Patent Publication Number: US-2023157197-A1

Title: Agricultural system and method for determining a trip magnitude of a ground engaging tool of an agricultural implement

Description:
FIELD OF THE INVENTION 
     The present disclosure relates generally to agricultural implements and, more particularly, to systems and methods for determining a trip magnitude of a ground-engaging tool of an agricultural implement. 
     BACKGROUND OF THE INVENTION 
     It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, typically by performing a tillage operation. Modern farmers perform tillage operations by pulling a tillage implement behind an agricultural work vehicle, such as a tractor. Tillage implements typically include a plurality of ground-engaging tools configured to penetrate the soil to a particular depth. In this respect, the ground-engaging tools may be rotatably coupled to a frame of the tillage implement. In many instances, biasing elements, such as springs, are used to exert biasing forces on the ground-engaging tools. This configuration may allow the ground-engaging tools to be biased towards a desired position relative to the frame, thereby maintaining the particular depth of soil penetration as the agricultural work vehicle pulls the tillage implement through the field. Additionally, this configuration may also permit the ground-engaging tools to rotate out of the way of rocks or other impediments in the soil, thereby preventing damage to the ground-engaging tools or other components on the implement. 
     Frequent tripping of the ground-engaging tools may result in uneven compaction mitigation. However, it is difficult for an operator to determine why a trip is occurring during a tillage operation. In some instances, knowing at least a magnitude of the trip would help identify the reason for the trips. 
     Accordingly, an improved agricultural system and method for determining a trip magnitude of a ground-engaging tool of an agricultural implement would be welcomed in the technology. 
     BRIEF DESCRIPTION OF THE INVENTION 
     Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention. 
     In one aspect, the present subject matter is directed to a system for automatically determining a trip magnitude of a ground engaging tool of an agricultural implement. The system may include a ground-engaging system having an attachment structure coupled to a frame of an agricultural implement, a ground-engaging tool rotatably coupled to the attachment structure at a joint, and a biasing element configured to bias the ground-engaging tool towards a predetermined ground-engaging position. The system may further include a trip sensor configured to generate data indicative of a magnitude of rotation of the ground-engaging tool, with the trip sensor being at least partially received within the biasing element. Additionally, the system may include a computing system communicatively coupled to the trip sensor, where the computing system is configured to determine the magnitude of rotation of the ground-engaging tool based at least in part on the data generated by the trip sensor. 
     In another aspect, the present subject matter is directed to a shank assembly of an agricultural implement. The shank assembly may include an attachment structure coupled to a frame of the agricultural implement, a ground-engaging tool rotatably coupled to the attachment structure at a joint, a biasing element configured to bias the ground-engaging tool towards a predetermined ground-engaging position, a trip sensor configured to generate data indicative of a magnitude of rotation of the ground-engaging tool, and a computing system communicatively coupled to the trip sensor. The trip sensor may be at least partially received within the biasing element. Additionally, the computing system may be configured to determine the magnitude of rotation of the ground-engaging tool based at least in part on the data generated by the trip sensor. 
     In an additional aspect, the present subject matter is directed to a method for determining a trip magnitude of a ground engaging tool of a ground-engaging system of an agricultural implement, where the ground-engaging system includes an attachment structure coupled to a frame of the agricultural implement, a ground-engaging tool rotatably coupled to the attachment structure at a joint, and a biasing element configured to bias the ground-engaging tool towards a predetermined ground-engaging position. The method may include receiving, with a computing system, data generated by a trip sensor that is indicative of a magnitude of rotation of the ground-engaging tool, and where the trip sensor is at least partially received within the biasing element. The method may further include determining, with the computing system, a magnitude of rotation of the ground-engaging tool based at least in part on the data generated by the trip sensor. Additionally, the method may include initiating, with the computing system, a control action based at least in part on the magnitude of the rotation of the ground-engaging tool. 
