System and method for controlling the orientation of ground engaging elements on an agricultural implement

1. A method for controlling an orientation of ground engaging elements of a harrow of an agricultural implement when adjusting the position of the harrow relative to the ground, the harrow comprising a support arm configured to support the ground engaging elements relative to the ground, the method comprising:

controlling, with a computing device, an operation of an actuator coupled to the support arm such that the actuator applies an actuator force against the support arm when the harrow is disposed at an operating position relative to the ground, the actuator force resulting in a biasing force being applied on the ground engaging elements that biases the ground engaging elements toward a vertical orientation as the ground engaging elements contact the ground;

receiving, with the computing device, a first input indicative of an instruction to move the harrow from the operating position to a raised position relative to the ground;

after receiving the first input, controlling, with the computing device, the operation of the actuator such that the actuator force applied against the support arm is adjusted in a manner that reduces the biasing force being applied on the ground engaging elements; and

after the biasing force is reduced, initiating, with the computing device, movement of the harrow from the operating position to the raised position to raise the ground engaging elements above the ground after reducing the biasing force being applied on the ground engaging elements.

2. The method of claim 1 , wherein controlling the operation of the actuator such that the actuator force is reduced comprises controlling, with the computing device, the operation of actuator such that a fluid pressure within the actuator is reduced before the harrow is moved from the operating position to the raised position.

3. The method of claim 1 , wherein the actuator is a fluid-driven actuator, the method further comprising:

controlling, with the computing device, an operation of a valve configured to regulate a supply of fluid being supplied to the fluid-driven actuator such that the actuator applies a first actuator force against the support arm when the harrow is in the operating position; and

controlling, with the computing device, the operation of the valve such that the actuator applies a second actuator force against the support arm after receiving the first input and prior to moving the harrow to the raised position, the second actuator force being less than the first actuator force.

4. The method of claim 1 , further comprising:

receiving, with the computing device, a second input indicative of an instruction to move the harrow from the raised position back to the operating position; and

controlling, with the computing device, the operation of the actuator such that actuator force is increased after receiving the second input.

5. The method of claim 4 , wherein controlling the operation of the actuator such that the actuator force is increased after receiving the second input comprises controlling, with the computing device, the operation of the actuator such that the actuator force is increased after the harrow is moved from the raised position to the operating position and the ground engaging elements are in contact with the ground.

6. The method of claim 1 , further comprising:

receiving, with the computing device, the first input from a user input device.

7. The method of claim 1 , further comprising:

receiving, with the computing device, the first input from a GPS sensor.

8. The method of claim 1 , wherein controlling the operation of the actuator such that the actuator force applied against the support arm is adjusted comprises reducing the actuator force applied against the support arm such that the ground engaging elements are maintained at a non-vertical orientation when the harrow is moved from the operating position to the raised position.

9. A system for controlling an orientation of ground engaging elements of a harrow of an agricultural implement when adjusting the position of the harrow relative to the ground, the system comprising:

a support arm;

a plurality of ground engaging elements supported on the support arm;

an actuator coupled to the support arm; and

a controller configured to:

control an operation of the actuator such that the actuator applies an actuator force against the support arm when the harrow is disposed at an operating position relative to the ground, the actuator force resulting in a biasing force being applied on the ground engaging elements that biases the ground engaging elements toward a vertical orientation as the ground engaging elements contact the ground;

receive a first input indicative of an instruction to move the harrow from the operating position to a raised position relative to the ground;

after receiving the first input, control the operation of the actuator such that the actuator force applied against the support arm is adjusted in a manner that reduces the biasing force being applied on the ground engaging elements; and

after the biasing force is reduced, initiate movement of the harrow from the operating position to the raised position to raise the ground engaging elements above the ground after reducing the biasing force being applied on the ground engaging elements.

10. The system of claim 9 , wherein the controller is configured to control the operation of actuator such that a fluid pressure within the actuator is reduced before the harrow is moved from the operating position to the raised position.

11. The system of claim 9 , wherein the actuator is a fluid-driven actuator, the controller being further configured to:

control an operation of a valve configured to regulate a supply of fluid being supplied to the fluid-driven actuator such that the actuator applies a first actuator force against the support arm when the harrow is in the operating position; and

control the operation of the valve such that the actuator applies a second actuator force against the support arm after receiving the first input and prior to moving the harrow to the raised position, the second actuator force being less than the first actuator force.

12. The system of claim 9 , wherein the controller is further configured to:

receive a second input indicative of an instruction to move the harrow from the raised position back to the operating position; and

control the operation of the actuator such that actuator force is increased after receiving the second input.

13. The system of claim 12 , wherein the controller is configured to control the operation of the actuator such that the actuator force is increased after the harrow is moved from the raised position to the operating position and the ground engaging elements are in contact with the ground.

14. The system of claim 9 , wherein the controller is further configured to receive the first input from a user input device.

15. The system of claim 9 wherein the controller is further configured to receive the first input from a GPS sensor.

16. The system of claim 9 , wherein the controller is configured to control the operation of the actuator such that the actuator force applied against the support arm is adjusted by reducing the actuator force applied against the support arm such that the ground engaging elements are maintained at a non-vertical orientation when the harrow is moved from the operating position to the raised position.

17. The system of claim 9 , further comprising:

a base hitch member;

an upper tow arm pivotally coupled to the base hitch member; and

first and second linkage arms pivotally coupled between the upper tow arm and the support arm so as to form a four bar linkage,

wherein the actuator is coupled between the base hitch member and the support arm.

18. The system of claim 9 , wherein the plurality of ground engaging elements comprises a plurality of tines.

19. A method for controlling an orientation of ground engaging elements of a harrow of an agricultural implement when adjusting the position of the harrow relative to the ground, the harrow comprising a support arm configured to support the ground engaging elements relative to the ground, the method comprising:

controlling, with a computing device, an operation of a valve configured to regulate a supply of fluid being supplied to a fluid-driven actuator coupled to the support arm such that the fluid-driven actuator applies a first actuator force against the support arm when the harrow is disposed at an operating position relative to the ground, the first actuator force resulting in a biasing force being applied on the ground engaging elements that biases the ground engaging elements toward a vertical orientation as the ground engaging elements contact the ground;

receiving, with the computing device, a first input indicative of an instruction to move the harrow from the operating position to a raised position relative to the ground;

after receiving the first input and prior to moving the harrow to the raised position, controlling, with the computing device, the operation of the valve such that the fluid-driven actuator applies a second actuator force against the support arm to reduce the biasing force being applied on the ground engaging elements, the second actuator force being less than the first actuator force; and

initiating, with the computing device, movement of the harrow from the operating position to the raised position to raise the ground engaging elements above the ground after reducing the biasing force being applied on the ground engaging elements.

20. The method of claim 19 , further comprising:

receiving, with the computing device, a second input indicative of an instruction to move the harrow from the raised position back to the operating position; and

controlling, with the computing device, the operation of the actuator such that actuator force is increased after receiving the second input.