Patent Description:
A wide range of farm implements have been developed and are presently in use for tilling, planting, harvesting, and so forth. Tillers, for example, are commonly towed behind tractors and may cover wide swaths of ground to be prepared for planting. To make the tilling operation as efficient as possible, very wide swaths may be covered by extending wing assemblies on either side of a central frame section of the implement being pulled by the tractor. Typically, the central frame section and the wing assemblies include one or more toolbars, various ground-engaging tools mounted on the toolbar(s), and one or more associated support wheels. The wing assemblies are commonly disposed in a "floating" arrangement during the tilling operation, wherein the tools contact the soil with sufficient force to open the soil. Some implements are known to include sensors for measuring aspects of the field underneath the implement. For example, <CIT> and <CIT> disclose sensors for determining how smooth or rough the field surface underneath the implement is. <CIT> discloses sensors for determining ridge heights and furrow depths. <CIT> discloses the use of ground-penetrating radar to detect sub-surface features in the field underneath the implement. <CIT> discloses sensors that are mounted to the implement and configured to detect a height of an implement section above an underlying surface.

In certain instances, the wing assemblies become out-of-level during the performance of the tilling operation, which results in uneven penetration depths across the width of the implement. For example, the central frame section, the inner-wing sections, and/or the outer-wing sections of the wing assemblies may extend at different angles relative to a horizontal reference plane and/or each other. This can result in the field having an uneven contour following the tillage operation. However, it is often difficult for an operator to see the performance at the rear of the implement, which means that the quality of the agricultural operation may be affected for long periods of operation. Further, manually leveling the implement is time consuming and, in some cases, needs to be repeated multiple times throughout a working operation of the implement.

Accordingly, an improved system and related method for monitoring the levelness of a multi-wing agricultural implement would be welcomed in the technology.

In one embodiment, the present subject matter is directed to a system for monitoring the levelness of a multi-wing agricultural implement according to claim <NUM>.

In another embodiment, the present subject matter is directed to a method for monitoring the levelness of a multi-wing agricultural implement according to claim <NUM>.

Each example is provided by way of explanation of the invention, not limitation of the invention, which is defined by the appended claims.

In general, the present subject matter is directed to a system and method for monitoring the levelness of a multi-wing agricultural implement having two or more wing sections. Specifically, in several embodiments, the disclosed system may monitor a contour of the field behind the multi-wing implement as the implement performs an operation within the field to estimate the levelness of the multi-wing implement. For instance, in accordance with aspects of the present subject matter, a field contour sensor may be provided in association with the implement, with the field contour sensor being configured to capture data indicative of the contour of a portion of a field located aft or rearward of the tillage implement. The contour of such aft portion of the field may generally be indicative of the levelness of the various frame sections of the implement relative to a level reference plane and/or the levelness of the different frame sections of the implement relative to each other. Accordingly, a controller of the disclosed system may be configured to determine the levelness of the implement based on the detected contour of the field. In some embodiments, the controller may further be configured to automatically initiate a control action to adjust the levelness of the implement based on the determined levelness of the implement. In one embodiment, the control action may include adjusting the operation of one or more actuators of the implement to adjust the relative positioning of the frame sections, such as by actuating one or more of the wing sections relative to the central frame section. In some embodiments, the control action may include adjusting the speed of the implement to adjust the relative positioning of the frame sections.

Referring now to <FIG>, a top view of one embodiment of a multi-wing agricultural implement <NUM> is illustrated in accordance with aspects of the present subject matter. As shown, the implement <NUM> is configured as a multi-wing disk ripper. However, in other embodiments, the implement <NUM> may have any other suitable implement configuration, such as by being configured as any other suitable multi-wing implement, including any other suitable tillage implement (e.g., a cultivator) or other implement (e.g., a planter, seeder, sprayer, fertilizer, and/or the like).

As shown, the implement <NUM> includes a carriage frame assembly <NUM> configured to be towed by a work vehicle <NUM> (shown schematically in <FIG>), such as a tractor. The carriage frame assembly <NUM> may generally extend between a forward end <NUM> and an aft end <NUM> along a forward direction of travel <NUM> of the implement and may include a pull hitch <NUM> extending in the direction of travel <NUM> of the implement <NUM> at the forward end <NUM> of the implement <NUM> and carrier frame members <NUM> which are coupled with and extend from the pull hitch <NUM>. Reinforcing gusset plates <NUM> may be used to strengthen the connection between the pull hitch <NUM> and the carrier frame members <NUM>. As shown schematically in <FIG>, the work vehicle <NUM> may include an engine 15A and a transmission 15B. The transmission 15B may be operably coupled to the engine 15A and may provide variably adjusted gear ratios for transferring engine power to wheels or track assemblies (not shown) of the work vehicle <NUM> via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed) for driving the work vehicle <NUM>.