     These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: 
         FIG.  1    illustrates a perspective view of one embodiment of an agricultural implement coupled to a work vehicle in accordance with aspects of the present subject matter; 
         FIG.  2    illustrates another perspective view of the agricultural implement shown in  FIG.  1    in accordance with aspects of the present subject matter, particularly illustrating various components of the implement; 
         FIGS.  3  and  4    illustrate side views of one embodiment of a shank assembly including a shank rotatably coupled to an implement frame in accordance with aspects of the present subject matter, particularly illustrating the shank in a non-tripped position and a tripped-position, respectively; 
         FIGS.  5  and  6    illustrate side views of one embodiment of a sensor system for determining a trip magnitude of a ground-engaging tool of an agricultural implement in accordance with aspects of the present subject matter; 
         FIG.  7    illustrates a section view of the sensor system taken with respect to the section line  7 - 7  in  FIG.  5    in accordance with aspects of the present subject matter; 
         FIG.  8    illustrates a schematic view of a system for determining a trip magnitude of a ground-engaging tool of an agricultural implement in accordance with aspects of the present subject matter; and 
         FIG.  9    illustrates a graphical view of an example dataset charting the position of a ground engaging tool over time in accordance with aspects of the present subject matter; and 
         FIG.  10    illustrates a flow diagram of one embodiment of a method for determining a trip magnitude of a ground-engaging tool of an agricultural implement in accordance with aspects of the present subject matter. 
     
    
    
     Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology. 
     DETAILED DESCRIPTION OF THE INVENTION 
     Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents. 
     In general, the present subject matter is directed to systems and methods for determining a trip magnitude of a ground-engaging tool of an agricultural implement. Specifically, in several embodiments, the disclosed system may be used to determine the magnitude of rotation of a ground-engaging tool of a ground-engaging system about a joint coupling the ground-engaging tool relative to a frame of an agricultural implement. For instance, the disclosed system may include a trip sensor, such as a Hall-effect sensor and magnet or a linear potentiometer, that is at least partially received within a biasing element configured to bias the ground-engaging tool towards a predetermined ground-engaging position. The trip sensor is configured to generate data indicative of a magnitude of rotation of the ground-engaging tool such that a computing system of the disclosed system may be configured to receive the data from the trip sensor and, in turn, determine a magnitude of the rotation or “trip” of the ground-engaging tool. The computing system may further be configured to initiate a control action based at least in part on the magnitude of the trip. By particularly positioning the trip sensor at least partially within the biasing element, the trip sensor is better protected from dirt and debris during an agricultural operation with the agricultural implement that may otherwise damage the sensor. 
     Referring now to the drawings,  FIGS.  1  and  2    illustrate differing perspective views of one embodiment of an agricultural implement  10  in accordance with aspects of the present subject matter. Specifically,  FIG.  1    illustrates a perspective view of the agricultural implement  10  coupled to a work vehicle  12 . Additionally,  FIG.  2    illustrates a perspective view of the implement  10 , particularly illustrating various components of the implement  10 . 
     In general, the implement  10  may be configured to be towed across a field in a direction of travel (e.g., as indicated by arrow  14  in  FIG.  1   ) by the work vehicle  12 . As shown, the implement  10  may be configured as a tillage implement, and the work vehicle  12  may be configured as an agricultural tractor. However, in other embodiments, the implement  10  may 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 vehicle  12  may be configured as any other suitable type of vehicle, such as an agricultural harvester, a self-propelled sprayer, and/or the like. 
     As shown in  FIG.  1   , the work vehicle  12  may include a pair of front track assemblies  16 , a pair or rear track assemblies  18 , and a frame or chassis  20  coupled to and supported by the track assemblies  16 ,  18 . An operator&#39;s cab  22  may be supported by a portion of the chassis  20  and may house various input devices for permitting an operator to control the operation of one or more components of the work vehicle  12  and/or one or more components of the implement  10 . Additionally, as is generally understood, the work vehicle  12  may include an engine  24  and a transmission  26  mounted on the chassis  20 . The transmission  26  may be operably coupled to the engine  24  and may provide variably adjusted gear ratios for transferring engine power to the track assemblies  16 ,  18  via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed). 
