Working machine with hitch tilt actuator used for fore/aft leveling while working the ground
Some embodiments may include a working machine comprising 1) a frame assembly including first and second sections, 2) ground implements to work a ground surface, the first section including at least one first implement of the ground implements and the second section including at least one second different implement of the ground implements, respectively, and 3) a transportation system including transportation devices and at least one actuator to pivotally or hingeably move one part of the working machine relative to another part of the working machine; the working machine further including: at least one sensor to produce at least one measurement indicative of a degree of engagement of the at least one first implement or the at least one second implement with a corresponding part of the ground surface; and one or more processors to operate the at least one actuator of the transportation system while the machine is working the ground surface, based on the at least one measurement. Other embodiments may be disclosed and/or claimed.
1 . A working machine comprising:
a frame assembly including a first frame section and a and second frame section that is located rearwardly of the first frame section;
a hitch connector having opposing first and second ends, wherein the hitch connector is pivotably coupled at the first end to the first frame section and the second end is configured to connect with a transport vehicle;
ground implements configured to work a ground surface, wherein the ground implements comprise a first ground implement of the first frame section and a second ground implement of the second frame section;
a transportation system including transportation devices;
at least one actuator connected to the hitch connector and the first frame section for pivoting the hitch connector relative to the first frame section;
at least one sensor to produce measurements indicative of a degree of engagement of the first ground implement with a first part of the ground surface and a degree of engagement of the second ground implement with a second part of the ground surface; and
a controller including one or more processors configured to operate the at least one actuator based on the measurements while the first and second ground implements work the ground surface, wherein, in response to a detected non-optimal soil engagement of the first ground implement or the second ground implement, the controller actuates the at least one actuator to produce movement of the second frame section relative to the first frame section to correct the non-optimal soil engagement.
2 . The working machine of claim 1 , wherein the at least one actuator comprises part of a hitch tilt assembly.
3 . The working machine of claim 2 , wherein the at least one actuator comprises a hydraulic cylinder.
4 . The working machine of claim 3 , wherein the working machine further comprises:
a valve to change pressure of the hydraulic cylinder; and
the one or more processors are configured to control the valve based on the second measurements, to vary the pressure as the work machine works a non-level part of a field.
5 . The working machine of claim 1 , wherein the second frame section includes a first subsection and a second subsection that is located rearwardly of the first subsection, and the working machine further comprises:
at least one additional actuator configured to pivotally or hingably move the second subsection relative to the first subsection;
at least one additional sensor to produce at least one additional measurement indicative of a degree of engagement of at least one of the first or second ground implements with the ground surface; and
the one or more processors are configured to operate the at least one additional actuator while the machine is working the ground surface, based on the at least one additional measurement.
6 . The working machine of claim 1 , wherein the one or more processors are configured to vary an actuator force of the at least one actuator until the measurements are equal to, or are coinciding within a threshold of, a reference value.
7 . The working machine of claim 6 , wherein;
the at least one sensor comprises plural sensors to produce the measurements; and
the reference value comprises, or is derived from, one of the measurements.
8 . The working machine of claim 1 , wherein the measurements comprise a distance measurement between a reference location on the first frame section or the second frame section and the ground surface.
9 . The working machine of claim 8 , wherein the reference location is on a fore part or an aft part of the second frame section.
10 . The working machine of claim 1 , wherein the at least one sensor comprises an ultrasonic sensor or a radar sensor.
11 . The working machine of claim 1 , wherein:
the degree of engagement of the first ground implement with the first part of the ground surface comprises a respective tillage depth; and
the degree of engagement of the second ground implement with the second part of the ground surface comprises a respective tillage depth.
12 . The working machine of claim 1 , wherein the measurements indicate a distance of the first ground implement from the first part of the ground surface, and a distance of the second ground implement from the second part of the ground surface.
13 . An apparatus, comprising:
a frame assembly including a first section and a second section;
a hitch connector having opposing first and second ends, the first end pivotally coupled to the first section and the second end configured to connect to a transport vehicle;
first and second ground implements configured to work a ground surface, the first section of the frame assembly including the first ground implement and the second section including the second ground implement;
a transportation system including transportation devices and at least one hydraulic cylinder configured to pivotally move the first section relative the hitch connector;
at least one sensor to produce at least one measurement indicative of a degree of engagement of at least one of the first or second ground implements with the ground surface; and
a controller including one or more processors to vary a pressure of the at least one hydraulic cylinder of the transportation system while the first and second ground implements work the ground surface, based on the at least one measurement, wherein, in response to a detected non-optimal soil engagement of the first ground implement or the second ground implement, the controller changes a pressure corresponding to the at least one hydraulic cylinder to move the second section of the frame assembly relative to the first section to correct the non-optimal soil engagement.
14 . The apparatus of claim 13 , wherein the one or more processors are configured to:
determine whether a location of at least one of the first or second ground implements coincides with a reference location indicated by a prescription map; and
operate the at least one hydraulic cylinder of the transportation system further based on a prescribed value for the reference location, if the location of the at least one of the first or second ground implements coincides with the reference location.
15 . A working vehicle including the apparatus of claim 13 .
16 . The apparatus of claim 13 , wherein the at least one hydraulic cylinder comprise a hitch tilt actuator.
17 . The apparatus of claim 13 , wherein:
the first and second sections comprise foldable assemblies pivotally connected to ends of a center frame assembly; and
the at least one hydraulic cylinder comprises transportation configuration actuators arranged to fold and unfold the foldable assemblies.
18 . The apparatus of claim 13 , wherein:
the degree of engagement of the first ground implement with the ground surface comprises a respective tillage depth; and
the degree of engagement of the second ground implement with the ground surface comprises a respective tillage depth.