Row Unit Ground-Following Control with Adjustable Frame Downforce
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Solution Overview
Problem
Agricultural machines with adjustable frames face challenges in maintaining optimal ground following by row units, especially on uneven terrain, due to changes in tire or track sizes and pivot points.
Innovation Solution
A method of reactively controlling ground following by determining actual and desired ground following indicators, comparing them, and adjusting the applied force output by adjustable frame actuators to maintain optimal height and engagement of row units with the soil.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If tires or tracks are moved forward relative to the main frame to accommodate larger sizes, then the machine can handle larger tire/track sizes, but the pivot point location changes and ground following performance deteriorates
Solution Approach 1:
The patent implements a dynamic control system that continuously adjusts the adjustable frame's position relative to the main frame based on real-time ground following indicators. This dynamic adjustment compensates for the degraded ground following caused by forward-mounted large tires or tracks, maintaining reliable performance despite the changed pivot point location.
Solution Approach 2:
The system uses sensors to measure actual ground following indicators and compares them to desired values. This feedback loop enables the control system to detect deviations in row unit height caused by large tire/track configurations and automatically adjust the adjustable frame to correct these deviations, restoring ground following performance.
2Volume of moving object
If the adjustable frame is positioned further from the row units to accommodate larger tires, then larger tire sizes are possible, but control precision over row unit height deteriorates
Solution Approach 1:
The control system continuously measures actual row unit height using sensors and compares it to desired height. This feedback enables precise control of row unit height despite the increased distance between the adjustable frame and row units, maintaining measurement precision even with larger tire configurations.
Solution Approach 2:
The patent replaces purely mechanical height control with an electro-hydraulic or electro-mechanical actuator system controlled by electronic feedback. This substitution enables precise control of the adjustable frame position and row unit height, overcoming the limitations of mechanical linkages that would be too flexible or imprecise over larger distances.
3Reliability
If row units travel further in the vertical direction to maintain soil engagement on challenging terrain, then soil engagement is maintained, but the complexity of the adjustment system increases
Solution Approach 1:
The adjustable frame actuator system serves multiple functions: it controls row unit height, maintains soil engagement on varying terrain, and compensates for changes caused by large tire/track configurations. This multi-functionality reduces the need for separate adjustment mechanisms, managing system complexity while maintaining reliable soil engagement.
Solution Approach 2:
The feedback control system automatically adjusts the adjustable frame position based on real-time measurement of row unit height and ground following indicators. This automated feedback loop maintains reliable soil engagement on challenging terrain without requiring complex manual adjustment mechanisms or multiple separate control systems.
Data Source
AI summary
An agricultural machine includes a main frame, an adjustable frame coupled to the main frame and, a row unit which includes a linking arm coupled to the adjustable frame, and an actuator coupled to the main frame and the adjustable frame. The agricultural machine also includes a controller configured to command the actuator to output various downforces to the row units based on signals received from one or more sensors. The one or more sensors are configured to measure one more indicators associated with an actual height of the row unit relative to ground.