     As shown particularly in  FIG.  2   , the implement  10  may include a frame  28 . More specifically, the frame  28  may extend longitudinally between a forward end  30  and an aft end  32 . The frame  28  may also extend laterally between a first side  34  and a second side  36 . In this respect, the frame  28  generally includes a plurality of structural frame members  38 , such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly  40  may be connected to the frame  28  and configured to couple the implement  10  to the work vehicle  12 . Additionally, a plurality of wheels  42  (one of which is shown in  FIG.  2   ) may be coupled to the frame  28  to facilitate towing the implement  10  in the direction of travel  14 . 
     In several embodiments, one or more ground-engaging tools may be coupled to and/or supported by the frame  28 . More particularly, in certain embodiments, the ground-engaging tools may include one or more shanks  50  and/or one or more disc blades  46  supported relative to the frame  28 . In one embodiment, each shank  50  and/or disc blade  46  may be individually supported relative to the frame  28 . Alternatively, one or more groups or sections of the ground-engaging tools may be ganged together to form one or more ganged tool assemblies, such as the disc gang assemblies  44  shown in  FIGS.  1  and  2   . 
     As illustrated in  FIG.  2   , each disc gang assembly  44  includes a toolbar  48  coupled to the implement frame  28  and a plurality of disc blades  46  supported by the toolbar  48  relative to the implement frame  28 . Each disc blade  46  may, in turn, be configured to penetrate into or otherwise engage the soil as the implement  10  is being pulled through the field. As is generally understood, the various disc gang assemblies  44  may be oriented at an angle relative to the direction of travel  14  to promote more effective tilling of the soil. 
     It should be appreciated that, in addition to the shanks  50  and the disc blades  46 , the implement frame  28  may be configured to support any other suitable ground-engaging tools. For instance, in the illustrated embodiment, the frame  28  is also configured to support a plurality of leveling blades  52  and rolling (or crumbler) basket assemblies  54 . In other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame  28 . 
     It should be appreciated that the configuration of the implement  10  described above and shown in  FIGS.  1  and  2    is 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 to  FIGS.  3  and  4   , side-views of a shank assembly including one of the shanks  50  of the tillage implement  10  described above with reference to  FIGS.  1  and  2    is illustrated in accordance with aspects of the present subject matter, particularly illustrating the shank assembly in a non-tripped position in  FIG.  3    and in a tripped position in  FIG.  4   . As shown in the illustrated embodiment, the shank assembly includes the shank  50  and an associated attachment structure  60  for rotatably coupling the shank  50  to the implement frame  28  (e.g., about a first joint  66 ). More particularly, the attachment structure  60  includes a first attachment member  61 , a second attachment member  62 , and a third attachment member  64 . The first attachment member  61  is fixed to the implement frame  28  (e.g., to frame member  38 ). A first end of the second attachment member  62  is rotatably coupled to the first attachment member  61  at the first joint  66 . The third attachment member  64  is fixed to a second end of the second attachment member  62 . 
     The shank  50  extends between a proximal or tip end  50 A and a distal end  50 B, with the shank  50  being rotatably coupled to the attachment structure  60  (e.g., to the third attachment member  64 ) of the shank assembly at a second joint  70  proximate the distal end  50 B. As such, the shank  50  may rotate about the second joint  70  relative to the frame  28  independent of the rotation about the first point  66 . 
     Further, as shown in  FIGS.  3  and  4   , the shank assembly may include a shear bolt or pin  72  (hereinafter referred to as “the shear pin  72 ”) for preventing rotation of the shank  50  about the second joint  70  during normal operation of the tillage implement. For instance, the shear pin  72  at least partially extends through both the attachment structure  60  (e.g., through third attachment member  64 ) and the shank  50  at a location spaced apart from the second joint  70 . For example, in the illustrated embodiment, the shear pin  72  is received within openings formed above the second joint  70  in the attachment member  64  and the shank  50 . However, the shear pin  72  may be positioned at any other suitable location relative to the second joint  70 . 
