Patent Publication Number: US-2021185884-A1

Title: System and method for calibrating tool depth of an agricultural implement based on frame position

Description:
FIELD OF THE INVENTION 
     The present disclosure generally relates to agricultural implements and, more particularly, to systems and methods for calibrating the penetration depths of one or more ground-engaging tools of an agricultural implement based on frame position. 
     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 through 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 one or more ground-engaging tools (e.g., a shank(s), a disk blade(s), a harrow tine(s), and/or a leveling blade(s)) supported on its frame that are configured to loosen and/or otherwise agitate the soil to prepare the field for subsequent planting operations. 
     When performing a tillage operation, it is generally desirable to create a layer of tilled soil having a specified depth across the field to form a proper seedbed for subsequent planting operations. In this respect, before performing a tillage operation, an operator may adjust the position(s) of the ground-engaging tool(s) relative to the implement frame such that the tool(s) penetrate the soil to the specified penetration depth. Such adjustments are typically performed on a hard level (e.g., paved) surface. However, when the implement travels across the field, the soil may generally exert a downward force on the tool(s). The force may, in turn, compress the tires of the implement and/or pull the tires into the soil such that the penetration depth of the tool(s) is greater than the specified depth. 
     Accordingly, an improved system and method for calibrating tool depth of an agricultural implement would be welcomed in the technology. 
     SUMMARY OF THE INVENTION 
     Aspects and advantages of the technology 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 technology. 
     In one aspect, the present subject matter is directed to a system for calibrating tool depth as an agricultural implement is moved across a field. The system may include an implement frame and a ground-engaging tool supported on the implement frame, with the ground-engaging tool configured to penetrate soil present within the field to a penetration depth. Additionally, the system may also include a frame position sensor configured to capture data indicative of a distance between the implement frame and a surface of the field. Furthermore, the system may include a controller communicatively coupled to the frame position sensor. As such, the controller may be configured to determine a penetration depth value of the ground-engaging tool based on a received input. Moreover, the controller may be configured to determine a correction factor based on the data captured by the frame position sensor. In addition, the controller may be configured to adjust the determined penetration depth value based on the determined correction factor to calibrate the penetration depth value. 
     In another aspect, the present subject matter is directed to a tillage implement. The tillage implement may include a frame, a plurality of wheels adjustably coupled to the frame, and a first ground-engaging tool supported on the frame. The first ground-engaging tool may, in turn, be configured to penetrate soil present within the field to a first penetration depth. Additionally, the tillage implement may include a frame position sensor configured to capture data indicative of a distance between the frame and a surface of the field. Furthermore, the tillage implement may include a controller communicatively coupled to the frame position sensor. As such, the controller may be configured to determine a first penetration depth value of the first ground-engaging tool based on a received input. Moreover, the controller may be configured to determine a correction factor based on the data captured by the frame position sensor. In addition, the controller may be configured to adjust the first penetration depth value based on the determined first correction factor to calibrate the first penetration depth value. 
     In a further aspect, the present subject matter is directed to a method for calibrating tool depth as an agricultural implement is moved across a field. The agricultural implement may include a frame and a ground-engaging tool supported on the frame, with the ground-engaging tool configured to penetrate soil present within the field to a penetration depth. The method may include determining, with one or more computing devices, a penetration depth value of the ground-engaging tool based on a received input. Furthermore, the method may include determining, with the one or more computing devices, a correction factor based on frame position sensor data indicative of a distance between the frame and a surface of the field. Additionally, the method may include adjusting, with the one or more computing devices, the determined penetration depth value based on the determined correction factor to calibrate the penetration depth value. 
