Methods of operating an agricultural implement coupled to a lifting hitch, and related systems and control systems

Abstract

A system includes a tractor comprising a chassis and a lifting hitch coupled to the chassis. The lifting hitch includes an upper link and lower links. An agricultural implement is coupled to the lifting hitch and comprises a frame, a toolbar coupled to the frame, the toolbar carrying a plurality of row units, and least one toolbar lifting actuator configured to lift or lower the at least one toolbar. The system further includes a control system configured to determine a percentage of travel of the lifting hitch, and based on the percentage of travel of the lifting hitch, move the at least one wing toolbar lifting actuator by a proportional percentage of travel to lift or lower the at least one wing toolbar. Related agricultural implements and methods are also disclosed.

Description

TITLE METHODS OF OPERATING AN AGRICULTURAL IMPLEMENT COUPLED TO A LIFTING HITCH, AND RELATED SYSTEMS AND CONTROL SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of the filing date of U. S. Provisional Patent Application 63 / 730,732, "Methods of Operating an Agricultural Implement Coupled to a Lifting Hitch, and Related Systems and Control Systems," filed December 11, 2024, the entire disclosure of which is incorporated herein by reference.FIELD

[0002] Embodiments of the present disclosure relate generally to machines and methods for working agricultural fields. More particularly, embodiments relate to systems including agricultural implements coupled to a lifting hitch of a tractor, to methods of controlling such agricultural implements, and to related control systems.BACKGROUND

[0003] Planting an agricultural field may be performed with a planter including an agricultural implement having planter row units configured to deposit seeds in trenches formed by discs or other mechanisms. The agricultural implement may be towed behind a primary vehicle, such as a tractor. The agricultural implement may include a frame section operably coupled to the tractor with a tow hitch.

[0004] Row units are typically spaced along a toolbar of a planter, which may include multiple sections. For example, a 3-section planter has a center section, a left wing section, and a right wing section, each having several ground-engaging row units. A 3-section planter may have a nominal working width from about 30 feet (9.1 m) to about 40 feet (12.2 m), but can be wider or narrower.

[0005] To transport such a planter along roads, it is helpful to fold the wing sections. For example, the left and right wing sections may each rotate upward from the center section, as depicted in U.S. Patent 11,229,152, "Ground-engaging Implement with Lateral PositionAdjustment," granted January 25, 2022. As another example, the left and right wing sections may fold horizontally rearward of the center section, as depicted in U.S. Patent 4,646,851, "Bi-fold Toolbar," granted March 3, 1987. Furthermore, the left and right wing sections may fold to be above the center section, as shown in U.S. Patent 8,807,236, "Agricultural Implement Incorporating Stack-fold Planter," granted August 19, 2014.

[0006] When the planter enters a field after transport, the wing sections are extended prior to starting planting operations to move the planter into a planting configuration. Similarly, when the planter leaves the field after planting operations, the wing sections are generally folded prior to road transportation to move the planter into a transport configuration. When the planter enters a headland (e.g., an area at an edge of a field where the planter turns around), the planter may be lifted to facilitate a headland maneuver where the planter turns around at the headland of the field. After turning around, the planter may be lowered back to the planting configuration to facilitate planting of the next group of rows of crops.BRIEF SUMMARY

[0007] According to an aspect of the disclosure, an agricultural system comprises a tractor comprising a chassis, and a lifting hitch coupled to the chassis and comprising an upper link and lower links. The agricultural system further comprises an agricultural implement coupled to the lifting hitch, the agricultural implement comprising a frame, a toolbar coupled to the frame, the toolbar carrying a plurality of row units, and at least one toolbar lifting actuator configured to lift or lower the at least one toolbar. The agricultural system further comprises a control system configured to determine a percentage of travel of the lifting hitch, and based on the percentage of travel of the lifting hitch, move the at least one toolbar lifting actuator by a proportional percentage of travel to lift or lower the at least one toolbar to a user-configurable position.

[0008] In some embodiments, the agricultural implement comprises a hitch receiver coupled to the frame, the agricultural implement coupled to the lifting hitch of the tractor by the hitch receiver. The at least one toolbar lifting actuator may comprise at least one hitch receiver actuator configured to lift or lower the toolbar relative to the tractor.

[0009] In some aspects, the control system is further configured to operate the at least one hitch receiver actuator based on a position of the lifting hitch. The control system may be further configured to actuate the at least one hitch receiver actuator by a same percentage of travel as the percentage of travel of the lifting hitch.

[0010] In some embodiments, the toolbar comprises a center toolbar and wing toolbars. In such embodiments, the at least one toolbar lifting actuator may comprise an actuator selected from the group consisting of a wing toolbar lifting actuator and a wing tilt actuator.

[0011] In some embodiments, a sensor is coupled to the lifting hitch. The sensor may comprise a height sensor, an angle sensor, or a hydraulic cylinder position sensor.

[0012] In some embodiments, the control system is configured to determine the percentage of travel of the lifting hitch based on sensor data from the sensor.

[0013] In some embodiments, the lifting hitch comprises a three-point hitch.

[0014] The lifting hitch may further comprise lift rods coupled to the lower links, lift arms coupled to the lift rods, and actuators coupled to the lift arms and configured to lift and lower the lower links.

[0015] In some embodiments, a method of operating an agricultural implement coupled to a three-point hitch of a towing vehicle comprises traversing an agricultural field with an agricultural implement comprising a frame, a toolbar coupled to the frame, the toolbar carrying a plurality of row units, at least one toolbar lifting actuator configured to lift or lower the at least one toolbar, and a hitch receiver configured to couple to the three-point hitch. The method further comprises receiving an indication of a position of the three-point hitch, the position indicative of a percentage of travel of the three-point hitch relative to a fully lifted position and a fully lowered position, and based on the position of the three-point hitch, actuate the at least one toolbar lifting actuator an amount proportional to the percentage of travel of the three-point hitch.

[0016] In some embodiments, receiving an indication of a position of the three-point hitch comprises receiving the indication from a sensor coupled to the three-point hitch.

[0017] The sensor may comprise a hydraulic position sensor.

[0018] In some aspects, receiving an indication of a position of the three-point hitch comprises receiving an instruction to lift or lower the three-point hitch at a user interface.

[0019] In some embodiments, the at least one toolbar lifting actuator comprises at least one hitch receiver actuator, and the method further comprises lifting or lowering the toolbar relative to the towing vehicle with at least one hitch receiver actuator. Lifting or lowering the toolbar relative to the towing vehicle with at least one hitch receiver actuator may comprise actuating the at least one hitch receiver actuator by a percentage of travel corresponding to the percentage of travel of the three-point hitch.

