Automated raising and lowering of implement for farming machine
A farming vehicle is configured to automatically raise and lower an implement for the farming vehicle. The farming vehicle may measure a duration to lower the implement during a calibration period or during the first time the farming vehicle lowers the implement to operate on a field. When entering the headland to turn around between rows, the farming vehicle may raise the implement after determining that the entire implement is located within the headland. Based on the determined amount of time to lower the implement, the farming vehicle may begin lowering the implement with sufficient time such that the implement is fully lowered just prior to exiting the headland and returning onto the field.
1 . A method comprising:
determining an operating path for a farming vehicle on a field;
determining automatically a lowering duration to lower an implement of the farming vehicle, wherein the lowering duration is based on a time it takes for the implement to move from a raised position to a lowered position;
raising automatically the implement in response to the implement being fully located within a headland for the field;
calculating a time at which the implement will exit the headland and enter the field based on the determined operating path for the farming vehicle;
determining a trigger time point based on the calculated time and the determined lowering duration, wherein the trigger time point corresponds to a time that is offset from the calculated time by the lowering duration; and
in response to arrival of the trigger time point, lowering automatically the implement such that the implement reaches the lowered position at or near the calculated time of the implement's entry into the field.
2 . The method of claim 1 , further comprising adjusting, based on input from a user, an offset for the implement.
3 . The method of claim 1 , wherein determining the lowering duration further comprises measuring a time based on a flow of oil through a selective control valve.
4 . The method of claim 1 , further comprising lowering automatically the implement prior to the trigger time point.
5 . The method of claim 1 , further comprising:
detecting a change in speed of the farming vehicle;
recalculating the time at which the implement will exit the headland; and
redetermining the trigger time point based on the recalculated time.
6 . The method of claim 1 , further comprising:
during the lowering of the implement, changing a flow rate of oil to a selective control valve in response to a change in speed of the farming vehicle.
7 . A non-transitory computer-readable storage medium comprising computer program instructions that, when executed by a computer processor, cause the processor to perform operations to:
determine an operating path for a farming vehicle on a field;
determine automatically a lowering duration to lower an implement of the farming vehicle, wherein the lowering duration is based on a time it takes for the implement to move from a raised position to a lowered position;
raise automatically the implement in response to the implement being fully located within a headland for the field;
calculate a time at which the implement will exit the headland and enter the field based on the determined operating path for the farming vehicle;
determine a trigger time point based on the calculated time and the determined lowering duration, wherein the trigger time point corresponds to a time that is offset from the calculated time by the lowering duration; and
in response to arrival of the trigger time point, lower automatically the implement such that the implement reaches the lowered position at or near the calculated time of the implement's entry into the field.
8 . The non-transitory computer-readable storage medium of claim 7 , wherein the instructions further cause the processor to adjust, based on input from a user, an offset for the implement.
9 . The non-transitory computer-readable storage medium of claim 7 , wherein determining the lowering duration further comprises measuring a time based on a flow of oil through a selective control valve.
10 . The non-transitory computer-readable storage medium of claim 7 , wherein the instructions further cause the processor to lower automatically the implement prior to the trigger time point.
11 . The non-transitory computer-readable storage medium of claim 7 , wherein the instructions further cause the processor to:
detect a change in speed of the farming vehicle;
recalculate the time at which the implement will exit the headland; and
redetermine the trigger time point based on the recalculated time.
12 . The non-transitory computer-readable storage medium of claim 7 , wherein the instructions further cause the processor:
during the lowering of the implement, change a flow rate of oil to a selective control valve in response to a change in speed of the farming vehicle.
13 . A system comprising:
one or more processors; and
a non-transitory computer-readable medium comprising computer program instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
determining an operating path for a farming vehicle on a field;
determining automatically a lowering duration to lower an implement of the farming vehicle, wherein the lowering duration is based on a time it takes for the implement to move from a raised position to a lowered position;
raising automatically the implement in response to the implement being fully located within a headland for the field;
calculating a time at which the implement will exit the headland and enter the field based on the determined operating path for the farming vehicle;
determining a trigger time point based on the calculated time and the determined lowering duration, wherein trigger time point corresponds to a time that is offset from the calculated time by the lowering duration; and
in response to arrival of the trigger time point, lowering automatically the implement such that the implement reaches the lowered position at or near the calculated time of the implement's entry into the field.
14 . The system of claim 13 , wherein the operations further comprise adjusting, based on input from a user, an offset for the implement.
15 . The system of claim 13 , wherein determining the lowering duration further comprises measuring a time based on a flow of oil through a selective control valve.
16 . The system of claim 13 , wherein the operations further comprise lowering automatically the implement prior to the trigger time point.
17 . The system of claim 13 , wherein the operations further comprise:
detecting a change in speed of the farming vehicle;
recalculating the time at which the implement will exit the headland; and
redetermining the trigger time point based on the recalculated time.