Patent Description:
In agriculture, farming cycles are followed that can roughly be divided into the different steps of land preparation, seed sowing, fertilizing, irrigation, crop growth and harvesting. Each of these steps is critical to yield optimal crop results and achieve the desired returns on initial investments. Of the listed steps, land preparation is typically further divided into steps of, as necessary, clearing obstructions (e.g. bushes, stones and rocks) and subsequent tillage.

Tilling crumbles and loosens the soil, improves the soil structure and incorporates crop residues and manure into the soil, thus fertilizing the ground. The improved soil structure allows for increased plant root growth, soil aeration and water penetration/filtration. Overall this results in higher yields, better long-term soil fertility, soil moisture retention and weed management.

Tillage can be separated into primary (relatively deep) and secondary (relatively shallow) tillage. In primary tillage, such as ploughing, the soil is turned over such that nutrients come to the surface. In addition to turning up the soil to bring fresh nutrients to the top and depositing plant residue below where it will break down, this process also aerates the earth, enabling it to hold more moisture. Preparing the land to a greater depth produces a rougher surface finish than secondary tillage. Secondary tillage (e.g. seedbed cultivation) breaks up soil clods into smaller masses which might be desirable for small seeds or plants that have minimal clod-handling ability.

Primary tillage, and particularly ploughing, is widely regarded as one of the most effective ways of preventing crop disease, removing weeds, and controlling mice and other pests. In its simplest form the turnplough, also known as the mouldboard plough, includes a variety of plough bodies, which are blades for penetrating and turning over the soil in arrays of adjacent trenches, known as furrows. Modern ploughs typically include a plurality of plough bodies connected to a plough frame such that they are laterally offset from each other when the plough is in use. Each plough body is connected to the plough frame via corresponding beams. The plough frame, in turn, is connected to a towing or pushing vehicle via a hitch arranged at a front or back end of the frame.

Depending on the density of the soil, a working depth of the plough bodies can be adjusted. For instance, the plough bodies' working depth may be shallow in harder (dense) soils, whereas a deeper working depth may be applied in softer (less dense) soils.

The plough bodies can be rigidly attached to the main frame, such that their distance from the main frame remains constant. Accordingly, the working depth of the plough bodies is then adjusted by varying the ground clearance of the main frame. If the main frame is brought closer to the ground surface the ground clearance is reduced, and the plough bodies penetrate deeper into the soil. Similarly, if the main frame is lifted further off the ground the ground clearance is increased and the plough bodies are raised, thereby reducing the working depth.

The ground clearance of the main frame may, for example, be controlled by one or more depth wheels. The one or more depth wheels may be connected to any part of the main frame such as the rear end of the main frame. An adjustable linkage may be provided between the main frame and the depth wheel to allow for changes in the distance between the depth wheel and the main frame. During ploughing, the depth wheel runs on the ground surface and supports the weight of the plough. If the distance between the depth wheel and the main frame is reduced, then the ground clearance between the main frame and the ground surface reduces accordingly. On the other hand if the distance between the depth wheel and the main frame is increased, the ground clearance of the main frame increases. As outlined before, changing the main frame's ground clearance results in a variation of the ploughing depth.

Another factor in correctly setting up agricultural ploughs is a lateral adjustment of the plough bodies of the plough implement with respect to the work vehicle, i.e. in a direction perpendicular to the direction of travel. One way of laterally adjusting the plough bodies is by shifting a main frame of the plough implement with respect to the headstock. This may be used to adjust the lateral position of the first plough body of the plough implement to create homogenously aligned furrows.

Lateral adjustment of the plough implement and hence the plough bodies can also be used to change the ploughing width of the plough bodies and the resulting furrow width. To this end, the main frame of a plough implement may be pivoted with respect to the headstock in a horizontal plane (if the ground surface is horizontal) to change an angle of the main frame with respect to the agricultural work vehicle. When pivoting the main frame, the plough bodies are moved simultaneously in a lateral direction and a longitudinal direction with respect to the agricultural vehicle. Pivoting the main frame with respect to the work vehicle will change a lateral extent of the plough implement (e.g. the plough bodies). A lateral adjustment by pivoting thus has an impact on the ploughing width of the plough implement. It follows that the pivoting adjustment may have an impact on energy consumption; and/or wear of the plough may be affected.

Adjusting the lateral arrangement of the plough implement with respect to the agricultural work vehicle is, therefore, an important and most challenging task in setting the plough implement up for the ploughing operation.

In view of the above, there is generally a need for an improved way of setting the correct lateral position of the plough implement with respect to the work vehicle.

<CIT> discloses a hitch for coupling an agricultural implement to a towing vehicle which has a three-point power lift with an upper link and two lower links. The hitch includes a support frame with fastening elements for coupling to the upper link and the lower link, a mounting frame with fastening elements for coupling to the implement, and an intermediate frame arranged between the support frame and the mounting frame. The intermediate frame can be rotated relatively can be rotated relative to the support frame about the longitudinal axis of the mounting device and has a displacement device by means of which the mounting frame can be displaced transversely to the longitudinal axis relative to the intermediate frame. The length of the fastening elements of the support frame and/or the fastening elements of the mounting frame can be adjusted relative to the towing vehicle and/or relative to the implement by means of actuators assigned to them. The displacement device has at least two struts rotatably attached to both the intermediate frame and the attachment frame in the form of a parallelogram, or the supporting frame, the intermediate frame and the attachment frame are arranged substantially parallel to one another and have engagement elements for relative displacement.