[0020] In some embodiments, the at least one toolbar comprises a center toolbar and a wing toolbar, and the method further comprises tilting the at least one wing toolbar relative to the center toolbar.

[0021] In some embodiments, a control system for an agricultural machine comprises at least one processor, and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the control system to receive an indication of a position of a three-point hitch of a tractor coupled to an agricultural implement by the three-point hitch, the position of the three-point hitch indicative of a percentage of travel of the three-point hitch relative to a fully lifted position and a fully lowered position, and based on the position of the three-point hitch, actuate at least one toolbar lifting actuator an amount corresponding to the percentage of travel of the three-point hitch to lift or lower a toolbar of the agricultural implement.

[0022] The instructions, when executed by the at least one processor, may cause the control system to actuate a hitch receiver actuator by an amount corresponding to the percentage of travel of the three-point hitch.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] While the specification concludes with claims particularly pointing out and distinctly claiming what are regarded as embodiments of the present disclosure, various features and advantages may be more readily ascertained from the following description of example embodiments when read in conjunction with the accompanying drawings, in which:

[0024] FIG. 1A is a simplified side view of a system that includes a tractor drawing an agricultural implement in a field along a forward direction;

[0025] FIG. IB is a simplified perspective view of a lifting hitch of the system of FIG. 1A;

[0026] FIG. 1C is a simplified top-down view of the system of FIG. 1A;

[0027] FIG. ID is a simplified perspective view of the agricultural implement of FIG. 1A in an extended configuration;

[0028] FIG. IE is a simplified perspective view of the agricultural implement of FIG. 1A in a folded configuration;

[0029] FIG. 2 is a simplified side view illustrating a single row unit in the form of a planter row unit that may be carried by the agricultural implement;

[0030] FIG. 3 is a simplified flow chart illustrating a method of operating the system of FIG. 1A; and

[0031] FIG. 4 is a schematic of a computer-readable storage medium including processor-executable instructions configured to embody one or more of the methods of controlling wing toolbars of the agricultural implement based on the position of the lifting hitch.DETAILED DESCRIPTION

[0032] The illustrations presented herein are not actual views of any agricultural machine or portion thereof, but are merely idealized representations to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

[0033] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additionalconventional acts and structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

[0034] As used herein, the terms "comprising," "including," "containing," "characterized by," and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0035] As used herein, the term "may" with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term "is" so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

[0036] As used herein, the term "configured" refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

[0037] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0038] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0039] As used herein, spatially relative terms, such as "beneath," "below," "lower," "bottom," "above," "upper," "top," "front," "rear," "left," "right," and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

[0040] As used herein, the term "substantially" in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance,such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

[0041] As used herein, the term "about" used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

[0042] As used throughout, ranges are used as shorthand for describing each and every value that is within the range. Any value within the range can be selected as the terminus of the range.

[0043] FIG. 1A is a simplified side view of a system 100 (e.g., an agricultural machine) that includes a towing vehicle, such as a tractor 102, drawing an agricultural implement 140 in a field along a forward direction F. The agricultural implement 140 is shown schematically in FIG. 1A, and is shown in more detail in FIG. 1C through FIG. IE. The tractor 102 includes a chassis 104 supported by wheels 106 and / or tracks on a ground surface 105. An operator cabin 108 is typically supported by the chassis 104 and includes a control system 110 (e.g., a task controller) that may control operation of the tractor 102 and / or the agricultural implement 140. The tractor 102 includes a power source 112 configured to move the wheels 106. The power source 112 may include an internal combustion engine, an electric motor, or another source. The power source 112 may also provide power to a lifting hitch 114 carried by the tractor 102 and coupling the tractor 102 to the agricultural implement 140. For clarity and ease of understanding the description, one of the wheels 106 is omitted in FIG. 1A to more clearly illustrate the lifting hitch 114.

[0044] In some embodiments, the lifting hitch 114 is substantially similar to or the same as the rear three-point hitch described in European Patent Application 4,349,146 Al, "Mobile Machine With Three-Point Hitch," published April 10, 2024. In some embodiments, the lifting hitch 114 comprises a three-point hitch.

[0045] FIG. IB is a simplified perspective view of the lifting hitch 114 disconnected from the tractor 102 (FIG. 1A) and shows additional details of the lifting hitch 114 than FIG. 1A.With collective reference to FIG. 1A and FIG. IB, the lifting hitch 114 may be coupled to the chassis 104 at the rear of the tractor 102. The lifting hitch 114 may include a pair of lower links 118, only one of which is illustrated in the view of FIG. 1A, and an upper link 120. Each lower link 118 may include an elongate body having a respective lower coupling hook 122 for coupling the lower link 118 to a receiver 192 (FIG. ID, FIG. IE) of a hitch receiver 190 (FIG. ID, FIG. IE) of agricultural implement 140. Similarly, the upper link 120 may include a coupling hook 124 for coupling to the upper link 120 to a receiver 194 (FIG. ID, FIG. IE) of the hitch receiver 190 (FIG. ID, FIG. IE). In some embodiments, the coupling hooks 122, 124 include a pintle hitch.

[0046] The lower links 118 may be connected to the chassis 104 at connections 116. In some embodiments, the connections 116 include brackets fixedly coupled to the chassis 104 and a corresponding portion on the lower links 118 to couple the lower links 118 to the chassis 104. The lower links 118 are each rotatably or hingedly connected to the chassis 104 at the connection 116. In some embodiments, the connections 116 include a bar or pin that extends through an opening in the lower link 118 to couple the lower link 118 to a bracket fixedly coupled to the chassis 104. Of course, the connections 116 may include other means for mounting the lower links 118 to the chassis 104.

[0047] The upper link 120 may include an elongate body having an adjustable length. In some embodiments, the upper link 120 includes an actuator including a first end 126 fixedly coupled to the chassis 104 and a second end 128 including the coupling hook 124 configured to couple to the hitch receiver 190 of the agricultural implement 140. In some embodiments, the upper link 120 is a hydraulic cylinder. The first end 126 may include, for example, a cylinder; and the second end 128 may include, for example, a rod connected to a piston configured to move up and down in the cylinder during actuation of the upper link 120. In some embodiments, the first end 126 is coupled to the chassis 104 of the tractor 102, such as at a mounting bracket 139 of the tractor 102 and may be fixed with respect to the chassis 104. For example, a pin or rod may extend through openings 141 in the mounting bracket 139 and the upper link 120 to couple the upper link 120 to the chassis 104. The upper link 120 may be configured to pivot about the connection between the upper link 120 (e.g., the first end 126) and the mounting bracket 139. In some embodiments, the upper link 120 may be mountable tothe mounting bracket of the tractor 102 at multiple positions to facilitate different hitch geometries.