As shown in <FIG>, the tillage implement <NUM> is configured as a multi-section implement including a plurality of frame sections. Specifically, in the illustrated embodiment, the tillage implement <NUM> includes a central frame section <NUM>, inner right and left wing frame sections <NUM>, <NUM> pivotally coupled to the central frame section <NUM>, and right and left outer-wing sections <NUM>, <NUM> pivotally coupled to the respective right and left inner-wing sections <NUM>, <NUM>. For example, each of the inner-wing sections <NUM>, <NUM> is pivotally coupled to the central frame section <NUM> at pivot joints <NUM>. Similarly, the right outer-wing section <NUM> is pivotally coupled to the right inner-wing section <NUM> at pivot joints <NUM> while the left outer-wing section <NUM> is pivotally coupled to the left inner-wing section <NUM> at pivot joints <NUM>. As is generally understood, the pivot joints <NUM>, <NUM>, <NUM> may be configured to allow relative pivotal motion between adjacent frame sections of the implement <NUM>. For example, the pivot joints <NUM>, <NUM>, <NUM> may allow for articulation of the various frame sections between a fully-extended position, in which the frame sections are all intended to be disposed substantially in a common plane, and a transport position, in which the wing sections <NUM>, <NUM>, <NUM>, <NUM> are folded upwardly to reduce the overall width of the implement <NUM>.

Additionally, as shown in <FIG>, the implement <NUM> may include inner-wing actuators <NUM> coupled between the central frame section <NUM> and the inner-wing sections <NUM>, <NUM> to enable pivoting or folding between the fully-extended and transport positions. For example, by retracting/extending the inner-wing actuators <NUM>, the inner-wing sections <NUM>, <NUM> may be pivoted or folded relative to the central frame section <NUM> about the pivot joints <NUM>. Moreover, the implement <NUM> may also include outer-wing actuators <NUM> coupled between each inner-wing section <NUM>, <NUM> and its adjacent outer-wing section <NUM>, <NUM>. As such, by retracting/extending the outer-wing actuators <NUM>, each outer-wing section <NUM>, <NUM> may be pivoted or folded relative to its respective inner-wing section <NUM>, <NUM>. As will be discussed in greater detail below, the outer-wing actuators <NUM> may further be configured to adjust the relative orientation of each outer-wing section <NUM>, <NUM> to its respective inner-wing section <NUM>, <NUM> during operation of the implement <NUM>.

Moreover, each of the frame sections may be configured to support a plurality of ground-engaging tools, such as one or more gangs of disk blades <NUM>. In such an embodiment, the gangs of disk blades <NUM> may be supported relative to frame members <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the frame sections in any suitable manner so as to provide smooth working of the soil. However, it should be appreciated that, in other embodiments, any other suitable ground-engaging tools, such as shanks, tines, rolling baskets, and/or the like, may be supported by the various frame members.

In several embodiments, the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the tillage implement <NUM> may be configured to be positioned at variable positions relative to the soil in order to set the position of the gangs of disk blades <NUM> above the soil as well as the penetration depth of the disk blades <NUM>. For example, in the illustrated embodiment, the tillage implement <NUM> includes center transport wheels <NUM> pivotally interconnected with the carrier frames <NUM> so that they provide support to the forward and aft frame members <NUM> and <NUM> relative to the soil. Similarly, inner-wing transport wheels <NUM> may be interconnected with the frame elements <NUM> to support and variably position the inner-wing sections <NUM>, <NUM> relative to the soil. In addition, outer-wing transport wheels <NUM> may be pivotally mounted on the frame members <NUM> to support and variably position the outer-wing sections <NUM>, <NUM> relative to the soil.

In such an embodiment, wheel actuators may also be provided in operative association with the various wheels to adjust the relative positioning between the frame sections and the soil. For instance, center wheel actuators <NUM>, <NUM> may be utilized to manipulate the center transport wheels <NUM> to establish the distance of the central frame section <NUM> relative to the soil while inner-wing wheel actuators <NUM>, <NUM> may be used to variably position the inner-wing sections <NUM>, <NUM> relative to the soil. Similarly, outer-wing wheel actuators <NUM>, <NUM> may be used to variably position the outer-wing sections <NUM>, <NUM> relative to the soil.

It should be appreciated that the implement <NUM> may also include gauge wheels <NUM>, <NUM> on the outer-wing sections <NUM>, <NUM> to orient the fore-to-aft angle of the tillage implement <NUM> relative to the soil. In such an embodiment, gauge wheel actuators <NUM>, <NUM> may be provided in operative association with the gauge wheels <NUM>, <NUM> to allow the fore-to-aft angle of the implement <NUM> to be adjusted. As shown in <FIG>, in one embodiment, the gauge wheels <NUM>, <NUM> may correspond to the forward-most ground-engaging components of the implement <NUM>.

In accordance with aspects of the present subject matter, the implement <NUM> may be configured to support a sensing assembly <NUM> that generates or provides data indicative of the relative orientation, levelness and/or inclination of the frame sections. For instance, the sensing assembly <NUM> may include one or more sensors mounted to or supported on the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> for monitoring the orientation, levelness and/or inclination of the frame sections. For example, as shown in <FIG>, a field contour sensor <NUM> may be supported on the implement <NUM>, with the field contour sensor <NUM> having a field of view 118A directed towards the field. In some embodiments, the field contour sensor <NUM> may be supported on one of the frame members <NUM>, <NUM> of the central frame section <NUM>, for instance, by a support arm <NUM> (<FIG> and <FIG>).