     These and other features, aspects and advantages of the present technology 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 technology and, together with the description, explain the principles of the technology. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which refers to the appended figures, in which: 
         FIG. 1  illustrates a perspective view of one embodiment of an agricultural implement in accordance with aspects of the present subject matter; 
         FIG. 2  illustrates a side view of one embodiment of a ground-engaging tool of an agricultural implement in accordance with aspects of the present subject matter; 
         FIG. 3  illustrates a schematic view of one embodiment of a system for calibrating tool depth of an agricultural implement in accordance with aspects of the present subject matter; and 
         FIG. 4  illustrates a flow diagram of one embodiment of a method for calibrating tool depth 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 DRAWINGS 
     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 calibrating tool depth of an agricultural implement. More specifically, prior to the performance of an agricultural operation (e.g., a tillage operation), the operator of the agricultural implement may adjust the position(s) of one or more ground-engaging tools (e.g., a shank(s)) relative to a frame of the implement such that the tool(s) penetrate the surface of the field to a desired or specified penetration depth. In this respect, a controller of the disclosed system may be configured to receive an input indicative of such penetration depth of the tool(s). For example, in one embodiment, the input may be received from one or more wheel position sensors configured to capture data indicative of the position of a wheel(s) of the implement relative to the frame. In another embodiment, the input may be received from the operator (e.g., via a user interface). Thereafter, the controller may be configured to determine a penetration depth value(s) of the tool(s) based on the received input. 
     In accordance with aspects of the present subject matter, the controller may be configured to calibrate the determined penetration depth value(s) of the ground-engaging tool(s). As the implement travels across the field to perform the agricultural operation thereon, the soil within the field may exert a downward force on the ground-engaging tool(s), thereby compressing the tires of the implement and/or pulling the wheels/tires into the soil. Thus, the determined penetration depth value(s) may be shallower than the actual penetration depth(s) of the ground-engaging tools(s). As such, the system may include one or more frame position sensors (e.g., a non-contact-based sensor(s), such as an ultrasonic sensor(s) or a RADAR sensor(s)) configured to capture data indicative of the distance between the implement frame and the surface of the field. In this respect, the controller may be configured to determine a correction factor for the determined penetration depth value(s) of the ground-engaging tool(s) based on the data captured by the frame position sensor(s). Thereafter, the controller may be configured to adjust the determined penetration depth value(s) based on the determined correction factor to calibrate the penetration depth value(s). 
     Thus, the disclosed systems and methods enable a more accurate determination of the penetration depths of the ground-engaging tools of an agricultural implement, which improves control of the implement to obtain desired seedbed conditions within a field and, as a result, leads to superior agricultural outcomes. 
     Referring now to the drawings,  FIG. 1  illustrates a perspective view of the agricultural implement  10  in accordance with aspects of the present subject matter. In general, the implement  10  may be configured to be towed across a field in a direction of travel (indicated by arrow  12 ) by a suitable work vehicle (not shown), such as an agricultural tractor. As shown, the implement  10  may be configured as a tillage implement, such as a field cultivator. However, in other embodiments, the implement  10  may be configured as any other suitable type of implement, such as another type of tillage implement, a seed-planting implement, a fertilizer-dispensing implement, and/or the like. 
     As shown in  FIG. 1 , the implement  10  may include the frame  14  configured to be towed by the work vehicle via a pull hitch or tow bar  16  in the direction of travel  12 . As shown, the frame  14  may extend longitudinally between a forward end  18  and an aft end  20 . The frame  14  may also extend laterally between a first side  22  and a second side  24 . In this respect, the frame  14  generally includes a plurality of structural frame members  26 , such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Additionally, as will be described below, a plurality of wheels may be coupled to the frame  14 , such as a set of centrally-located wheel assemblies  28  and a set of front pivoting wheel assemblies  30 , to facilitate towing the implement  10  in the direction of travel  12 . 
     Furthermore, the frame  14  may include a plurality of sections. As shown in  FIG. 1 , for example, the frame  14  may include a main section  32  positioned centrally between the first and second sides  22 ,  24  of the frame  14 . Moreover, the frame  14  may also include a first wing section  34  positioned proximate to the first side  22  of the frame  14 . Similarly, the frame  14  may also include a second wing section  36  positioned proximate to the second side  24  of the frame  14 . The first and second wing sections  34 ,  36  may be pivotably coupled to the main section  32  of the frame  14 . In this respect, the first and second wing sections  34 ,  36  may be configured to fold up relative to the main section  32  to reduce the lateral width of the implement  10  to permit, for example, storage or transportation of the implement  10  on a road. However, in alternative embodiments, the frame  14  may include any suitable number of sections. 
