Patent Publication Number: US-2021161058-A1

Title: Implement weight transfer monitoring and wing control

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present disclosure is a continuation of U.S. application Ser. No. 15/987,017 filed on May 23, 20218. 
    
    
     FIELD OF THE DISCLOSURE 
     The present disclosure relates to monitoring a load on an implement, and more particularly to monitoring a load on an implement to determine when a maximum tool depth is reached. 
     BACKGROUND OF THE DISCLOSURE 
     In the agricultural industry, wide implements such as field cultivators and the like include a main frame and adjacent outrigger or wing frames that are hinged or pivotably coupled thereto. Often, ground working tools are coupled to the frame sections and are positioned to interact with an underlying surface. Further, ground engaging mechanisms such as wheels are coupled to the frames to reposition the frame relative to the underlying surface. In this configuration, the distance between the wheels and the frame sets a working tool depth at which the ground working tools interact with the underlying surface. Often, the working tool depth is variable to accommodate different types of implements, different field conditions, and the like. 
     The wing frames are often hydraulically coupled to the main frame and configured to pivot between a stored position and a ground engaging position. When the wing frames are in the ground engaging position, the user sets the working tool depth either by manually manipulating the positioning of the wheels or by utilizing a user interface on the work machine to select a working tool depth. Regardless of the method used to set the working tool depth, the conventional implement typically alters working tool depth by altering the position of the wheels relative to the respective frame component. Accordingly, the conventional implement assumes the wheels or other ground engaging mechanisms are in contact with the underlying surface when determining working tool depth. 
     In the conventional implement system, the user may select a tool depth that is too deep for the implement based on the field conditions and the working tool that is engaging the field. For example, the user may set a deep working tool depth but the underlying surface may be dry and hard. In this situation, the working tools may not have sufficient weight pressing thereon to achieve the desired working tool depth. Accordingly, the conventional implement does not identify to the user when a working tool depth is implemented that is greater than the working conditions allow. 
     SUMMARY 
     One embodiment is an implement with a ground engaging mechanism, a load identifying sensor that identifies a load value acting on the ground engaging mechanism, and a controller in communication with the load identifying sensor. Wherein, when the load value is not within a load threshold, the controller initiates a response. 
     One example of this embodiment has a hydraulic system, wherein the load identifying sensor is a pressure sensor that identifies a pressure of the hydraulic system to determine the load value. 
     In another example, the ground engaging mechanism is a tire and the load identifying sensor is a tire pressure sensor that is monitored by the controller to determine the load value. 
     In yet another example, the ground engaging mechanism is a tire and the load identifying sensor is a tire deflection sensor that is monitored by the controller to determine the load value. 
     In one example of this embodiment, the load identifying sensor is strain gauge positioned to identify a load on the ground engaging mechanism, wherein the strain gauge is monitored by the controller to determine the load value. 
     In another example, the response is a signal to a user through a user interface. 
     Yet another example of this embodiment has a hydraulic system that repositions a first frame member relative to a second frame member, the hydraulic system in communication with the controller, wherein the response is a repositioning of the first frame member relative to the second frame member with the hydraulic system. 
     Another example includes a plurality of ground working mechanisms coupled to the implement, wherein the response is raising one or more of the ground working mechanism. 
     Another embodiment may be a system for monitoring engagement of an implement with an underlying surface that has a first frame segment, a second frame segment pivotally coupled to the first frame segment, a positioning system coupled to the first frame segment and the second frame segment, the positioning system configured to reposition the second frame segment relative to the first frame segment, a load sensor that identifies a load value acting on the second frame segment, and a controller in communication with the load sensor and the positioning system. Wherein, when the load value is not within a load threshold, the controller initiates a response. 
     In one example of this embodiment, the positioning system is a hydraulic system and the load value is a hydraulic pressure. 
     In another example the response initiated by the controller includes manipulating the orientation of the second segment relative to the first segment with the positioning system. One aspect of this example includes manipulating the orientation of the second segment relative to the first segment until the load value is within the load threshold. 
     Yet another example of this embodiment has a ground engaging mechanism coupled to the second frame segment, wherein the load sensor is coupled to the ground engaging mechanism. 
     Another example of this embodiment includes a plurality of ground working mechanisms, wherein the response initiated by the controller includes raising at least one ground working mechanism. 
     Yet another example has a disc assembly having an angle, wherein the response initiated by the controller includes changing the angle of the disc assembly. 
     In another example, the response initiated by the controller includes providing an indication with a user interface. 
     Yet another embodiment of the present disclosure includes a method of controlling the height of an implement over an underlying surface by providing a ground engaging mechanism, a load identifying sensor, and a controller in communication with the load identifying sensor, storing, in the controller, a load value threshold, monitoring, with the controller using the load identifying sensor, a load acting on the ground engaging mechanism, and initiating a response, with the controller, when the load acting on the ground engaging mechanism is not within the load value threshold. 
     One example of this embodiment includes controlling the implement tool depth, with the controller, and reducing the implement tool depth during the initiating the response step. 
     Yet another example includes providing a first ground working mechanism, a second ground working mechanism, and a user interface, storing a user preference, in the controller through input on the user interface, identifying a priority sequence for the first ground working mechanism and the second ground working mechanism, altering the orientation of first ground working mechanism and the second ground working mechanism in the priority sequence identified by the user preference during the initiating the response step. 
     Another example includes providing a first frame segment and a second frame segment pivotally coupled to one another with a hydraulic system, and applying increased hydraulic pressure, with the controller, to the hydraulic system to increase the torsional force applied between the first wing segment and the second wing segment as part of the initiating the response step. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above-mentioned aspects of the present disclosure and the manner of obtaining them will become more apparent and the disclosure itself will be better understood by reference to the following description of the embodiments of the disclosure, taken in conjunction with the accompanying drawings, wherein: 
         FIG. 1  is an elevated view of one embodiment of an agricultural implement; 
         FIG. 2  is a top view of another embodiment of an agricultural implement; 
         FIG. 3  is a front diagrammatical view of the implement of  FIG. 1 ; 
         FIG. 4  is a diagram of a control system of the present disclosure; 
         FIG. 5  is a flow chart illustrating one embodiment of a control logic utilizing tire sensors; 
         FIG. 6  is a flow chart illustrating another embodiment of a control logic utilizing wheel load sensors; and 
         FIG. 7  is a flow chart illustrating another embodiment of a control logic utilizing actuator sensors. 
     
    
    
     Corresponding reference numerals are used to indicate corresponding parts throughout the several views. 
     DETAILED DESCRIPTION 
     The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present disclosure. 