More particularly, the field contour sensor <NUM> may be supported relative to the implement <NUM> such that the field of view 118A of the field contour sensor <NUM> is directed towards an aft portion of the field disposed rearward of the implement <NUM> relative to the direction of travel <NUM> of the implement <NUM>. For example, in the embodiment shown, the support arm <NUM> is positioned at or adjacent to the aft end <NUM> of the implement <NUM>. As such, the field contour sensor <NUM> is configured to generate data indicative of one or more field conditions associated with the aft portion of the field located behind or aft of the implement <NUM>. For instance, the field contour sensor <NUM> may be configured to generate data indicative of at least a contour or profile of the aft portion of the field. In this regard, the field contour sensor <NUM> may be configured as any suitable device, such as camera(s) (including stereo camera(s), and/or the like), LIDAR device(s), radar sensor(s), ultrasonic sensor(s), and/or the like such that the field contour sensor <NUM> generates image data, point-cloud data, radar data, ultrasound data, and/or the like to generate data indicative of the levelness or surface contour of the aft portion of the field. Alternatively or additionally, in some embodiments, the field contour sensor <NUM> may be configured as a mechanical sensor mounted to the implement <NUM> and having at least one component configured to be in contact with the field such that the mechanical field contour sensor <NUM> may detect a height of the implement <NUM>, or section of the implement <NUM>, above the field surface. For instance, the field contour sensor <NUM> may be configured as a rotary sensor with a feeler arm configured to contact the field surface and rotate with changes in such contact, thereby allowing such sensor to provide an indication of the levelness or surface contour of the field.

As will be described below, the contour of the aft portion of the field may be determined based on the data from the field contour sensor <NUM> and subsequently used as an indicator of the levelness of the implement <NUM>. More particularly, the data from the field contour sensor <NUM> may be used as in indicator of the contours of different lateral sections of the aft portion of the field positioned behind the implement <NUM>, with the contours of the different lateral sections of the aft portion of the field generally corresponding to the levelness of the various, respective frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> relative to the ground, and/or each other.

For example, as shown in <FIG>, a central section <NUM> of the swath of the field located behind the implement <NUM> and within the field of view 118A of the field contour sensor <NUM> is generally aligned with the central frame section <NUM> of the implement, with a contour of such central section <NUM> of the swath being affected by the levelness of the central frame section <NUM>. Similarly, inner sections <NUM>, <NUM> of the swath located behind the implement <NUM> are generally aligned with respective ones of the inner-wing sections <NUM>, <NUM>, with the contours of the inner sections <NUM>, <NUM> of the swath being affected by the levelness of the inner-wing sections <NUM>, <NUM>. Additionally, outer sections <NUM>, <NUM> of the swath located behind the implement <NUM> are generally aligned with respective ones of the outer-wing sections <NUM>, <NUM>, with the contours of the outer sections <NUM>, <NUM> of the swath being affected by the levelness of the outer-wing sections <NUM>, <NUM>. Thus, based on the relative surface contours of the different lateral sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the field located immediately aft of the implement <NUM>, the implement <NUM> may be adjusted or leveled to provide a more level surface contour.

It should be appreciated that, while the sensing assembly <NUM> is shown as having only one field contour sensor <NUM>, the sensing assembly <NUM> may have any other suitable number of field contour sensors <NUM>, such as two or more field contour sensors <NUM>. Further, while only one sensing assembly <NUM> is shown, implement <NUM> may support any other suitable number of sensing assemblies <NUM>. Furthermore, in alternative embodiments, the sensing assembly <NUM> may be supported at any other suitable location on the implement <NUM> and/or the towing vehicle <NUM> such that the field of view 118A of the field contour sensor <NUM> is directed towards the aft portion of the field and/or any other suitable portion of the field.

It should also be appreciated that the configuration of the implement <NUM> described above and shown in <FIG> 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. For example, in an alternative embodiment, the implement <NUM> may include a single wing section disposed along each side of the central frame section <NUM> or three or more wing sections disposed along each side of the central frame section <NUM>. Similarly, in another embodiment, any other suitable type of ground-engaging tool (or any combination of ground-engaging tools), including disks, shanks, tines, baskets, and/or the like, may be coupled to or otherwise supported by the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM>.

Referring now to <FIG>, a series of various states of levelness of the implement <NUM> are illustrated, particularly illustrating associated field contours created by the implement <NUM> in such states. Particularly, <FIG> illustrates a rear view of the implement <NUM> when in a level orientation and a corresponding level field contour created by the implement in such level orientation. Additionally, <FIG> illustrate various other exemplary rear views of the implement <NUM> when in various out-of-level orientations, particularly illustrating various out-of-level field contours created by the implement in such out-of-level orientations relative to a level reference plane.