     Additionally, in several embodiments, the frame  14  may be configured to support a cultivator  38 , which may be configured to till or otherwise break the soil over which the implement  10  travels to create a seedbed. In this respect, the cultivator  38  may include a plurality of shanks  40 , which are pulled through the soil as the implement  10  moves across the field in the direction of travel  12 . As will be described below, in some embodiments, the shanks  40  may be pivotably mounted to the frame  14  to allow the shanks  40  pivot out of the way of rocks or other impediments in the soil. As shown, the shanks  40  may be spaced apart from one another longitudinally between the forward end  18  and the aft end  20  of the frame  14  and/or between the first side  22  and the second side  24  of the frame  14 . 
     As shown in  FIG. 1 , the implement  10  may also include one or more harrows  42 . In general, the harrow(s)  42  may be configured to be pivotably coupled to the frame  14 . The harrow(s)  42  may include a plurality of ground-engaging elements  44 , such as tines or spikes, configured to level or otherwise flatten any windrows or ridges in the soil created by the cultivator  38 . Specifically, the ground-engaging elements  44  may be configured to be pulled through the soil as the implement  10  moves across the field in the direction of travel  12 . However, in alternative embodiments, the implement  10  may include any other suitable number of harrows  42 . 
     Moreover, in one embodiment, the implement  10  may include one or more baskets or rotary firming wheels  46 . In general, the basket(s)  46  may be configured to reduce the number of clods in the soil and/or firm the soil over which the implement  10  travels. As shown, each basket  46  may be pivotably coupled to one of the harrows  42 . Alternately, the basket(s)  46  may be pivotally coupled to the frame  14  or any other suitable location of the implement  10 . However, in alternative embodiments, the implement  10  may include any other suitable number of baskets  46 . 
     Referring now to  FIG. 2 , a side view of one embodiment of a shank  40  is illustrated in accordance with aspects of the present subject matter. As shown in  FIG. 2 , the shank  40  may be coupled to the frame  14  of the implement  10  by a shank holder  48 . Specifically, in several embodiments, the shank holder  48  may be pivotably coupled to a shank mounting bracket  50  (e.g., at a pivot joint  52 ), which is, in turn, coupled to one of the frame members  26  of the implement frame  14 . The shank  40  may be coupled to and extend from the shank holder  48  along a curved or arcuate profile to a tip  54 . The tip  54  may, in turn, be configured to penetrate a soil surface  56  of the field to a penetration depth (indicated by arrow  58 ) such that the shank  40  engages the soil as the implement  10  is being pulled through the field. However, in alternative embodiments, the shank  40  may be configured in any other suitable manner. For example, in one embodiment, the shank  40  may be rigidly coupled or bolted to the frame  14 . 
     In several embodiments, a biasing element  60  may be coupled between the implement frame  14  and the shank  40 . In this respect, the biasing element  60  may be configured to bias the shank  40  to a predetermined shank position (e.g., a home or base position) relative to the frame  14 . In general, the predetermined shank position may correspond to a shank position in which the shank  40  penetrates the soil to a desired or specified penetration depth. In one embodiment, the predetermined shank position may be set by a mechanical stop  62 . In operation, the biasing element  60  may permit relative movement between the shank  40  and the implement frame  14 . For example, the biasing element  60  may be configured to bias the shank  40  to pivot relative to the frame  14  in a first pivot direction (indicated by arrow  62 ) until the shank holder  48  contacts the stop  62 . The biasing element  60  may also allow the shank  40  to pivot away from the predetermined shank position (e.g., to a shallower depth of penetration), such as in a second pivot direction (as indicated by arrow  64 ) opposite the first pivot direction  62 , when encountering rocks or other impediments in the field. As shown in  FIG. 2 , the biasing element  60  may be configured as a fluid-driven actuator, such as hydraulic or pneumatic cylinder. However, in alternative embodiments, the biasing element  60  may be configured as any other suitable biasing element, such as an electric linear actuator or a spring. 
