Patent Description:
It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, typically through a tillage operation. Modern farmers perform tillage operations by pulling a tillage implement behind an agricultural work vehicle, such as a tractor. Tillage implements typically include one or more ground engaging tools configured to engage the soil as the implement is moved across the field. For example, in certain configurations, the implement may include one or more harrow discs, leveling discs, rolling baskets, shanks, tines, and/or the like. Such ground engaging tool(s) loosen and/or otherwise agitate the soil to prepare the field for subsequent planting operations.

During tillage operations, field materials, such as residue, soil, rocks, and/or the like, may become trapped or otherwise accumulate between adjacent ground engaging tools. Such accumulations of field materials may inhibit the operation of the ground engaging tools in a manner that prevents the tools from providing adequate tillage to the field. In such instances, it is necessary for the operator to take certain corrective actions to remove the material accumulation. However, it may be difficult for the tillage implement operator to determine when material accumulation occurs between the ground engaging tools. The European patent application published as <CIT> discloses an agricultural implement with a plurality of ground engaging tools pivotally coupled to a frame and a plurality of sensors. Each sensor is configured to detect a parameter indicative of a current position of one of the plurality of ground engaging tools in order to monitor a displacement of each ground engaging tool and determine a current global ground engaging tool displacement parameter for the implement based on the monitored displacements of the plurality of ground engaging tools. While these sensors may be capable of monitoring the vertical position of a ground engaging tool, they do not help the operator with determining when material accumulation occurs between the ground engaging tools.

Accordingly, an improved system for determining material accumulation relative to ground engaging tools of an agricultural implement and a related method would be welcomed in the technology.

Aspects and advantages of the invention will be set forth in part in the following description.

In one aspect, the present subject matter is directed to a system for determining material accumulation relative to ground engaging tools of an agricultural implement. The system includes a frame member extending along a first direction and first and second ground engaging tools coupled to the frame member and spaced apart from each other in the first direction such that an open space is defined between the first and second ground engaging tools. The first and second ground engaging tools are configured to engage soil within a field as the agricultural implement is moved across the field. The system further includes a sensing arm aligned with the open space defined between the first and second ground engaging tools, where the sensing arm is displaceable from a neutral position by material accumulation between the first and second ground engaging tools, wherein the sensing arm does not engage the ground when in the neutral position. The system also includes a sensor configured to detect a parameter indicative of displacement of the sensing arm. Additionally, the system includes a controller communicatively coupled to the sensor, where the controller is configured to monitor the parameter based at least in part on data received from the sensor to determine a presence of material accumulation between the first and second ground engaging tools.

In a further aspect, the present invention is directed to a method for managing material accumulation relative to ground engaging tools of an agricultural implement. The agricultural implement includes a frame member extending along a first direction and first and second ground engaging tools coupled to the frame member and configured to engage soil within a field as the agricultural implement is moved across the field. The first and second ground engaging tools are spaced apart from each other in the first direction such that an open space is defined between the first and second ground engaging tools. The method includes receiving, with a computing device, data from a sensor configured to detect a parameter indicative of displacement of a sensing arm, where the sensing arm is aligned with the open space defined between the first and second ground engaging tools, where the sensing arm is displaceable from a neutral position by material accumulation between the first and second ground engaging tools, wherein the sensing arm does not engage the ground when in the neutral position. The method further includes analyzing, with the computing device, the sensor data to determine the presence of material accumulation between the first and second ground engaging tools. Additionally, the method includes initiating, with the computing device, a control action based at least in part on the determination of material accumulation between the first and second ground engaging tools.

In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the claims.

In general, the present invention is directed to systems and methods for determining material accumulation relative to adjacent ground engaging tools of an agricultural implement. Specifically, in several embodiments, a controller of the disclosed system is configured to receive data from one or more sensors as the implement is being moved across a field. The sensor(s) are associated with a sensing arm positioned relative to (e.g., between) a pair of adjacent ground engaging tools (e.g., discs, shanks, etc.). The sensing arm is displaceable by material accumulation formed between the adjacent ground engaging tools, with the associated sensor(s) being configured to detect a parameter(s) indicative of the displacement of the sensing arm. Such detectable parameter(s) in turn, is monitored to determine or estimate the presence of material accumulation between the adjacent ground engaging tools. For example, when the actual displacement of the sensing arm(s) is being monitored, the magnitude of the displacement, the frequency at which the sensing arm(s) is being displaced, and/or the period of time across which the sensing arm(s) is displaced may be analyzed to determine the presence of material accumulation and/or severity of material accumulation between the adjacent ground engaging tools.

Thereafter, in the event that material accumulation is determined based at least in part on the data received from the sensor(s), the controller is configured to initiate one or more control actions. Such control action(s) may generally be associated with de-plugging or otherwise removing the field materials trapped or accumulated between the ground engaging tools. For example, in one embodiment, the control action(s) may include adjusting one or more operating parameters of the implement, such as the orientation and/or the penetration depth of the ground engaging tools, and/or the like. In some embodiments, the control action(s) may include adjusting a down force applied to the sensing arm. Further, in some embodiments, the control action(s) may include notifying an operator of the material accumulation. Additionally or alternatively, in some embodiments, the control action(s) may include adjusting an operation of one or more vehicle drive components of the vehicle towing the implement, to slow down or stop the implement <NUM>, for example.