In general, it is typically desirable for an agricultural implement, such as the implement <NUM> described above with reference to <FIG>, to be configured such that, when the implement <NUM> is in a working position, the wing sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are oriented in a manner that allows all of the ground-engaging tools <NUM> to be held at substantially the same distance relative to the field, thereby permitting the tools <NUM> to evenly engage the ground surface to create a level field contour. For instance, as shown in <FIG>, the wing sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are substantially level relative to each other such that the field contour (indicated by line <NUM>) is level or flat across an entire width of a swath worked by the implement <NUM>, with the slopes of the different lateral sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the aft portion of the field (as described with reference to <FIG>) being substantially equal to each other and the slope of the reference plane <NUM>. However, in some cases, as will be described below, the wing sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> become out-of-level relative to each other. In such instances, it may be desirable to adjust the levelness of the implement <NUM>, as necessary, to ensure the desired performance is achieved.

For example, referring specifically to <FIG>, an example implement orientation is shown in which the outer-wing sections <NUM>, <NUM> "sag" or extend at a downward angle relative to the respective inner-wing sections <NUM>, <NUM>, with the inner-wing sections <NUM>, <NUM> and the central frame section <NUM> being substantially level relative to each other and the level field contour or reference plane <NUM>. More specifically, outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> are positioned lower relative to innermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> such that the disk blades <NUM> along the outer-wing sections <NUM>, <NUM> engage the ground surface at different depths. In such instance, sensor data from the field contour sensor <NUM> will generally indicate that a field contour 152A created by the implement <NUM> forms a flat-topped mound extending across the entire width of the swath worked by the implement <NUM> that is level across the central and inner-wing sections <NUM>, <NUM>, <NUM> and slopes downwardly across the outer-wing sections <NUM>, <NUM> from the inner-wing sections <NUM>, <NUM>. Accordingly, the slopes of the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slopes of the central and inner sections <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the outer-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the outer-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> move upwardly. Further, in some embodiments, the outer-wing wheel actuators <NUM>, <NUM> (<FIG>) and/or the gauge wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the outer-wing sections <NUM>, <NUM>. Additionally or alternatively, the operation of the engine 15A and/or the transmission 15B of the work vehicle <NUM> (<FIG>) may be adjusted to increase the ground speed of the implement <NUM>.

Conversely, with reference to <FIG>, an example implement orientation is shown in which the outer-wing sections <NUM>, <NUM> "lift" or extend at an upward angle relative to the respective inner-wing sections <NUM>, <NUM>, with the inner-wing sections <NUM>, <NUM> and the central frame section being substantially level relative each other and the level reference plane <NUM>. More specifically, the outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> are positioned higher relative to the innermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> such that the disk blades <NUM> along the outer-wing sections <NUM>, <NUM> engage the ground surface at different depths. In such instance, sensor data from the field contour sensor <NUM> will generally indicate that a field contour 152B created by the implement <NUM> is a flat-bottomed valley that extends across the entire width of the swath worked by the implement <NUM>. More particularly, the contour 152B is level across the central and inner-wing sections <NUM>, <NUM>, <NUM> and slopes upwardly from the inner-wing sections <NUM>, <NUM> across the outer-wing sections <NUM>, <NUM>. Accordingly, the slopes of the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slopes of the central and inner sections <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the outer-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the outer-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> move downwardly. Further, in some embodiments, the outer-wing wheel actuators <NUM>, <NUM> (<FIG>) and/or the gauge wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the outer-wing sections <NUM>, <NUM>. Additionally or alternatively, the operation of the engine 15A and/or the transmission 15B (<FIG>) of the work vehicle <NUM> may be adjusted to decrease the ground speed of the implement <NUM>.

As shown in the exemplary view of <FIG>, the inner-wing sections <NUM>, <NUM> may "sag" or extend at a downward angle relative to the central frame section <NUM> (which is otherwise level with the reference plane <NUM>), with the outer-wing sections <NUM>, <NUM> being level across a plane disposed below the reference plane <NUM>. More specifically, the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> are positioned lower relative to the innermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> such that the disk blades <NUM> along the inner-wing sections <NUM>, <NUM> engage the ground surface at different depths. In such instance, sensor data from the field contour sensor <NUM> will generally indicate that a field contour 152C created by the implement <NUM> has a flat-topped mound across the central and inner-wing sections <NUM>, <NUM>, <NUM>, with the portions of the contour 152C across the outer-wing sections <NUM>, <NUM> being level and lower than the portion of the contour 152C across the central frame section <NUM>. Accordingly, the slopes of the inner sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slopes of the central and outer sections <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the inner-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the inner-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> move upwardly. Further, in some embodiments, the center wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the central frame section <NUM>, the inner-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the inner-wing sections <NUM>, <NUM>, the outer-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the outer-wing sections <NUM>, <NUM>, and/or the gauge wheel actuators <NUM>, <NUM> may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the outer-wing sections <NUM>, <NUM>.