[0048] The lower links 118 are configured to pivot about the connection 116 in a plane perpendicular to, for example, a rear axle of the tractor 102. A mechanism for raising or lowering the coupling hooks 122 of the lower links 118 includes a pair of lift rods 130, only one of which is illustrated in the view of FIG. 1A. Each lower link 118 may be coupled to a lift rod 130 that is, in turn, hingedly coupled to a lift arm 132. The lift arm 132 may be rotatably coupled to a cross member 133 that is fixedly coupled to the chassis 104.

[0049] An actuator 134 may be coupled to, and extend between, the chassis 104 and the lift arm 132. Each of the lift arms 132 may be coupled to the chassis 104 via the cross member 133. The cross member 133 facilitates uniform rotation of the lift arms 132 by actuation of actuators 134, which may also be referred to as "lower link actuators." Each actuator 134 may act between one of the lift arms 132 and the chassis 104. In some embodiments, the chassis 104 includes brackets 137 for coupling the actuator to the chassis 104 with connectors 135 (e.g., pins) and is hingedly coupled to the lift arm 132 at or proximate, for example, a hinged connection 138 between the lift rod 130 and the lift arm 132. Accordingly, the lifting hitch 114 includes the upper link 120 comprising an actuator, and two actuators 134 each coupled to a respective lower link 118. The actuators 134 may be configured to cause upward and downward movement of the lower links 118 to facilitate lifting or lowering the lifting hitch 114. The actuators 134 may operate in parallel to move the lower links 118 in parallel.

[0050] Each of the upper link 120 and the actuators 134 may individually include a hydraulic cylinder, an electric motor, a pneumatic actuator, or another type of actuator. In some embodiments, the upper link 120 and the actuators 134 each include a hydraulic cylinder. In some embodiments, the upper link 120 and the actuators 134 include a double acting fluid cylinder including, for example, a piston movably mounted in a cylinder. In some embodiments, each of the upper link 120 and the actuators 134 are in fluid communication with a hydraulic system of the tractor 102, which may be powered by the power source 112. In some embodiments, the upper link 120 and the actuators 134 are directly powered by the powersource 112. In other embodiments, the upper link 120 and / or the actuators 134 comprise pneumatic actuators. In some embodiments, the actuators 134 are configured to lift and / or lower the lower links 118 simultaneously. For example, the actuators 134 may be coupled to a same actuator control valve and / or may be synchronized or phased together. Since the actuators 134 are configured to lift and / or lower the lower links 118, the lifting hitch 114, the actuators 134 may also be referred to herein as "lifting hitch actuators" or "lower link actuators."

[0051] The lifting hitch 114 may have a travel from a fully lifted (raised) position wherein the agricultural implement 140 coupled to the lifting hitch 114 is fully lifted (e.g., such that row units 180 of the agricultural implement are lifted from and do not contact the ground surface 105) and a fully lowered position wherein the agricultural implement 140 coupled to the lifting hitch 114 is fully lowered (e.g., the row units 180 contact the ground). The position of the lifting hitch 114 may be fully lowered, fully lifted, or at any position between the fully lifted position and the fully lowered position. Since the agricultural implement 140 is coupled to the tractor 102 at the lifting hitch 114, the position of the lifting hitch 114 may affect the height of the agricultural implement 140 above the ground surface 105 and relative to the tractor 102.

[0052] In some embodiments, actuation of the actuators 134 to an extended position may cause the lower links 118 to rotate about the connection 116 (e.g., in the counterclockwise direction in the view of FIG. 1A) to lift the lower links 118 and the agricultural implement 140 coupled to the lifting hitch 114 relative to the ground surface 105. In some embodiments, the level of actuation (e.g., the percentage of travel of the piston of the actuators 134 from a fully retracted position to a fully extended position) may be proportional to the percentage of travel of the lifting hitch 114 between a user-configurable position corresponding to a "lowered" state and a user-configurable position corresponding to a "lifted" state. For example, when the lifting hitch 114 is in the lowered state, the actuators 134 may be fully retracted; when the lifting hitch 114 is in the lifted state, the actuators 134 may be fully extended; when the lifting hitch 114 is 20% lifted (i.e., 20% of the way from the lowered state to the lifted state), the actuators 134 may be 20% extended; when the lifting hitch 114 is 40% lifted, the actuators 134 may be 40% extended; and so forth. In other words, the percentage of travel of the lifting hitch 114(and the percentage (e.g., amount) that the lifting hitch 114 is lifted or lowered) may correspond (e.g., directly correspond) to the level of actuation and the percentage of travel of the actuators 134. As used herein, a percent actuation means and includes a percent that a piston is extended from a cylinder. For example, a 0% actuation means and includes a fully retracted position of a piston within a cylinder; and a 100% actuation means and includes a fully extended position of a piston within a cylinder.

[0053] In some embodiments, the lifting hitch 114 includes one or more sensors 115, 117, 119 configured to measure a position of the lifting hitch 114, such as a percent of travel of the lifting hitch 114 (e.g., the percent that the lifting hitch 114 is lifted). In some embodiments, the lifting hitch 114 includes a sensor 119 configured to measure a level of actuation of at least one of the actuators 134. For example, the sensor 119 may include a hydraulic cylinder position sensor. In some embodiments, the sensor 119 is configured to measure a position of a piston of the actuator 134 within a cylinder of the actuator 134. The sensor 119 may include a magnetostrictive sensor, a potentiometric sensor, a linear variable inductance transducer, or another type of sensor configured to determine a position of the piston within the cylinder of the actuator 134. In some embodiments, the percentage of travel and the position of the actuators 134 measured by the sensor 119 may correspond directly to the percentage of travel and the position of the lifting hitch 114. In some embodiments, each of the actuators 134 includes a sensor 119. In some embodiments, only one of the actuators 134 includes a sensor 119.