Referring now to the drawings, <FIG> and <FIG> illustrate differing perspective views of one embodiment of an agricultural implement <NUM> in accordance with aspects of the present invention. Specifically, <FIG> illustrates a perspective view of the agricultural implement <NUM> coupled to a work vehicle <NUM>. Additionally, <FIG> illustrates a perspective view of the implement <NUM>, particularly illustrating various components of the implement <NUM>.

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

As shown in <FIG>, the work vehicle <NUM> may include a pair of front track assemblies <NUM> (only one of which is shown), a pair of rear track assemblies <NUM> (only one of which is shown), and a frame or chassis <NUM> coupled to and supported by the track assemblies <NUM>, <NUM>. An operator's cab <NUM> may be supported by a portion of the chassis <NUM> and may house various input devices (e.g., a user interface <NUM> shown in <FIG>) for permitting an operator to control the operation of one or more components of the work vehicle <NUM> and/or one or more components of the implement <NUM>. Additionally, the work vehicle <NUM> may include an engine <NUM> and a transmission <NUM> mounted on the chassis <NUM>. The transmission <NUM> may be operably coupled to the engine <NUM> and may provide variably adjusted gear ratios for transferring engine power to the track assemblies <NUM>, <NUM> via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).

As shown in <FIG> and <FIG>, the implement <NUM> includes a frame <NUM>. More specifically, the frame <NUM> may extend longitudinally between a forward end <NUM> and an aft end <NUM>. The frame <NUM> may also extend laterally between a first side <NUM> and a second side <NUM>. In this respect, the frame <NUM> generally includes a plurality of structural frame members <NUM>, such as beams, bars, and/or the like, configured to support or couple to a plurality of components. Furthermore, a hitch assembly <NUM> may be connected to the frame <NUM> and configured to couple the implement <NUM> to the work vehicle <NUM>. Additionally, a plurality of wheels <NUM> (one is shown) may be coupled to the frame <NUM> to facilitate towing the implement <NUM> in the direction of travel <NUM>.

In several embodiments, the frame <NUM> may be configured to support one or more gangs or sets <NUM> of disc blades <NUM>. Each disc blade <NUM> may, in turn, be configured to penetrate into or otherwise engage the soil as the implement <NUM> is being pulled through the field. In this regard, the various disc gangs <NUM> may be oriented at an angle relative to the direction of travel <NUM> to promote more effective tilling of the soil. In the embodiment shown in <FIG> and <FIG>, the implement <NUM> includes four disc gangs <NUM> supported on the frame <NUM> adjacent to its forward end <NUM>. However, it should be appreciated that, in alternative embodiments, the implement <NUM> may include any other suitable number of disc gangs <NUM>, such as more or fewer than four disc gangs <NUM>. Furthermore, in one embodiment, the disc gangs <NUM> may be mounted to the frame <NUM> at any other suitable location, such as adjacent to its aft end <NUM>.

Moreover, in several embodiments, the implement <NUM> may include a plurality of disc gang actuators <NUM> (<FIG>), with each actuator <NUM> being configured to move or otherwise adjust the orientation or position of one of the disc gangs <NUM> relative to the implement frame <NUM>. For example, as shown in the illustrated embodiment, a first end of each actuator <NUM> (e.g., a rod <NUM> of the actuator <NUM>) may be coupled to a support arm <NUM> of the corresponding disc gang <NUM>, while a second end of each actuator <NUM> (e.g., the cylinder <NUM> of the actuator <NUM>) may be coupled to the frame <NUM>. The rod <NUM> of each actuator <NUM> may be configured to extend and/or retract relative to the corresponding cylinder <NUM> to adjust the angle of the corresponding disc gang <NUM> relative to a lateral centerline (not shown) of the frame <NUM> and/or the penetration depth of the associated disc blades <NUM>. In the illustrated embodiment, each actuator <NUM> corresponds to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder. However, it should be appreciated that each actuator <NUM> may correspond to any other suitable type of actuator, such as an electric linear actuator.

Additionally, as shown, in one embodiment, the implement frame <NUM> may be configured to support other ground engaging tools. For instance, in the illustrated embodiment, the frame <NUM> is configured to support a plurality of shanks <NUM> or tines (not shown) configured to rip or otherwise till the soil as the implement <NUM> is towed across the field. Furthermore, in the illustrated embodiment, the frame <NUM> is also configured to support a plurality of leveling blades <NUM> and rolling (or crumbler) basket assemblies <NUM>. The implement <NUM> may further include shank frame actuator(s) 50A and/or basket assembly actuator(s) 54A configured to move or otherwise adjust the orientation or position of the shanks <NUM> and the basket assemblies <NUM>, respectively, relative to the implement frame <NUM>. It should be appreciated that, in other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame <NUM>, such as a plurality closing discs.

It should be appreciated that the configuration of the implement <NUM> and work vehicle <NUM> described above are provided only to place the present invention in an exemplary field of use. Thus, it should be appreciated that the invention may be readily adaptable to any manner of implement or work vehicle configurations.

Referring now to <FIG> and <FIG>, exemplary views of a ground engaging assembly (e.g., one of the disc gangs <NUM> shown in <FIG> and <FIG>) are illustrated in accordance with aspects of the present invention. More particularly, <FIG> illustrates a front view of one of the disc gangs <NUM> described above with reference to <FIG> and <FIG> having components of a sensing assembly installed relative thereto. Additionally, <FIG> illustrates a side view of the disc gang <NUM> and the components of the sensing assembly shown in <FIG>.