In some instances, as shown in the exemplary view of <FIG>, respective pairs of inner and outer wing sections <NUM>, <NUM>, <NUM>, <NUM> may slope downwardly towards each other. More specifically, the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> are positioned lower relative to the innermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> and the reference plane <NUM>. Similarly, the outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> are positioned higher relative to the innermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> and the reference plane <NUM>, while being level with the central frame section <NUM>, which is otherwise level with the reference plane <NUM>. In such instance, sensor data from the field contour sensor <NUM> may generally indicate that a field contour 152D created by the implement <NUM> has two valleys formed across the respective pairs of inner and outer wing sections <NUM>, <NUM>, <NUM>, <NUM> and is level across the central frame section <NUM>, with the portions of the contour 152D across the inner-wing sections <NUM>, <NUM> sloping downward from the level central frame section <NUM> and the portions of the contour 152D across the outer-wing sections <NUM>, <NUM> sloping upward from the inner-wing sections <NUM>, <NUM>. Accordingly, the slopes of the inner sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field, and the slopes of the inner and outer sections <NUM>, <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slope of the central section <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the inner-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the inner-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> move upwardly. Further, in some embodiments, center wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the central frame section <NUM> and/or the inner-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the inner-wing sections <NUM>, <NUM>.

Conversely, as shown in the exemplary view of <FIG>, respective pairs of inner and outer wing sections <NUM>, <NUM>, <NUM>, <NUM> may slope upwardly towards each other. More specifically, the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> are positioned higher relative to the innermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> and the reference plane <NUM>. Similarly, the outermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> are positioned lower relative to the innermost ends <NUM>, <NUM> of the outer-wing sections <NUM>, <NUM> while being level with the reference plane <NUM>, which is otherwise level with the central frame section <NUM>. In such instance, sensor data from the field contour sensor <NUM> will generally indicate that a field contour 152E created by the implement <NUM> has two peaks formed across the respective pairs of inner and outer wing sections <NUM>, <NUM>, <NUM>, <NUM> and is level across the central frame section <NUM>, with the portions of the contour 152E across the inner-wing sections <NUM>, <NUM> sloping upward from the level central frame section <NUM> and the portions of the contour 152E across the outer-wing sections <NUM>, <NUM> sloping downward from the inner-wing sections <NUM>, <NUM>. Accordingly, the slopes of the inner sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field, and the slopes of the inner and outer sections <NUM>, <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slope of the central section <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the inner-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the inner-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> move downwardly. Further, in some embodiments, the inner-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the inner-wing sections <NUM>, <NUM> and/or the gauge wheel actuators <NUM>, <NUM> may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the outer-wing sections <NUM>, <NUM>.

In an additional example, as shown in <FIG>, the inner-wing sections <NUM>, <NUM> may "sag" or extend at a downward angle relative to the outer-wing sections <NUM>, <NUM> which are level with the reference plane <NUM>, with the central frame section <NUM> being otherwise level in a plane disposed below the outer-wing sections <NUM>, <NUM>. More specifically, the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> are positioned higher relative to the innermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> such that the disk blades <NUM> along the inner-wing sections <NUM>, <NUM> engage the ground surface at different depths. In such instance, sensor data from the field contour sensor <NUM> may generally indicate that a field contour 152F created by the implement <NUM> has a flat-bottomed valley across the central and inner-wing sections <NUM>, <NUM>, <NUM>, with the portions of the contour 152F across the outer-wing sections <NUM>, <NUM> being level and higher than the portion of the contour 152F across the central frame section <NUM>. Accordingly, the slopes of the inner sections <NUM>, <NUM> (<FIG>) of the aft portion of the field may be different from the slopes of the central and outer sections <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field and the slope of the reference plane <NUM>.

To adjust the levelness of the implement <NUM> shown in <FIG>, the inner-wing actuators <NUM> (<FIG>) may, in several embodiments, be actuated to pivot the inner-wing sections <NUM>, <NUM> such that the outermost ends <NUM>, <NUM> of the inner-wing sections <NUM>, <NUM> move downwardly. Further, in some embodiments, the center wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the central frame section <NUM>, the inner-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to extend such actuator(s)) to increase the distance between the ground and the inner-wing sections <NUM>, <NUM>, the outer-wing wheel actuators <NUM>, <NUM> (<FIG>) may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the outer-wing sections <NUM>, <NUM>, and/or the gauge wheel actuators <NUM>, <NUM> may be controlled (e.g., actuated to retract such actuator(s)) to decrease the distance between the ground and the outer-wing sections <NUM>, <NUM>.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for leveling a multi-wing agricultural implement is illustrated in accordance with aspects of the present subject matter. As will be described below, the system <NUM> allows for various portions of an implement to be actuated to level the implement. For purposes of discussion, the system <NUM> will be described herein with reference to the implement <NUM> and the work vehicle <NUM> described above and shown in <FIG>. However, it should be appreciated that the disclosed system <NUM> may generally be utilized with any suitable implement having any suitable implement configuration and/or with any suitable work vehicle having any suitable vehicle configuration. Additionally, it should be appreciated that communicative links or electrical couplings of the system <NUM> shown in <FIG> are indicated by dashed lines.