<CIT> discloses a moveable vehicle-trailer combination including (a) a self-powered vehicle having one or more surface-engaging members and a steering mechanism for steering at least one said surface-engaging member so as to cause changes in a direction of movement of the vehicle; and (b) a trailer that is towed behind the vehicle as the vehicle moves forwardly and is pivotably connected to the vehicle. The combination includes (c) one or more forwardly effective sensors for sensing one or more objects and/or artefacts and/or conditions located forwardly of the vehicle; (d) one or more laterally effective sensor for sensing one or more objects and/or artefacts and/or conditions that when sensed are located laterally of the vehicle and/or the trailer; and (e) a control and/or processing apparatus that acts in dependence on at least one output of the one or more laterally effective sensors to take account of the presence of one or more objects and/or artefacts and/or conditions sensed by the one or more laterally effective sensor.

<CIT> discloses methods of controlling a plough operatively combined with a vehicle such as a tractor, the methods including logging a series of values of the strength of soil encountered during a pass along a field; selecting the most frequently occurring soil strength value; and, for a subsequent pass of the tractor/plough combination along the field in the same direction, setting the width of the plough in dependence on the most frequently logged soil strength value. A microprocessor is provided to carry out the methods of the invention.

It is an aim of the invention to solve or at least ameliorate one or more problems of the prior art.

Aspects and embodiments of the disclosure provide a method of adjusting a working depth of a plough implement; and a plough implement, as claimed in the appended claims.

According to a first aspect of the present invention, there is provided an agricultural plough arrangement comprising an agricultural work vehicle, a plough implement connected to the agricultural work vehicle and comprising at least one ground-engaging tool, at least one actuator mechanism that is configured to move the at least one ground-engaging tool laterally with respect to the agricultural work vehicle, and a control unit. The control unit is configured to receive field data indicative of conditions of a field across which the agricultural plough arrangement is being moved, and automatically determine an actuator control signal for the actuator mechanism based on the field data, wherein the actuator control signal is for moving the at least one ground-engaging tool laterally with respect to the agricultural work vehicle the basis of the field data received, characterised in that the field data comprises ground contour data associated with current or previous ground contours of the field across which the plough implement is being moved and in that the ground contour data are averaged over the width of the plough implement for lateral contour data or averaged over the length of the plough implement for longitudinal contour data.

In another embodiment of the agricultural plough arrangement, the control unit is configured to automatically provide the field data to the at least one actuator mechanism for moving the plough implement laterally with respect to the agricultural work vehicle.

The field data additionally may comprise one or more of: obstacle data associated with current or previous obstacle locations within the field across which the plough implement is being moved; and soil density data associated with current or previous density of soil within the field across which the plough implement is being moved.

A plurality of candidate field data may be stored in a database and automatically determining the actuator control signal may include: receiving location data of the plough implement within the field; and using the location data to select one of the candidate field data as the field data.

The control unit may be configured to retrieve and/or calculate a desired lateral arrangement of the plough implement with respect to the agricultural vehicle on the basis of the field data.

In another embodiment, the control unit is configured to determine a current lateral arrangement of the plough implement with respect to the agricultural vehicle and compare the current lateral arrangement to a desired lateral arrangement, and the control unit is configured to set the actuator control signal to cause a lateral adjustment of the plough implement with respect to the agricultural work vehicle if a difference between the current and the desired lateral arrangement exceeds or falls below a predetermined threshold value.

The control unit may be configured to set the actuator control signal such that the plough implement is moved up a slope, relative to the agricultural work vehicle, if the agricultural plough arrangement is moved across the slope.

The control unit may be configured to set the actuator control signal such that the plough implement is moved laterally away from an obstacle that is being approached by the agricultural plough arrangement.

According to another embodiment, the actuator mechanism includes one or more of: a lateral sliding mechanism that is configured to laterally shift the plough implement with respect to the agricultural work vehicle; and a plough width adjustment mechanism that is configured to yaw a main frame of the plough implement. The lateral sliding mechanism may be driven by a hydraulic cylinder. Alternatively, the lateral sliding mechanism may be driven by a rotary motor with rack and gear, steel wires, or a lead screw arrangement. When using a rotary motor, the rack and gear, steel wires or the lead screw arrangement may be connected to a telescopic housing, such as a telescopic cylinder or square tube for moving the sliding mechanism. Similarly, the plough width adjustment mechanism may be driven by either a hydraulic cylinder or a rotary motor.

The at least one actuator mechanism may be configured to move a main frame of the plough implement laterally with respect to the agricultural work vehicle.

According to another aspect of the invention, there is provided a computer-implemented method of operating an agricultural plough arrangement, the agricultural plough arrangement comprising an agricultural work vehicle; a plough implement connected to the agricultural work vehicle and comprising at least one ground-engaging tool; and at least one actuator mechanism that is configured to move the plough implement laterally with respect to the agricultural work vehicle; and a control unit, wherein the method comprises causing the control unit to: receive field data indicative of conditions of a field across which the agricultural plough arrangement is being moved; and automatically determine an actuator control signal for the actuator mechanism based on the field data, wherein the actuator control signal is for moving the plough implement laterally with respect to the agricultural work vehicle on the basis of the field data received, characterised in that the field data comprises ground contour data associated with current or previous ground contours of the field across which the plough implement is being moved and the method being further characterised in that the ground contour data are averaged over the width of the plough implement for lateral contour data or averaged over the length of the plough implement for longitudinal contour data.

The actuator control signal may be for moving the plough implement laterally with respect to the agricultural work vehicle such that the plough implement is moved up a slope, relative to the agricultural vehicle, if the agricultural plough arrangement is moved across the slope. In yet another aspect of the invention, there is provided a computer program configured to cause a control unit as aforesaid to perform the above method. The computer program may be a software implementation, and the computer may be considered as any appropriate hardware, including a digital signal processor, a microcontroller and an implementation in read only memory (ROM), erasable programmable read only memory (EPROM) or electronically erasable programmable read only memory (EEPROM), as nonlimiting examples. The software may be an assembly program.

