input from an operator, e.g., via the user interface120in response to a notification that a ground-engaging tool(s) has failed. Additionally, in one embodiment, the computing system202may control an operation of the implement actuator(s)82,84,86to adjust one or more operating settings of the implement tools. For instance, if the computing system202determines that the shanks50are not operating at the correct depth, but have not failed, the computing system202may control an operation of the actuator(s)84to adjust the penetration depth of the shanks50. Similarly, if the computing system202determines that the leveling disks52are not leveling the field properly, but have not failed, the computing system202may control an operation of the actuator(s)86to adjust the aggressiveness of the leveling disks52(e.g., by adjusting the down pressure on the basket assemblies54).

Additionally, as shown inFIG.7, the computing system202may also include a communications interface218to provide a means for the computing system202to communicate with any of the various other system components described herein. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the sensor(s)100A,100B,100C,122to allow data transmitted from the sensor(s)100A,100B,100C,122to be received by the computing system202. Similarly, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the user interface120to allow operator inputs to be received by the computing system202and to allow the computing system202to control the operation of one or more components of the user interface120. Moreover, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface218and the actuator(s)82,84,86and/or the drive device(s)24,26to allow the computing system202to control the operation of one or more components of the actuator(s)82,84,86and/or the drive device(s)24,26.

Referring now toFIG.8, a flow diagram of one embodiment of a method300for detecting failure of a ground-engaging tool of an agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the method300will be described herein with reference to the implement10and the work vehicle12shown inFIGS.1-2, the shank50described above with reference toFIG.3, the example profiles described with reference toFIGS.4-6, as well as the various system components shown inFIG.7. However, it should be appreciated that the disclosed method300may be implemented with work vehicles and/or implements having any other suitable configurations, and/or within systems having any other suitable system configurations. In addition, althoughFIG.8depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown inFIG.8, at (302), the method300may include receiving data indicative of a profile of an aft portion of a field located rearward of a ground-engaging tool of an agricultural implement relative to a direction of travel of the agricultural implement during an agricultural operation with the agricultural implement. For instance, as described above, the computing system202may be configured to receive data212indicative of a profile (e.g., a surface profile and/or a sub-surface profile) of an aft portion(s) of a field located rearward of a ground-engaging tool (e.g., a shank50and/or a leveling disk52) of the agricultural implement10relative to the direction of travel14of the agricultural implement during an agricultural operation with the agricultural implement10.

At (304), the method300may include monitoring the profile of the aft portion of the field during the agricultural operation based at least in part on the data. For example, as discussed above, the computing system202may monitor the profile (e.g., the surface profile and/or the sub-surface profile) of the aft portion(s) of the field during the agricultural operation based at least in part on the data212.

Moreover, at (306), the method300may include determining that the ground-engaging tool failed based at least in part on the profile of the aft portion of the field. For instance, as discussed above, the computing system202may determine that the ground-engaging tool (e.g., the shank50and/or the leveling disk52) failed based at least in part on the profile (e.g., the surface profile and/or the sub-surface profile) of the aft portion(s) of the field. For example, if the profile of the aft portion(s) of the field associated with the ground-engaging tool differs from an expected profile for the respective aft portion(s) of the field, the computing system202may determine that the ground-engaging tool failed.

Additionally, at (308), the method300may include performing a control action in response to determining that the ground-engaging tool failed. For instance, as indicated above, the computing system202may perform a control action in response to determining that the ground-engaging tool (e.g., the shank50and/or the leveling disk52) failed. For example, when the computing system202has determined that the ground-engaging tool (e.g., the shank50and/or the leveling disk52) failed, the computing system202may control an operation of the user interface220to indicate that the ground-engaging tool (e.g., the shank50and/or the leveling disk52) failed, control an operation of the drive device(s)24,26to slow down or stop the implement10and the vehicle12, and/or the like.

It is to be understood that the steps of the method300are performed by the computing system200upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disk, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system200described herein, such as the method300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system200loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system200, the computing system200may perform any of the functionality of the computing system200described herein, including any steps of the method300described herein.