Instrumented deep tillage implement

A method for determining tillage depth for a soil engaging implement comprising the steps of:

• providing at least one soil engaging tillage implement having an upper end mounted to a support structure, a lower end, a point for engaging the soil mounted to the lower end, a leading edge, and a protective shin mounted to the leading edge;
• interposing at least two load cells between the protective shin and the leading edge of the soil engaging tillage implement;
• mounting at least one set of strain gauges on the soil engaging tillage implement;
• determining a linear trend of topsoil resistance pressure change with depth from the load cells as the soil engaging tillage implement is drawn through the soil;
• determining from the strain gauges a measured torque on the soil engaging tillage implement caused by the load transmitted through the at least two load cells as well as the load applied to the point of the soil engaging tillage implement;
• determining measured (pp) and predicted (psh) mechanical soil resistance to penetration applied to the point from the linear trend of topsoil resistance pressure change with depth and the torque on the soil engaging tillage implement;
• using the difference between measured and predicted mechanical soil resistance to penetration applied to the point as an input for adjusting the depth of the soil engaging tillage implement.