The computer program may be provided on a computer-readable medium, which may be a physical computer-readable medium such as a disc or a memory device, or may be embodied as a transient signal. Such a transient signal may be a network download, including an internet download.

The agricultural work vehicle and/or the agricultural implement may be remotely controlled, e.g. from a farm office. Accordingly, the agricultural work vehicle may include one or more communication interfaces for connection to a remote processor and/or a remote controller. Similarly, the agricultural implement may include one or more communication interfaces for connection to a remote processor and/or a remote controller.

One or more embodiments of the disclosure will now be described by way of example only, with reference to the accompanying drawings, in which:.

<FIG> show various views of an agricultural implement, particularly a plough implement <NUM>. As will be described in more detail below, the plough implement <NUM> shown in <FIG> is a reversible plough.

In the following, the term "longitudinal direction" shall refer to direction X shown in <FIG>. In normal conditions, the "longitudinal direction" is aligned with a direction of travel of the agricultural plough implement <NUM>. The term "lateral direction" shall refer to direction Y shown in <FIG> and <FIG>. The lateral direction Y is perpendicular to the "longitudinal direction" X. The term "vertical direction" shall refer to direction Z shown in <FIG> and <FIG>. The "vertical direction" Z is perpendicular to the "longitudinal direction" X and the "lateral direction" Y.

The plough implement <NUM> comprises a main frame <NUM>. The main frame <NUM> may be a rectangular or round tube extending between a headstock <NUM> at a front end <NUM> of the plough towards a plough wheel <NUM> at a rear end <NUM> of the plough. The main frame <NUM> supports a variety of ground-engaging tools.

In the example of <FIG>, the ground-engaging tools include plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b and plough skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b. A plurality of first ground-engaging tools, i.e. plough bodies 22a, 24a, 26a, 28a, 30a and skimmers 32a, 34a, 36a, 38a, and 40a, are arranged on a first side of the main frame <NUM>. In a first configuration of the main frame <NUM>, illustrated in <FIG>, the plurality of first ground-engaging tools are arranged below the main frame <NUM>.

A plurality of second ground-engaging tools, i.e. plough bodies 22b, 24b, 26b, 28b, 30b and skimmers 32b, 34b, 36b, 38b, and 40b, are arranged on a second side of the main frame <NUM>, opposite to the plurality of first ground-engaging tools. In the first configuration of the main frame <NUM>, illustrated in <FIG>, the plurality of second ground-engaging tools are arranged above the main frame.

Each of the plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b is connected to the main frame <NUM> by means of beams <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Each of the beams <NUM>, <NUM>, <NUM>, <NUM>, <NUM> has a substantially Y-shaped structure.

A first beam <NUM> supports a first pair of plough bodies 22a, 22b. A second beam <NUM> supports a second pair of plough bodies 24a, 24b. A third beam <NUM> supports a third pair of plough bodies 26a, 26b. A fourth beam <NUM> supports a fourth pair of plough bodies 28a, 28b. A fifth beam <NUM> supports a fifth pair of plough bodies 30a, 30b.

Each of the pairs of plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b is designed to create a furrow in the field when the plough is dragged behind or pushed by an agricultural work vehicle such as a tractor. It follows that each run of the illustrated plough implement <NUM> through a field creates five adjacent furrows.

A first mounting rail <NUM> supports a first pair of skimmers 32a, 32b. A second mounting rail <NUM> supports a second pair of skimmers 34a, 34b. A third mounting rail <NUM> supports a third pair of skimmers 36a, 36b. A fourth mounting rail <NUM> supports a fourth pair of skimmers 38a, 38b. A fifth mounting rail <NUM> supports a fifth pair of plough bodies 40a, 40b. The skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b and/or their respective mounting rails may be adjustable with respect to the main frame <NUM> to change the distance between the skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b and the main frame. In one example, the skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b may be movable up and down towards and away from the main frame <NUM> to individually adjust the working depth of each of the skimmers. The skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b may either be manually or automatically adjustable.

Turning to <FIG>, a typical operation of agricultural machinery comprising a tractor <NUM> and a plough implement <NUM> is described. In use, the plough implement <NUM> is drawn as an attachment (implement) behind an agricultural towing vehicle (e.g. tractor <NUM>). It will be appreciated that it is equivalently feasible to locate a plough implement <NUM> in front of or both in front of and behind the tractor <NUM>.

<FIG> shows a schematic work area <NUM>, e.g. a crop field, which is divided into a main field <NUM> and headlands <NUM>,<NUM>. A tractor <NUM> draws the plough implement <NUM> across the main field <NUM> in generally parallel working rows. The working rows are part of the trajectory <NUM> of the tractor <NUM> and typically run in parallel with a long edge of the work area <NUM>. Each working row represents an individual run of the agricultural machinery across the field between headlands <NUM> and <NUM>. As will be described in more detail below, a five-furrow plough, such as the exemplary plough shown in <FIG>, creates a total of five furrows per run.

At the end of each run/working row, the tractor <NUM> and plough implement <NUM> use the upcoming headland <NUM> or <NUM> for turning around, as indicated by trajectory <NUM>. It is known in the art that the soil of the headlands <NUM>, <NUM> is subject to greater levels of soil compaction as it receives more traffic per unit area than the main field <NUM>. In order not to disturb the soil of the headlands <NUM>, <NUM> more than necessary, it is known to lift the ground-engaging tools, such as the plough bodies and the skimmers, off the ground into a headland or transfer position, just before the plough implement <NUM> reaches the headlands <NUM> or <NUM> respectively. Once the tractor <NUM> and the corresponding plough implement <NUM> have turned on the headland <NUM>, <NUM>, the ground-engaging tools of the plough implement <NUM> are, again, lowered towards an operating position to engage the soil of the main field <NUM>.