As shown in <FIG>, the disc gang <NUM> may include a disc gang shaft <NUM> that extends along an axial direction of the disc gang <NUM> (e.g., as indicated by arrow <NUM>) between a first end <NUM> and a second end <NUM>. The disc gang shaft <NUM> may be positioned below the support arm <NUM> of the disc gang <NUM> along a vertical direction (e.g., as indicated by arrow <NUM>) of the implement <NUM> and supported relative to the support arm <NUM> by one or more hangers <NUM>. However, in alternative embodiments, the disc gang shaft <NUM> may have any other suitable orientation. The disc blades <NUM> may be rotatably coupled to the disc gang shaft <NUM> and spaced apart from each other in the axial direction <NUM> by a distance D1. An open space <NUM> is thus defined between each pair of adjacent disc blades <NUM> in the axial direction <NUM>. The disc gang shaft <NUM> also defines a rotational axis (e.g., as indicated by dashed line <NUM>) about which the disc blades <NUM> rotate.

As the implement <NUM> is moved across a field, the disc blades <NUM> may be configured to penetrate the soil surface (e.g., as indicated by line <NUM>) of the field and rotate about the rotational axis relative to the soil within the field such that field materials flow through the open spaces <NUM>. It should be appreciated that during normal, non-plugged operation of the disc gang <NUM>, substantially all of the field materials being processed by the disc gang <NUM> flow through the open spaces <NUM>, particularly through portion(s) of open spaces <NUM> defined below the rotational axis <NUM> (i.e., through lower flow zone(s) <NUM>), with only an occasional piece of residue, dirt clod, rock, and/or the like flowing above the disc gang shaft <NUM>. For example, as shown in <FIG>, field materials F flow below the rotational axis <NUM>, within the flow zone <NUM>, during normal operation of the disc gang <NUM>.

In certain instances, however, a plugging condition may occur in which field materials may accumulate within the flow zone(s) <NUM> such that additional field materials flow above the rotational axis <NUM>, such as above the disc gang shaft <NUM>. For example, when the soil in the field has high moisture content, the soil may stick or adhere to the disc blades <NUM> such that the soil accumulates within the associated flow zone(s) <NUM>. Moreover, a large chunk of residue or a rock may become lodged between a pair of adjacent disc blades <NUM> in a manner that inhibits the flow of field materials through the associated flow zone(s) <NUM>, thereby causing additional field materials to accumulate therein. When the material accumulation between a pair of adjacent disc blades <NUM> is sufficient to inhibit the flow of further field materials through the associated flow zone <NUM>, such field materials may begin to flow above the rotational axis <NUM> and the disc gang shaft <NUM>.

In accordance with aspects of the present invention, a sensing assembly <NUM> may be associated with the disc gang <NUM> for detecting changes in material flow through the open spaces <NUM>, which may be indicative of material accumulation within the flow zones <NUM>. In several embodiments, the sensing assembly <NUM> may include one or more sensing arms <NUM> supported relative to the support arm <NUM> of the disc gang <NUM> by a shaft <NUM>. As shown in <FIG>, the sensing arms <NUM> is spaced apart in the axial direction <NUM> such that each sensing arm <NUM> is aligned with one of the open spaces <NUM>. In the embodiment shown, the sensing arms <NUM> are thin members, each defining a width W1 extending in the axial direction <NUM> of the disc gang <NUM>. In some embodiments, the width W1 of the sensing arms <NUM> may be less than <NUM>% of the distance D1 between adjacent disc blades <NUM>. The sensing arms <NUM> may be positioned entirely above the rotational axis <NUM> of the disc gang <NUM> and, in some embodiments, entirely above the disc gang shaft <NUM> to detect material flow through the open spaces <NUM> between adjacent disc blades <NUM> and above the rotational axis <NUM>. It should be appreciated that, while only one sensing arm <NUM> is shown as being positioned between each respective pair of adjacent disc blades <NUM>, any suitable number of sensing arms <NUM> may instead be positioned between adjacent pairs of blade discs <NUM> for detecting material flow above the rotational axis <NUM>. For instance, two or more sensing arms <NUM> may be positioned between each adjacent pair of blade discs <NUM>.

As shown in <FIG>, the shaft <NUM> is coupled to the support arm <NUM> by brackets <NUM> extending outwardly from a forward facing side of the support arm <NUM> along the direction of travel <NUM>. The sensing arms <NUM> generally extend rearwardly from the shaft <NUM> towards the rotational axis <NUM> of the disc gang <NUM>. Particularly, in the embodiment shown, the sensing arm <NUM> is bent such that the sensing arm <NUM> includes a first portion 204A, a second portion 204B, and a third portion 204C. Particularly, in a neutral position of the sensing arm <NUM> as shown in <FIG>, when there is no material flow over the rotational axis <NUM> of the disc gang <NUM>, the first portion 204A extends downwardly from the shaft <NUM> along the vertical direction <NUM>, the second portion 204B extends downwardly along the vertical direction <NUM> and rearwardly along the direction of travel <NUM> from the first portion 204A, and the third portion 204C extends upwardly along the vertical direction <NUM> and rearwardly along the direction of travel <NUM> from the second portion 204B. In some embodiments, the second portion 204B of the sensing arm <NUM> is positioned directly vertically above the rotational axis <NUM> of the disc gang <NUM>. However, it should be appreciated that the bracket(s) <NUM> may be otherwise positioned relative to the support arm <NUM> and/or that the sensing arm <NUM> may be otherwise oriented or shaped such that another portion of the sensing arm <NUM>, or an entirety of the sensing arm <NUM>, may extend vertically above the rotational axis <NUM> of the disc gang <NUM> in the neutral position.

