Working machine with transportation configuration actuator used for wing 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 center frame assembly;
a first wing assembly coupled at a first hinge to a first end of the center frame assembly;
a second wing assembly coupled at a second hinge to a second end, opposite the first end, of the center frame assembly;
ground implements configured to work a ground surface, including a center ground implement of the center frame assembly, a first ground implement of the first wing assembly, and a second ground implement of the second wing assembly;
a first actuator coupled to the first wing assembly and the center frame assembly for pivoting the first wing assembly about the first hinge between a transport configuration which reduces a width of the working machine and a working configuration;
a second actuator coupled to the second wing assembly and the center frame assembly for pivoting the second wing assembly about the second hinge between the transport configuration and the working configuration;
transportation devices operable to transport the working machine;
sensors 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
one or more processors to activate the first and second actuators based on the measurements to pivot the first wing assembly about the first hinge and to pivot the second wing assembly about the second hinge while the ground implements work the ground surface.
2 . The working machine of claim 1 , further comprising at least one additional sensor to produce at least one center measurement indicative of a degree of engagement of the center implement with the ground surface, the one or more processors are configured to activate the first actuator to pivot the first wing assembly about the first hinge to equalize the degree of engagement of the first ground implement with the degree of engagement of the center implement.
3 . The working machine of claim 1 , wherein the first and second actuators comprise hydraulic cylinders.
4 . The working machine of claim 3 , further comprising valves to change pressures of the hydraulic cylinders, the one or more processors are configured to control the valves based on the measurements, to vary the pressures as the work machine works a non-level part of a field.
5 . The working machine of claim 1 , wherein the one or more processors are configured to vary actuator forces of the first and second actuators until the measurements are equal, or are coinciding within a threshold, to a reference value.
6 . The working machine of claim 5 , further comprising at least one additional sensor to produce at least one center measurement indicative of a degree of engagement of the center implement with the ground surface, the reference value comprises, or is derived from, the at least one center measurement.
7 . The working machine of claim 1 , wherein the measurements comprise distance measurements between reference locations on the first and second wing assemblies and the first and second parts, respectively, of the ground surface.
8 . The working machine of claim 1 , wherein the one or more processors are configured to activate the at least one of the first or second actuators based on an input from a prescriptive map to provide a prescribed tillage at an indicated location.
9 . The working machine of claim 1 , wherein the sensors comprise at least one of ultrasonic sensors or radar sensors.
10 . A working vehicle including the working machine of claim 1 .
11 . The working machine of claim 1 , wherein the first actuator spans the first hinge, and the second actuator spans the second hinge.
12 . The working machine of claim 2 , wherein:
the one or more processors are configured to activate the second actuator to pivot the second wing assembly about the second hinge to equalize the degree of engagement of the second ground implement with the degree of engagement of the center implement.
13 . The working machine of claim 2 , wherein:
the measurements indicate a distance of the first ground implement from the first part of the ground surface, and the at least one center measurement indicates a distance of the center implement from a corresponding part of the ground surface; and
the one or more processors are configured to activate the first actuator to pivot the first wing assembly about the first hinge to equalize the distance of the first ground implement from the first part of the ground surface with the distance of the center implement from the corresponding part of the ground surface.
14 . The working machine of claim 1 , wherein:
the degree of engagement of the first wing assembly comprises a respective tillage depth; and
the degree of engagement of the second wing assembly comprises a respective tillage depth.
15 . The working machine of claim 1 , wherein the one or more processors are configured to activate at least one of the first or second actuators based on an input from a prescriptive map.
16 . The working machine of claim 1 , wherein the one or more processors are configured to reduce or eliminate a downforce applied to the first wing assembly to traverse an obstacle indicated on a prescriptive map.
17 . An apparatus comprising:
a working machine comprising 1) a frame assembly including first and second sections, wherein the first and second sections comprise foldable assemblies pivotally connected to opposing ends of a center frame assembly, 2) ground implements to work a ground surface, the ground implements comprising a first ground implement of the first section and a second ground implement of the second section, and 3) a transportation system including transportation devices and at least one actuator configured to fold the foldable assemblies over the center frame assembly to a transportation configuration which reduces a width of the working machine and to unfold the foldable assemblies to a working configuration in which the foldable assemblies extend away from the center frame assembly;
the working machine further including:
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 a corresponding part of the ground surface; and
one or more processors to operate the at least one actuator while the working machine is working the ground surface, based on the at least one measurement.
18 . The apparatus of claim 17 , wherein:
the one or more processors are configured to determine whether a location of the first ground implement coincides with a reference location indicated by a prescription map; and
the one or more processors are configured to operate the at least one actuator based on a prescribed value for the reference location, if the location of the first ground implement coincides with the reference location.
19 . A working vehicle including the apparatus of claim 17 .