In the illustration of <FIG>, the plough implement <NUM> is working on the main field <NUM> and, therefore, is arranged in the operating position. As the plough implement <NUM> reaches the border between the headland <NUM>/<NUM> and the main field <NUM>, the plough implement <NUM> is transferred to a headland/transfer position. It follows that each working row starts with an adjustment of the plough from the transfer position into the operating position and ends with an adjustment of the plough from the operating position into the transfer position.

The plough implement <NUM> shown in <FIG> is of the fully-mounted type. In fully-mounted ploughs, the weight of the plough is carried exclusively by the tractor when the plough is in its transfer position (on the headlands). In other words, the plough is then exclusively supported by the tractor <NUM> via headstock <NUM> and may be lifted off the ground with a lift cylinder of a tractor linkage.

During the turning movement on the headlands, the plough implement <NUM> is also reversed. That is, the main frame <NUM> is rotated by about <NUM> degrees with respect to the headstock <NUM> to move the plough from a first configuration to a second configuration. It will be appreciated that if the operator is ploughing in the furrow, then the main frame <NUM> may not be rotated by exactly <NUM> degrees. It is more likely to be <NUM>-<NUM> degrees or <NUM>-<NUM> degrees depending on the direction in which the main frame <NUM> turns. If the operator is ploughing on-land, then the main frame <NUM> may be rotated by an angle that is closer to <NUM> degrees, perhaps exactly <NUM> degrees. That is, the main frame <NUM> is rotated by around <NUM> degrees with respect to the headstock <NUM> to move the plough from a first configuration to a second configuration.

In its first configuration shown in <FIG>, the plough implement <NUM> is set up such that the plurality of first ground-engaging tools, i.e. plough bodies 22a, 24a, 26a, 28a, and 30a and skimmers 32a, 34a, 36a, 38a, 40a, of each of the pairs are in contact with the soil. This first configuration is shown in <FIG> and sometimes also referred to as the "left side configuration", since most of the plough bodies are arranged to the left of tractor <NUM>. In its second configuration (not illustrated), the plough implement <NUM> is set up such that the plurality of second ground-engaging tools, i.e. plough bodies 22b, 24b, 26b, 28b, 30b and skimmers 32b, 34b, 36b, 38b, 40b, are in contact with the soil. This second configuration is achieved after rotating the main frame by <NUM> degrees, such that the majority of plough bodies are then located to the right of the tractor (not shown). The second configuration is, therefore, also sometimes referred to as the "right side configuration".

Tilling the field with the plough implement <NUM> in this first configuration provides a first furrow created by the first plough body 22a, a second furrow created by the second plough body 24a, a third furrow created by the third plough body 26a, a fourth furrow created by the fourth plough body 28a, and a fifth furrow created by the fifth plough body 30a. A furrow width is determined by the lateral distance d between the plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b, as illustrated in <FIG>.

As the reversible plough implement <NUM> reaches the end of the first run, the main frame <NUM> is rotated by <NUM> degrees (reversed) with respect to the headstock <NUM>. A turning cylinder (not shown), attached to the headstock <NUM> may be used to rotate (reverse) the plough implement <NUM>. During rotation of the main frame, the first plurality of plough bodies, e.g. 22a, 24a, 26a, 28a, 30a, are transferred to the top of the plough implement <NUM>. At the same time, the second plurality of plough bodies e.g. 22b, 24b, 26b, 28b, 30b, which were not in use in the previous run, is then transferred to the lower end of the plough implement <NUM> and will be submerged in the soil during the next run. The reversible plough is then in its second configuration (not shown).

Executing a second run of the field with the plough implement <NUM> in this second configuration provides a first furrow created by the sixth plough body 22b, a second furrow created by the seventh plough body 24b, a third furrow created by the eighth plough body 26b, a fourth furrow created by the ninth plough body 28b, and a fifth furrow created by the tenth plough body 30b.

Reversing the plough implement <NUM> between consecutive runs has the advantage that the plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b that engage the soil always face the same side edge of the main field <NUM>, irrespective of the tractor's orientation.

In both configurations of the plough implement <NUM> the main frame <NUM> is supported by an implement wheel <NUM>. The implement wheel <NUM> is arranged at the back end <NUM> of the plough implement <NUM>. Since the plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b and the skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b are generally fixed to the main frame via beams <NUM>, <NUM><NUM>, <NUM> and <NUM>, there is no possibility of adjusting the working depth of said ground-engaging tools without changing the ground clearance of the main frame <NUM>. To this end, the plough <NUM> shown in <FIG> includes implement wheel <NUM>, which acts as a depth wheel to adjust the ground clearance of the main frame <NUM>. A linkage <NUM> provided between the implement wheel <NUM> and the main frame <NUM> allows the operator to lift or lower the main frame <NUM> with respect to a ground surface <NUM>. The linkage <NUM> may be connected to an actuator, e.g. a hydraulic cylinder (not shown), for adjusting the distance between the implement wheel <NUM> and the main frame, thereby lifting and lowering the main frame. The linkage <NUM> and the actuator together form a depth adjustment apparatus for the plough bodies 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b, 30a, 30b and the skimmers 32a, 32b, 34a, 34b, 36a, 36b, 38a, 38b, 40a, 40b. Since the position of the plurality of first and second ground-engaging tools is fixed with respect to the main frame <NUM>, any change in the main frame's ground clearance will also affect the working depth of the plurality first and second ground-engaging tools. In particular, if the main frame <NUM> is lowered by shortening the linkage <NUM> between implement wheel <NUM> and the main frame <NUM>, then the working depth of the plurality of first ground-engaging tools shown in <FIG> is increased, i.e. the plurality of first ground-engaging tools are lowered further into/towards the soil. If, on the other hand, the main frame <NUM> is lifted, by extending the linkage <NUM> between implement wheel <NUM> and the main frame <NUM>, then the working depth of the plurality of first ground-engaging tools is decreased, i.e. the plurality of first ground engagement tools are raised.