     Additionally, in several embodiments, the shank assembly may include a biasing element  74  for biasing the shank  50  towards a predetermined ground-engaging tool position ( FIG.  3   ) relative to the frame  28 . In general, the shank  50  is configured to penetrate the soil to a desired depth when the shank  50  is in the predetermined ground-engaging tool position ( FIG.  3   ). In operation, the biasing element  74  may permit relative movement between the shank  50  and the frame  28 . For example, the biasing element  74  may be configured to bias the shank  50  (and the attachment structure  60 ) to rotate relative to the frame  28  in a first direction (e.g., as indicated by arrow  76 ) toward the predetermined ground-engaging tool position. The biasing element  74  also allows the shank  50  (and the attachment structure  60 ) to rotate away from the predetermined ground-engaging tool position (e.g., to a shallower depth of penetration or out of the ground), such as in a second direction (e.g., as indicated by arrow  78 ) opposite the first direction  76 , toward a tripped ground-engaging tool position shown in  FIG.  4   , when encountering rocks or other impediments in the field. 
     In the embodiment shown, the biasing element  74  is configured as a coil spring. However, it should be appreciated that the biasing element  74  may be configured as any other suitable biasing element. As will be described in greater detail below, a guide  73  extends longitudinally through the coil spring  74  to limit the lateral movement of the coil spring  74  as the coil spring  74  compresses and extends. A cap  75  is slidably received on the guide  73  and is rotatably coupled to the shank  50 , particularly to the third attachment member  64 . The coil spring  74  is compressible between the cap  75  and the first attachment member  61 . Particularly, during a tillage operation, the tip end  50 A of the shank  50  may encounter impediments in the field causing the shank assembly to rotate about the first joint  66  in the second direction  78  to allow the shank assembly to clear or pass over the impediment. As the shank  50  rotates away from the predetermined ground-engaging position in  FIG.  3    towards the tripped ground-engaging tool position in  FIG.  4   , the cap  75  slides along the guide  73  and compresses the coil spring  74 . As such, the compression of the coil spring  74  is indicative of a magnitude of a trip of the shank  50 . Once the impediment is cleared, to return the shank  50  to the predetermined ground-engaging position in  FIG.  3   , the coil spring  74  applies a spring force against the cap  75  to slide the cap  75  along the guide  73  to rotate the shank  50  back towards the predetermined ground-engaging position in  FIG.  3   . The spring force is a function of the compression of the coil spring  74  from a resting position associated with the predetermined ground-engaging position. 
     In accordance with aspects of the present subject matter, the shank assembly further includes a trip sensor  100  for monitoring tripping of the shank  50 . More particularly, data from the trip sensor  100  may be used to determine a magnitude of each trip of the shank  50 . For instance, in some embodiments, the trip sensor  100  may include a sensing portion  102 , such as a Hall-effect sensor or a linear potentiometer, configured to generate data indicative of a compression distance of the biasing element  74 , which in turn, is indicative of a magnitude of a trip event or rotation of the shank  50  about the joint  66 . In such embodiments, the trip sensor  100  also includes a sensed portion  104 , such as a magnet or arm, which is movable relative to the sensing portion  102 . The position of the sensed portion  104  relative to the sensing portion  102  is determined by the sensing portion  102  and is indicative of the magnitude of a trip event or rotation of the shank  50  about the joint  66 . One of the sensing portion  102  and the sensed portion  104  may be movable with the biasing element  74  (e.g., fixed to the cap  75  and/or the biasing element  74 ) as the biasing element  74  is compressed or extended, while the other of the sensing portion  102  and the sensed portion  104  may be fixed relative to the biasing element  74  (e.g., fixed to the guide  73 ). 