[0054] The sensor 115 may be configured to measure the angular rotation of one of the lower links 118, which data may be used to determine the position of the lifting hitch 114. In some embodiments, the sensor 115 is coupled to one of the lower links 118 at the connection 116 between the lower link 118 and the chassis 104. In some embodiments, the sensor 115 is coupled to the lower link 118 at the pivot point of the lower link 118 about the chassis 104 (e.g., about the connection 116). The sensor 115 may be a rotary sensor (e.g., a rotary position sensor) configured to measure an angle of the lower link 118 relative to the chassis 104, the upper link 120, the ground surface 105, or to another component of the tractor 102. In some embodiments, the sensor 115 is coupled to the lift arm 132 at the connectionbetween the lift arm 132 and the chassis 104, such as at the pivot point of the lift arm 132 about the chassis 104. In some embodiments, the rotation of the lower link 118 measured by the sensor 115 may correspond to the position of the lower links 118 and / or the angle between the lower link 118 and at least one of the chassis 104 and the ground surface 105, which may correspond to the position of the lifting hitch 114.

[0055] The sensor 117 may be coupled to one of the tractor 102 (e.g., the chassis 104) and the lifting hitch 114 and configured to determine a distance between the sensor 117 and at least one of the lower links 118. In some embodiments, the sensor 117 is coupled to at least one of the actuators 134 and configured to measure a distance between the actuator 134 and at least one of the lower links 118. In some embodiments, the sensor 117 is coupled to a portion of the actuator 134 that is fixed with respect to the chassis 104. In other embodiments, the sensor 117 is coupled to the tractor 102, such as at the chassis 104. The sensor 117 may include a non-contact depth sensor, for example, an optical sensor, an ultrasonic transducer, an RF (radio frequency) sensor, lidar, radar, etc. Such sensors are described in, for example, U.S. Patent 10,874,042, "Seed Trench Depth Detection Systems," granted December 29, 2020. In some embodiments, the distance between the sensor 117 and the lower links 118 may correspond to the position of the lower links 118, which may correspond to the position of the lifting hitch 114 (e.g., a percent lifted of the lifting hitch 114).

[0056] The sensors 115, 117, 119 may provide sensor data corresponding to the position of the lifting hitch 114 (e.g., whether the lifting hitch 114 is fully lifted, fully lowered, or at an intermediate position). In some embodiments, the sensor data may be used to determine the position of the lifting hitch 114.

[0057] FIG. 1C is a simplified top-down view of the system 100 illustrating different components of the agricultural implement 140. The agricultural implement 140 includes a frame 142 carrying a toolbar 170 and row units 180 coupled to the toolbar 170. Each of the row units 180 may be in operable communication with a central hopper 182 containing seed to be planted and / or fertilizer to be applied. That is, the row units 180 may be planter and / or fertilizer row units.

[0058] The row units 180 may be any type of ground-engaging device for planting, seeding, fertilizing, tilling, or otherwise working crops or soil, typically in rows. For example, the row units may be similar to the row units described in U.S. Patent Application 2024 / 0188472 Al, "Agricultural Implements Having Row Unit Position Sensors and at Least One Adjustable Wheel, and Related Control Systems and Methods," published June 13, 2024. As an example, FIG. 2 is a simplified side view illustrating a single row unit 180 in the form of a planter row unit over the ground surface 105. Each row unit 180 has a body 202 connected to the toolbar 170 (e.g., a center toolbar 172 or a wing toolbar 174) by a parallel linkage 204, enabling the row unit 180 to move vertically independent of the toolbar 170. In some embodiments, the body 202 of the row unit 180 may be connected to the toolbar 170 by another structure, such as a rotating arm. The body 202 may be a unitary member, or may include one or more members coupled together (e.g., by bolts, welds, etc.). The body 202 operably supports one or more of a hopper 206, a seed meter 208, a product delivery mechanism 210 (e.g., a seed delivery mechanism), a trench opening assembly 212, a trench closing assembly 214, and / or any other components as known in the art. The row unit 180 shown in FIG. 2 may optionally be a part of a central fill planter, in which case the hopper 206 may be one or more mini-hoppers fed by the central hopper 182 (FIG. 1A through FIG. IE) carried by the agricultural implement 140. In other embodiments, the central hopper 182 may be omitted, and each row unit 180 may simply use its own hopper 206 alone. The row unit 180 may further include a product sensor 224 and a variable rate drive 226 configured to control delivery of product (e.g., seeds, fertilizer) from the hopper 206 to the field through the product delivery mechanism 210.

[0059] At least some of the row units 180 may include at least one sensor 216 configured to determine a position of the row unit 180 relative to the ground surface 105 or the toolbar 170. A sensor 218 may be coupled to the parallel linkage 204 and configured to determine the position of the row unit 180 based on the angular rotation of the parallel linkage 204 determined by the sensor 218. As shown in FIG. 2, the sensors 216, 218 may be carried on the body 202 of the row unit 180 itself. In other embodiments, the sensors 216, 218 may be carried by the toolbar 170, the frame 142 of the agricultural implement 140, the tractor 102, or even by another vehicle (e.g., another ground vehicle, an unmanned aerial vehicle, etc.). Thesensor 218 may be a rotary sensor configured to measure an angle of an element of the parallel linkage 204 relative to the body 202 of the row unit 180 or to the toolbar 170, and may be connected to a pivot point of the body 202 of the row unit 180 or to the toolbar 170. The sensor 216 may include a non-contact depth sensor, for example, an optical sensor, an ultrasonic transducer, an RF (radio frequency) sensor, lidar, radar, etc. Such sensors are described in, for example, U.S. Patent 10,874,042. The sensors 216, 218 may provide information that can be used to adjust the position of the toolbar 170. In some embodiments, an additional sensor 222 may be configured to detect the position of the toolbar 170 relative to the ground surface 105.

[0060] While the row units 180 have been described as being configured to provide seeds to the field, the disclosure is not so limited. In some embodiments, the row units 180 are configured to provide solid fertilizer to the field. In addition, while the row units 180 have been described and illustrated as including a particular type of row unit, the disclosure is not so limited. In some embodiments, the row units 180 are configured to provide a liquid (e.g., liquid fertilizer) to the field through a liquid outlet line.

[0061] Referring back to FIG. 1C, in some embodiments, the agricultural implement 140 is supported in the field by the row units 180, such as at least center row units 180 connected to a center toolbar 172. For example, in use and operation, the trench opening assemblies 212 and the trench closing assemblies 214 may contact the ground surface 105. In some embodiments, the agricultural implement 140 is supported by one or more wheels operably coupled to the frame 142.