Referring back to <FIG>, it will be appreciated that the distance d between the plough bodies 22a/22b, 24a/24b, 26a/26b, 28a/28b, and 30a/30b is adjustable. In the embodiment of the plough implement <NUM> shown in <FIG>, the lateral distance d is adjustable by pivoting the main frame <NUM> in a horizontal plane, such as in the plane shown in <FIG>. In other words, the main frame <NUM> is connected to the headstock <NUM> via a pivot <NUM>. The main frame <NUM> may rotate about a pivot <NUM> with respect to headstock <NUM> and thus also with respect to an agricultural work vehicle (not shown) that is connected to the headstock <NUM>.

In a normal operation, a longitudinal axis L1 of the main frame <NUM> is arranged at an angle α with respect to a longitudinal axis L2 of a corresponding agricultural work vehicle. It will be appreciated that the angle α between the longitudinal axis L1 of the main frame <NUM> and the longitudinal axis L2 of the agricultural work vehicle may be changed by pivoting the main frame about the pivot <NUM>. A plough width adjustment mechanism <NUM> comprises the pivot <NUM>, link plate <NUM>, a front part <NUM> of the main frame <NUM> and a width adjustment actuator <NUM>. The width adjustment actuator <NUM> in this embodiment is a hydraulic cylinder. By retracting the width adjustment actuator <NUM>, the front part <NUM> of the main frame <NUM> will be drawn closer towards the link plate <NUM>, thereby increasing the angle α between the longitudinal axis L1 of the main frame <NUM> and the longitudinal axis L2 of the agricultural work vehicle. As the angle α between the longitudinal axes L1, L2 is increased, so is the lateral distance d between the neighbouring plough bodies 22a to 30b. Similarly, if the actuator <NUM> is extended, the main frame <NUM> is pivoted counter-clockwise in <FIG> about the pivot <NUM>, thereby decreasing the angle α between the longitudinal axis L1 of the main frame <NUM> and the longitudinal axis L2 of the agricultural work vehicle. As the angle α between the longitudinal axis L1 and L2 is decreased, the lateral distance d between the neighbouring plough bodies 22a through to 30b decreases.

Although this is not specifically represented in <FIG>, it will also be appreciated that as the angle α between the axes L1, L2 is increased, a lateral arrangement of the main frame and the plough bodies 22a to 30b with respect to the agricultural work vehicle (not shown) changes. This is because, as the angle α is manipulated, the centre M of the plough implement is moved along circular segment S. Accordingly, as the angle α is increased, the centre M of the plough implement <NUM> is moved towards the bottom of <FIG>. Similarly, if the angle α is decreased, the centre M of the plough implement <NUM> moves towards the top end of <FIG>.

A lateral adjustment of the plough bodies with respect to the agricultural work vehicle may also be possible without changing the angle α between the main frame <NUM> and the agricultural work vehicle. In the embodiment of the plough implement <NUM> shown in <FIG>, the headstock <NUM> may include a sliding mechanism that allows for lateral movement of the main frame <NUM> with respect to the headstock <NUM> and, therefore, with respect to the agricultural work vehicle. One embodiment of the sliding mechanism is shown in <FIG> for example. The headstock <NUM> and parts of the plough width adjustment mechanism <NUM> are shown in greater detail in <FIG>. As illustrated, headstock <NUM> includes a slide guide <NUM> which allows link <NUM> to slide in a lateral direction Y with respect to the headstock <NUM>. The sliding movement of the link <NUM> results in a lateral movement of the entire main frame <NUM> and the corresponding parts (e.g. the plough bodies) attached to the main frame <NUM>.

The sliding movement of the link <NUM> and therefore the main frame <NUM> with respect to the headstock <NUM> in the lateral direction Y in <FIG> is achieved by means of a lead screw mechanism <NUM>. Rotation of the lead screw <NUM> will cause the first link <NUM> to slide with respect to the slide guide <NUM> in the lateral direction Y. The lead screw <NUM> may be rotated by means of an electric motor (not shown). In alternative embodiments, the lead screw <NUM> may be replaced by alternative actuator mechanisms, such as mechanisms including hydraulic or pneumatic cylinders to slide the main frame <NUM> with respect to the headstock <NUM> in the lateral direction thereby adjusting the lateral arrangement of the plough bodies and the plough implement <NUM> in general with respect to the agricultural work vehicle (not shown).

From the above, it will be understood that the lateral arrangement of the plough implement <NUM> with respect to the agricultural vehicle may be changed in a variety of ways, two of which have been set out above. It should also be noted that a lateral adjustment of the plough implement <NUM> with respect to the agricultural work vehicle <NUM> does not require a lateral movement of every part of the plough implement <NUM> in a lateral direction. Rather, a lateral adjustment of the plough implement may be achieved by simply changing the lateral position of one or more ground-engaging tools, such as the plough bodies, of the plough implement.

