Center pivot mower system with end of row mower adjustment
An agricultural mower system includes a towing vehicle and a mower. The towing vehicle has a tongue coupler. The mower includes a tongue pivotably coupled to the tongue coupler so the mower is on a first side of a towing centerline. A towing angle is defined with respect to the towing centerline. A tongue actuator is coupled to the tongue to pivot the tongue. A towing angle sensor outputs a towing angle signal. A controller is configured to: (i) determine the towing vehicle has initiated an end-of-row turning operation; and (ii) output an adjustment signal to the tongue actuator responsively to determining the end-of-row turning operation has initiated so the tongue actuator moves the tongue such that the mower defines the towing angle on a second side of the towing centerline by a conclusion of the end-of-row turning operation.
1. A method of adjusting a mower of an agricultural mower system, the agricultural mower system comprising a towing vehicle, the mower, and a controller, the towing vehicle comprising an engine and a tongue coupler and defining a towing centerline, the mower comprising a frame carrying a plurality of cutters and pivotably coupled to a tongue that is pivotably coupled to the tongue coupler, the tongue defining a towing angle with respect to the towing centerline, the method being performed by the controller comprising:
determining the towing vehicle has initiated an end-of-row turning operation; and
outputting at least one adjustment signal to a tongue actuator, responsively to determining the end-of-row turning operation has initiated, moving the tongue, by the tongue actuator, from a position where the mower defines the towing angle on a first side of the towing centerline prior to initiation of the end-of-row turning operation to a position where the mower defines the towing angle on a second side of the towing centerline opposite the first side by a conclusion of the end-of-row turning operation.
2. The method of claim 1 , wherein the mower comprises a mower angle actuator coupled to the tongue and the frame, the mower defining a mower centerline and the tongue defining a mower angle relative to the mower centerline on a first side of the mower centerline, the mower angle actuator being configured to pivot the frame with respect to the tongue and adjust the mower angle.
3. The method of claim 2 , further comprising outputting a mower angle adjustment signal to the mower angle actuator causing the tongue to define the mower angle when moved to a second side of the mower centerline that is opposite the first side of the mower centerline.
4. The method of claim 1 , wherein the at least one adjustment signal and the mower angle adjustment signal are output causing the towing centerline and the mower centerline to be parallel to one another by the conclusion of the end-of-row turning operation.
5. The method of claim 1 , wherein outputting the at least one adjustment signal causes the tongue actuator to move the tongue at a constant rate during the end-of-row turning operation.
6. The method of claim 1 , wherein the towing vehicle comprises at least one steerable wheel and a turn angle sensor associated with the at least one steerable wheel, operably coupled to the controller, and configured to output a turn angle signal corresponding to a turn angle of the at least one steerable wheel, wherein determining the towing vehicle has initiated the end-of-row turning operation is based at least partially on the turn angle signal.
7. The method of claim 1 , wherein the towing vehicle comprises at least one steerable wheel and a steering mechanism associated with the at least one steerable wheel, operably coupled to the controller, and configured to turn the at least one steerable wheel responsively to receiving a turning signal from the controller, the method further comprising:
determining the towing vehicle has reached an end of a swath; and
outputting the turning signal to the steering mechanism responsively to determining the towing vehicle has reached the end of the swath, wherein determining the towing vehicle has initiated the end-of-row turning operation is based at least partially on at least one of determining the towing vehicle has reached the end of the swath or outputting the turning signal.
8. The method of claim 1 , wherein the towing vehicle comprises a display operably coupled to the controller and configured to output an end-of-row signal to the controller, wherein determining the towing vehicle has initiated the end-of-row turning operation comprises receiving the end-of-row signal from the display.
9. An agricultural mower system, comprising:
a towing vehicle comprising an engine and a tongue coupler, the towing vehicle defining a towing centerline;
a mower comprising a frame carrying a plurality of cutters and pivotably coupled to a tongue that is pivotably coupled to the tongue coupler, the tongue defining a towing angle with respect to the towing centerline;
a tongue actuator coupled to the tongue and configured to pivot the tongue relative to the towing centerline;
a towing angle sensor associated with the tongue and configured to output a towing angle signal corresponding to the towing angle; and
a controller operably coupled to the towing angle sensor and the tongue actuator, the controller being configured to:
determine the towing vehicle has initiated an end-of-row turning operation;
and output at least one adjustment signal to the tongue actuator, responsively to determining the end-of-row turning operation has initiated, moving the tongue, by the tongue actuator, from a position where the mower defines the towing angle on a first side of the towing centerline prior to initiation of the end-of-row turning operation to a position where the mower defines the towing angle on a second side of the towing centerline opposite the first side by a conclusion of the end-of-row turning operation.
10. The agricultural mower system of claim 9 , wherein the mower comprises a mower angle actuator coupled to the tongue and the frame, the mower defining a mower centerline and the tongue defining a mower angle relative to the mower centerline on a first side of the mower centerline, the mower angle actuator being configured to pivot the frame with respect to the tongue and adjust the mower angle.
11. The agricultural mower system of claim 10 , wherein the controller is configured to output a mower angle adjustment signal to the mower angle actuator causing the tongue to define the mower angle when moved to a second side of the mower centerline that is opposite the first side of the mower centerline.
12. The agricultural mower system of claim 9 , wherein the controller is configured to output the at least one adjustment signal and the mower angle adjustment signal causing the towing centerline and the mower centerline to be parallel to one another by the conclusion of the end-of-row turning operation.
13. The agricultural mower system of claim 9 , wherein the controller is configured to output the at least one adjustment signal causing the tongue actuator to move the tongue at a constant rate during the end-of-row turning operation.
14. The agricultural mower system of claim 9 , wherein the towing vehicle comprises at least one steerable wheel and a turn angle sensor associated with the at least one steerable wheel, operably coupled to the controller, and configured to output a turn angle signal corresponding to a turn angle of the at least one steerable wheel, the controller being configured to determine the towing vehicle has initiated the end-of-row turning operation based at least partially on the turn angle signal.
15. The agricultural mower system of claim 9 , wherein the towing vehicle comprises at least one steerable wheel and a steering mechanism associated with the at least one steerable wheel, operably coupled to the controller, and configured to turn the at least one steerable wheel responsively to receiving a turning signal from the controller, the controller being configured to:
determine the towing vehicle has reached an end of a swath; and
output the turning signal to the steering mechanism responsively to determining the towing vehicle has reached the end of the swath, wherein the controller is configured to determine the towing vehicle has initiated the end-of-row turning operation based at least partially on at least one of determining the towing vehicle has reached the end of the swath or outputting the turning signal.
16. The agricultural mower system of claim 9 , wherein the towing vehicle comprises a display operably coupled to the controller and configured to output an end-of-row signal to the controller, the controller being configured to determine the towing vehicle has initiated the end-of-row turning operation upon receiving the end-of-row signal.