As shown, the system <NUM> includes a controller <NUM> configured to electronically control the operation of one or more components of the agricultural implement <NUM>. In general, the controller <NUM> 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 <NUM> may include one or more processor(s) <NUM>, and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the controller <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the controller <NUM> to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the controller <NUM> may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

It should be appreciated that, in several embodiments, the controller <NUM> may correspond to an existing controller of the agricultural implement <NUM> and/or of the work vehicle <NUM> to which the implement <NUM> is coupled. However, it should be appreciated that, in other embodiments, the controller <NUM> may instead correspond to a separate processing device. For instance, in one embodiment, the controller <NUM> may form all or part of a separate plug-in module that may be installed within the agricultural implement <NUM> to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the agricultural implement <NUM>.

In some embodiments, the controller <NUM> may include a communications module or interface <NUM> to allow for the controller <NUM> to communicate with any of the various other system components described herein. For instance, as described above, the controller <NUM> may, in several embodiments, be configured to receive data inputs from one or more sensors of the agricultural implement <NUM> that are used to detect one or more parameters associated with the levelness of the implement <NUM>. Particularly, the controller <NUM> may be in communication with one or more field contour sensors configured to detect one or more parameters associated with or indicative of the levelness of the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM>. For instance, the controller <NUM> may be communicatively coupled to one or more of the field contour sensor(s) <NUM> via any suitable connection, such as a wired or wireless connection, to allow data indicative of the levelness of the implement <NUM> to be transmitted from the sensor(s) <NUM> to the controller <NUM>.

Specifically, referring back to <FIG>, each sensing assembly <NUM> may, for example, include or be associated with one or more field contour sensors <NUM> installed or otherwise positioned relative to the implement <NUM> to capture data (e.g., image data, point-cloud data, radar data, ultrasound data, and/or the like) indicative of the profile or surface contour of an aft portion of the field, which, in turn, is indicative of the levelness of the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM>. Thus, in several embodiments, the controller <NUM> may be configured to monitor the levelness of the implement <NUM> based on the data received from the sensor(s) <NUM>. For example, the controller <NUM> may be configured to analyze/process the received data to monitor the levelness of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> relative to a level reference plane and/or relative to each other. For instance, the controller <NUM> may include one or more suitable algorithms stored within its memory <NUM> that, when executed by the processor <NUM>, allow the controller <NUM> to infer or estimate the levelness of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> based on the data received from the sensor(s) <NUM>.

In several embodiments, the controller <NUM> may be configured to determine that the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> are out-of-level based on the detected surface contour or profile of the aft portion of the field located rearward of the implement <NUM>. In general, when the implement <NUM> is level, the various ground-engaging tools (e.g., the disk blades <NUM>) mounted on the implement <NUM> will penetrate the ground to the same or a similar depth. In such instances, the aft portion of the field may generally have a level, horizontal field contour across the width of a swath worked by the implement <NUM>. Conversely, when the implement <NUM> is out-of-level, the various ground-engaging tools (e.g., the disk blades <NUM>) mounted on the implement <NUM> may penetrate the ground at varying depths. In such instances, the aft portion of the field may generally have an uneven or unlevel field contour across the width of a swath worked by the implement <NUM>.

As such, in one embodiment, the controller <NUM> may be configured to compare contours of the different lateral sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the aft portion of the field associated with the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> to assess a relative levelness of the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. For instance, the controller <NUM> may be configured to determine a slope of each lateral section <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the surface contour of the aft portion of the field associated with the respective frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> and compare the slopes of the different contour sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to determine when the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are out-of-level relative to each other. For example, when the slopes of the contour sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are not approximately equal to each other (e.g., not within a first tolerance of each other), the associated ones of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are out-of-level relative to each other. For instance, referring back to <FIG>, the slopes of the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field are different from the slopes of the central and inner sections <NUM>, <NUM>, <NUM> (<FIG>) of the aft portion of the field, which is indicative of the outer-wing sections <NUM>, <NUM> of the implement <NUM> being out-of-level relative to the central frame section <NUM> and the inner-wing sections <NUM>, <NUM> of the implement <NUM>. The magnitude and direction of the slopes of the contour sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may also be used to determine the relative positioning of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> relative to each other.

In other embodiments, the controller <NUM> may be configured to compare the different sections of the contour associated with the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> to a desired reference plane or contour to determine the levelness of the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> relative to the reference plane. For instance, the controller <NUM> may be configured to determine a slope of each section <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the contour associated with the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> and compare the slopes of the contour sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the reference plane to determine when the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are out-of-level relative to the reference plane. For example, when the slopes of the associated contour section <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are not approximately equal to the slope of the reference plane, such as the reference plane <NUM>, (e.g., within a second tolerance of each other), the associated ones of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are out-of-level relative to the reference plane <NUM>. For instance, again referring to <FIG>, the slopes of the outer sections <NUM>, <NUM> (<FIG>) of the aft portion of the field are different from the slope of the reference plane <NUM>, which indicates that the outer-wing sections <NUM>, <NUM> of the implement <NUM> are out-of-level relative to the reference plane <NUM>.