[0062] FIG. ID is a simplified perspective view of the agricultural implement 140 disconnected from the tractor 102 and in an extended configuration (a planting configuration) in which planting operations are performed. FIG. IE is a simplified perspective view of the agricultural implement 140 when in a folded configuration (a transport configuration), such as during transport and / or when in a headlands. FIG. ID and FIG. IE show a hitch receiver 190 for coupling the agricultural implement 140 to the lifting hitch 114 of the tractor 102. The hitch receiver 190 may be coupled (attached) to the center frame section 144. With collective reference to FIG. 1C through FIG. IE, the frame 142 may include a center frame section 144,and wing frame sections 146 coupled to the center frame section 144 by an intermediate frame section 148. The intermediate frame section 148 may be coupled to the center frame section 144 at a first hinged joint 150 and to the wing frame section 146 at a second hinged joint 152.

[0063] The toolbar 170 may include a center toolbar 172 operably coupled to the center frame section 144, and wing toolbars 174 operably coupled to the wing frame sections 146. In some embodiments, the toolbar 170 is not operably coupled to the intermediate frame section 148 and there are no row units 180 operably coupled to the intermediate frame section 148 (e.g., by means of a toolbar). In some embodiments, the center toolbar 172 is longer than the center frame section 144 and the wing toolbars 174 are longer than the wing frame sections 146. In some embodiments, the wing toolbars 174 are separated from (e.g., not directly connected to) the center toolbar 172. In other embodiments, the toolbar 170 is a single unitary toolbar coupled to the frame 142, and neither the toolbar nor the frame have wing sections.

[0064] A position of the center frame section 144 may be substantially fixed with respect to the position of the central hopper 182 and the hitch receiver 190. In use and operation, the position of the center frame section 144 may be substantially fixed with respect to the tractor 102. The intermediate frame section 148 may be configured to rotate relative to the center frame section 144 about the first hinged joint 150, and the wing frame section 146 may be configured to rotate relative to the intermediate frame section 148 about the second hinged joint 152. The first hinged joint 150 and the second hinged joint 152 may each comprise a pin joint (e.g., a roller bearing) or a hinge joint.

[0065] Each wing frame section 146 and operably coupled wing toolbar 174 may be configured to be lifted (e.g., rotated) relative to the center frame section 144 to fold the wing frame sections 146 and the wing toolbars 174, as shown in FIG. IE. In some embodiments, each intermediate frame section 148 is coupled to a first actuator 154 that extends between and connects the intermediate frame section 148 to the center frame section 144. The first actuator 154 is coupled to the center frame section 144 at a first connector 156 and to the wing frame section 146 at a second connector 158. Actuation (operation) of the first actuator 154 may cause the intermediate frame section 148, the coupled wing frame section 146, and the wingtoolbar 174 coupled to the wing frame section 146 to rotate about the center frame section 144, such as about the first connector 156. Thus, the first actuator 154 may be configured to rotate the intermediate frame section 148, the wing frame section 146, and the wing toolbar 174 relative to the center frame section 144 about the first hinged joint 150 to lift and / or lower the wing toolbar 174 and wing frame section 146. With reference to FIG. ID and FIG. IE, when the first actuator 154 is in an extended configuration (and the agricultural implement 140 is on level ground), the wing frame sections 146 and the wing toolbars 174 may be substantially coplanar with the center frame section 144 and the agricultural implement 140 may be in an extended configuration; and when the first actuator 154 is in a retracted configuration, the wing frame sections 146 and the wing toolbars 174 may be lifted with respect to the center frame section 144 and the center toolbar 172, such as in a folded configuration. Thus, operation of the first actuators 154 may cause the wing toolbars 174 to lift and / or lower relative to the center toolbar 172. Since actuation (e.g., operation) of the first actuators 154 causes the wing toolbars 174 to lift or lower relative to the center toolbar 172, the first actuators 154 may also be referred to herein as "wing toolbar lifting actuators" or "wing toolbar actuators."

[0066] The agricultural implement 140 may further include second actuators 160 configured to tilt the wing frame sections 146 and the wing toolbars 174 relative to the center frame section 144 and the center toolbar 172. As used herein, "tilting" of the wing frame section 146 and the wing toolbar 174 means adjusting a relative angle between the wing frame section 146 and the intermediate frame section 148 (and the angle between the wing toolbar 174 and the center toolbar 172), which also adjusts a corresponding orientation of row units 180 operably coupled to the center toolbar 172 relative to an orientation of row units 180 operably coupled to a wing toolbar 174. Each second actuator 160 may be coupled to the wing frame section 146 at a third connector 162 and to the intermediate frame section 148 at the second connector 158. In some embodiments, the second actuator 160 is fixedly coupled to each of the intermediate frame section 148 and the wing frame section 146. In some embodiments, the second actuator 160 may be configured to cause an angle between a longitudinal axis of the center frame section 144 and a longitudinal axis of the wing frame section 146 to change. Since actuation (e.g., operation) of the second actuators 160 causes thewing toolbars 174 to tilt with respect to the center toolbar 172, the second actuators 160 may also be referred to herein as "tilt actuators" or "wing toolbar tilt actuators."

[0067] With reference to FIG. ID and FIG. IE, the hitch receiver 190 is configured to receive the lifting hitch 114 of the tractor 102. For example, the hitch receiver 190 may be configured to receive (e.g., couple to) the coupling hooks 122, 124 (FIG. 1A). The hitch receiver 190 may include a pair of receivers 192 (lower link receivers) configured to operably couple to the respective coupling hooks 122 of the lower links 118; and a receiver 194 (upper link receiver) between the pair of receivers 192 and configured to operably couple to the coupling hook 124 of the upper link 120. The receivers 192, 194 may include a ring (e.g., a lunette ring (e.g., also referred to as a "lunette," a "lunette eye," or a "coupler"), a bar, or another means for connecting the receivers 192, 194 to the corresponding coupling hooks 122, 124.