     Referring now to  FIGS.  5 - 7   , various views of one embodiment of the trip sensor  100  for determining a trip magnitude of the shank  50  are illustrated in accordance with aspects of the present subject matter. Particularly,  FIG.  5    illustrates a side view of the trip sensor  100  when the shank  50  is in the predetermined or non-tripped ground-engaging position ( FIG.  3   ),  FIG.  6    illustrates a side view of the trip sensor  100  when the shank  50  is in the tripped position ( FIG.  4   ), and  FIG.  7    illustrates a section view of the trip sensor  100  taken with respect to section line  7 - 7  in  FIG.  5   . As shown in  FIGS.  5  and  6   , the guide  73  generally extends longitudinally between a first guide end  73 A and a second guide end  73 B, with the second guide end  73 B being rotatably coupled to the first attachment member  61  ( FIGS.  3  and  4   ) at a third joint  80 . The biasing element  74  similarly extends longitudinally between a first spring end  74 A and a second spring end  74 B. The guide  73  extends longitudinally within the biasing element  74  such that the first spring end  74 A is proximate or closer to the first guide end  73 A than the second guide end  73 B, and the second spring end  74 B is proximate or closer to the second guide end  73 B than the first guide end  73 A. The cap  75  also generally extends longitudinally between a first cap end  75 A and a second, open cap end  75 B. The cap  75  is slidably received on the guide  73 , and the first spring end  74 A of the biasing element  74  is positioned at the cap  75 . For instance, in one embodiment, the biasing element  74  extends through the second cap end  75 B of the cap  75  such that the first spring end  74 A of the biasing element  74  rests against the first cap end  75 A and the first cap end  75 A is generally between the first guide end  73 A and the first spring end  74 A. 
     As shown in  FIGS.  5 - 7   , in one embodiment, the sensing portion  102  is fixed relative to the biasing element  74  while the sensed portion  104  (e.g., a magnet) is movable with the biasing element  74 . Particularly, the sensing portion  102  is fixed to the guide  73  and the sensed portion  104  is fixed to the cap  75 . By arranging the trip sensor  100  at least partially within the biasing element  74 , the trip sensor  100  is protected from dirt and debris that may otherwise damage the trip sensor  100 . Further, by fixing the sensing portion  102  to the guide  73 , the sensing portion  102  is subject to less movement, which may reduce wear on the sensing portion  102 . 
     When the shank  50  is in the predetermined ground-engaging position ( FIG.  3   ), the biasing element  74  extends across a first length L 1  ( FIG.  5   ) between the first and second spring ends  74 A,  74 B, and the sensed portion  104  is at a first position relative to the sensing portion  102 . When the shank  50  is moved to the tripped position ( FIG.  4   ), the cap  75  slides from the first guide end  73 A towards the second guide end  73 B and compresses the biasing element  74  such that the biasing element  74  extends across a shorter, second length L 2  ( FIG.  6   ) between the first and second spring ends  74 A,  74 B, and the sensed portion  104  is moved into a second position relative to the sensing portion  102 . Each rotational position of the shank  50  between the non-tripped and tripped positions may correspond to a different compression distance of the biasing element  74  and thus, a different position of the sensed portion  104  between the first and second positions ( FIGS.  5  and  6   ), which may correspond to a different output voltage. 
     For instance, in one embodiment, the sensed portion  104  is a bi-polar magnet having a first polar end P 1  and a second polar end P 2 , and the sensing portion  102  is a bi-polar Hall-effect sensor. As such, when the sensed portion  104  is at the first position ( FIG.  5   ) relative to the sensing portion  102 , the sensed portion  104  is at a first distance D 1  relative to the sensing portion  102 , with the second polar end P 2  being closer to the sensing portion  102  than the first polar end P 1 . When the sensed portion  104  is at the second position ( FIG.  6   ) relative to the sensing portion  102 , the sensed portion  104  is at a second distance D 2  relative to the sensing portion  102 , with the first polar end P 1  being closer to the sensing portion  102  than the second polar end P 2 . The sensing portion  102  generates data correlating a first output voltage to the strength of the magnetic field of the second polar end P 2  sensed at the first distance D 1  and a second output voltage to the strength of the magnetic field of the first polar end P 1  sensed at the second distance D 2 , with the first output voltage being different from the second output voltage. As such, the first output voltage may be associated with the predetermined, non-tripped position of the shank  50 , and the second output voltage may be associated with the tripped position of the shank  50 . Each rotational position of the shank  50  between the non-tripped and tripped positions may correspond to a different compression distance of the biasing element  74 , and thus, a different output voltage between the first and second output voltages. 
