System and method for detecting tripping and/or floating events of ground-engaging shanks on an agricultural implement

1 . An agricultural implement, comprising:

a frame;

a ground-engaging shank pivotably coupled to the frame;

a coil spring coupled to the frame at a first pivot joint and to the ground-engaging shank at a second pivot joint, the coil spring configured to bias the ground-engaging shank to a predetermined tool position relative to the frame;

a load sensor in operative association with at least one of the first pivot joint or the second pivot joint, the load sensor configured to generate load data of a load being applied at the first pivot joint or the second pivot joint by the coil spring; and

a computing system communicatively coupled to the load sensor, the computing system configured to:

determine the load being applied at the first pivot joint or the second pivot joint based on the load data generated by the load sensor, the determined load indicative of a compression load of the coil spring being compressed between the first pivot joint and the second pivot joint; and

determine when the ground-engaging shank is tripping or floating based on the determined load.

2 . The agricultural implement of claim 1 , wherein the load sensor is in operative association with the first pivot joint such that the load sensor generates load data of the load being applied at the first pivot joint.

3 . The agricultural implement of claim 1 , wherein the load sensor is in operative association with the second pivot joint such that the load sensor generates load data of the load being applied at the second pivot joint.

4 . The agricultural implement of claim 1 , wherein, when determining when the ground-engaging shank is tripping or floating, the computing system is further configured to:

compare the determined load to a threshold load value; and

determine that the ground-engaging shank is tripping or floating when the determined load exceeds the threshold load value.

5 . The agricultural implement of claim 1 , wherein, when determining when the ground-engaging shank is tripping or floating, the computing system is further configured to:

compare the determined load to a threshold load value;

identify a time period across which the determined load exceeds the threshold load value;

compare the identified time period to a threshold time period; and

determine that the ground-engaging shank is tripping when the identified time period is equal to or less than the threshold time period.

6 . The agricultural implement of claim 1 , wherein, when determining when the ground-engaging shank is tripping or floating, the computing system is further configured to:

compare the determined load to a threshold load value;

identify a time period across which the determined load exceeds the threshold load value;

compare the identified time period to a threshold time period; and

determine that the ground-engaging shank is floating when the identified time period exceeds threshold time period.

7 . A system for detecting tripping or floating of ground-engaging shanks on an agricultural implement, the system comprising:

a ground-engaging shank pivotably coupled to a frame of the agricultural implement;

a coil spring coupled to the frame at a first pivot joint and to the ground-engaging shank at a second pivot joint, the coil spring configured to bias the ground-engaging shank to a predetermined tool position relative to the frame;

a load sensor in operative association with at least one of the first pivot joint or the second pivot joint, the load sensor configured to generate load data of a load being applied at the first pivot joint or the second pivot joint by the coil spring; and

a computing system communicatively coupled to the load sensor, the computing system configured to:

determine the load being applied at the first pivot joint or the second pivot joint based on the load data generated by the load sensor, the determined load indicative of a compression load of the coil spring being compressed between the first pivot joint and the second pivot joint; and

determine when the ground-engaging shank is tripping or floating based on the determined load.

8 . The system of claim 7 , wherein the load sensor is in operative association with the first pivot joint such that the load sensor generates load data of the load of the being applied at the first pivot joint.

9 . The system of claim 7 , wherein the load sensor is in operative association with the second pivot joint such that the load sensor generates load data of the load being applied at the second pivot joint.

10 . The system of claim 7 , wherein, when determining when the ground-engaging shank is tripping or floating, the computing system is further configured to:

compare the determined load to a threshold load value;

identify a time period across which the determined load exceeds the threshold load value;

compare the identified time period to a threshold time period; and

determine that the ground-engaging shank is tripping when the identified time period is equal to or less than the threshold time period.

11 . The system of claim 7 , wherein, when determining when the ground-engaging shank is tripping or floating, the computing system is further configured to:

compare the determined load to a threshold load value;

identify a time period across which the determined load exceeds the threshold load value;

compare the identified time period to a threshold time period; and

determined that the ground-engaging shank is floating when the identified time period exceeds the threshold time period.

12 . The system of claim 7 , wherein, when it is determined that the ground-engaging shank is tripping or floating, the computing system is further configured to initiate a control action.

13 . The system of claim 12 , wherein the control action comprises notifying an operator of the agricultural implement that the ground-engaging shank is tripping or floating.

14 . The system of claim 12 , wherein the control action comprises at least one of adjusting a ground speed of the agricultural implement or reducing the depth of tillage of the agricultural implement.

15 . The system of claim 7 , wherein the computing system is further configured to generate a field map identifying one or more locations within a field across which the agricultural implement is traveling that the ground-engaging shank has tripped or floated.

16 . A method for detecting tripping or floating of ground-engaging shanks on an agricultural implement, the agricultural implement including a frame, a ground-engaging shank pivotably coupled to the frame, and a coil spring coupled to the frame at a first pivot joint and to the ground-engaging shank at a second pivot joint, the method comprising:

receiving, with a computing system, load sensor data of a load being applied at the first pivot joint or the second pivot joint by the coil spring;

determining, with the computing system, the load being applied at the first pivot joint or the second pivot joint based on the received load sensor data, the determined load indicative of a compression load of the coil spring being compressed between the first pivot joint and the second pivot joint;

determining, with the computing system, when the ground-engaging shank is tripping or floating based on the determined load; and

initiating, with the computing system, a control action when it is determined that the ground-engaging shank is tripping or floating.

17 . The method of claim 16 , wherein determining when the ground-engaging shank is tripping or floating comprises:

comparing, with the computing system, the determined load to a threshold load value;

identifying, with the computing system, a time period across which the determined load exceeds the threshold load value;

comparing, with the computing system, the identified time period to a threshold time period; and

determining, with the computing system, that the ground-engaging shank is tripping when the identified time period is equal to or less than the threshold time period.

18 . The method of claim 16 , wherein determining when the ground-engaging shank is tripping or floating comprises:

comparing, with the computing system, the determined load to a threshold load value;

identifying, with the computing system, a time period across which the determined load exceeds the threshold load value;

comparing, with the computing system, the identified time period to a threshold time period; and

determining, with the computing system, that the ground-engaging shank is floating when the identified time period exceeds the threshold time period.

19 . The method of claim 16 , wherein the control action comprises notifying an operator of the agricultural implement that the ground-engaging shank is tripping or floating.

20 . The method of claim 16 , wherein the control action comprises at least one of adjusting a ground speed of the agricultural implement or reducing the depth of tillage of the agricultural implement.