[0068] The hitch receiver 190 may include one or more actuators 196 configured to facilitate movement of the agricultural implement 140 with respect to the lifting hitch 114 and / or the tractor 102. For example, the actuators 196 may be configured to cause the toolbar 170 to move relative to the lifting hitch 114 and / or the hitch receiver 190. In some embodiments, the actuators 196 are configured to move the toolbar 170 relative to the tractor 102, the lifting hitch 114, and / or the ground surface 105. For example, when the agricultural implement 140 is coupled to the tractor 102 and the row units 180 are in contact with the ground surface 105, extension of the actuators 196 causes the toolbar 170 to move relative to the lifting hitch 114 and cause the row units 180 move relative to the toolbar 170 (e.g., to move upwards relative to the toolbar 170) by rotation of the parallel linkages 204. In addition, when the row units 180 are in contact with the ground surface 105, retraction of the actuators 196 causes the row units 180 to move downwards and / or may cause the parallel linkages 204 of the row units 180 to rotate such that the row units 180 move downwards relative to the toolbar 170 (and the parallel linkages 204 rotate clockwise in the view of FIG. 2). Since the actuators 196 are coupled to or comprise a portion of the hitch receiver 190, the actuators 196 may be referred to herein as "hitch receiver actuators." In some embodiments, the actuators 196 are configured to lift or lower the aft portion of the row units 180 more than the fore portion of the row units 180 that are located closer to the toolbar 170. In some embodiments, extension ofthe actuators 196 may cause the agricultural implement 140 to pitch the agricultural implement 140 in the aft direction to lower the row units 180 and retraction of the actuators 196 may cause the agricultural implement 140 to pitch the agricultural implement 140 in the forward direction and lift the row units 180.

[0069] In some embodiments, the actuators 196 are coupled to the hitch receiver 190, such as at brackets 198 including the receivers 192. An end of the actuators 196 may be coupled to another portion of the agricultural implement 140, such as at brackets 199 coupled to the frame 142 and / or the central hopper 182. The actuators 196 may be configured to facilitate contouring of the agricultural implement 140 based on the contour of the ground surface 105. In some embodiments, the actuators 196 are configured to cause the row units 180 to move relative to the ground surface 105 and / or the toolbar 170. In some embodiments, extension of the actuators 196 causes the force on the row units 180 from the ground surface 105 to move the row units 180 upwards relative to the toolbar 170; and retraction of the actuators 196 causes the force on the row units 180 from the ground surface 105 to move the row units 180 downwards relative to the toolbar 180.

[0070] Each of the first actuators 154, the second actuators 160, and the actuators 196 may individually include a hydraulic cylinder, an electric motor, a pneumatic actuator, or another type of actuator. In some embodiments, the first actuators 154, the second actuators 160, and the actuators 196 comprise a hydraulic cylinder.

[0071] With reference again to FIG. 1A and FIG. 1C, the control system 110 may include a central processing unit ("CPU"), memory, implement controller, and one or more input / output (I / O) devices (e.g., a graphical user interface ("GUI") (e.g., a touch-screen interface)), may be located in the operator cabin 108. The control system 110 may include a lifting hitch controller 125, a wing toolbar controller 127, and an agricultural implement frame controller 129. Each of the lifting hitch controller 125, the wing toolbar controller 127, and the agricultural implement frame controller 129 may be configured to communicate with one another and with the agricultural implement 140, such as via wired or wireless communication. As described herein, various control components (e.g., the lifting hitch 114 (e.g., the sensors 115, 117, 119, the actuators 134, the upper link 120), the actuators 196, the first actuators 154,and the second actuators 160 may communicate with the control system 110 and control various aspects of the agricultural implement 140.

[0072] In some embodiments, the lifting hitch controller 125 is configured to control a position of the lifting hitch 114, such as based on one or more inputs from an operator of the tractor 102 received at the control system 110 (e.g., responsive to receiving an input from an I / O device to lift and / or lower the lifting hitch 114). In some embodiments, the lifting hitch controller 125 receives an instruction to lift or lower the lifting hitch 114 based on the location of the agricultural implement 140 and / or tractor 102 in the field, such as whether the agricultural implement 140 and / or tractor 102 are approaching a headland. The lifting hitch controller 125 may be in operable communication with the lifting hitch 114. For example, the lifting hitch controller 125 may be in operable communication with each of the sensors 115, 117, 119 and the actuators 134. As described herein, the lifting hitch controller 125 may be configured to determine the position of the lifting hitch 114 based on sensor data from at least one of the sensors 115, 117, 119; and may be configured to control the position of the lifting hitch 114 with the actuators 134.

[0073] The wing toolbar controller 127 may be configured to control a position of the wing toolbars 174 relative to the ground surface 105 and / or the center toolbar 172. The wing toolbar controller 127 may be in operable communication with the first actuators 154, which are configured to control the height of the wing toolbars 174 relative to the center toolbar 172. In some embodiments, based on the position of the lifting hitch 114, such as the percentage of travel of the lifting hitch 114, the wing toolbar controller 127 may cause at least one of the first actuators 154 to move by a corresponding percentage of travel of the first actuator 154 to lift or lower at least one of the wing toolbars 174 an amount corresponding to the percentage of travel of the lifting hitch 114. Stated another way, the wing toolbar controller 127 may control the first actuators 154 to move (e.g., actuate) by a percentage of travel corresponding to the percentage of travel of the lifting hitch 114.

[0074] The agricultural implement frame controller 129 may be configured to control a position of the entire frame 142 of the agricultural implement 140 relative to the lifting hitch 114. For example, the agricultural implement frame controller 129 may be configured to causethe actuators 196 to move the toolbar 170 relative to the lifting hitch 114 to lift and / or lower the row units 180 relative to the toolbar 170 and / or the ground surface 105. The agricultural implement frame controller 129 may be in operable communication with each of the actuators 196. In some embodiments, the agricultural implement frame controller 129 is configured to control operation of the actuators 196 based on the position of the lifting hitch 114. For example, responsive to the lifting hitch 114 being at a particular percentage of travel, the agricultural implement frame controller 129 may cause the actuators 196 to move a percentage of travel corresponding to the percentage of travel of the lifting hitch 114. In some such embodiments, the agricultural implement frame controller 129 may control operation of the actuators 196 based on the percentage of travel of the lifting hitch 114.

[0075] In some such embodiments, the control system 110 may be configured to cause the agricultural implement 140 to follow the position of the lifting hitch 114. For example, the control system 110 may be configured to determine a position of the lifting hitch 114, such as based on the sensor data from at least one of the sensors 115, 117, 119 and / or based on an output from the tractor 102. Responsive to determining the position of the lifting hitch 114, the control system 110 may cause the wing toolbar controller 127 to cause the wing toolbars 174 to follow the motion of the lifting hitch 114, such as by causing the first actuators 154 to move by a percentage of travel corresponding to the percentage of travel of the lifting hitch 114.