     Referring to  FIG. 1 , one non-exclusive example of an agricultural implement  100  is shown. The implement  100  is designed to couple to a work machine and perform a work function. For example, the implement may include work tools that penetrate into soil for many different reasons known to those familiar with the art of this disclosure. The implement  100  may be attached to a work machine or tractor (not shown) by a hitch assembly  112  such as a three-point hitch or a drawbar attachment. The hitch assembly  112  includes a hitch frame member  114  that extends longitudinally in a direction of travel for coupling to the work machine or tractor. 
     The agricultural implement  100  may include a transversely-extending frame that forms multiple frame sections. In  FIG. 1 , for example, the implement  100  includes a main or center frame  102 . The main frame  102  is coupled to the hitch assembly  112  as shown. A first frame section or first inner frame  104  is disposed to one side of the main frame  102 , and a second frame section or second inner frame  106  is disposed to an opposite side thereof. 
     While only a first and second frame section are shown coupled to the main frame, this disclosure also considers a third frame section coupled to an outside portion of the first frame section  104  and a fourth frame section coupled to an outside portion of the second frame section  106 . Each frame section may be pivotably coupled to the frame section adjacent thereto. The first frame section  104 , for example, may be pivotably coupled to the main frame  102 . Similarly, the second frame section  106  may also be pivotably coupled to the main frame  102 . 
     The implement  100  may be supported by a plurality of wheels. For example, the main frame  102  may be supported by a first pair of wheels  118  and a second pair of wheels  120 . The first frame section  104  may be supported by a third pair of wheels  130  and the second frame section  106  may be supported by a fourth pair of wheels  136 . While each section is shown being supported by a different pair of wheels, this is only shown in the illustrated embodiment to be one non-exclusive example. In other embodiments, there may be only a single wheel supporting each frame section. In a different embodiment, there may be more than a pair of wheels supporting each frame section. Moreover, the implement  100  may include one or more front wheels in addition to those described above. Further still, there may be back wheels disposed near the rear of the implement for additional support. 
     In the illustrated embodiment of  FIG. 1 , the agricultural implement  100  may include a plurality of actuators for controlling movement of the frame. Each actuator may be a hydraulic actuator, electric actuator, a pneumatic actuator, an electric motor, or any other known actuator or device. Moreover, each actuator may include an outer body or cylinder in which a rod or shaft and piston moves between an extended position and a retracted position. Further, one or more sensors may be positioned throughout the implement to identify the position of one or more of the actuators. 
     In  FIG. 1 , the main frame  102  includes a first actuator  122  and a second actuator  124 . The first pair of wheels  118  may be coupled to the main frame  102  via a rock shaft that may be hydraulically actuated by the first actuator  122 . The second pair of wheels  120  may be coupled to the main frame  102  via another rock shaft that may be hydraulically actuated by the second actuator  124 . The actuators can raise or lower the main frame  102  relative to the wheels  118 ,  120 . Further, one or more sensors may be coupled to the actuators, frame, or wheels to determine the height of the main frame  102  relative to the wheels  118 ,  120  or the pressure in the respective actuator  122 ,  124 . 
     In  FIG. 1 , the main frame  102  includes a plurality of main frame members  126 . A plurality of ground working tools  152 ,  154 ,  156 ,  158  may be at least partially coupled to the main frame members  126  for engaging an underlying surface or soil upon which the implement  100  travels. Similarly, the first frame section  104  includes a plurality of first frame members  128  and the second frame section  106  includes a plurality of second frame members  134 . Each of these frame members may be at least partially coupled to one or more of the plurality of ground working tools  152 ,  154 ,  156 ,  158 . 
     Also shown in  FIG. 1  is a first side actuator  160  and a second side actuator  162 . The first side actuator  160  may be pivotally coupled between the main frame section  102  and the first frame section  104 . Similarly, the second side actuator  162  may be pivotally coupled between the main frame section  102  and the second frame section  106 . More specifically, the main frame section  102  may have a support tower  164  providing an elevated coupling location for the first and second actuators  160 ,  162  relative to the coupling location on the corresponding first and second frame sections  104 ,  106 . 
     In the above-described configuration, the first side actuator  160  may be selectively repositioned to provide varying levels of force on the corresponding first frame section  104  relative to the main frame section  102 . More specifically, the first frame section  104  may be pivotable relative to the main frame section  102  about a first frame axis  192 . Accordingly, repositioning or varying the linear displacement of the first side actuator  160  provides a torsional force on the first frame section  104  about the first frame axis  192 . 
     Similarly, the second side actuator  162  may be selectively resized to provide varying levels of force on the corresponding second frame section  106 . More specifically, the second frame section  106  may pivot relative to the main frame section  102  about a second frame axis  166 . Accordingly, repositioning or varying the linear displacement of the second side actuator  162  provides a torsional force on the second frame section  106  about the second frame axis  166 . In one embodiment, each actuator  160 ,  162  may also have a corresponding sensor identifying the linear displacement of each actuator  160 ,  162 . Further still, in another embodiment each actuator  160 ,  162  may have a pressure sensor coupled thereto to identify the load on the respective actuator  160 ,  162 . 
     While the first and second side actuators  160 ,  162  are shown and described towards the front direction  168  of the implement  100 , this disclosure contemplates other locations for the actuators  160 ,  162 . Further still, other embodiments may utilize more actuators than just the first and second side actuators  160 ,  162  to provide the torsional forces on the corresponding frame sections  104 ,  106 . In one embodiment, additional actuators are located at a rear portion of the implement and spaced from the actuators  160 ,  162  in a direction opposite the front direction  168 . In this embodiment, two actuators may apply a torsional force to the corresponding frame sections  104 ,  106  instead of just one. Further still, any number of actuators can be used per side to meet the needs of the particular implement application. Accordingly, this disclosure is not limited to any particular number of side actuators. 
     In yet another embodiment, additional frame sections may be pivotally coupled to the frame sections  104 ,  106  utilizing actuators similar to the first and second side actuators  160 ,  162  to adjust the corresponding relationship of the frame members. More specifically at least one side actuator may be positioned between each additional frame section similarly as described above for the first and second frame sections  104 ,  106 . 
     In the embodiment shown in  FIG. 1 , rear ground working tools or attachments  170 ,  172 ,  174  are shown coupled to the corresponding frame sections  102 ,  104 ,  106 . More specifically, a main rear attachment  170  is coupled to a rear portion of the main frame section  102 , a first section rear attachment  172  is coupled to a rear portion of the first frame section  104 , and a second section rear attachment  174  is coupled to a rear portion of the second frame section  106 . The rear attachments  170 ,  172 ,  174  may be selectively coupled to the corresponding frame sections  102 ,  104 ,  106  or be configured to selectively engage the underlying surface. In one aspect of this embodiment, the rear attachments  170 ,  172 ,  174  may have an actuator and a position sensor or the like coupled thereto. In this configuration, the rear attachments  170 ,  172 ,  174  may be selectively raised off the underlying surface or pressed into the underlying surface. Further, the orientation and existence of the rear attachments  170 ,  172 ,  174 , may alter the forces experienced by the corresponding frame section  102 ,  104 ,  106 . 
