Camera-Based Plowshare Depth Detection for Hydraulic Towing Devices

The patent replaces complex mechanical position detection systems with a camera-based optical system. Instead of using mechanical sensors, encoders, or complex linkages to detect plowshare position, the invention uses a camera to capture images of the plowshares and ground, then processes these images to directly determine depth information. This substitution of mechanical detection with optical-digital detection simplifies the mechanical structure while enabling direct and precise depth measurement.

The patent extracts the depth measurement function from the tractive force measurement system. Instead of using force sensors in the lower links to indirectly infer plowshare depth through tractive force calculations, the invention directly measures plowshare depth using a camera system. This extraction eliminates the need for force sensors and their complex installation, while providing more direct and accurate depth information.

The patent applies local quality by enabling independent depth control for individual plowshares rather than controlling the entire plow based on average tractive force. The camera system can detect the position of each plowshare separately, and the control system can adjust each plowshare's depth independently. This allows different parts of the plow to operate at their optimal depths, improving overall plowing uniformity and precision.

The patent implements a feedback control system that continuously monitors plowshare depth and position using the camera, and makes real-time adjustments to maintain optimal plowing conditions. By providing accurate feedback on actual plowshare positions, the system can prevent engine stalling by adjusting depth proactively without needing to lift the plow, thus maintaining both reliability and productivity.