Agricultural Implements Having Row Unit Position Sensors and at Least One Adjustable Wheel, and Related Control Systems and Methods
An agricultural implement includes a frame having a fixed rigid structure including a drawbar, a hitch, and an integrated elongate toolbar, the toolbar carrying at least one row unit movably coupled to the toolbar. At least one wheel is coupled to the frame, a sensor is configured to sense a position of the row unit relative to the ground, and an actuator is configured to raise or lower the frame relative to the wheel based at least in part on a sensed position of the row unit. Control systems and related methods are also disclosed.
1 . An agricultural implement, comprising:
a frame having a fixed rigid structure including a drawbar, a hitch, and an integrated elongate toolbar, the toolbar carrying at least one row unit movably coupled to the toolbar;
at least one wheel coupled to the frame at a position leading the toolbar when the implement travels in a normal forward direction of travel;
a sensor configured to sense a position of the toolbar relative to ground when the at least one row unit is in contact with the ground; and
an actuator configured to raise or lower the frame relative to the at least one wheel based at least in part on a sensed position of the toolbar.
2 . The implement of claim 1 , wherein the at least one row unit is coupled to the toolbar by a parallel linkage.
3 . The implement of claim 2 , wherein the sensor comprises a rotary sensor configured to measure an angle of an element of the parallel linkage.
4 . The implement of claim 1 , wherein the sensor comprises an ultrasonic, lidar, or radar sensor.
5 . The implement of claim 1 , further comprising a controller configured to receive a signal from the sensor and control the actuator based on the signal.
6 . The implement of claim 5 , further comprising a control component configured to drive the actuator, wherein the controller is configured to send a control signal to the control component.
7 . The implement of claim 6 , wherein the control component comprises a control valve, an air valve, an electronic control component, a magnetic control component, or an electromagnetic control component.
8 . The implement of claim 1 , further comprising a second sensor configured to sense a position of the at least one wheel relative to the frame.
9 . The implement of claim 8 , wherein the actuator is configured to raise and lower the frame relative to the at least one wheel based in part on the sensed position of the at least one wheel relative to the frame.
10 . The implement of claim 1 , wherein the toolbar is rotatably coupled to a plurality of adjustable wing sections.
11 . The implement of claim 10 , further comprising at least another actuator configured to raise or lower a wing section relative to the toolbar.
12 . A control system for an implement comprising a frame having a fixed rigid structure including a drawbar, a hitch, and an integrated elongate toolbar, the toolbar carrying at least one row unit and at least one wheel coupled to the frame at a position leading the toolbar when the implement travels in a normal forward direction of travel, the control system comprising:
an actuator connecting the at least one wheel to the frame;
a sensor configured to sense a position of the at least one row unit relative to ground; and
a controller configured to receive a signal from the sensor indicating the position of the at least one row unit relative to the ground and cause the actuator to raise or lower the frame based on the sensed position of the at least one row unit.
13 . A computer-implemented method for operating an implement that comprises a frame having a fixed rigid structure including a drawbar, a hitch, and an integrated elongate toolbar, the toolbar carrying at least one row unit and at least one wheel coupled to the frame at a position leading the toolbar when the implement travels in a normal forward direction of travel, the method comprising:
receiving an indication of a position of the at least one row unit relative to ground sensed by a sensor; and
causing an actuator to raise or lower the frame relative to the at least one wheel based at least in part on the indication of the position of the at least one row unit.
14 . The method of claim 13 , further comprising sensing a position of the at least one wheel relative to the frame.
15 . The method of claim 14 , wherein causing the actuator to raise or lower the frame relative to the at least one wheel comprises causing the actuator to rotate an arm carrying the at least one wheel relative to the frame based at least in part on the sensed position of the at least one wheel relative to the frame.
16 . The method of claim 13 , wherein causing the actuator to raise or lower the frame relative to the at least one wheel comprises sending a control signal to a control component associated with the actuator.
17 . The method of claim 13 , wherein receiving an indication of a position of the at least one row unit relative to ground sensed by a sensor comprises receiving a signal from the sensor.