     While the rear attachments  170 ,  172 ,  174  shown in  FIG. 1  are flat-bar roller type rear attachments, this disclosure is not limited to such a configuration. Any rear attachment is considered herein, including, but not limited to harrow-type rear attachments as well. 
     In yet another aspect of the embodiment illustrated in  FIG. 1 , a fore-aft actuator  176  may be coupled to the main frame section  102 . More specifically, the fore-aft actuator  176  may be coupled to a portion of the support tower  164  on a first end and to the main frame section  102  at a second end. The main frame section  102  and the corresponding first and second frame sections  104 ,  106  may be pivotally coupled to the hitch assembly  112  or other portion of the implement  100 . More specifically, the frame sections  102 ,  104 ,  106  may pivot about a transverse axis  178  in a fore direction  180  or an aft direction  182 . In this non-limiting example, the fore-aft actuator  176  may be selectively repositionable to alter the orientation of the frame sections  102 ,  104 ,  106  in the fore direction  180  or the aft direction  182  about the transverse axis  178 . Further, the fore-aft actuator  176  may have a position sensor, pressure sensor, or the like coupled thereto that indicates the fore-aft position or load of the frame sections  102 ,  104 ,  106 . 
     In yet another aspect of the embodiment shown in  FIG. 1 , a tool axis  184 ,  186 ,  188 ,  190  may be defined through each of the respective work tools  152 ,  154 ,  156 ,  158 . Each tool axis  184 ,  186 ,  188 ,  190  may be adjustable relative to the transverse axis  178  to provide a different tool angle. By varying the tool angle of the work tools  152 ,  154 ,  156 ,  158 , the implement can better accommodate different ground conditions. Accordingly, actuators and sensors or the like may also be coupled to the work tools  152 ,  154 ,  156 ,  158  to provide varying work tool angles. 
     While  FIG. 1  represents an illustrated embodiment of an agricultural implement with three frame sections, this disclosure is not limited to this embodiment. Other embodiments may include only one section. Alternatively, there may be more than three frame sections in further embodiments. Thus, this disclosure is not limited to any number of frame sections, and the teachings herein may be applicable to any implement regardless of the number of frame sections it contains. 
     Referring now to  FIG. 2 , another embodiment of an implement  200  is shown. The implement  200  may have many similar features of the implement  100  described above for  FIG. 1 . More specifically, the implement  200  may have a hitch assembly  112  and a hitch frame  114 . The implement may have at least a main frame section  202  and a first and second frame section  204 ,  206  coupled thereto on either side. Further, a first and second pair of wheels  218 ,  220  may be pivotally coupled to the implement  200  via a first and second actuator  222 ,  224 . Similarly, front wheels  278  may also be coupled to implement  200 . Further, the implement  200  may also have a first and second side actuator  160 ,  162  configured to pivot the respective frame section  204 ,  206  about the corresponding frame axis  192 ,  166  as described above for  FIG. 1 . Further still, the implement  200  may also have a fore-aft actuator  176  configured to rotate the main frame about the transverse axis  178  as described above. 
       FIG. 2  also shows a plurality of front work tools  203  pivotally coupled to the corresponding frame sections  202 ,  204 ,  206 . In the embodiment shown in  FIG. 2 , the plurality of front work tools  203  may be pivotally coupled to the corresponding frame sections  202 ,  204 ,  206  through one or more front work tool actuators  208 . Similar to  FIG. 1 , the implement  200  of  FIG. 2  may also define tool axis  210 ,  212  that may be selectively offset from the transverse axis  178  at a tool angle  214 ,  216 . In one embodiment, the front tool actuator  208  may be repositionable to alter the tool angle  214 ,  216  of the plurality of front work tools  203 . In yet another aspect of this example, one or more sensors may be coupled to the implement to determine the orientation of the plurality of front work tools  203 . 
     The implement  200  may also have a plurality of rear work tools  226  that are different from the plurality of front work tools  203 . In this embodiment, the fore-aft actuator  176  may control the tool depth of the plurality of front work tools  203  relative to the plurality of rear work tools  226 . More specifically, while the first and second actuators  222 ,  224  may selectively reposition the corresponding first and second pairs of wheels  218 ,  220  relative to the frame, the fore-aft actuator  176  may control the fore-aft rotation  180 ,  182  of the implement  200  relative to the transverse axis  178 . In other words, the first and second actuators  222 ,  224  may be repositionable along with the fore-aft actuator  176  to establish a desired tool depth for both the plurality of front work tools  203  and the plurality of rear work tools  226 . 
     In one non-exclusive example, if the tool depth of the plurality of front work tools  203  is desired to be lower than the tool depth of the plurality of rear work tools  226 , then the fore-aft actuator  176  may reposition to rotate the implement in the fore direction  180 . Repositioning the implement in the fore direction may increase the tool depth of the plurality of front work tools  203  relative to the plurality of rear work tools  226 . Alternatively, if the tool depth of the plurality of front work tools  203  is desired to be higher than the tool depth of the plurality of rear work tools  226 , then the fore-aft actuator  176  may reposition to rotate the implement in the aft direction  182 . Biasing the implement in the aft direction  182  decreases the tool depth of the plurality of front work tools  203  relative to the plurality of rear work tools  226 . 
     The implement  200  may also have a rear attachment  270  removably coupled to each of the frame sections  202 ,  204 ,  206 . The rear attachment  270  may be a harrow-type attachment that is removably coupled to the rear end of the corresponding frame sections  202 ,  204 ,  206 . In one embodiment, the rear attachment  270  may also have an actuator and a position sensor that alters the amount of down pressure exerted by the rear attachment  270  on the underlying surface. Further still, the actuator of the rear attachments  270  may raise the attachment off the underlying surface as well. 
     Altering the position of any one of the components described above may also affect the positioning of the other components of the implement  100  or  200 . More specifically, as described above for the implement  200  of  FIG. 2 , repositioning the fore-aft actuator  176  rotates the implement  200  in the fore or aft direction  180 ,  182 , thereby changing the tool depth of the various tools coupled thereto. In yet another example, the existence and orientation of a rear attachment  170 ,  172 ,  174 ,  270  also affects the down force experienced by the rear portion of the implement, thereby affecting tool depth among other things. Further still, the depth and angular orientation of the work tools  152 ,  154 ,  156 ,  158 ,  203  can also affect the remaining components of the implement  100 ,  200  requiring the first and second side actuators  160 ,  162  to reposition the corresponding frame sections to ensure even distribution of force throughout the implement  100 ,  200  as it travels along the underlying surface. 