[0076] In some embodiments, the wing toolbar controller 127 causes the wing toolbars 174 to follow the motion of the lifting hitch 114. For example, when the lifting hitch 114 is lifted a particular percentage or moved by a particular percent of travel, the wing toolbars 174 may be moved by the same percentage or percent of travel as the lifting hitch 114. In some embodiments, moving the wing toolbars 174 to an amount corresponding to the percent of travel of the lifting hitch 114 facilitates improved operation of the agricultural implement 140. For example, when the agricultural implement 140 approaches a headland, an operator may cause the lifting hitch 114 to be moved to a lifted position to lift the agricultural implement 140 from the ground surface 105. Rather than moving the wing toolbars 174 to a fully lifted position, the wing toolbar controller 127 may cause the first actuators 154 to movethe wing toolbars 174 by a percentage of travel corresponding to the percentage of travel of the lifting hitch 114. After initiating an instruction to lower the lifting hitch 114, the operator may desire that the lifting hitch 114 not lower to a planting position, such as if the operator becomes aware of an obstruction or other undesired object beneath the agricultural implement 140. In some such embodiments, rather than being lowered to a planting position responsive to the instruction for the lifting hitch 114 to lower, the wing toolbars 174 may follow the lifting hitch 114 responsive to an updated command for the lifting hitch 114 to be lifted.

[0077] In some embodiments, the agricultural implement frame controller 129 causes the actuators 196 to lift and / or lower the agricultural implement 140 based on the sensor data and / or the position of the lifting hitch 114. In some embodiments, agricultural implement frame controller 129 causes the actuators 196 to move by a same percentage of travel as the lifting hitch 114 to follow the motion of the lifting hitch 114.

[0078] FIG. 3 is a simplified flow chart illustrating a method 300 of operating the system 100. The method 300 includes determining a position of a lifting hitch coupled to an agricultural implement, as shown in act 302. The lifting hitch and the agricultural implement may be the same as the lifting hitch 114 and the agricultural implement 140 described above. Determining the position of the lifting hitch may include determining a vertical position of the lifting hitch, such as a percentage of travel of the lifting hitch. In some embodiments, determining the position of the lifting hitch includes receiving an indication of the position of the lifting hitch from the tractor. In some embodiments, the position of the lifting hitch may be determined based on sensor data (e.g., sensor data from at least one sensor 115, 117, 119). For example, the position of the lifting hitch may be determined by determining a position of at least one actuator (e.g., actuator 134) of the lifting hitch, such as at least one actuator coupled to a lower link of the lifting hitch. In some embodiments, act 302 may be performed while traversing an agricultural field.

[0079] Responsive to determining the position of the lifting hitch, the method 300 further includes moving at least one wing toolbar lifting actuator based on the position of the lifting hitch, as shown in act 304. In some embodiments, moving the at least one wing toolbar lifting actuator includes moving the at least one wing toolbar lifting actuator a percentage oftravel corresponding to the percentage of travel of the lifting hitch. In other words, the at least one wing toolbar lifting actuator may be synchronized to follow the lifting hitch. Stated another way, the amount (percent) that the wing toolbar lifting actuator is actuated may correspond to the amount (percent) of actuation of the lifting hitch 114.

[0080] In some embodiments, the method 300 further includes moving the agricultural implement based on the position of the lifting hitch, as shown in act 306. Moving the agricultural implement may include moving the frame of the agricultural implement, such as with actuators 196. In some embodiments, act 306 includes causing the actuators 196 to follow the motion of the lifting hitch. For example, the actuators 196 may be configured to move by a same percentage of travel as the percentage of travel of the lifting hitch.

[0081] Accordingly, the agricultural implement 140 may be configured to follow the motion of the lifting hitch 114. For example, responsive to lifting or lowering of the lifting hitch 114, the agricultural implement 140 may be folded and / or extended by an amount corresponding to the amount of lifting or lowering of the lifting hitch 114. Following the position of the lifting hitch 114 with the agricultural implement 140 (e.g., with the first actuators 154 and / or the actuators 196) may facilitate automatically lifting or lowering the agricultural implement 140 and the row units 180 to a planting position, a transport position, or an intermediate position based on the position of the lifting hitch 114. Automatic following of the lifting hitch 114 by the agricultural implement 140 (by the first actuators 154 and / or the actuators 196) may facilitate improved headlands maneuvers and reduce the number of operations required by the operator.

[0082] FIG. 4 is a schematic view of a computer device 402. In some embodiments, the control system 110 and / or at least one of the lifting hitch controller 125, the wing toolbar controller 127, and the agricultural implement frame controller 129 includes a computer device such as the computer device 402 of FIG. 4. The computer device 402 may include a communication interface 404, at least one processor 406, a memory 408, a storage device 410, an input / output device 412, and a bus 414. The computer device 402 may be used to implement various functions, operations, acts, processes, and / or methods disclosed herein, such as the method 300.

[0083] The communication interface 404 may include hardware, software, or both.The communication interface 404 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the computer device 402 and one or more other computing devices or networks (e.g., a server). As an example, and not by way of limitation, the communication interface 404 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a Wi-Fi.

[0084] The at least one processor 406 may include hardware for executing instructions, such as those making up a computer program. By way of non-limiting example, to execute instructions, the at least one processor 406 may retrieve (or fetch) the instructions from an internal register, an internal cache, the memory 408, or the storage device 410 and decode and execute them to execute instructions. In some embodiments, the at least one processor 406 includes one or more internal caches for data, instructions, or addresses. The at least one processor 406 may include one or more instruction caches, one or more data caches, and one or more translation look aside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in the memory 408 or the storage device 410.

[0085] The memory 408 may be coupled to the at least one processor 406. The memory 408 may be used for storing data, metadata, and programs for execution by the processor(s). The memory 408 may include one or more of volatile and non-volatile memories, such as Random-Access Memory ("RAM"), Read-Only Memory ("ROM"), a solid state disk ("SSD"), Flash, Phase Change Memory ("PCM"), or other types of data storage. The memory 408 may be internal or distributed memory.

[0086] The storage device 410 may include storage for storing data or instructions. As an example, and not by way of limitation, storage device 410 may include a non-transitory storage medium described above. The storage device 410 may include a hard disk drive (HDD), Flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The storage device 410 may include removable or non-removable (or fixed) media, where appropriate. The storage device 410 maybe internal or external to the storage device 410. In one or more embodiments, the storage device 410 is non-volatile, solid-state memory. In other embodiments, the storage device 410 includes read-only memory (ROM). Where appropriate, this ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or Flash memory or a combination of two or more of these.

[0087] The storage device 410 may include machine-executable code stored thereon. The storage device 410 may include, for example, a non-transitory computer-readable storage medium. The machine-executable code includes information describing functional elements that may be implemented by (e.g., performed by) the at least one processor 406. The at least one processor 406 is adapted to implement (e.g., perform) the functional elements described by the machine-executable code. In some embodiments the at least one processor 406 may be configured to perform the functional elements described by the machine-executable code sequentially, concurrently (e.g., on one or more different hardware platforms), or in one or more parallel process streams.