     It should be appreciated that, while the sensing portion  102  is not shown as being received within the biasing element when the shank  50  is at least in the tripped position ( FIGS.  4  and  6   ), the sensing portion  102  may instead be positioned such that it is received within the biasing element  74  for any rotational position of the shank  50  about the first joint  66 . It should further be appreciated, that the Hall-effect sensing portion  102  may alternatively be configured as a unipolar Hall-effect sensor positioned such that the sensed portion  104  is at a different distance from the sensing portion  102  for each position between the non-tripped and tripped positions. Additionally, it should be appreciated that the sensing portion  102  may instead be configured as a linear potentiometer, with the sensed portion  104  being an arm coupled between a slider of the potentiometer and the cap  75 . 
     Referring now to  FIG.  8   , a schematic view of one embodiment of a system  200  for determining a trip magnitude of a ground-engaging tool of an agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the system  200  will be described herein with reference to the implement  10  described above with reference to  FIGS.  1  and  2   , the shank assembly described above with reference to  FIGS.  3  and  4   , and the trip sensor  100  described above with reference to  FIGS.  5 - 7   . However, it should be appreciated that, in general, the disclosed system  200  may be utilized with any suitable implement having any suitable implement configuration to allow the trip magnitude of a ground-engaging tool to be determined, with any other suitable ground-engaging tool, and/or with any other suitable sensor. 
     As shown in  FIG.  8   , the system  200  may include a computing system  202  and various other components configured to be communicatively coupled to and/or controlled by the computing system  202 . For instance, the computing system  202  may be communicatively coupled to the trip sensor(s)  100  that generates data indicative of a magnitude of rotation of the shanks  50  about the first joint  66 . Further, the computing system  202  may be communicatively coupled to and/or configured to control one or more user interfaces  150 . The user interface(s)  150  described herein may include, without limitation, any combination of input and/or output devices that allow an operator to provide inputs to the computing system  202  and/or that allow the computing system  202  to 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. Moreover, the computing system  202  may be communicatively coupled to one or more positioning sensors  152 . Additionally, the computing system  202  may be communicatively coupled to and/or configured to control the drive system (e.g., the engine  24  and/or the transmission  26 ). 
     In general, the computing system  202  may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the computing system  202  may include one or more processor(s)  204 , and associated memory device(s)  206  configured to perform a variety of computer-implemented functions. 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 circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s)  206  of the computing system  202  may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s)  206  may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s)  204 , configure the computing system  202  to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system  202  may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like. 
     It should be appreciated that, in several embodiments, the computing system  202  may correspond to an existing computing system of the agricultural implement  10  and/or of the work vehicle  12  to which the implement  10  is coupled. However, it should be appreciated that, in other embodiments, the computing system  202  may instead correspond to a separate processing device. For instance, in one embodiment, the computing system  202  may form all or part of a separate plug-in module that may be installed within the agricultural implement  10  to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the agricultural implement  10 . 