     Referring now to  FIG. 3 , one non-exclusive example of this disclosure is illustrated. In  FIG. 3 , a plurality of sensors are shown positioned throughout the implement  300 . The implement  300  may be substantially similar to the implement  100  or  200  shown and described above. More specifically, the implement  300  may have a center frame section  102  pivotally coupled to a first and second frame section  104 ,  106  as described above. Further, a first and second side actuator  160 ,  162  may be coupled to a hydraulic, pneumatic, electrical or the like system to selectively rotate the corresponding first and second frame sections  104 ,  106  relative to the central frame section  102 . Further, the implement  300  may also have a first, second, third, and fourth pair of wheels  118 ,  120 ,  130 ,  136  similar to those described above for the implement  100 . 
     The implement  300  may have a plurality of sensors positioned at different location throughout the implement. The sensors may be positioned to identify a forces acting on the corresponding components. More specifically, a tire sensor  302  may be positioned in each of the tires for each pair of wheels  118 ,  120 ,  130 ,  136 . The tire sensor  302  may identify the tire pressure or deflection within the corresponding tire. In one non-exclusive example, the tire sensor  302  may be a sensor embedded in the tire that identifies the tire pressure, deflection, or other property of the tire to a controller  402  (see  FIG. 4 ). Alternatively, the tire sensor  302  could be coupled to a rim of the corresponding wheel. Further still, the tire sensor  302  could be mounted outside of the cavity created between the tire and the corresponding wheel. Accordingly, this disclosure considers any type of tire sensor  302  known in the art and capable of determining a tire pressure or deflection. 
     In one example of this embodiment, the tire sensor  302  may communicate tire sensor values to the controller  402 . The tire sensor  302  may communicate a signal to the controller  402  that is representative of the tire pressure or the deflection of the tire. In this non-exclusive example, the tire sensor  302  may be utilized by the controller  402  to identify a load acting on the tire. More specifically, the controller  402  may utilize the tire sensor  302  to identify when the tire is contacting the ground. For example, the controller  402  may establish a loaded tire pressure of the corresponding tire. When the controller  402  identifies the loaded tire pressure with the tire sensor  302 , the controller  402  may determine that the corresponding tire is contacting an underlying surface  304 . Alternatively, when the controller  402  identifies a tire pressure less than the loaded tire pressure threshold, the controller  402  may determine that the corresponding tire is not contacting the underlying surface  304 . 
     Similarly, the tire sensor  302  may be a deflection sensor that identifies to the controller  402  when the corresponding tire is being deflected by the underlying surface  304 . The controller  402  may utilize the deflection reading from the tire sensor  302  to determine when the corresponding tire is substantially contacting the underlying surface. In one example of this embodiment, when the controller  402  does not identify substantial deflection in the tire with the corresponding tire sensor  302 , the controller  402  determines that tire is raised from the underlying surface  304 . 
     The implement  300  may also have a wheel load sensor  306  positioned between the pair of wheels  118 ,  120 ,  130 ,  136  and the corresponding frame section  102 ,  104 ,  106 . The wheel load sensor  306  may be a strain gauge or the like sensor that communicates a signal to the controller  402  that indicates a load applied by the pair of wheels  118 ,  120 ,  130 ,  136  to the corresponding frame section  102 ,  104 ,  106 . In one non-limiting example, the wheel load sensor  306  may positioned on a structural component that couples the wheels to the corresponding frame. 
     In another example, the wheel load sensor  306  may be coupled to an actuator that is positioned to adjust the location of the corresponding pair of wheels  118 ,  120 ,  130 ,  136 . In this configuration the wheel load sensor  306  may be a pressure sensor that communicates a pressure to the controller  402 . The controller  402  can identify when a load is being applied to the corresponding pair of wheels  118 ,  120 ,  130 ,  136  based on the pressure identified by the wheel load sensor  306 . In one non-exclusive example of this embodiment, the controller  402  may have a loaded wheel pressure threshold stored therein. When the wheel load sensor  306  identifies a pressure value from the actuator that is not within the loaded wheel pressure threshold, the controller  402  determines that the corresponding pair of wheels  118 ,  120 ,  130 ,  136  are not substantially contacting the underlying surface. 
     In yet another embodiment the controller  402  may monitor the first and second side actuators  160 ,  162 . One example of this embodiment, each actuator  160 ,  162  may have a shaft side sensor  308  or a base side sensor  310  fluidly coupled to corresponding chambers of the actuators  160 ,  162 . The shaft side sensors  308  may identify a retraction pressure of the corresponding actuators  160 ,  162  and the base side sensors  310  may identify an extension pressure of the corresponding actuators  160 ,  162 . The sensors  308 ,  310  may be positioned at opposing chambers of the cylinders in actuators  160 ,  162  and separated by a piston as is known in the art. 
     In the configuration having shaft side sensors  308  or base side sensors  310  on the actuators  160 ,  162 , the pressures identified in the sensors  308 ,  310  may be interpreted by the controller  402  to identify the load on the corresponding frame section  104 ,  106 . More specifically, an actuator pressure threshold may be stored in the controller  402 . The actuator pressure threshold may be a pressure value stored in the corresponding chamber of the actuator  160 ,  162  that is expected when the implement is properly engaging the underlying surface  304  with the work tools  152 ,  154 ,  156 ,  158 . The pressure values identified by the sensors  308 ,  310  may be compared to the actuator pressure threshold to determine whether the implement is properly engaging the underlying surface  304 . 
     In another embodiment of the present invention, the actuators  160 ,  162  may have a displacement sensor or the like coupled thereto to identify the length of the corresponding actuators  160 ,  162 . The displacement sensor may identify the displacement of the shaft relative to the cylinder of each actuator  160 ,  162 . In turn, the controller  402  may store therein the mounting locations of the actuators  160 ,  162  and be able to determine the orientation of the first and second frame sections  104 ,  106  relative to the central frame section  102  based on the value of the displacement of the actuators  160 ,  162  and the known geometry of the implement. Accordingly, in this embodiment the controller  402  may have displacement thresholds stored therein that correlate with situations when the implement  100  is properly engaging the underlying surface  304  with the wheels  118 ,  120 ,  130 ,  136  and the work tools  152 ,  154 ,  156 ,  158 . In this configuration, the controller can and compare the displacement values identified by the displacement sensor with the displacement threshold to determine whether the frame sections  104 ,  106  are properly oriented with the central fame section  102 . 
     In yet another embodiment of the present disclosure, the shafts of the actuators may have strain gauges  312  or other similar sensors positioned thereon. The strain gauges  312  may communicate with the controller  402  to identify the load being transferred between the actuator  160 ,  162  and the corresponding frame section  104 ,  106 . In one example of this embodiment, the controller  402  may store an actuator strain threshold therein that indicates the frame sections  104 ,  106  are properly engaging the underlying surface  304 . In this embodiment, the controller  402  may monitor the strain gauges  312  and identify when the strain gauges  312  indicate values that are not within the actuator strain threshold. 