In the illustrated embodiment, the shaft <NUM> is rotatably coupled to the brackets <NUM> such that the shaft <NUM> and the connected sensing arm(s) <NUM> are rotatable about a rotational axis 206A of the shaft <NUM>, away from the neutral position, when material flow above the rotational axis <NUM> of the disc gang <NUM> occurs. The sensing arms <NUM> shown in <FIG> are ganged together by the shaft <NUM> such that rotation of one sensing arm <NUM> causes the same rotation of the other sensing arms <NUM>. However, it should be appreciated that the sensing arms <NUM> may instead be independently mounted to the shaft <NUM> or independently mounted to the adjacent support arm <NUM> (e.g., by respective, separate brackets <NUM>, shafts <NUM>, and/or the like), such that rotation of one sensing arm <NUM> does not cause rotation of the other sensing arms <NUM>.

The sensing assembly <NUM> may also include one or more sensors configured to detect one or more parameters indicative of displacement of the sensing arm(s) <NUM> from the neutral position. For example, in some embodiments, the sensing assembly <NUM> may include one or more rotational sensors <NUM>, accelerometers <NUM>, load sensors <NUM>, or a combination thereof. The rotational sensor(s) <NUM> may be used to detect an angular position of the sensing arm(s) <NUM>. Further, the accelerometer(s) <NUM> may be used to detect the acceleration or movement of the sensing arm(s) <NUM> (e.g., as the sensing arm(s) <NUM> rotates round the rotational axis 206A or is otherwise displaced). Additionally, the load sensor(s) <NUM> may be used to detect load(s) (e.g., stress or strain) on the sensing arm <NUM>, e.g., at a position where the sensing arm <NUM> bends or flexes.

In general, such displacement-related parameters (e.g., the angular movement or pivoting of the sensing arm(s) <NUM>, the acceleration of the sensing arm(s), and/or loading on the sensing arm(s) <NUM>) are indicative of or otherwise associated with material accumulation within the flow zones <NUM>. Specifically, as indicated above, material accumulation within a given flow zone <NUM> typically results in the flow of field materials over the disc gang shaft <NUM> and into contact with the adjacent sensing arm <NUM>, which, in turn, will result in displacement of the arm <NUM> (e.g., in the form of pivoting about the rotational axis 206A or bending/flexing). Thus, as the magnitude of the displacement of the sensing arm <NUM> increases, it may be inferred that the amount of material accumulation between the adjacent discs <NUM> has increased as further amounts of field materials are forced to flow over the disc gang shaft <NUM> and into contact with the sensing arm <NUM>. Additionally, the frequency and/or the duration of such displacement may also be used to assess whether the detected displacement is indicative of actual plugging between the discs <NUM> or is simply due to random field material being thrown over the disc gang shaft <NUM> and into contact with the sensing arm <NUM>.

As will be described in greater detail below, in some embodiments, the sensing assembly <NUM> may include one or more components configured to facilitating de-plugging or reducing the amount of material accumulation between the adjacent discs <NUM>. For instance, as shown in <FIG>, the sensing assembly <NUM> may include one or more sensing arm actuators <NUM> configured to move or otherwise adjust the orientation or position of the sensing arm(s) <NUM> relative to the rotational axis <NUM> of the disc gang <NUM> to reduce material accumulation between the discs <NUM>, particularly above the disc gang shaft <NUM>. In the illustrated embodiment, the sensing arm actuator <NUM> is configured as a linear actuator coupled between an adjacent sensing arm <NUM> and the support arm <NUM>. In such embodiment, the sensing arm actuator <NUM> may be configured to rotate the sensing arm <NUM> back towards its neutral position following the determination of a plugging condition. As such, the sensing arm <NUM> may be used to help dislodge material accumulation formed above the disc gang shaft <NUM>. Additionally or alternatively, in some embodiments, the sensing arm actuator <NUM> may be configured to rotate the sensing arm <NUM> further away from its neutral position following the determination of a plugging condition. As such, the sensing arm <NUM> may be moved out of the way of the material flow to encourage the flow of materials above the disc gang shaft <NUM> to help prevent material accumulation above the disc gang shaft <NUM>. It should be appreciated that the sensing arm actuator <NUM> may be configured as any other suitable type of actuator, such as a rotary actuator, and may be connected between any other suitable elements of the sensing assembly <NUM> and the implement <NUM> such that the sensing arm <NUM> may be actuatable to reduce material accumulation.

Referring now to <FIG> and <FIG>, exemplary views of a ground engaging assembly (e.g., the disc gang <NUM> shown in <FIG> and <FIG>) are illustrated in accordance with aspects of the present invention. More particularly, <FIG> illustrates a front view of the disc gang <NUM> and sensing assembly <NUM> described above with reference to <FIG> and <FIG> while the disc gang <NUM> is experiencing a plugging condition within one of its flow zones <NUM>. Additionally, <FIG> illustrates a side view of the disc gang <NUM> and the sensing assembly <NUM> shown in <FIG> during the plugging condition.