     In some embodiments, the computing system  202  may be configured to include one or more communications modules or interfaces  208  for the computing system  202  to communicate with any of the various 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 interface  208  and the trip sensor(s)  100  to allow the computing system  202  to receive data indicative of a magnitude of rotation of the shank  50  about the first joint  66  from the trip sensor(s)  100 . Further, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  208  and one or more user interfaces (e.g., user interface(s)  150 ) to allow operator inputs to be received by the computing system  202  and/or allow the computing system  202  to control the operation of one or more components of the user interface(s)  150 . Moreover, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  208  and the positioning sensors (e.g., positioning sensor(s)  152 ) to allow location data associated with the specific location at which such data was collected to be received by the computing system  202 . Additionally, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  208  and the drive system (e.g., the engine  24  and/or the transmission  26 ) of the work vehicle  12  to allow the computing system  202  to control the operation of one or more components of the drive system  24 ,  26 . 
     As indicated above, the computing system  202  may be configured to determine a magnitude of rotation of the shank  50  about the first joint  66  based at least in part on data indicative of the magnitude of rotation of the shank  50  (e.g., output voltage(s)) generated by the trip sensor(s)  100 . For example, the computing system  202  may include one or more suitable relationships and/or algorithms stored within its memory  206  that, when executed by the processor  204 , allow the computing system  202  to determine the magnitude of rotation of the shank  50 . For instance, when the trip sensor(s)  100  are configured to generate an output voltage based at least in part on the position of the sensed portion  104  of the trip sensor  100  relative to the sensing portion  102 , the computing system  202  may include pre-defined relationships or algorithms used to determine a corresponding rotational position of the shank  50  about the first joint  66  and/or associated depth of the shank  50 . Additionally, or alternatively, a look-up table may be generated by or provided to the computing system  202  that correlates output voltages from the trip sensor(s)  100  to the corresponding rotational position and/or associated depth of the shank  50 . Such look-up table may be generated, for example, by directly measuring the output voltages in response to known positions of the shank  50  and associated depths for a given position of the implement frame  28  during a testing operation. 
     Based at least in part on the magnitude of each trip, the computing system  202  may be further configured to determine a trip event type. For instance, based on the magnitude and duration of each trip, the cause for the trip may be determined. For example,  FIG.  9    illustrates a graphical view of an example dataset  250  charting the position (rotation or depth) of a ground engaging tool (e.g., the shank  50 ) over time in accordance with aspects of the present subject matter. During a first time period  252  between time t 0  and time t 1 , the shank  50  moves from the predetermined ground-engaging tool position p 0  toward the tripped rotational position p 2  to a position above a threshold position p 1  associated with the shank  50  rotating about the first joint  66  by a rotation greater than a magnitude threshold (or a depth less than a depth threshold). The first time period  252  is shorter than a predetermined time threshold, thus, the event during the first time period  252  represents a large trip event of the shank  50 , such as when a rock or other impediment is encountered. Similarly, during a second time period  254  between time t 2  and time t 3 , the shank  50  moves from the predetermined ground-engaging tool position p 0  toward the tripped rotational position p 2  to a position above the threshold rotational position p 1 . However, the second time period  254  is longer than the predetermined time threshold, thus, the event during the second time period  254  represents a float event. During a third time period  256  between time t 4  and time t 5 , a sequential series of rotations of the shank  50  from the predetermined ground-engaging tool position p 0  ( FIG.  3   ) to a position above the threshold rotational position p 1  occur. The average time for each rotation of the sequential series during third time period  256  is less than the predetermined time threshold, thus, the event during the third time period  256  represents a bad point. 
     Referring back to  FIG.  8   , the computing system  202  may be further configured to perform a control action based at least in part on the trip magnitude and/or type of trip event. For instance, when the trip event is a normal trip event, such as shown during the first time period  252  ( FIG.  9   ), the computing system  202  may control an operation of the user interface  150  to indicate the impediment or normal trip event to an operator of the implement  10 . When the trip event is a float event, such as shown during the second time period  254  ( FIG.  9   ), the computing system  202  may control an operation of the user interface  150  to indicate or display the float event and/or to request that a ground speed of the implement  10  and/or the work vehicle  12  be reduced. In some instances, the computing system  202  may automatically control one or more components of the drive system (e.g., the engine  24 , the transmission  26 , and/or the like) of the work vehicle  12  to reduce the ground speed of the implement  10  in response to the float event. When a bad point on the shank  50  is determined, the computing system  202  may control an operation of the user interface  150  to indicate the bad point and/or request that the point be replaced. It should be appreciated that, while not shown, if the shank  50  is not rotated by a magnitude greater than the magnitude threshold or raised to a position above the position associated with the rotation magnitude threshold, the trip may be noted as a minor trip event. 