     Referring now to  FIG. 4 , one non-limiting example of the components of a control system  400  are illustrated. The control system  400  may have the controller  402  in communication with a plurality of sensors  404 , a user interface  406 , and a position control system  408  among other things. The controller  402  may have a memory unit and processor. The term controller is used herein to refer to one or more controller and is not limited to embodiments where only one controller is executing the functions described herein. More specifically, in one embodiment the controller  402  is a plurality of controllers stored in different locations. Further still, the memory unit of the controller  402  may be located as a component of the controller  402  or the controller  402  may access the memory unit from a remote location. Accordingly, this disclosure contemplates any controller, memory unit, and processing configuration known in the art, and the specific examples described herein are used for exemplary purposes. 
     The plurality of sensors  404  may include one or more of the tire sensor  302 , the wheel load sensor  306 , the shaft side sensor  308 , the base side sensor  310 , the strain gauge  312 , or any other sensor  410  configured to identify the load condition of the implement  100 . While many different sensors are illustrated in the plurality of sensors  404 , this disclosure considers embodiments wherein any combination of the plurality of sensors  404  are in communication with the controller  402 , including embodiments where the plurality of sensors  404  is only one of the sensors disclosed herein. 
     The plurality of sensors  404  may communicate with the controller using any communication protocol known in the art. More specifically, the plurality of sensors  404  may be in electrical communication with the controller through a wire harness or the like. In this configuration, the plurality of sensors  404  may transmit an electrical signal to the controller  402  through the wire harness. The electrical signal may be interpreted by the controller to indicate a corresponding value of the sensor as is known in the art. Alternatively, the plurality of sensors  404  may communicate with the controller  402  using any wireless protocol known in the art. In this configuration, the plurality of sensors  404  may not be electrically coupled to the controller  402  at all, but rather transmit the sensor reading to the controller  402  wirelessly. 
     The wireless configuration of the plurality of sensors  404  and the controller  402  contemplates embodiments where the controller  402  is located remotely from the plurality of sensors  404 . More specifically, in one embodiment the plurality of sensors  404  may be located on the implement  100  while the controller  402  is located on a tractor. In other embodiments, the controller  402  may be located in an entirely separate location from the plurality of sensors  404 . Accordingly, this disclosure contemplates many different communication protocols between the controller  402  and the plurality of sensors  404  and the specific embodiments used herein are meant only to be exemplary and not exclusive. 
     The plurality of sensors  404  may be any type of sensor capable of performing the functions described herein. For example, referring to the tire sensor  302 , a person skilled in the relevant art understands the many different types of tire sensors that can be utilized to identify the pressure or deflection of a tire. Further, the wheel load sensor  306  and strain gauge  312  may be any sensor known in the art for identifying a load on a member. Similarly, the shaft side sensor  308  and the base side sensor  310  may be any sensor known in the art able to identify a fluid pressure. Accordingly, this disclosure considers any sensor known in the art that is capable of identifying the described information. 
     The user interface  406  may be any user interface known in the art. For example, in one non-exclusive embodiment the user interface is an indicator light or speaker that can provide visual or audible communication to the user. In another embodiment, the user interface  406  is a control monitor or the like that is capable of providing textual and graphical signals to the user. The user interface may also contain user inputs such as buttons or a touchscreen that allow the user to input signals to the controller  402 . A person skilled in the art understands the many different types of user interfaces that could be used to implement the teachings of this disclosure and this disclosure considers other embodiments of a user interface not expressly discussed herein. 
     The position control system  408  may be a hydraulic, pneumatic, electric, or like system that can reposition the components of the implement. More specifically, in one embodiment, the position control system  408  contains linear actuators for the first and second side actuators  160 ,  162 . In this configuration, the position control system  408  alter the positioning of the linear actuators to reposition the corresponding first and second frame sections  104 ,  106  relative to the central frame section  102 . The position control system  408  may also control wheel actuators  122 ,  124 ,  132 ,  138  to reposition the corresponding wheels  118 ,  120 ,  130 ,  136  relative to the corresponding implement frame. Further still, the position control system  408  may also reposition the tool actuators  208 . In yet another example, the position control system  408  may control the fore-aft actuator  176 . 
     The position control system  408  may be an electric, electro-hydraulic, electro-pneumatic, or the like system wherein the controller  402  directs the movement of the actuators. Accordingly, the controller  402  may send commands to the position control system  408  to reposition the corresponding components of the implement responsive to a user input or the values identified by one or more of the plurality of sensors  404 . 
     Referring now to  FIG. 5 , one non-exclusive example of an implement control logic  500  is illustrated. The control logic  500  may be executed by the controller  402 . However, the control logic  500  may also be implemented in part by multiple controllers as described above, and this disclosure considers any number of controllers for implementing the control logic  500 . 
     In one aspect of this disclosure, the control logic  500  may be configured to identify when a desired tool depth  314  is not being properly applied across the implement. More specifically, the controller  402  may monitor the tire sensors  302  to identify when the corresponding tires are not experiencing an expected load. As one non-limiting example, when the implement is properly engaging the underlying surface each of the tires will be experiencing at least a slight load. However, under certain circumstances the desired tool depth  314  may be too great for the conditions of the underlying surface  304  and thereby cause the implement to travel on the ground working tools (e.g. any one or more of tools  152 ,  154 ,  156 ,  158 ,  170 ,  172 ,  174 ,  203 ,  226 ,  270 , collectively working tools  316 ) and substantially reduce the load experienced on the adjacent tire or tires. 
     In one non-exclusive example, the underlying surface  304  may be very dry and hard and thereby substantially restrict the ground working tools from becoming positioned in a desired depth  314 . In this situation, the underlying surface is too hard and the ground working tools may not be able to penetrate the underlying surface to become positioned at the desired tool depth  314 . In this scenario, the resistance between the ground working tools and the underlying surface  304  may affect the load experienced by the corresponding wheel or wheels. 
     In one non-exclusive example, the interaction between the ground working tools and the underlying surface  304  may elevate the corresponding wheel or wheels off the underlying surface  304 . Accordingly, one aspect of this disclosure considers monitoring one or more tire sensor  302  to identify when the ground working tools are not properly positioned in the desired tool depth  314 . 
     The implement control logic  500  may identify when a maximum tool depth is achieve by monitoring the tire sensors  302 . More specifically, the controller  402  may first identify a desired tool depth in box  502 . The desired tool depth may be identified from the user interface  406  or any other known method of selecting a tool depth. In one embodiment, the tool depth is input on a touchscreen device wherein the user selects or otherwise inputs the desired tool depth of the ground working tools. The desired tool depth may be identified as a distance measurement relative to the top plane of the underlying surface  304 . In one non-exclusive example, the desired tool depth may be in inches, centimeters, or any other known measurement unit. 