As described above, when a plugging condition occurs, field materials may accumulate within the flow zone(s) <NUM> such that additional field materials flow above the rotational axis <NUM> of the disc gang <NUM>, such as above the disc gang shaft <NUM>. As shown in <FIG>, material accumulation <NUM> has built up within one of the flow zones <NUM> such that material flow F' (<FIG>) flows over the rotational axis <NUM> and the disc gang shaft <NUM> of the disc gang <NUM>. The material flow F' causes the associated sensing arm <NUM> and shaft <NUM> to rotate such that the sensing arm <NUM> moves away from its neutral position (shown in dashed lines) and away from the rotational axis <NUM> of the disc gang <NUM> towards a displaced position (shown in solid lines). In general, the sensing arm <NUM> rotates further with more material accumulation <NUM>, such that the displaced position is further away from the neutral position with more material accumulation <NUM>. In the embodiment shown, the sensing arm <NUM> is not configured to substantially flex or bend, but, rather, pivot or rotate about the rotational axis 206A of the shaft <NUM>. In such an embodiment, suitable sensors, such as the rotation sensor <NUM> and/or the acceleration sensor <NUM>, may be used to monitor the rotational displacement of the sensing arm <NUM> as field materials flow over the disc gang shaft <NUM>.

In an alternate embodiment, the associated sensing arm <NUM> may be configured to flex or bend with material flow F' above the rotational axis <NUM> and the disc gang shaft <NUM> of the disc gang <NUM>. For example, <FIG> illustrates an exemplary view of a variation of the associated sensing arm <NUM> suitable for use with the sensing assembly <NUM> described above with reference to <FIG>. As shown in <FIG>, a portion of the sensing arm <NUM> (e.g., the second portion 204B) may be configured to bend relative to another portion of the sensing arm <NUM> (e.g., the first portion 204A) away from its neutral position (shown in dashed lines) as field materials are directed over the disc gang shaft <NUM> towards a displaced position (shown in solid lines). In such an embodiment, a suitable sensor, such as the load sensor <NUM>, may be installed on the sensing arm (e.g., at the transition between the first and second portions 204A, 204B of the sensing arm <NUM>) to determine the load (e.g., stress, strain, etc.) on the sensing arm <NUM> during such bending or flexing. In general, the load on the sensing arm <NUM> may increase with additional amount of field materials flowing over the disc gang shaft <NUM>. It should be appreciated that the sensing arm <NUM> may be configured to bend or flex at any location along the sensing arm <NUM>, such that the load sensor(s) <NUM> may be positioned at any corresponding location on the sensing arm <NUM>. Additionally, in some embodiments in which the sensing arm <NUM> is configured to bend or flex, the associated shaft <NUM> may be rotationally fixed such that the sensing arm <NUM> is not configured to rotate about the shaft axis 206A. In such embodiments, the load sensor <NUM> and/or the acceleration sensor <NUM> may be used to detect the displacement (e.g., bending/flexing) of the sensing arm <NUM> or a corresponding parameter indicative of the displacement of the sensing arm <NUM>.

Referring now to <FIG> and <FIG>, exemplary views of another variation of a sensing assembly <NUM>' suitable for use with the disc gang <NUM> described above with reference to <FIG> and <FIG> are illustrated. More particularly, <FIG> illustrates a front view of the disc gang <NUM>, with the alternate sensing assembly <NUM>' being positioned relative thereto. Additionally, <FIG> illustrates a side view of the disc gang <NUM> and the components of the sensing assembly shown in <FIG>.

Particularly, in the embodiment shown, the sensing assembly <NUM>' is configured substantially similar to the sensing assembly <NUM> described above with reference to <FIG>, except for the sensing arms. More particularly, the sensing assembly <NUM>' includes one or more sensing arm(s) <NUM>', with each sensing arm <NUM>' being disposed between a respective pair of adjacent disc blades <NUM>. However, unlike the narrow, tine-like sensing arms <NUM> described above with reference to <FIG>, each sensing arm <NUM>' is configured as a flap or paddle. Specifically, as shown in the illustrated embodiment, each sensing arm <NUM>' is substantially oriented in the vertical direction <NUM> when at its neutral position (e.g., as shown in dashed lines in <FIG>). Additionally, each sensing arm <NUM>' defines a width W2 extending in the axial direction <NUM> of the disc gang <NUM>. In some embodiments, the width W2 of the sensing arm <NUM>' extends along at least <NUM>% of the distance D1 defined between adjacent disc blades <NUM>, as shown. However it may be appreciated that, in other embodiments, the width W2 of the sensing arm <NUM>' may extend along less than <NUM>% of the distance D1 between adjacent disc blades <NUM>. It should also be appreciated that, while only one sensing arm <NUM>' is shown as being positioned between each respective pair of adjacent disc blades <NUM>, any suitable number of sensing arms <NUM>' may, instead, be positioned between the adjacent blade discs <NUM>. For instance, two or more sensing arms <NUM>' may be positioned between each pair of adjacent blade discs <NUM>.