Referring to <FIG>, there is shown a schematic view of an embodiment of a system <NUM> for adjusting the lateral arrangement of a at least one plough body of the plough implement <NUM> with respect to the agricultural work vehicle <NUM>. The system <NUM> may include a control unit <NUM> installed on and/or otherwise provided in connection with the plough implement <NUM>. In some embodiments, the system may additionally or alternatively include a control unit <NUM> which is associated with the agricultural work vehicle <NUM>, such as a towing vehicle (e.g. a tractor). Either the control unit <NUM> associated with the plough implement <NUM> and/or the control unit <NUM> associated with the work vehicle <NUM> may be capable of electronically controlling the operation of one or more components of the plough implement, such as by electronically controlling the operation of one or more ground-engaging tools via corresponding actuators <NUM>. Similarly, either the control unit <NUM> of the implement or the control unit <NUM> of the agricultural work vehicle <NUM> may be capable of controlling operation of one or more components of the agricultural work vehicle <NUM>.

The control unit <NUM> associated with the plough implement <NUM> may include one or more processors <NUM> associated with one or more memory devices <NUM>. Similarly, the control unit <NUM> associated with the agricultural work vehicle <NUM> may also include one or more processors <NUM> connected to one or more memory devices <NUM>. The control unit <NUM> of the plough implement <NUM> and the control unit <NUM> of the agricultural work vehicle <NUM> may communicate with each other as indicated by arrows <NUM>, <NUM>. For example, the control unit <NUM> of the implement may communicate live field data detected by implement sensors <NUM> to the control unit <NUM> of the work vehicle. Similarly, the control unit <NUM> of the agricultural work vehicle <NUM> may communicate with control unit <NUM> of the implement via communication line <NUM> to forward data determined by work vehicle sensors <NUM> or forward direct commands of the operator entered via one or more input devices <NUM>. The control unit <NUM> of the agricultural work vehicle <NUM> may also be connected to one or more valves <NUM>, such as hydraulic valves. The valves <NUM> may be part of a hydraulic system (not shown) located on the agricultural work vehicle <NUM>. By controlling the valves <NUM>, the control unit <NUM> may control a hydraulic fluid supply from the hydraulic system towards actuators <NUM> of the plough implement <NUM>, via fluid lines <NUM>. Similarly, one or more valves <NUM> may be located on the plough implement <NUM> to control one or more actuators of the plough implement <NUM>. Again, the valves <NUM> may be controlled by the control unit <NUM> of the plough implement <NUM> and/or the control unit <NUM> of the work vehicle <NUM>. It should be appreciated that generally only a single control unit <NUM> or <NUM> may be required to control both the plough implement <NUM> and the agricultural work vehicle <NUM> together with their corresponding hardware. The control unit(s) may also be located remotely from both the agricultural work vehicle <NUM> and the plough implement <NUM>.

The one or more actuators <NUM> may be part of one or more actuator mechanism(s) that is(are) configured to move parts of the plough implement <NUM> laterally with respect to the agricultural work vehicle <NUM>. In one example, the one or more actuators <NUM> may correspond to the hydraulic actuator <NUM> associated with the plough width adjustment mechanism described in connection with <FIG>. Alternatively, the one or more actuators <NUM> may correspond to an actuator of the lateral sliding mechanism shown in <FIG>. Accordingly, the actuators <NUM> may be used to change the plough implement's lateral position with respect to the agricultural work vehicle <NUM> depending on an actuator control signal received from either one of the control units <NUM>, <NUM>.

The control unit <NUM> of the implement and/or the control unit <NUM> of the agricultural work vehicle <NUM> are capable of automatically controlling an operation of an actuator mechanism that is configured to move parts (e.g. the main frame and/or one or more plough bodies) of the plough implement laterally with respect to the agricultural work vehicle. In this specification, the term "automatically controlling" refers to the ability of the control units <NUM> and/or <NUM> to adjust the lateral position of parts of the plough implement <NUM> independent of an operators' input. Rather, control units <NUM>, <NUM> are configured to receive field data indicative of a field condition of a field across which the plough implement <NUM> is being moved. The field data received by the control unit <NUM> of the plough implement <NUM> and/or the control unit <NUM> of the agricultural work vehicle <NUM> may be provided by various sources.

In one embodiment, one or more sensors <NUM> of the plough implement <NUM> and/or one or more sensors <NUM> of the work vehicle <NUM> may be used to determine live field data associated with the field condition of the field across which the plough implement <NUM> is being moved. To this end, the sensors <NUM>, <NUM> may include a variety of different sensor types for determining various data associated with the field condition.

In one example shown in <FIG>, the sensors <NUM> of the agricultural work vehicle <NUM> include optical sensors <NUM> and <NUM>. A first optical sensor <NUM> may be connected to a front end of the work vehicle <NUM>. The first sensor <NUM> may be used to determine the field conditions ahead of the agricultural work vehicle <NUM>. For example, the first sensor <NUM> may be able to determine the contours of the field in front of the agricultural work vehicle and, therefore, also in front of the plough implement <NUM>. The first sensor <NUM> may also be able to determine field data that is indicative of obstacles <NUM> in front of the plough implement <NUM>. The first optical sensor <NUM> may provide such field data relating to the field condition in front of the working vehicle <NUM> to one or both of the control units <NUM>, <NUM>.

A second optical sensor <NUM> may be arranged on a side of the agricultural work vehicle <NUM> or, alternatively, on a side of the plough implement <NUM>. The second optical sensor <NUM> may be used to determine field data indicative of the field conditions on the next working row. Such field data may be indicative of the contours of the field on the next working row or obstacles along the next working row (e.g. rocks) that need to be avoided by the ground-engaging tools of the plough implement <NUM>.