     While the desired tool depth  314  is discussed herein as being identified from the user interface  406 , other embodiments may not utilize the user interface  406  to set the desired tool depth  314  at all. More specifically, one embodiment of the present disclosure may involve the user manually adjusting the desired tool depth  314  of the implement. Accordingly, this disclosure considers both embodiments where the desired tool depth  314  is applied by the controller  402  with the position control system  408  and embodiments where the user applies the desired tool depth  314  manually. 
     In the embodiments utilizing the position control system  408  to implement the desired tool depth  314 , the controller  402  may manipulate the position control system  408  to become oriented in the desired tool depth in box  504 . More specifically, in this step the controller  402  may manipulate the wheel actuators  122 ,  124 ,  132 ,  138  to reposition the corresponding wheels  118 ,  120 ,  130 ,  136  relative to the corresponding implement frame  102 ,  104 ,  106 . In turn, the effective penetration of the working tools on the underlying surface may be altered accordingly. The controller  402  may reposition the wheel actuators  122 ,  124 ,  132 ,  138  to a position that allows the working tools  316  to become oriented at the desired tool depth  314  under ideal conditions. 
     After the implement is oriented in the desired tool depth  314 , the controller  402  may monitor the tire sensors  302  to determine the deflection or pressure in each of the tires on the implement in box  506 . While one embodiment may utilize a tire sensor  302  in each of the tires of the wheels  118 ,  120 ,  130 ,  136 , another embodiment may utilize tire sensors  302  in select tires of wheel  118 ,  120 ,  130 ,  136 . In either case, the tire sensors  302  may be positioned to determine the load being applied to the tires across the width of the implement. In on non-exclusive example, at least one tire sensor  302  is coupled to a tire on each of the central frame section  102 , the first frame section  104 , and the second frame section  106 . 
     In box  508 , the controller  402  may compare the values identified by the tire sensors  302  in box  506  to a tire sensor threshold. The tire sensor threshold may be a tire pressure value that is expected when the tire is experiencing a minimum load applied from the frame of the implement. In other words, the tire sensor threshold may be a tire pressure value that is expected when the corresponding tire is in contact with the underlying surface. 
     Alternatively, or in addition to the pressure value reading, box  508  may compare a tire deflection identified in box  506  with a deflection threshold value. The deflection threshold value may be representative of the expected tire deflection when the tire is contacting the underlying surface  304 . In this embodiment, when the load being applied to the tire is substantially reduced, indicating the tire is not substantially contacting the underlying surface  304 , the tire deflection identified by the tire sensor  302  may not be within the deflection threshold value. 
     The controller  402  may compare each tire sensor  302  to the corresponding threshold values in box  510 . More specifically, the tire pressure or deflection may be compared to a corresponding threshold value for each of the tire sensors  302 . In box  510 , the controller  402  may determine whether the tire sensors  302  are indicating values within the thresholds. If the tire sensors  302  are indicating values within the corresponding thresholds, the controller  402  determines that the corresponding tires are in proper contact with the underlying surface  304  and the desired tool depth  314  is therefore being achieved. Accordingly, if the tire sensor  302  values are within the corresponding threshold values the controller  402  may return to box  502  and continue executing boxes  502 - 510  based on any desired frequency to continually monitor the tire sensors  302  as a work operation is performed. 
     However, if the controller  402  identifies one or more tire sensor  302  value that is not within the corresponding threshold, the controller  402  may send a signal to the user interface  406  or the like in box  512  to indicate to the user the desired tool depth  314  is not properly implemented. More specifically, when one of the tire sensors  302  indicates a value that is not within the corresponding threshold value, the controller  402  determines that the tire is not properly contacting the underlying surface  304 . This may occur when the working tools  316  are not properly penetrating the underlying surface  304  and thereby moving the corresponding tire away from the underlying surface  304 . 
     In one embodiment of this disclosure, a closed loop system  520  may be implemented herein. In the closed loop system  520 , the controller  402  may monitor the tire sensor  302  values and compare them to the corresponding thresholds as described above. When a tire sensor  302  indicates a value outside of the corresponding threshold value, the controller  402  may only execute box  512  and provide an indication to the user that the desired tool depth is not being properly implemented. In the closed loop  520  embodiment, the user may then adjust the desired tool depth or other components of the implement until the controller  402  identifies all of the tire sensor  302  values are within the desired thresholds. 
     A person skilled in the art understands the many ways an implement may be adjusted to increase the downforce applied in any given section, and the closed loop  520  system considers any form of adjustment that may be implemented by a user to address the section of the implement that is not properly contacting the underlying surface. More specifically, in one non-exclusive example the user may add weights to the corresponding section instead of adjusting the desired tool depth. Further, the user may manipulate the position control system  408  to adjust the implement to address the area identified by the controller in box  512 . In another non-exclusive example, the user may adjust the positioning of the first or second actuator  160 ,  162  to address the section of the implement that is not within the threshold value. In yet another embodiment, the user may disengage several of the ground working tools  316  so the remaining tools may become properly positioned within the underlying surface  304  at the desired tool depth. Accordingly, this disclosure considers any known implement adjustment technique that provides increased down force on some or all of the ground working tools  316 . 
     Another embodiment of the present disclosure includes an open loop option  522 . The open loop option  522  may be implemented after the signal is sent to the user interface  406  in box  512  or it may not send a signal to the user interface  406  at all and box  514  may be implemented immediately after box  510 . The open loop option  522  may be automatically implemented by the controller  402  to evenly distribute the loads across the implement. More specifically, when the controller  402  identifies a tire sensor  302  value that is not within the threshold in box  510 , the controller  402  may automatically adjust the position control system  408  to redistribute the weight of the implement over the tire proximate to the tire sensor  302  indicating an out of threshold tire sensor value. 
     In one aspect of the open loop option  522 , the controller  402  may determine whether the position control system  408  is further adjustable to provide additional downforce on the implement to the area proximate to the tire sensor  302  in box  514 . If the position control system  408  is not further adjustable, the controller  402  may send a desired tool depth error signal to the user interface  406  in box  516 . The controller  402  may implement box  516  when the position control system  408  cannot be further adjusted by the controller  402  to address the area that the tire sensor  302  indicates is not within the threshold value. 
     In one non-exclusive example, a tire on the third pair of wheels  130  of the first frame section  104  may have a tire sensor  302  value that is not within the threshold value. The controller  402  may have already extended the first side actuator  160  to a maximum extension or applied a maximum fluid pressure wherein the controller  402  cannot provide any additional downforce to the tire on the third pair of wheels  130 . In this scenario, the controller  402  identifies in box  514  that the position control system  408  cannot be further adjusted to address the discrepancy identified by the tire sensor  302  and the controller  402  sends an error to the user in box  516 . 