In some embodiments, the sensing arm <NUM>' may extend in the vertical direction <NUM> directly above the rotational axis <NUM> of the disc gang <NUM> when at its neutral position. For example, as shown in <FIG>, the sensing arm <NUM>' is coupled to a shaft <NUM>' supported by brackets <NUM>' extending downwardly from the support arm <NUM> along the vertical direction <NUM> such that the entirety of the sensing arm <NUM>' extends directly vertically above the rotational axis <NUM> of the disc gang <NUM> when at its neutral position. Thus, the sensing arm <NUM>' may be used to detect the flow of field materials above the rotational axis <NUM> of the disc gang <NUM> as material accumulates within the flow zones <NUM> between adjacent disc blades <NUM>. It should be appreciated, however, that the sensing arm <NUM>' may instead be disposed at any other suitable position/orientation that allows the sensing arm <NUM>' to be used to determine material flow associated with the plugging condition. For instance, the sensing arm <NUM>' may be positioned slightly in front of or slightly rearward of the rotational axis <NUM> of the disc gang in the direction of travel <NUM> or may be oriented at a non-vertical angle in its neutral position.

Similar to the sensing arm <NUM> described above with reference to <FIG>, the sensing arm <NUM>' may be configured to be displaced from its neutral position by the flow or accumulation of field materials above the disc gang shaft <NUM>. For instance, as shown in <FIG>, in some embodiments, the sensing arm <NUM>' may be rotatable with the shaft <NUM>' about the shaft's rotational axis 206A'. In addition to such rotational displacement (or as an alternative thereto), the sensing arm <NUM>' may be configured to be displaced via flexing or bending as field materials contact the arm <NUM>, such as when the shaft <NUM>' is rotationally fixed. Regardless, one or more suitable sensors, such as the rotational sensors <NUM>, acceleration sensors <NUM>, and/or the load sensors <NUM>, may be used to detect the displacement of the sensing arm <NUM>' (or a parameter indicative of the displacement of the arm <NUM>', which may then be used to infer or estimate the occurrence of a plugged condition for the disc gang <NUM>.

It should be appreciated that, while the sensing assembly <NUM>, <NUM>' has generally been described herein with reference to determining plugging between adjacent discs <NUM> of a disc gang <NUM> of a tillage implement <NUM>, the sensing assembly <NUM>, <NUM>' may be configured to be associated with any other ground engaging tools or ground engaging assemblies of any suitable agricultural implement. For example, referring now to <FIG> and <FIG>, alternative embodiments of ground engaging assemblies with which the disclosed sensing assembly <NUM> may be used are illustrated in accordance with aspects of the present invention. Particularly, <FIG> illustrates a disc assembly with which the sensing assembly <NUM> may be used. Additionally, <FIG> illustrates a shank assembly with which the sensing assembly <NUM> may be used.

As shown in <FIG>, the sensing assembly <NUM> may be suitable for use with a disc assembly <NUM>, which is configured substantially similar to the disc gang <NUM> described above with reference to <FIG>, except that the disc blades <NUM>' are individually mounted to a support arm <NUM>' by respective hangers <NUM>'. The support arm <NUM> extends along an axial direction of the disc assembly <NUM> (e.g., as indicated by arrow <NUM>') between a first end <NUM>' and a second end <NUM>'. The disc blades <NUM>' are spaced apart in the axial direction <NUM>' of the disc assembly <NUM> by a distance D2 such that an open space <NUM>' is defined between each adjacent pair of disc blades <NUM>', the disc blades <NUM>' being rotatable about a rotational axis <NUM>' parallel to and extending along the axial direction <NUM>'. A sensing assembly, such as the sensing assembly <NUM> described above, may be positioned relative to the disc assembly <NUM>. Particularly, at least one sensing arm <NUM> of the sensing assembly <NUM> may be disposed within the open space <NUM>' between the adjacent disc blades <NUM>', such as at a location entirely above the rotational axis <NUM>' of the disc assembly <NUM> in the vertical direction <NUM> of the implement <NUM> such that material accumulation within flow zone <NUM>' between adjacent disc blades <NUM>' may be inferred or determined based on the detection of field materials flowing above the rotational axis <NUM>' of the disc assembly <NUM>.

As shown in <FIG>, the sensing assembly <NUM> may similarly be suitable for use with a shank assembly <NUM>. The shank assembly <NUM> includes a plurality of the shanks, such as the shanks <NUM> described above with reference to <FIG> and <FIG>, individually mounted to a shank support arm <NUM>". The shank support arm <NUM>'' generally extends along an axial direction of the shank assembly <NUM> (e.g., as indicated by arrow <NUM>") between a first end <NUM>" and a second end <NUM>'', with the shanks <NUM> being spaced apart by a distance D3 in the axial direction <NUM>" such that an open space <NUM>'' is defined between each adjacent pair of shanks <NUM>. A sensing assembly, such as the sensing assembly <NUM> described above, may similarly be positioned relative to the shank assembly <NUM>. Particularly, at least one sensing arm <NUM> of the sensing assembly <NUM> may be disposed within the open space <NUM>" between the adjacent shanks <NUM> and positioned entirely above a plugging line L1 of the shank assembly <NUM> in the vertical direction <NUM> of the implement <NUM>. The plugging line L1 may generally correspond to a height above the ground surface <NUM> at or above which a plugging condition of the shank assembly <NUM> occurs. During normal, non-plugged operating conditions, substantially all of the field materials being processed by the shank assembly <NUM> flow through the open spaces <NUM>", particularly through portion(s) of open spaces <NUM>" below the plugging line L1 (i.e., through flow zone(s) <NUM>"), with only an occasional piece of residue, dirt clod, rock, and/or the like flowing above the plugging line L1. However, during a plugged condition, material accumulates within the flow zone(s) <NUM>'' such that field materials may begin to flow above the plugging line L1. As such, material accumulation within the flow zone <NUM>'' between adjacent shanks <NUM> may be inferred or determined based on the detection of field materials flowing above the plugging line L1 of the shank assembly <NUM>.