Further, in some embodiments, the controller <NUM> may be configured to assess the continuity of the contour between the different sections of the contour associated with the different frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. More specifically, the controller <NUM> may be configured to assess whether the contour of the field has features such as trenches, ridges, steps, and/or the like associated with the transitions between the ends of adjacent frame sections. When such features are present, or at least more present than during normal, level operation of the implement, the associated frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> are out-of-level relative to each other. For example, as shown in <FIG>, an alternative contour 152E' created by the implement <NUM> shown in <FIG> is shown. The alternative contour 152E' includes first and second transition profiles T1, T2 defined between the central section <NUM> and a respective inner section <NUM>, <NUM> of the contour 152E', and third and fourth transition profiles T3, T4 defined between the respective inner sections <NUM>, <NUM> and outer sections <NUM>, <NUM> of the contour 152E'. The first and second transition profiles T1, T2 are characterized by trenches, formed due to the out-of-level orientation of the central and inner sections <NUM>, <NUM>, <NUM> of the implement <NUM> relative to each other. The third and fourth transition profiles T3, T4 are similarly characterized by ridges, formed due to the out-of-level orientation of the inner and outer sections <NUM>, <NUM> of the implement <NUM> relative to each other. Accordingly, transition profiles T1, T2, T3, T4 between the adjacent contour sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the field may be compared to respective baseline transition profiles, with the associated, adjacent frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM> being out-of-level relative to each other when the corresponding transition profile is different from the respective baseline transition profile.

Additionally, in several embodiments, the controller <NUM> may be configured to perform one or more implement-related control actions based on the data received from the sensor(s) <NUM>. Specifically, the controller <NUM> may be configured to control one or more components of the agricultural implement <NUM> based on the determined levelness of the implement <NUM>, specifically based on the levelness of the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM>, as described above with reference to <FIG>, to level the implement <NUM>. For example, as shown in <FIG>, the controller <NUM> may be configured to control one or more actuators associated with the central frame section <NUM>, such as the center wheel actuators <NUM>, <NUM>. Further, the controller <NUM> may be configured to control one or more actuators associated with the inner-wing sections <NUM>, <NUM>, such as the inner-wing actuators <NUM> and/or the inner-wing wheel actuators <NUM>, <NUM>. Moreover, the controller may be configured to control one or more actuators associated with the outer-wing sections <NUM>, <NUM>, such as the outer-wing actuators <NUM>, the outer-wing wheel actuators <NUM>, <NUM>, and/or the gauge wheel actuators <NUM>, <NUM>.

Further, in some embodiments, the controller <NUM> may be configured to indicate to an operator the relative levelness of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the implement <NUM>. For example, in the embodiment shown in <FIG>, the communications module <NUM> may allow the controller <NUM> to communicate with a user interface <NUM> having a display device configured to display information regarding the levelness of the implement <NUM> and/or suggested control actions. However, it should be appreciated that the controller <NUM> may instead be communicatively coupled to any number of other indicators, such as lights, alarms, and/or the like to provide an indicator to the operator regarding the levelness of the implement <NUM> and/or suggested control actions.

In addition, in some embodiments, the user interface <NUM> 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. For instance, the controller <NUM> may control the operation of the user interface <NUM> to display the sensor data to the operator. For example, the controller <NUM> may control the operation of the user interface <NUM> to display data associated with the contour of the aft portion of the field, such as the relative positioning of the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, the slopes of the various frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and/or the slopes of the different lateral sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the aft portion of the field. In some embodiments, the controller <NUM> may further be configured to receive one or more user inputs from the operator via the user interface <NUM>, including inputs associated with the levelness of the implement. For example, the controller <NUM> may receive inputs indicative of the one or more of the frame sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> being out-of-level relative to other frame section(s) <NUM>, <NUM>, <NUM>, <NUM>, <NUM> or a reference plane, such as the reference plane <NUM>, and/or inputs instructing the controller <NUM> to execute one or more control actions to adjusted the levelness of the implement <NUM>. In some embodiments, the controller <NUM> may receive inputs indicative of a topography of the field, elevation of the field, and/or the like. In one embodiment, the user interface <NUM> may be positioned within a cab (not shown) of the vehicle <NUM>. However, in alternative embodiments, the user interface <NUM> may have any suitable configuration and/or be positioned in any other suitable location.