     In another example, the controller  402  may identify that providing additional downforce to one of the first or second frame sections  104 ,  106  with the corresponding actuator  160 ,  162  will cause the tires of the central frame section  102  to become displaced from the underlying surface  304 . In this situation, the position control system  408  may have capacity to apply further downforce at the tire sensor  302  that is out of threshold but the controller  402  will identify that doing so will cause one or more of the tire sensors  302  of the central frame section  102  to move out of the threshold range. Accordingly, in this scenario the controller  402  will determine that the position control system  408  has no further adjustment capacity and the controller  402  will implement box  516 . 
     As described above, the position control system  408  may utilize any of the actuators of the implement described herein, including, but not limited to, the first and second side actuators  160 ,  162 , the fore-aft actuator  176 , the tool actuators  208 , the first and second actuators  222 ,  224 , or any other moveable component of the implement. In one nonexclusive example, a weight may be coupled to the implement and moveable via actuators or the like with the controller  402 . The weight may be selectively repositionable on the implement to provide additional downforce to selected areas of the implement. Accordingly, this disclosure considers many different embodiments of a position control system  408 . 
     If the controller  402  identifies that the position control system  408  has more capacity to provide additional downforce at the location of the tire sensor  302  that is not within the threshold, the controller  402  may implement box  518 . In box  518 , the controller  402  adjusts the position control system  408  to provide additional downforce to the location that is indicating a tire sensor  302  value outside of the threshold. In one non-exclusive example, a tire on the third pair of wheels  130  of the first frame section  104  may have a tire sensor  302  value that is not within the threshold value. In box  518 , the controller  402  may extend the first side actuator  160  to provide additional downforce to the third pair of wheels  130  and monitor the tire sensor  302  values. The controller  402  may continue to adjust the first side actuator  160  until the tire sensor  302  value of the third pair of wheels  130  is within the threshold range. Alternatively, the controller  402  may reach a position where the position control system  408  is not further adjustable as described above and the controller  402  implements box  516 . 
     As described above, box  518  can implement any known method of increasing the downforce of a given area. Including manipulating hydraulic, pneumatic, electric actuators, moving weighted members positioned on the implement, and modifying which ground working implements contact the underlying surface to name a few non-exclusive examples. 
     While manipulating the first side actuator  160  is described in detail above, this disclosure contemplates manipulating any of the actuators  160 ,  162 ,  176 ,  208  described herein that are capable of providing additional downforce to a given section of the implement. The controller  402  may have responses stored therein where each region of the implement that may be out of threshold has an assigned response that the controller  402  may implement with the position control system  408  to increase the downforce of the out of threshold region. 
     More specifically, if the second frame section  106  has a tire sensor  302  out of threshold, the controller  402  may apply more pressure to the base end of the second actuator  162  or otherwise extend the second actuator  162  to apply greater downforce to the second frame section  106 . Similarly, if an aft region of the implement indicates a tire sensor value that is out of threshold, the controller  402  may apply more pressure to the base end of the fore-aft actuator  176  or otherwise extend the actuator  176  to apply greater downforce to the aft portion of the implement. 
     In one non-exclusive example, the controller  402  may move a weight along the implement to be positioned proximate to the tire sensor  302  that is not within the threshold value. In this embodiment, a weighted sled or the like may be slidably positioned on a top portion of the implement and moveable therealong with actuators or the like. The controller  402  may address the out of threshold sensor by positioning the weighted sled over the out of threshold sensor to increase the downforce applied thereto. 
     In yet another embodiment of the present disclosure, the controller  402  may disengage select working tools  316  from the underlying surface  304  to allow a greater downforce to the implement. As one non-exclusive example of this embodiment, the rear attachments  170 ,  172 ,  174  may be raised off the underlying surface responsive to a sensor being out of threshold. The controller  402  may send a command to an actuator or the like positioned along the rear attachments  170 ,  172 ,  174  to raise the corresponding attachment when a sensor is out of threshold. In another non-exclusive example, the controller  402  may adjust the tool angle  214 ,  216  with the front tool actuator  208  to an angle that provides less resistance from the underlying surface responsive to a sensor indicating values out of threshold. 
     In one aspect of this disclosure, the user may identify a priority in which the controller  402  responds to a sensor value out of the threshold value. In this example, the user may utilize inputs of the user interface  406  to establish in what order the controller  402  should adjust the position control system  408 . In one non-exclusive example, the user may establish that the controller  402  should first utilize the actuators  160 ,  162  to address the section of the implement that is out of the threshold. If adjusting the actuators  160 ,  162  doesn&#39;t work, the controller  402  may adjust the tool angle  214 ,  216 . If the corresponding sensor still indicates a value out of threshold, the controller  402  may raise the rear attachments  170 ,  172 ,  174 . 
     The user may establish any priority sequence that implements any of the methods described herein for increasing the down force of a given area, and the above example is meant only to be one example of such an embodiment. Accordingly, this disclosure considers any priority sequence of the methods described herein for increasing the downforce. 
     In one aspect of this disclosure, the controller  402  may automatically set a shallower desired working tool depth in box  516 . More specifically, in box  516  the controller has identified that the implement is not properly engaging the underlying surface  304  and the position control system  408  does not have any more capacity to increase the downforce on the affected areas of the implement. In this situation, the controller  402  may automatically reduce the desired tool depth to a tool depth that allows each of the tire sensors  302  to indicate values within the threshold stored in the controller  402 . In other words, the controller  402  identifies that the user has requested a desired tool depth that is not possible with the current implement configuration and the condition of the underlying surface  304  and the controller  402  reduces the desired tool depth  314  to a value that can be properly implemented. 
     In one non-exclusive example, the controller  402  may automatically adjust the desired tool depth  314  in box  516  as described above. In this situation, the controller  402  may send a signal to the user interface  406  identifying that the desired tool depth has changed. Alternatively, the controller  402  may send a signal to the user interface  406  indicating that the desired tool depth  314  should be reduced in order to allow the implement to properly engage the underlying surface  304 . The user may then choose to adjust the desired tool depth  314  or continue with the desired tool depth that is not properly engaging the underlying surface across the implement. 
     Referring now to  FIG. 6 , another embodiment of implement control logic  600  is illustrated. The implement control logic  600  of  FIG. 6  may be substantially similar to that of the embodiment described with reference to  FIG. 5  with the exception of boxes  602 ,  604 , and  606 . More specifically, the implement control logic  600  may function similarly to that described above but utilize the wheel load sensors  306  to compare a wheel load sensor  306  value to a wheel load threshold in boxes  602 ,  604 ,  606  instead of utilizing the tire sensors  302  described above. Accordingly, the above description for the implement control logic  500  is hereby incorporated herein with the wheel load sensors  306  replacing the portions referring to the tire sensors  302  and the corresponding threshold values. 