     Moreover, in several embodiments, a tool position sensor  102  may be provided in operative association with the shank  40 . In general, the tool position sensor  102  may be configured to capture data indicative of the position of the shank  40  relative to the implement frame  14 . For example, in one embodiment, the tool position sensor  102  may correspond to a potentiometer positioned between the shank holder  48  and the frame  14 , such as within the pivot joint  52 . In such an embodiment, as the shank  40  is moved in the first and second pivot directions  62 ,  64 , the voltage output by the tool position sensor  102  may vary, with such voltage being indicative of the position of the shank  40  relative to the frame  14 . However, in other embodiments, the tool position sensor  102  may correspond to any other suitable sensor(s) and/or sensing device(s) configured to capture data associated with the position of the shank  40  relative to the implement frame  14 . For instance, in one embodiment, the tool position sensor  102  may correspond to a fluid pressure sensor configured to capture data indicative of the fluid pressure within the biasing element  60 , with such fluid pressure being associated with the position of the shank  40  relative to the implement frame  14 . 
     Additionally, as shown in  FIG. 2 , a centrally-located wheel assembly  28  may be pivotably coupled to the implement frame  14 . More specifically, the wheel assembly  28  may include a wheel  66  having a tire  68  mounted thereon. Moreover, the wheel assembly  28  may include a wheel arm  70  pivotably coupled to the implement frame  14  at a pivot joint  72  and pivotably coupled to the wheel  66  via an axle  74 . Furthermore, in one embodiment, the wheel assembly  28  may include an actuator  76  coupled between the frame  24  and the wheel arm  70 . In this respect, the actuator  76  may be configured to pivot the wheel arm  70  relative to the frame  14  such that the frame  14  is raised and lowered relative to the wheel/tire  66 / 68 . Such adjustment of the frame  14  relative to the wheel/tire  66 / 68  may, in turn, adjust the penetration depth  58  of the shank  40 . For example, raising the frame  14  relative to the wheel/tire  66 / 68  may decrease the penetration depth  58  of the shank  40 . Conversely, lowering the frame  14  relative to the wheel/tire  66 / 68  may increase the penetration depth  58  of the shank  40 . In the illustrated embodiment, the actuator  76  is configured as a fluid-driven actuator, such as hydraulic or pneumatic cylinder. However, in alternative embodiments, the biasing actuator  76  may be configured as any other suitable actuator, such as an electric linear actuator. In addition, in alternative embodiments, wheel assembly  28  may be configured in any other suitable manner. 
     In several embodiments, a wheel position sensor  104  may be provided in operative association with the wheel assembly  28 . In general, the wheel position sensor  104  may be configured to capture data indicative of the position of the wheel/tire  66 / 68  relative to the implement frame  14 . For example, in one embodiment, the wheel position sensor  104  may correspond to a potentiometer positioned at the between the wheel arm  70  and the frame  14 , such as within the pivot joint  72 . In such an embodiment, as the frame  14  is raised and lowered relative to the wheel/tire  66 / 68 , the voltage output by the wheel position sensor  104  may vary, with such voltage being indicative of the position of the wheel/tire  66 / 68  relative to the frame  14 . However, in other embodiments, the wheel position sensor  104  may correspond to any other suitable sensor(s) and/or sensing device(s) configured to capture data associated with the position of the wheel/tire  66 / 68  relative to the implement frame  14 . For instance, in one embodiment, the wheel position sensor  104  may correspond to a linear transducer configured to capture data indicative of the extension and/or retraction of a rod of the actuator  76  relative to a cylinder of the actuator  76 . 
     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. 
     In accordance with aspects of the present subject matter, one or more frame position sensors  106  may be installed on or otherwise provided in operative association with the frame  14  of the implement  10 . In general, the frame position sensor(s)  106  may be configured to capture data indicative of a distance (indicated by arrow  105 ) between the frame  14  and the surface  56  of the field. As will be described below, a controller may be configured to receive the data captured by the frame position sensor(s)  106  and use such received data to calibrate one or more determined values of the penetration depth(s) of a ground-engaging tool(s) (e.g., a shank(s)  40 ) of the implement  10 . 