Additionally or alternatively, in some embodiments, the controller <NUM> may be configured to perform one or more vehicle-related control actions based on the estimation of the levelness of the implement <NUM>. For example, as shown in <FIG>, in some embodiments, the controller <NUM> may be configured to control the operation of one or more vehicle drive components configured to drive the vehicle <NUM> coupled to the implement <NUM>, such as the engine 15A and/or the transmission 15B of the vehicle <NUM>. In such embodiments, the controller <NUM> may be configured to control the operation of the vehicle drive component(s) 15A, 15B based on the estimated levelness of the implement <NUM>, for example, to slow down or speed up the vehicle <NUM> and implement <NUM> as described above or bring the vehicle <NUM> and implement <NUM> to a stop.

It should be appreciated that, depending on the type of controller <NUM> being used, the above-described control actions may be executed directly by the controller <NUM> or indirectly via communications with a separate controller. For instance, when the controller <NUM> corresponds to an implement controller of the implement <NUM>, the controller <NUM> may be configured to execute the implement-related control actions directly while being configured to execute the vehicle-related control actions by transmitting suitable instructions or requests to a vehicle-based controller of the vehicle <NUM> towing the implement <NUM> (e.g., using an ISObus communications protocol). Similarly, when the controller <NUM> corresponds to a vehicle controller of the vehicle <NUM> towing the implement <NUM>, the controller <NUM> may be configured to execute the vehicle-related control actions directly while being configured to execute the implement-related control actions by transmitting suitable instructions or requests to an implement-based controller of the implement <NUM> (e.g., using an ISObus communications protocol). In other embodiments, the controller <NUM> may be configured to execute both the implement-based control actions and the vehicle-based control actions directly or the controller <NUM> may be configured to execute both of such control action types indirectly via communications with a separate controller.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for monitoring the levelness of a multi-wing agricultural implement is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the implement <NUM> shown in <FIG>, the field contours shown in <FIG>, as well as the system <NUM> shown in <FIG>. However, it should be appreciated that the disclosed method <NUM> may be executed with implements having any other suitable configurations and/or with systems having any other suitable system configuration. In addition, although <FIG> 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>, at (<NUM>), the method <NUM> may include receiving data indicative of a contour of an aft portion of a field located rearward of the implement relative to a direction of travel of the implement. For instance, as described above, the controller <NUM> may be configured to receive data from a field contour sensor <NUM> in communication with the controller <NUM>, with the field contour sensor <NUM> generating data indicative of a profile or surface contour of the portion of the field positioned rearward of the implement <NUM>.

Moreover, at (<NUM>), the method <NUM> may include analyzing the data to assess the levelness of the implement. For example, as described above, the controller <NUM> may compare a slope of a portion of the surface contour associated with a respective section of the implement <NUM> to a slope of a reference plane, such as the reference plane <NUM>, or to a slope of another portion of the surface contour associated with another respective section of the implement <NUM> to assess the levelness of the implement <NUM>. The controller <NUM> may determine that the implement <NUM> is out-of-level when the slope of at least one of the frame sections of the implement <NUM> differs from the slope of the reference plane and/or the slope of at least one of the other frame sections by a given degree or threshold. Similarly, the controller <NUM> may compare a transition profile T1, T2, T3, T4 between adjacent lateral sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the field to a baseline transition profile and determine that the associated, adjacent frame sections of the implement <NUM> are out-of-level when the transition profile differs from the baseline transition profile.

Additionally, at (<NUM>), the method <NUM> may include initiating a control action associated with leveling the implement when it is determined that at least one of a central frame section or a wing section of the implement is out-of-level. For instance, in one embodiment, the controller <NUM> may be configured to control the operation of one or more actuators to adjust the levelness of one or more of the frame sections relative to the reference plane and/or relative to one or more other the frame sections. In a further embodiment, the controller <NUM> may be configured to indicate to an operator the levelness of the implement <NUM>. In an additional embodiment, the controller <NUM> may be configured to control a drive member of the vehicle towing the implement <NUM>, such as the engine 15A and/or the transmission 15B of the vehicle <NUM>.

It is to be understood that the steps of the method <NUM> are performed by the controller <NUM> 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 <NUM> described herein, such as the method <NUM>, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller <NUM> 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 <NUM>, the controller <NUM> may perform any of the functionality of the controller <NUM> described herein, including any steps of the method <NUM> described herein.

Claim 1:
A system (<NUM>) for monitoring the levelness of a multi-wing agricultural implement (<NUM>), the system (<NUM>) comprising:
a central frame section (<NUM>), and
a wing section (<NUM>) pivotably coupled to the central frame section (<NUM>), the system (<NUM>) being characterized by:
a field contour sensor (<NUM>) configured to generate data indicative of a contour of an aft portion of a field located rearward of the implement (<NUM>) relative to a direction of travel (<NUM>) of the implement (<NUM>); and
a controller (<NUM>) communicatively coupled to the field contour sensor (<NUM>), the controller (<NUM>) being configured to monitor the data generated by and received from the field contour sensor (<NUM>) and assess at least one of a levelness of the wing section (<NUM>) relative to the central frame section (<NUM>) or a levelness of at least one of the wing section (<NUM>) or the central frame section (<NUM>) relative to a reference plane (<NUM>) based at least in part on the contour of the aft portion of the field.