     In the implement control logic  600 , the wheel load sensors  306  may be monitored by the controller  402  in box  602  to identify the load applied on the corresponding pair of wheels  118 ,  120 ,  130 ,  136 . As described above, the wheel load sensors  306  may be positioned along a structural component that couples the wheels to the frame such as an axle or the rock shaft. Accordingly, the load applied to the frame from the wheels is identified by the wheel load sensors  306 . The wheel load sensors  306  may be strain gauges or the like and are monitored by the controller  402  in a similar way as the tire sensors  302  described above. 
     The controller  402  may compare the wheel load sensor  306  value to a wheel load threshold in box  604 . The wheel load threshold may be a pre-set value stored in the controller  402  that corresponds with the expected load on the wheels when the wheels are properly engaging the underlying surface  304 . In one non-exclusive example, the wheel load threshold may be a value that indicates the corresponding wheels are substantially contacting the underlying surface  304 . In other words, when the wheel load sensor  306  value is not within the wheel load threshold, the ground working tools  316  are substantially lifting the correspond wheel or wheels off the underlying surface  304 . 
     In box  606 , the controller  402  determines whether each of the wheel load sensor  306  values are within the wheel load threshold. There can be any number of wheel load sensors  306  positioned throughout the implement and this disclosure considers positioning a wheel load sensor  306  at only some or all locations of an implement that has wheels or other ground engaging mechanism meant to move along the underlying surface  304 . The controller logic  600  may also have the closed loop  520  or open loop  522  options described above with reference to  FIG. 5 . Further, the open loop  522  may identify if the position control system has any more capacity in box  514  and either send the error signal from box  516 , adjust the desired tool depth to a value that is attainable, or adjust the weight distribution with the position control system  408  in box  518 . 
     Accordingly, in one aspect of this disclosure the control logic  600  may be substantially the same as the control logic  500  except the load being applied through the interaction of the tires with the underlying surface is determined utilizing sensors located on different portions of the implement. While specific examples of sensor locations have been described herein, these examples are meant to be illustrative and this disclosure considers implementing other sensors and locations as well. 
     Referring now to  FIG. 7 , yet another embodiment of implement control logic  700  is illustrated. The implement control logic  700  of  FIG. 7  may be substantially similar to that of the embodiment described with reference to  FIG. 5  with the exception of boxes  702 ,  704 , and  706 . More specifically, the implement control logic  700  may function similarly to that described above but utilize one or more of the actuator sensors  308 ,  310 ,  312  to compare an actuator sensor  308 ,  310 ,  312  value to an actuator load threshold in boxes  602 ,  604 ,  606  instead of utilizing the tire sensors  302  described above. Accordingly, the above description for the implement control logic  500  is hereby incorporated herein with the actuator sensors  308 ,  310 ,  312  replacing the portions referring to the tire sensors  302  and the corresponding threshold values. 
     In one embodiment of the implement control logic  700 , one or both of the shaft side sensor  308  and the base side sensor  310  may be monitored by the controller  402  in box  702  to identify the load applied to the corresponding first or second frame section  104 ,  106 . As described above, the shaft side sensor  308  may be fluidly coupled to a shaft side of each cylinder for the first or second actuator  160 ,  162 . Similarly, the base side sensor  310  may be fluidly coupled to a base side of each cylinder for the first and second actuator  160 ,  162 . Further, a shaft side sensor  308  and a base side sensor  310  may be fluidly coupled to each of the actuators  160 ,  162  to identify a fluid pressure associated with the corresponding chambers of the actuators  160 ,  162 . Accordingly, the load applied to the corresponding first and second frame sections  104 ,  106  may be identified by monitoring the fluid pressures with the shaft side sensors  308  and the base side sensors  310 . 
     In another embodiment of the implement control logic  700 , a strain gauge  312  is positioned on the shaft of each actuator  160 ,  162  and may be monitored by the controller  402  in box  702  to identify the load applied to the corresponding first or second frame section  104 ,  106 . The strain gauges  312  may be coupled to the shaft of the actuators  160 ,  162  to identify a strain or other load being transferred through the actuators  160 ,  162 . Accordingly, the load applied to the corresponding first and second frame sections  104 ,  106  may be identified by monitoring the strain gauge  312  values. 
     Regardless of the sensor used to identify the load being transferred through the actuators  160 ,  162 , the controller  402  may compare the actuator sensor  308 ,  310 ,  312  value to an actuator threshold in box  704 . The actuator threshold may be a pre-set value stored in the controller  402  that corresponds with the expected load or pressure applied to the corresponding actuators  160 ,  162  when the wheels and ground working tools  316  are properly engaging the underlying surface  304 . In one non-exclusive example, the actuator threshold may be a value that indicates the corresponding wheels of the frame sections  104 ,  106  are substantially contacting the underlying surface  304 . In other words, when the actuator sensor  308 ,  310 ,  312  value is not within the actuator threshold, the ground engaging tools are substantially lifting the corresponding wheel or wheels of the first or second frame section  104 ,  106  off the underlying surface  304 . 
     In box  706 , the controller  402  determines whether one or more of the actuator sensor  308 ,  310 ,  312  values are within the actuator threshold. The controller  402  may compare any one of the actuator sensors  308 ,  310 ,  312  to a corresponding actuator threshold in box  706 . Further, the controller  402  may compare each of the actuator sensors  308 ,  310 ,  312  to a corresponding threshold in box  706 . Further still, the controller  402  may compare any combination of the actuator sensors  308 ,  310 ,  312  to corresponding actuator thresholds in box  706 . A person having skill in the relevant art of this disclosure understands the many different sensors and methods that can be used to identify the load being distributed through an actuator, and this disclosure considers all methods and sensors known in the art at the time of the disclosure. 
     The controller logic  700  may also have the closed loop  520  or open loop  522  options described above with reference to  FIG. 5 . Further, the open loop  522  may identify if the position control system has any more capacity in box  514  and either send the error signal from box  516 , adjust the desired tool depth to a value that is attainable, or adjust the weight distribution with the position control system  408  in box  518 . 
     Accordingly, in one aspect of this disclosure the control logic  700  may be substantially the same as the control logic  500  except the load being applied through the interaction of the tires with the underlying surface is determined utilizing sensors located on different portions of the implement such as the actuators  160 ,  162 . While specific examples of sensor locations have been described herein, these examples are meant to be illustrative and this disclosure considers implementing other sensors and locations as well. 
     While embodiments incorporating the principles of the present disclosure have been described hereinabove, the present disclosure is not limited to the described embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the disclosure using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this disclosure pertains and which fall within the limits of the appended claims.