     In several embodiments, the frame position sensor(s)  106  may be configured as a suitable non-contact-based sensor(s), such as an ultrasonic sensor(s), a radio detection and ranging (RADAR) sensor(s), or a light detection and ranging (LIDAR) sensor(s). Specifically, in such embodiments, the frame position sensor(s)  106  may be configured to emit one or more output signals (indicated by arrow  108 ), such as a radio, microwave, or acoustic output signal(s), directed toward the surface  56  of the field. The output signal(s)  108  (or a portion thereof) may, in turn, be reflected by the surface  56  of the field as echo or return signal(s) (indicated by arrow  110 ). Moreover, the frame position sensor(s)  106  may be configured to receive the reflected echo signal(s)  110 . In this regard, the time of flight, amplitude, frequency, and/or phase of the received echo signal(s)  110  may be indicative of the distance  105  between the frame  14  and the surface  56  of the field. However, in alternative embodiments, the frame position sensor(s)  106  may be configured as any other suitable types of sensor(s) or sensing device(s) configured capture data indicative of the distance between the frame  14  and the surface  56  of the field, such as a mechanical or contact-based sensor(s). 
     The frame position sensor(s)  106  may be installed on the implement frame  14  at any suitable location(s). Specifically, in several embodiments, the frame position sensor(s)  106  may be installed on one or more of the frame members  26  of the frame  28  such that the output signals  108  are directed at a portion of the field surface  56  in which little or no soil flow is present. For example, in such embodiments, the frame position sensor(s)  106  may be positioned forward of the ground-engaging tool(s) (e.g., the shank(s)  40 ) relative to the direction of travel  12 . However, in alternative embodiments, the frame position sensor(s)  106  may be positioned at any other suitable location(s) on the implement  10 . 
     Additionally, any suitable number of frame position sensor(s)  106  may be installed on the implement frame  14 . For example, in one embodiment, one frame position sensor  106  may be installed on each section (e.g., the main section  32  and the wing sections  34 ,  36 ) of the frame  14 . However, in alternative embodiments, one, two, or four or more frame position sensors  106  may be installed on the frame  14 . 
     Referring now to  FIG. 3 , a schematic view of one embodiment of a system  100  for calibrating tool depth of an agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the system  100  will be described herein with reference to the agricultural implement  10  described above with reference to  FIGS. 1 and 2 . However, it should be appreciated by those of ordinary skill in the art that the disclosed system  100  may generally be utilized with agricultural implements having any other suitable implement configuration. 
     As shown in  FIG. 3 , the system  100  may include a controller  112  positioned on and/or within or otherwise associated with the implement  10  or an associated work vehicle (not shown). In general, the controller  112  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 controller  112  may include one or more processor(s)  114  and associated memory device(s)  116  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 controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s)  116  of the controller  112  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 disc, a compact disc-read only memory (CD-ROM), a magneto-optical disc (MOD), a digital versatile disc (DVD), and/or other suitable memory elements. Such memory device(s)  116  may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s)  114 , configure the controller  112  to perform various computer-implemented functions. 
     In addition, the controller  112  may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like, to allow controller  112  to be communicatively coupled to any of the various other system components described herein (e.g., the actuators  76  and/or the sensors  102 ,  104 ,  106 ). For instance, as shown in  FIG. 3 , a communicative link or interface  118  (e.g., a data bus) may be provided between the controller  112  and the components  76 ,  102 ,  104 ,  106  to allow the controller  112  to communicate with such components  76 ,  102 ,  104 ,  106  via any suitable communications protocol (e.g., CANBUS). 
     The controller  112  may correspond to an existing controller(s) of the implement  10  and/or an associated work vehicle, itself, or the controller  112  may correspond to a separate processing device. For instance, in one embodiment, the controller  112  may form all or part of a separate plug-in module that may be installed in association with the implement  10  and/or the vehicle to allow for the disclosed systems to be implemented without requiring additional software to be uploaded onto existing control devices of the implement  10  and/or the vehicle. The functions of the controller  112  may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the controller  112 . For instance, the functions of the controller  108  may be distributed across multiple application-specific controllers, such as an implement controller, a vehicle controller, and/or the like. 