     In some embodiments, the computing system  202  may be configured to generate a map correlating a location within a field for each trip of the shank  50 . For example, the data generated by the trip sensor  100  may be geo-referenced or may otherwise be stored with corresponding location data received from the positioning sensor(s)  152 , which may include a Global Positioning System (GPS) or another similar positioning device(s), configured to transmit a location corresponding to a position of the implement  10  within the field when the data is generated by the trip sensor(s)  100 . For instance, the computing system  202  may generate a map (e.g. a heat map) correlating a location within a field to at least one of the magnitude of the rotation of the shank  50  or a depth of the shank  50  associated with the magnitude of the rotation based at least in part on the data generated by the trip sensor  100 . In some embodiments, the map may indicate each trip event type and the corresponding location. In one embodiment, the computing system  202  may be further configured to control an operation of the user interface(s)  150  to display the map. The displayed map may be used to determine where rocks or other impediments need to be removed from the field, areas of the field that may need to be reworked, and/or the like. 
     Referring now to  FIG.  10   , a flow diagram of one embodiment of a method  300  for determining a trip magnitude of a ground-engaging tool of an agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the method  300  will be described herein with reference to the implement  10  and the work vehicle  12  shown in  FIGS.  1  and  2   , the shank assembly described above with reference to  FIGS.  3  and  4   , the trip sensor  100  described with reference to  FIGS.  5 - 7   , and the various components of the system  200  described with reference to  FIG.  8 - 9   . However, it should be appreciated that the disclosed method  300  may be implemented with work vehicles and/or implements having any other suitable configurations and/or within systems having any other suitable system configuration. In addition, although  FIG.  10    depicts 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 method disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure. 
     As shown in  FIG.  10   , at ( 302 ), the method  300  may include receiving data generated by a trip sensor at least partially received within a biasing element configured to bias a ground-engaging tool of an agricultural implement toward a predetermined ground-engaging position, the data being indicative of rotation of the ground-engaging tool. For instance, as discussed above, the computing system  202  may receive data generated by the trip sensor  100  at least partially received within the biasing element  74  configured to bias the shank  50  of the agricultural implement  10  toward a predetermined ground-engaging position ( FIG.  3   ), the data being indicative of rotation of the shank  50  about the first joint  66 . 
     Further, at ( 304 ), the method  300  may include determining a magnitude of rotation of the ground-engaging tool based at least in part on the data generated by the trip sensor. For example, as described above, the computing system  202  may use one or more pre-defined relationships, algorithms, look-up tables, and/or the like that correlates the data generated by the trip sensor(s)  100  to the corresponding rotational position and/or associated depth of the shank  50 . 
     Additionally, at ( 306 ), the method  300  may include initiating a control action based at least in part on the magnitude of rotation of the ground-engaging tool. For instance, as described above, the computing system  202  may initiate a control action based at least in part on the magnitude of rotation of the ground-engaging tool, such as control an operation of the user interface(s)  150  and/or the drive system  24 ,  26 . 
     It is to be understood that the steps of the method  300  are performed by the computing system  200  upon 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 system  200  described herein, such as the method  300 , is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system  200  loads 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 system  200 , the computing system  200  may perform any of the functionality of the computing system  200  described herein, including any steps of the method  300  described herein. 
     The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or computing system. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer&#39;s central processing unit or by a computing system, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer&#39;s central processing unit or by a computing system, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer&#39;s central processing unit or by a computing system. 
     This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.