System and method for determining frame position of an agricultural implement

Patent metadata

Field	Value
Publication number	US-12514141-B2
Application number	US-202117551941-A
Country	US
Kind code	B2
Filing date	Dec 15, 2021
Priority date	Dec 15, 2021
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

An agricultural implement includes a sensor supported on the frame. The sensor, in turn, is configured to emit output signals for refection off of a field surface of a field and detect reflections of the output signals as return signals. Moreover, the agricultural implement includes a computing system communicatively coupled to the sensor. In this respect, the computing system configured to receive data associated with the detected reflections from the sensor and fit a line or plane to received data. In addition, the computing system is configured to determine at least one of an orientation of the frame or a distance between the frame and the field surface based on the fitted line or plane.

First claim

The invention claimed is:

1 . An agricultural implement, comprising:
a frame extending in a longitudinal direction between a forward end of the frame and an aft end of the frame, the frame further extending in a lateral direction between a first side of the frame and a second side of the frame; a tool supported on the frame, the tool configured to perform an agricultural operation on a field as the agricultural implement travels across the field; a sensor supported on the frame, the sensor configured to emit output signals for reflection off of a field surface of the field and detect reflections of the output signals as return signals; and a computing system communicatively coupled to the sensor, wherein the computing system:
receives data associated with the detected reflections from the sensor;
fits a line or plane to the received data; and
determines at least one of an orientation of the frame based on the fitted line or plane.

2 . The agricultural implement of claim 1 , wherein, when determining the orientation, the computing system determines at least one of a roll of the frame or a pitch of the frame.

3 . The agricultural implement of claim 1 , wherein the tool comprises a ground-engaging tillage tool.

4 . A system for monitoring frame position of an agricultural implement, the system comprising:
an implement frame extending in a longitudinal direction between a forward end of the implement frame and an aft end of the implement frame, the implement frame further extending in a lateral direction between a first side of the implement frame and a second side of the implement frame; a sensor supported on the frame, the sensor configured to emit output signals for reflection off of a field surface of the field and detect reflections of the output signals as return signals; and a computing system communicatively coupled to the sensor, wherein the computing system:
receives data associated with the detected reflections from the sensor;
fits a line or plane to the received data; and
determines at least one of an orientation of the implement frame or a distance between the implement frame and the field surface based on the fitted line or plane.

5 . The system of claim 4 , wherein, when determining the at least one of the orientation or the distance, the computing system determines the orientation of the implement frame.

6 . The system of claim 5 , wherein, when determining the orientation, the computing system determines an angle defined between the fitted line or plane and a horizontal axis of the implement frame.

7 . The system of claim 5 , wherein, when determining the orientation, the computing system determines at least one of a roll of the implement frame or a pitch of the implement frame.

8 . The system of claim 4 , wherein, when determining the at least one of the orientation or the distance, the computing system determines the distance between the implement frame and the field surface.

9 . The system of claim 8 , wherein, when determining the distance, the computing system determines the distance between a center point of the fitted line or plane and the sensor.

10 . The system of claim 8 , wherein the computing system determines when the implement frame is bouncing relative to the field surface based on the determined distance.

11 . The system of claim 4 , wherein the sensor is configured to emit the output signals such that each output signal is reflected off of the field surface at a different location along a swath of the field surface extending in the lateral direction.

12 . The system of claim 4 , wherein the computing system:
compares the determined at least one of the orientation or the distance to an associated predetermined range; and when the determined at least one of the orientation or the distance falls outside of the associated predetermined range, initiates a control action.

13 . The system of claim 12 , wherein the control action comprises at least one of adjusting a position of a wheel relative to the implement frame or a position of a first section of the implement frame relative to a second section of the implement frame.

14 . The system of claim 12 , wherein the control action comprises adjusting a camera frame of a camera supported on the implement frame.

15 . The system of claim 5 , wherein the sensor comprises a LiDAR sensor.

16 . A method for monitoring frame position of an agricultural implement, the agricultural implement including a frame, the method comprising:
receiving, with a computing system, data from a sensor supported on the frame, the sensor configured to emit output signals for reflection off of a field surface of a field and detect reflections of the output signals as return signals; fitting, with the computing system, a line or plane to the received data; determining, with the computing system, at least one of an orientation of the frame or a distance between the frame and the field surface based on the fitted line or plane; comparing, with the computing system, the determined at least one of the orientation or the distance to an associated predetermined range; and when the determined at least one of the orientation or the distance falls outside of the associated predetermined range, initiating, with the computing system, a control action.

17 . The method of claim 16 , wherein determining the at least one of the orientation or the distance comprises determining, with the computing system, the orientation of the frame.

18 . The method of claim 16 , wherein determining the at least one of the orientation or the distance comprises determining, with the computing system, the distance between the frame and the field surface.

Assignees

• Cnh Ind America Llc

Inventors

• Poosa Sai Raghavendra Prasad
• Dasika Surya Saket
• Cozza Michael R
• Alharbi Thamer Z

Classifications

• A01B63/1112

  using a non-tactile ground distance measurement, e.g. using reflection of waves · CPC title

• A01B76/00

  Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 · CPC title

• A01B63/16

  with wheels adjustable relatively to the frame · CPC title

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title