Of course, optical sensors, such as RGB, NIR and/or IR sensors, may also be arranged on the agricultural implement. Optical sensors <NUM>, <NUM> are merely two specific examples of sensors that may be used to determine live field data that is fed back to one or both of the control units <NUM>, <NUM>. Other sensors may include:.

Most of the above sensors may either be attached to the agricultural work vehicle <NUM> or the plough implement <NUM> or even part of a separate device, such as a different agricultural work vehicle or a drone scanning the work area in front of or behind the agricultural work vehicle <NUM> and the plough implement <NUM>.

Further examples include sensors that determine implement data indicative of the operation of the plough implement such as:.

Each of the sensors described above may be directly or indirectly connected to one or both of the control units <NUM> and <NUM> associated with the plough implement <NUM> and/or the work vehicle <NUM>. The sensors supply the control units <NUM>, <NUM> with data including the live field data and implement data discussed above.

The work vehicle <NUM> of the system <NUM> shown in <FIG> may also include a display <NUM> to provide feedback to the operator. The display <NUM> may be used to illustrate the current lateral position of the plough implement <NUM>. According to other embodiments, the control units <NUM>, <NUM> may also display intended lateral position changes during the ploughing operation on the display <NUM>. The operator may have the option to override any intended change of the lateral position of the plough implement via input devices <NUM>. Yet, it will be appreciated that the operator's input is generally not required for the system <NUM> to change the lateral position of any part of the plough implement <NUM>.

On the basis of the data provided by the sensors, the control units <NUM>, <NUM> may retrieve or calculate a desired lateral arrangement of the plough implement <NUM> (or parts thereof) with respect to the agricultural work vehicle <NUM>. To this end, the respective memories <NUM>, <NUM> of control units <NUM>, <NUM> may include a look-up table and/or database with an array of lateral positions of parts of the plough implement <NUM> linked to different field data that may be received from the sensors <NUM>, <NUM> described above. Alternatively, or additionally, the memories <NUM>, <NUM> may include a predetermined algorithm for calculating a desired lateral arrangement on the basis of the field data. Such predetermined algorithms may then be applied to the field data received by the respective processors <NUM>, <NUM>. Non-exclusive examples of field data received by the control unit(s) <NUM>, <NUM> are set out below:.

More specific examples of the ground contour data are set out below:
Sloped ground surfaces, whether inclines or declines in either a longitudinal direction or a lateral direction of the plough could be detected by a sensor on the agricultural work vehicle and/or the plough implement and provided as current (or live) ground contour data, which is acquired during the operation of the agricultural plough. Other examples of current ground contour data include data determined by a level sensor on either the agricultural work vehicle or the plough implement. The level sensor may provide information about the slope of the ground surface across which the agricultural plough is being moved. The parameters determined by the level sensor are then fed back to the control unit as current ground contour data.

Rather than determining the ground contour data during the operation of the agricultural plough (current or live ground contour data), it is also feasible to use previous (or predetermined) ground contours stored in a memory accessible by the control unit of either the agricultural vehicle or the plough implement. Such previous ground contour data can be determined before the ploughing operation is started, e.g. by means of satellite images, other agricultural machinery, or even drones. Alternatively, previous ground contour data may be acquired in previous runs of the same field with the agricultural plough, such as ploughing operations performed in previous years. The previous ground contour data of the field may comprise substantially the same parameters as the current (live) ground contour data, e.g. as slopes, ridges and troughs on the field.

Obstacle data may provide the location of obstacles within the field determined as current/live data by sensors on the agricultural work vehicle and/or the plough implement. One example of such sensors is described with reference to <FIG> and provides live updates of obstacles in front of the plough implement. Obstacles may refer to any part of the field that should not be passed by parts of or the entire plough implement. One example of obstacle data may be the location of a rock within the soil that should not be encountered by any of the plough bodies of the plough implement.

Similarly to the previous ground contours described above, previously identified obstacle locations may be used as the previous obstacle data provided to the control unit. Accordingly previous obstacle data may refer to obstacle data that is determined before the ploughing operation is commenced, either by suitable sensors or during previous runs of the same field.

Soil density data may include parameters associated with the current or previous density of the soil within the field. Such parameters may be the compaction levels of the soil and/or the moisture content of the soil in question.

Non-exclusive examples of actuator control signals determined by the control unit based on some of the field data examples outlined before are set out below:
If the agricultural plough moves across a lateral slope, the control unit may set the actuator control signal such that parts of the plough implement is moved up the slope, relative to the agricultural work vehicle. In this regard, moving "across the slope" refers to a movement of the agricultural plough that is not exclusively up and down a slope. Rather it refers to any movement of the plough along/transverse to the slope.

In one example, the actuator control signal may cause the control unit to extend or retract actuator <NUM> (<FIG>) in such a way that the main frame <NUM> of the agricultural implement <NUM> is pivoted uphill. In other words, the centre M of the main frame <NUM> will be moved laterally uphill against the force of gravity.

In another example, the control unit may create an actuator control signal that results in a sliding movement of the lateral sliding mechanism shown in <FIG>, such that the main frame is laterally shifted uphill.

The control unit may determine an actuator control signal that shifts or pivots the main frame laterally to avoid collision with an obstacle determined by the field data. In the illustration of <FIG>, the obstacle <NUM> may be avoided by shifting the main frame <NUM> of the plough implement <NUM> towards the bottom in <FIG>. This lateral adjustment of the main frame may either be achieved by the lateral sliding mechanism of <FIG> or the plough width adjustment mechanism shown in <FIG>.