[0088] When implemented by the at least one processor 406, the machine-executable code is configured to adapt the at least one processor 406 to perform operations of embodiments disclosed herein. For example, the machine-executable code may be configured to adapt the at least one processor 406 to perform at least a portion or a totality of the method 300 of FIG. 3. As another example, the machine-executable code may be configured to adapt the at least one processor 406 to perform at least a portion or a totality of the operations discussed for the agricultural implement 140 of FIG. 1A. As a specific, non-limiting example, the machine-executable code may be configured to adapt the at least one processor 406 to cause wing toolbars 174 to follow the lifting and / or lowering motion of the lifting hitch 114. For example, the machine-executable code may be configured to adapt the at least one processor 406 to cause the first actuators 154 to lift and / or lower by a percentage of travel of the first actuators 154 corresponding to a percentage of travel of the lifting hitch 114.8

[0089] The input / output device 412 may correspond to an input / output device of the control system 110 of FIG. 1A and may allow an operator of the agricultural implement 140 toprovide input to, receive output from, the computer device 402. The input / output device 412 may include a mouse, a keypad or a keyboard, a joystick, a touch screen, a camera, an optical scanner, network interface, modem, other known I / O devices, or a combination of such I / O interfaces.

[0090] In some embodiments, the bus 414 (e.g., a Controller Area Network (CAN) bus, an ISOBUS (ISO 11783 Compliant Implement Control)) may include hardware, software, or both that couples components of computer device 402 to each other and to external components.

[0091] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

[0092] While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.

Claims

CLAIMSWhat is claimed is:

1. An agricultural system, comprising: a tractor comprising: a chassis; and a lifting hitch coupled to the chassis, the lifting hitch comprising: an upper link; and lower links; an agricultural implement coupled to the lifting hitch, the agricultural implement comprising: a frame; a toolbar coupled to the frame, the toolbar carrying a plurality of row units; and at least one toolbar lifting actuator configured to lift or lower the at least one toolbar; and a control system configured to: determine a percentage of travel of the lifting hitch; and based on the percentage of travel of the lifting hitch, move the at least one toolbar lifting actuator by a proportional percentage of travel to lift or lower the at least one toolbar to a user-configurable position.

2. The agricultural system of claim 1, wherein the agricultural implement comprises a hitch receiver coupled to the frame, the agricultural implement coupled to the lifting hitch of the tractor by the hitch receiver.

3. The agricultural system of claim 1 or claim 2, wherein the at least one toolbar lifting actuator comprises at least one hitch receiver actuator configured to lift or lower the toolbar relative to the tractor.

4. The agricultural system of claim 3, wherein the control system is further configured to operate the at least one hitch receiver actuator based on a position of the lifting hitch.

5. The agricultural system of claim 3, wherein the control system is further configured to actuate the at least one hitch receiver actuator by a same percentage of travel as the percentage of travel of the lifting hitch.

6. The agricultural system of any one of claims 1 through 5, wherein the toolbar comprises a center toolbar and wing toolbars.

7. The agricultural system of claim 6, wherein the at least one toolbar lifting actuator comprises an actuator selected from the group consisting of a wing toolbar lifting actuator and a wing tilt actuator.

8. The agricultural system of any one of claims 1 through 7, further comprising a sensor coupled to the lifting hitch.

9. The agricultural system of claim 8, wherein the sensor comprises a height sensor or an angle sensor.

10. The agricultural system of claim 8, wherein the sensor comprises a hydraulic cylinder position sensor.

11. The agricultural system of any one of claims 8 through 10, wherein the control system is configured to determine the percentage of travel of the lifting hitch based on sensor data from the sensor.

12. The agricultural system of any one of claims 1 through 11, wherein the lifting hitch comprises a three-point hitch.

13. The agricultural system of any one of claims 1 through 12, wherein the lifting hitch further comprises: lift rods coupled to the lower links; lift arms coupled to the lift rods; and actuators coupled to the lift arms and configured to lift and lower the lower links.

14. A method of operating an agricultural implement coupled to a three-point hitch of a towing vehicle, the method comprising: traversing an agricultural field with an agricultural implement comprising: a frame; a toolbar coupled to the frame, the toolbar carrying a plurality of row units; at least one toolbar lifting actuator configured to lift or lower the at least one toolbar; and a hitch receiver configured to couple to the three-point hitch; receiving an indication of a position of the three-point hitch, the position indicative of a percentage of travel of the three-point hitch relative to a fully lifted position and a fully lowered position; and based on the position of the three-point hitch, actuate the at least one toolbar lifting actuator an amount proportional to the percentage of travel of the three-point hitch.

15. The method of claim 14, wherein receiving an indication of a position of the three-point hitch comprises receiving the indication from a sensor coupled to the three-point hitch.

16. The method of claim 15, wherein the sensor comprises a hydraulic cylinder position sensor.

17. The method of any one of claims 14 through 16, wherein receiving an indication of a position of the three-point hitch comprises receiving an instruction to lift or lower the three-point hitch at a user interface.

18. The method of any one of claims 14 through 17, wherein the at least one toolbar lifting actuator comprises at least one hitch receiver actuator, the method further comprising lifting or lowering the toolbar relative to the towing vehicle with at least one hitch receiver actuator.

19. The method of claim 18, wherein lifting or lowering the toolbar relative to the towing vehicle with at least one hitch receiver actuator comprises actuating the at least one hitch receiver actuator by a percentage of travel corresponding to the percentage of travel of the three-point hitch.

20. The method of any one of claims 14 through 19, wherein the at least one toolbar comprises a center toolbar and a wing toolbar, and wherein the method further comprises tilting the at least one wing toolbar relative to the center toolbar.

21. A control system for an agricultural machine, the control system comprising: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the control system to: receive an indication of a position of a three-point hitch of a tractor coupled to an agricultural implement by the three-point hitch, the position of the three-point hitch indicative of a percentage of travel of the three-point hitch relative to a fully lifted position and a fully lowered position; andbased on the position of the three-point hitch, actuate at least one toolbar lifting actuator an amount corresponding to the percentage of travel of the three-point hitch to lift or lower a toolbar of the agricultural implement.

22. The control system of claim 21, wherein the instructions, when executed by the at least one processor, cause the control system to actuate a hitch receiver actuator by an amount corresponding to the percentage of travel of the three-point hitch.

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