System and method for automatically leveling an agricultural implement

Patent metadata

Field	Value
Publication number	US-10752237-B2
Application number	US-201715795437-A
Country	US
Kind code	B2
Filing date	Oct 27, 2017
Priority date	Oct 27, 2017
Publication date	Aug 25, 2020
Grant date	Aug 25, 2020

Abstract

A method for automatically leveling an agricultural implement being towed by a work vehicle includes monitoring a vehicle inclination angle via at least one vehicle-based sensor supported on the work vehicle, monitoring an implement inclination angle via at least one implement-based sensor supported on the implement, and determining that the work vehicle has begun to travel across an inclined surface based on the vehicle inclination angle. The method further includes initially adjusting a position of a hitch of the work vehicle in a first direction to maintain the implement inclination angle within a predetermined angular inclination range as the vehicle travels across the inclined surface and adjusting the position of the hitch in a second direction opposite the first direction to maintain the implement inclination angle within the predetermined angular inclination range.

First claim

What is claimed is:

1. A method for automatically leveling an agricultural implement being towed by a work vehicle, the method comprising:
monitoring, with a computing device, a vehicle inclination angle via at least one vehicle-based sensor supported on the work vehicle;
monitoring, with the computing device, an implement inclination angle via at least one implement-based sensor supported on the implement;
determining, with the computing device, that the work vehicle has begun to travel across an inclined surface based on the vehicle inclination angle;
initially adjusting, with the computing device, a position of a hitch of the work vehicle in a first direction to maintain the implement inclination angle within a predetermined angular inclination range as the work vehicle travels across the inclined surface; and
adjusting, with the computing device, the position of the hitch in a second direction opposite the first direction to maintain the implement inclination angle within the predetermined angular inclination range as at least one ground-engaging component of the implement travels across the inclined surface,
wherein the at least one controller is further configured to adjust a position of the at least one ground-engaging component relative to at least one frame section of the implement in combination with adjusting the hitch height in the second direction to maintain the implement inclination angle within the predetermined angular levelness range as the at least one ground-engaging component travels across the inclined surface.

2. The method of claim 1 , wherein the at least one ground-engaging component comprises at least one gauge wheel of the implement.

3. The method of claim 1 , wherein the implement includes a center frame section and at least one wing section pivotally coupled to the center frame section.

4. The method of claim 3 , wherein monitoring the implement inclination angle comprises independently monitoring a first inclination angle of the center frame section and a second inclination angle of the at least one wing section.

5. The method of claim 4 , further comprising comparing the second inclination angle of the at least one wing section to the first inclination angle of the center frame section as the as at least one ground-engaging component travels across the inclined surface.

6. The method of claim 5 , further comprising, when an angular differential between the second inclination angle and the first inclination angle exceeds a differential threshold, pivoting the at least one wing section relative to center frame section to reduce the angular differential.

7. The method of claim 6 , wherein the implement comprises at least one wheel supported by the at least one wing section, wherein pivoting the at least one wing section relative to center frame section comprises adjusting a position of the at least one wheel relative to the at least one wing section.

8. The method of claim 1 , wherein monitoring the implement inclination angle comprises monitoring both a pitch angle of the implement and a roll angle of the implement.

9. The method of claim 8 , further comprising adjusting a position of at least one wheel relative to at least one wing section of the implement in combination with adjusting the hitch height in the second direction with changes in the roll angle as the as at least one ground-engaging component travels across the inclined surface.

10. The method of claim 1 , wherein, when the inclined surface corresponds to an upwardly inclined surface, the first direction corresponds to a downward direction towards the inclined surface and the second direction corresponds to an upward direction away from the inclined surface.

11. The method of claim 1 , wherein, when the inclined surface corresponds to a downwardly inclined surface, the first direction corresponds to an upward direction away from the inclined surface and the second direction corresponds to a downward direction towards away the inclined surface.

12. The method of claim 1 , further comprising monitoring a position of at least one of the work vehicle or the implement relative to the inclined surface using a ground elevation map.

13. A system for automatically leveling an agricultural implement being towed by a work vehicle, the system comprising:
a vehicle-based sensor configured to detect a vehicle inclination angle of the work vehicle;
an implement-based sensor configured to detect an implement inclination angle of the implement;
at least one controller communicatively coupled to the vehicle-based sensor and the implement-based sensor, the at least one controller including a processor and associated memory, the memory storing instructions that, when executed by the processor, configure the at least one controller to:
monitor the vehicle inclination angle based on sensor data received from the vehicle-based sensor;
monitor the implement inclination angle based on sensor data received from the implement-based sensor;
determine that the work vehicle has begun to travel across an inclined surface based on the vehicle inclination angle;
initially adjust a position of a hitch of the work vehicle in a first direction to maintain the implement inclination angle within a predetermined angular inclination range as the work vehicle travels across the inclined surface; and
adjust the position of the hitch in a second direction opposite the first direction to maintain the implement inclination angle within the predetermined angular inclination range as at least one ground-engaging component of the implement travels across the inclined surface,

wherein the at least one controller is further configured to adjust a position of the at least one ground-engaging component relative to at least one frame section of the implement in combination with adjusting the hitch height in the second direction to maintain the implement inclination angle within the predetermined levelness range as the at least one ground-engaging component travels across the inclined surface.

14. The system of claim 13 , wherein the at least one controller is configured to monitor both a pitch angle of the implement and a roll angle of the implement.

15. The system of claim 14 , wherein the at least one controller is further configured to adjust a position of at least one wheel relative to at least one wing section of the implement in combination with adjusting the hitch height in the second direction with changes in the roll angle as the as at least one ground-engaging component travels across the inclined surface.

16. A system for automatically leveling an agricultural implement being towed by a work vehicle, the system comprising:
a vehicle-based sensor configured to detect a vehicle inclination angle of the work vehicle;
an implement-based sensor configured to detect an implement inclination angle of the implement;
at least one controller communicatively coupled to the vehicle-based sensor and the implement-based sensor, the at least one controller including a processor and associated memory, the memory storing instructions that, when executed by the processor, configure the at least one controller to:
monitor the vehicle inclination angle based on sensor data received from the vehicle-based sensor;
monitor the implement inclination angle based on sensor data received from the implement-based sensor;
determine that the work vehicle has begun to travel across an inclined surface based on the vehicle inclination angle;
initially adjust a position of a hitch of the work vehicle in a first direction to maintain the implement inclination angle

Assignees

• Cnh Ind America Llc
• Cnh Ind America Llc

Inventors

• Peterson Klint J
• Barrick Christopher
• Endsley John C
• Henry James W
• Meiners Tracey D

Classifications

• A01B59/042 Primary

  having pulling means arranged on the rear part of the tractor · CPC title

• A01B63/22

  operated by hydraulic or pneumatic means · CPC title

• A01B63/14

  for implements drawn by animals or tractors · CPC title

• B60W2300/14

  Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains · CPC title

• B60W30/02 Primary

  Control of vehicle driving stability · CPC title