     Furthermore, in one embodiment, the system  100  may also include a user interface  120 . More specifically, the user interface  120  may be configured to receive inputs (e.g., an input associated with the set or desired penetration depth of the ground-engaging tool(s) of the implement  10 ) from the operator of the implement  10 . As such, the user interface  120  may include one or more input devices (not shown), such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator. The user interface  120  may, in turn, be communicatively coupled to the controller  112  via the communicative link  118  to permit the inputs to be transmitted from the user interface  120  to the controller  112 . In addition, some embodiments of the user interface  120  may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the controller  112  to the operator. 
     In several embodiments, the controller  112  may be configured to determine penetration depth values of one or more ground-engaging tools of the implement  10 . Specifically, prior to the performance of an agricultural operation (e.g., a tillage operation), the operator of the implement  10  may adjust or otherwise set the position(s) of the ground-engaging tool(s) relative to the implement frame  14  such that the tool(s) penetrate the surface of the field to a desired or specified penetration depth. Such tool(s) may include the shank(s)  40 , the ground-engaging elements  44 , disk blades (not shown), leveling blades (not shown), and/or the like. After the penetration depth(s) of the ground-engaging tool(s) is set, the controller  112  may be configured to receive one or more inputs indicative of the desired or specified penetration depth(s). Thereafter, the controller  112  may be configured to determine or calculate the desired penetration depth value(s) for the ground-engaging tool(s). Additionally, in one embodiment, the two or more of the ground-engaging tool(s) of the implement  10  may be set at differing penetration depths. In such an embodiment, the controller  112  may be configured to determine differing penetration depth values for such tools. 
     In some embodiments, the controller  112  may be configured to determine the penetration depth value(s) based on the position(s) of the wheel assemblies  28  relative to the implement frame  14 . As mentioned above, the system  100  may include one or more wheel position sensors  104  configured to capture data indicative of the position(s) of the wheel(s)/tire(s)  66 / 68  of the wheel assemblies  28  relative to the frame  14 . In this regard, as the implement  10  travels across the field to perform the agricultural operation thereon, the controller  112  may be configured to receive data from the wheel position sensor(s)  104  (e.g., via the communicative link  118 ). Thereafter, the controller  112  may be configured to process/analyze the received data to determine or estimate the penetration depth value(s) of the ground-engaging tool(s) of the implement  10 . For instance, the controller  112  may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s)  116  that correlates the received wheel position sensor data to the penetration depth value(s) of the ground-engaging tool(s). 
     In another embodiment, controller  112  may be configured to determine the penetration depth value(s) based on an operator input. More specifically, after setting the penetration depth(s) of the ground-engaging tool(s), the operator may interact with the input devices of the user interface  120  to provide an input indicative of the desired penetration depth value(s) of ground-engaging tool(s). The received input may be transmitted from the user interface  120  to the controller  112  (e.g., via the communicative link  118 ). As such, the input from the operator received by the controller  112  may be the desired penetration depth value(s) of ground-engaging tool(s) or permit the controller  112  to determine or calculate such desired penetration depth value(s). However, in alternative embodiments, the controller  112  may be configured to determine the desired penetration depth value(s) based on any other suitable received input. 
     In general, the determined penetration depth value(s) of ground-engaging tool(s) are determined generally based on the distance(s) between the wheels/tires  66 / 68  of the implement  10  and the frame  14 . In this respect, the determined penetration depth value(s) typically rely on the assumption that the distance between the wheels/tires  66 / 68  and the frame  14  is the same as the distance between the surface of the field and the frame  14 . However, as the implement  10  travels across the field to perform the agricultural operation thereon, the soil within the field may exert a downward force on the ground-engaging tool(s). This force may, in turn, compress or otherwise enlarge the contact patch of the tires  68  and/or pull otherwise cause the wheels/tires  66 / 68  to sink into the soil. The tire compression and/or wheel/tire sinking may cause the distance(s) between the wheels/tires  66 / 68  and the frame  14  to be less than the corresponding distance(s) between the surface of the field and the frame  14  such that the determined penetration depth value(s) may be shallower than the actual penetration depth(s) of the tools(s). 
