Plough

1. A plough comprising:

a beam;

a plough body;

an actuator mechanism that is configured to adjust a pitch angle of the plough body relative to the beam; and

a controller that is configured to:

determine an actuator-control-signal for setting the pitch angle of the plough body based on control-data; and

provide the actuator-control-signal to the actuator mechanism.

2. The plough of claim 1 , wherein the plough body is rotatable about an axis that is transverse to the direction of travel of the plough.

3. The plough of claim 1 , wherein the control-data comprises vertical-force-data, which is representative of an upwards or downwards force experienced by the plough body as it is working in a field.

4. The plough of claim 3 , further comprising a force-sensor associated with the plough body, wherein the force-sensor is configured to provide the vertical-force-data.

5. The plough of claim 3 , further comprising a ground-engaging-wheel-sensor associated with a ground-engaging wheel of the plough, wherein the ground-engaging-wheel-sensor is configured to provide the vertical-force-data.

6. The plough of claim 3 , further comprising:

a hitch for coupling the plough to an agricultural vehicle; and

a hitch-sensor associated with the hitch, wherein the hitch-sensor is configured to provide the vertical-force-data.

7. The plough of claim 3 , wherein the controller is configured to:

receive sensor-signals from more than one of a force-sensor, a ground-engaging-wheel-sensor, and a hitch-sensor; and

combine those signals in order to determine the vertical-force-data.

8. The plough of claim 1 , wherein the control-data comprises depth-control-data that is representative of an instruction to change the depth of the plough body relative to a ground surface on which the plough is operating.

9. The plough of claim 8 , wherein the controller is configured to determine the actuator-control-signal based on the depth-control-data in order to:

increase the pitch angle of the plough body if the depth-control-data represents an instruction to increase the depth of the plough body relative to a ground surface; and

decrease the pitch angle of the plough body if the depth-control-data represents an instruction to decrease the depth of the plough body relative to a ground surface.

10. The plough of claim 1 , wherein the control-data comprises field-location-data that represents one or more properties of a field in which the plough is operating.

11. The plough of claim 10 , wherein the field-location-data comprises one or more of:

(i) field-boundary-location-data that defines the boundaries of the field that is to be ploughed,

(ii) headland-boundary-location-data that defines the location of one or more headlands in the field that is to be ploughed, and

(iii) obstacle-location-data that defines the locations of obstacles in the field.

12. The plough of claim 1 , wherein:

the actuator-control-signal is configured to set the pitch angle of the plough body such that an upwards or downwards force experienced by the plough body is higher than a lower-force-threshold and/or lower than an upper-force threshold;

the upper-force-threshold represents a maximum downwards force on the plough body, and/or

the lower-force threshold represents a minimum downwards force on the plough body or a maximum upwards force on the plough body.

13. The plough of claim 1 , further comprising:

a frame;

wherein:

the plough body is connected to the frame by the beam;

the plough body is rotatably connected to the beam; and

the actuator mechanism is configured to adjust the pitch angle of the plough body by rotating it relative to the beam.

14. A computer-implemented method of operating a plough, the plough comprising:

a beam;

a plough body;

a computer configured to execute the computer-implemented method;

an actuator mechanism that is configured to adjust a pitch angle of the plough body relative to the beam;

wherein the method, when executed, comprises:

determining an actuator-control-signal for setting the pitch angle of the plough body based on control-data; and

providing the actuator-control-signal to the actuator mechanism.