It should be appreciated that, while the disc assembly <NUM> and shank assembly <NUM> shown in <FIG> and <FIG> are discussed herein with reference to the sensing assembly <NUM>, any other suitable sensing assembly, such as the sensing assembly <NUM>', may instead be configured to be used with such ground engaging assemblies <NUM>, <NUM>.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for determining material accumulation relative to ground engaging tools of a ground engaging assembly of an agricultural implement is illustrated in accordance with aspects of the present invention. In general, the system <NUM> will be described herein with reference to the implement <NUM> described above with reference to <FIG> and the sensing assemblies <NUM>, <NUM>' described with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed system <NUM> may generally be utilized with agricultural implements having any other suitable implement configuration and/or with ground engaging assemblies having any other suitable assembly/tool configuration.

As shown in <FIG>, 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 be configured to 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 material flow relative to the associated ground engaging assembly. Particularly, the controller <NUM> may be in communication with one or more displacement sensors configured to detect parameters associated with the displacement of the sensing arm(s) <NUM>. For instance, the controller <NUM> may be communicatively coupled to one or more of the sensor(s) <NUM>, <NUM>, <NUM> via any suitable connection, such as a wired or wireless connection, to allow data indicative of displacement of the sensing arm(s) <NUM> to be transmitted from the sensor(s) <NUM>, <NUM>, <NUM> to the controller <NUM>.

Specifically, referring back to <FIG>, each sensing assembly <NUM>, <NUM>' may, for example, include or be associated with one or more rotation sensors <NUM>, one or more acceleration sensors <NUM>, and/or one or more load sensors <NUM> installed or otherwise positioned relative to one or more of the sensing arms <NUM> to capture data (e.g., rotational position data, acceleration data, load data) indicative of the displacement of the sensing arm(s) <NUM>, which, in turn, is indicative of material accumulation relative to the adjacent ground engaging tools (e.g., disc blades <NUM>, shanks <NUM>, leveling blades <NUM>, basket assemblies <NUM>, etc.) of the implement <NUM>. Thus, in several embodiments, the controller <NUM> is configured to determine the presence of material accumulation relative to the adjacent ground engaging tools based on the data received from the sensor(s) <NUM>, <NUM>, <NUM>. For example, 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 presence of material accumulation relative to the adjacent ground engaging tools based on the data received from the sensor(s) <NUM>, <NUM>, <NUM>.

For instance, the controller <NUM> may include one or more algorithms that compare the parameters indicative of displacement of the sensing arm <NUM> from the data received from the sensor(s) <NUM>, <NUM>, <NUM> to one or more thresholds associated with the presence of material accumulation. For example, the controller <NUM> may compare the parameters indicative of displacement of the sensing arm <NUM> to a magnitude threshold corresponding to a severity of the material flow above the material flow zone(s) <NUM>, a frequency threshold or a period threshold corresponding to a persistence of the material flow above the material flow zone(s) <NUM>, and/or the like. In one embodiment, the controller <NUM> may determine that there is material accumulation present within one or more of the flow zone(s) <NUM> when one or more of the monitored parameters crosses the associated threshold. For instance, when comparing magnitude(s), the controller <NUM> may determine the presence of material accumulation when material flow causes the sensing arm(s) <NUM> to displace by an amount that is greater than an associated displacement threshold, at an acceleration that is greater than an associated acceleration threshold, and/or due to a load that is greater than an associated load threshold. Similarly, the controller <NUM> may determine the presence of material accumulation when the detected arm displacement is more frequent than the frequency threshold or when the detected arm displacement occurs for periods longer than the period threshold. The controller <NUM> may further use a combination of such thresholds to further verify the presence of material accumulation.

The controller may further be configured to perform one or more implement-related control actions based on the data received from the sensor(s) <NUM>, <NUM>, <NUM>. Specifically, the controller <NUM> may be configured to control one or more components of the agricultural implement <NUM> and/or the sensing assembly <NUM> based on the determination of the presence of material accumulation relative to adjacent ground engaging tools. For example, as shown in <FIG>, the controller <NUM> may be configured to control the disc gang actuator(s) <NUM> associated with the disc gang <NUM>. For instance, the controller <NUM> may be configured to control the down force on the disc gang <NUM> to adjust a penetration depth of the disc blades <NUM> of the disc gang <NUM> to help reduce the amount of material accumulation formed relative to the disc blades <NUM>. The controller <NUM> may similarly be configured to control the shank frame actuator(s) 50A associated with the shanks <NUM> to adjust a penetration depth of the shanks <NUM> to reduce material accumulation formed between adjacent shanks <NUM>.