     In accordance with aspects of the present subject matter, the controller  112  may be configured to calibrate the determined penetration depth value(s) based on one or more correction factors. Specifically, in several embodiments, the controller  112  may be configured to determine the correction factor(s) based on the distance(s) between the implement frame  14  and the soil surface of the field. As mentioned above, the system  100  may include one or more frame position sensors  106  configured to capture data indicative of the distance(s) between the implement frame  14  and the soil surface of the field. In this regard, as the implement  10  travels across the field to perform the agricultural operation thereon, the controller  112  may be configured to receive data from the frame position sensor(s)  106  (e.g., via the communicative link  118 ). The controller  112  may be configured to process/analyze the received data to determine or estimate the distance(s) between the implement frame  14  and the soil surface of the field. For instance, the controller  112  may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s)  116  that correlates the received frame position sensor data to the distance(s) between the implement frame  14  and the soil surface of the field. Moreover, the controller  112  may be configured to determine the correction factor(s) based on the determined distance(s). Thereafter, the controller  112  the controller  112  may be configured to adjust the determined penetration depth value(s) based on the determined correction factor(s) to calibrate penetration depth value(s). 
     In some embodiments, such as when the ground-engaging tool(s) is rigidly coupled to the frame  14 , the correction factor(s) may be determined based solely on the distance(s) between the implement frame  14  and the soil surface of the field. However, in other embodiments, such as when the ground-engaging tool(s) are adjustably coupled to the frame  14 , the controller  112  may be configured to determine the correction factor(s) based on the position(s) of the ground-engaging tool(s) relative to the frame  14  in addition to the distance(s) between the implement frame  14  and the soil surface of the field. As mentioned above, the system  100  may include one or more tool position sensors  102  configured to capture data indicative of the position(s) of the ground-engaging tool(s) relative to the frame  14 . In this respect, as the implement  10  travels across the field to perform the agricultural operation thereon, the controller  112  may be configured to receive data from the tool position sensor(s)  102  (e.g., via the communicative link  118 ). The controller  112  may be configured to process/analyze the received data to determine or estimate the position(s) of the ground-engaging tool(s) relative to the frame  14 . For instance, the controller  112  may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory device(s)  116  that correlates the received tool position sensor data to the position(s) of the ground-engaging tool(s) relative to the frame  14 . Thereafter, the controller  112  may be configured to determine the correction factor(s) based on the determined position(s) of the ground-engaging tool(s) relative to the frame  14  and the determined distance(s) between the implement frame  14  and soil surface. 
     The controller  112  may be configured to determine the correction factor(s) and adjust the determined penetration depth value(s) based on such correction factor(s) in any suitable manner. In one embodiment, the determined correction factor(s) may correspond to a single numerical value(s) that is mathematically combined with (e.g., added to or subtracted from) the determined penetration depth value(s) of the ground-engaging tool(s). For example, in such an embodiment, the controller  112  may be configured to access one or more look-up tables stored within its memory device(s)  116 . The look-up table(s) may, in turn, provide a correction factor(s) for the determined penetration depth value(s). In another embodiment, the controller  112  may be configured to calculate the correction factor(s) from the determined distance(s) between the implement frame  14  and soil surface (s) and/or the position(s) of the ground-engaging tool(s) relative to the frame  14  using one or more mathematical formula stored within its memory device(s)  116 . However, in alternative embodiments, the controller  112  may be configured to determine the correction factor(s) in any other suitable manner. For instance, the controller  112  may determine the correction factor(s) using one or more suitable algorithms that modify the determined penetration depth value(s) in a more complex manner. 