The controller <NUM> may additionally or alternatively be configured to control the sensing arm actuator(s) <NUM> associated with the sensing arm(s) <NUM> of the sensing assembly <NUM>. For instance, the controller <NUM> may be configured to actuate the sensing arm actuator(s) <NUM> to control the position of the sensing arm(s) <NUM> to help reduce the amount of material accumulation formed relative to the adjacent ground engaging tools. As such, the operating position of the ground engaging tools may not need to be adjusted from their working positions to reduce the amount of material accumulation.

Further, in some embodiments, the controller <NUM> may be configured to indicate to an operator the presence of material accumulation and/or one or more parameters associated with the material accumulation determined relative to the ground engaging tools. 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 presence of material accumulation (e.g., amount, frequency, duration, patterns, and/or the like) determined relative to the ground engaging tools. 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 presence of material accumulation relative to pairs of ground engaging tools.

Additionally or alternatively, in some embodiments, the controller <NUM> may be configured to perform one or more vehicle-related control actions based on the determination of material accumulation relative to the ground engaging tools. 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 <NUM> and/or the transmission <NUM> of the vehicle <NUM>. In such embodiments, the controller <NUM> may be configured to control the operation of the vehicle drive component(s) <NUM>, <NUM> based on the determination of the material accumulation, for example, to slow down the vehicle and implement <NUM> or bring the vehicle and implement <NUM> to a stop when it is determined that the material accumulation is excessive.

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 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 managing material accumulation relative to ground engaging tools of an 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> and the work vehicle <NUM> shown in <FIG> and <FIG>, the sensing assembly <NUM>, <NUM>' shown in <FIG> as well as the various system components shown in <FIG>. However, it should be appreciated that the disclosed method <NUM> may be implemented with work vehicles and/or implements having any other suitable configurations and/or within systems having any other suitable system configuration. In addition, although <FIG> depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the method disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown in <FIG>, at (<NUM>), the method <NUM> includes receiving data from a sensor configured to detect a parameter indicative of displacement of a sensing arm aligned with an open space defined between adjacent ground engaging tools of an agricultural implement. For instance, as described above, the controller <NUM> is configured to receive an input(s) from one or more sensors configured to provide an indication of displacement of an associated sensing arm(s) <NUM>, <NUM>' of the disclosed sensor assembly positioned within an open space <NUM>, <NUM>', <NUM>" between adjacent ground engaging tools (e.g., disc blades <NUM>, <NUM>', shanks <NUM>, etc.), such as by receiving sensor data from one or more rotation sensors <NUM>, one or more acceleration sensors <NUM>, and/or one or more load sensors <NUM> provided in operative association with the sensor assembly.

Further, as shown at (<NUM>), the method <NUM> includes analyzing the sensor data to determine the presence of material accumulation between the first and second ground engaging tools. For instance, as described above, the controller <NUM> is configured to analyze the sensor data associated with the monitored displacement-related parameter to infer or estimate the presence of material accumulation between adjacent ground engaging tools. In one embodiment, the controller <NUM> may be configured to compare the monitored displacement-related parameters to one or more predetermined thresholds. For example, the controller <NUM> may determine the presence of material accumulation when the magnitude associated with the displacement of the sensing arm <NUM>, <NUM>' exceeds a magnitude threshold, when the frequency of the displacement of the sensing arm <NUM>, <NUM>' exceeds a frequency threshold, and/or when the duration of the displacement of the sensing arm <NUM>, <NUM>' exceeds a period threshold.

Additionally, as shown at (<NUM>), the method <NUM> includes initiating a control action based at least in part on the determination of material accumulation between the first and second ground engaging tools. For instance, as described above, the controller <NUM> may be configured to control the operation of one or more implement actuators, such as actuator(s) 50A, <NUM> and/or the operation of the sensing arm actuator <NUM>, to reduce the amount of material accumulation between the first and second ground engaging tools.

It is to be understood that, in several embodiments, 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, in several embodiments, any of the functionality performed by the controller <NUM> described herein, such as the method <NUM>, are 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 determining material accumulation relative to ground engaging tools (<NUM>) of an agricultural implement (<NUM>), the system (<NUM>) comprising a frame member (<NUM>) extending along a first direction (<NUM>) and first and second ground engaging tools (<NUM>) coupled to the frame member (<NUM>) and spaced apart from each other in the first direction (<NUM>) such that an open space (<NUM>) is defined between the first and second ground engaging tools (<NUM>), the first and second ground engaging tools (<NUM>) being configured to engage soil within a field as the agricultural implement (<NUM>) is moved across the field, the system (<NUM>) being characterized by:
a sensing arm (<NUM>) aligned with the open space (<NUM>) defined between the first and second ground engaging tools (<NUM>), the sensing arm (<NUM>) being displaceable from a neutral position by material accumulation between the first and second ground engaging tools, wherein the sensing arm (<NUM>) does not engage the ground when in the neutral position;
a sensor (<NUM>, <NUM>, <NUM>) configured to detect a parameter indicative of displacement of the sensing arm (<NUM>); and
a controller (<NUM>) communicatively coupled to the sensor (<NUM>, <NUM>, <NUM>), the controller (<NUM>) configured to monitor the parameter based at least in part on data received from the sensor (<NUM>, <NUM>, <NUM>) to determine a presence of material accumulation between the first and second ground engaging tools (<NUM>).