     Moreover, the controller  112  may be configured to determine any suitable number of correction factors. For example, as mentioned above, in one embodiment, a frame position sensor  106  may be installed on each section of the implement frame  14  such that the controller  112  is able to determine the distance between each frame section and the soil surface. In such an embodiment, the controller  112  may be configured to determine a correction value for the determined penetration depth value(s) of the tool(s) supported on each frame section. However, in alternative embodiments, the controller  112  may be configured to determine a single correction factor for all of the determined penetration depth value(s) or any other suitable number of correction factor(s). 
     In one embodiment, the controller  112  may be configured to provide a notification to the operator of the implement  10  associated with the calibrated penetration depth value(s). For instance, in such an embodiment, the controller  112  may be configured to transmit instructions to the user interface  120  (e.g. via the communicative link  118 ) instructing the user interface  120  to provide a notification to the operator (e.g., by causing a visual or audible notification or indicator to be presented to the operator) that provides an indication that the calibrated penetration depth value(s). The operator may then choose to initiate any suitable corrective action he/she believes is necessary, such as manually adjusting the penetration depth(s) of the ground-engaging tool(s). 
     Additionally, the controller  112  may be configured to initiate one or more control actions based on the calibrated penetration depth value(s). Specifically, in several embodiments, the controller  112  may be configured to compare the calibrated penetration depth value(s) of the ground-engaging tool(s) to an associated predetermined penetration depth range. Thereafter, when the calibrated penetration depth value(s) falls outside of the associated predetermined penetration depth range (thereby indicating the penetration depth(s) of the tool(s) may need to be adjusted), the controller  112  may be configured to adjust one or more operating parameters of the implement  10  associated with the penetration depth(s) of the ground-engaging tool(s). For example, in one embodiment, the controller  112  may be configured to control the operation of the actuators  76  associated with the wheel assemblies  28  such that the penetration depth(s) of the ground-engaging tool(s) is adjusted. In such an embodiment, the controller  112  may be configured to transmit instructions to the actuators  76  instructing such actuators  76  to adjust the position of the implement frame  14  relative to the wheels/tires  66 / 68  such that the penetration depth(s) of the tool(s) are adjusted. However, in alternative embodiments, the controller  112  may be configured to initiate any other suitable control actions based on the calibrated penetration depth value(s). 
     Referring now to  FIG. 4 , a flow diagram of one embodiment of a method  200  for calibrating tool depth as an agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the method  200  will be described herein with reference to the agricultural implement  10  and the system  100  described above with reference to  FIGS. 1-3 . However, it should be appreciated by those of ordinary skill in the art that the disclosed method  200  may generally be implemented with any agricultural implement having any suitable implement configuration and/or within any system having any suitable system configuration. In addition, although  FIG. 4  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 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 in  FIG. 4 , at ( 202 ), the method  200  may include determining, with one or more computing devices, a penetration depth value of a ground-engaging tool of an agricultural implement based on a received input. For instance, as described above, the controller  112  may be configured to determine a penetration depth value of a ground-engaging tool (e.g., a shank  40 ) of the agricultural implement  10  based on a received input (e.g., an input received from a wheel position sensor  104  or a user interface  120 ). 
     Additionally, at ( 204 ), the method  200  may include determining, with the one or more computing devices, a correction factor based on frame position sensor data indicative of a distance between a frame of the agricultural implement and a surface of a field. For instance, as described above, the controller  112  may be configured to determine a correction factor for the determined penetration depth value based on data indicative of the distance between a frame  14  of the implement  10  and the surface  56  of the field received from a frame position sensor  106 . 
     Moreover, as shown in  FIG. 4 , at ( 206 ), the method  200  may include adjusting, with the one or more computing devices, the determined penetration depth value based on the determined correction factor to calibrate the penetration depth value. For instance, as described above, the controller  112  may be configured to adjust the determined penetration depth value based on the determined correction factor to calibrate the penetration depth value. 
     It is to be understood that the steps of the method  200  are performed by the controller  112  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 disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller  112  described herein, such as the method  200 , is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller  112  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 controller  112 , the controller  112  may perform any of the functionality of the controller  112  described herein, including any steps of the method  200  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 controller. 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 controller, 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 controller, 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 controller. 
     This written description uses examples to disclose the technology, including the best mode, and to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology 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 language of the claims.