The control unit may determine an actuator control signal in response to the field data indicating that the agricultural plough is going up or down a slope. If the field data indicates that the agricultural implement is or will be going up a longitudinal slope, the control unit may set the actuator control signal such that the plough width adjustment mechanism reduces the distance d between the plough bodies to decrease drag on the way up the hill. Similarly, if the field data indicates that the agricultural vehicle is or will be moving down a slope, the control unit may set the actuator control signal such that the plough width adjustment mechanism increases angle α in <FIG> to increase the plough width, thereby increasing drag to reduce the speed of the agricultural vehicle down the slope.

If the field data indicates that the soil in front of or currently being ploughed by the agricultural plough is of high density, the control unit may set the actuator control signal such that parts of the plough implement are moved laterally by means of the plough width adjustment mechanism. In particular, in denser soils, the actuator control signal may be set to reduce the angle α between the main frame longitudinal axis L1 and the agricultural vehicle longitudinal axis L2, thereby reducing the drag in denser soil conditions. By contrast, if the soil density is low, the control unit may set the actuator control signal such that the angle α is increased, thereby increasing the plough width and the corresponding drag of the plough implement.

The contour data may comprise averaged contour data, for instance averaged over the width of the plough (for lateral contour data) or averaged over the length of the plough (for longitudinal contour data). This can be used to improve the ploughing operation for the majority of the plough bodies on the plough implement and result in overall good control of the actuator mechanism such that it is not adjusted too frequently. Also, using such an averaged value can be considered as looking forward to determine if any unevenness lasts for sufficiently long to warrant changing the lateral arrangement of the plough implement with respect to the agricultural work vehicle.

It will be appreciated that the change in lateral position may be based on one or more of the field data discussed above.

Turning to <FIG>, there is shown a flow diagram of a method for adjusting the lateral position of parts of the plough implement (e.g. one or more plough bodies) with respect to the agricultural work vehicle according to an embodiment of the disclosure. In this embodiment, the control unit will receive field data from a sensor that is either connected to or associated with the plough implement <NUM> and/or the agricultural work vehicle <NUM>.

In more detail, in a first step S302 the control unit receives field data indicative of field conditions of a field across which the plough implement is being moved. In the method <NUM> illustrated in <FIG>, the field data is received from a sensor that determines one or more live data associated with the field condition. In one embodiment, described above with respect to <FIG>, an optical sensor <NUM> may be provided to determine parameters indicative of the field contours ahead of the agricultural work vehicle <NUM>. This field contour parameter is fed back by the sensor to a control unit that is associated with either the agricultural work vehicle <NUM> or the plough implement <NUM>. The control unit may use the field data determined by the sensor to identify a lateral slope in the field.

Based on the information received by the control unit S302, the control unit may optionally look up and/or calculate a desired lateral position of the plough implement (or parts thereof) in a step S304. In one example, the desired lateral position may be changed to compensate for gravitational forces acting on the plough implement due to a sloping ground contour, as will be described in more detail with reference to <FIG>.

In another optional step S306, the control unit may determine the current lateral position of relevant parts of the plough implement with respect to the agricultural work vehicle. As discussed above, this may either be done by further sensors, such as sensors determining the position of hydraulic actuators of the depth adjustment apparatus, or may be retrieved from a database within the memory of the control unit.

In a further optional step S308, the control unit may compare the desired lateral position with the determined current lateral position. In an optional step S310, the control unit compares the difference between the desired lateral position and the current lateral position with a predetermined threshold value. The threshold value may be set by the manufacturer or by the operator before or during the ploughing operation. If, in step S310, the difference between the desired lateral position and the current lateral position is determined to be higher than the threshold value, then method <NUM> may move on to step S312. Otherwise, if the difference between the desired lateral position and the current lateral position is lower than the threshold value, the method <NUM> is restarted with step S302 outlined above.

In a step S312, the lateral position of the at least one ground-engaging tool is adjusted by means of the actuator mechanism controlled by the control unit. It should be noted that steps S304 to S310 are optional steps that will improve the accuracy of the lateral position adjustment. However, it is also feasible to remove steps S304 to S310 and perform a lateral adjustment per step S312 directly in response to field data received in step S302. For example, if the sensor data is indicative of the field contours and the control unit subsequently determines the presence of a lateral slope, the control unit may directly move parts of the plough implement lateral up the slope with respect to the work vehicle in step S312, without consideration of the exact lateral position desired or the current lateral position. In another embodiment, if the sensor data is indicative of the field contours and the control unit subsequently determines the presence of a lateral slope in the field, the control unit may determine a desired increase in lateral position and ignore the current lateral position.

A further optional step S314 for updating the database with a new lateral position of the plough implement may follow step S312. In step S314, the control unit may determine the lateral position of the plough implement with respect to the work vehicle after the adjustment in step S312 and save this value in the database of the control unit's memory as a new "current lateral position". In this way, the database entries of the current lateral position are continuously updated as the lateral position is adjusted with the adjustment mechanism.

Once the database has been updated with the new lateral position, the method <NUM> may be restarted at step S302 for receiving field data indicative of the field condition and/or the plough implement operation.

<FIG> shows a schematic representation of an agricultural plough arrangement <NUM> on a lateral slope. The agricultural plough arrangement comprises an agricultural work vehicle <NUM> and an agricultural plough implement <NUM>. In this example, the plough implement <NUM> is attached to the back of the agricultural work vehicle <NUM>. However, it will be appreciated that the plough implement <NUM> could alternatively be attached to the front of the agricultural work vehicle <NUM>.

As shown in <FIG>, the ground surface <NUM> is laterally sloped, that is it falls from one side of the plough <NUM> to the other. The term "lateral slope" or "laterally sloped" should be understood as referring to a slope that is transverse to the direction of travel of the plough <NUM>. The ground surface <NUM> may be at an angle β with respect to a horizontal plane A. As the agricultural plough <NUM> travels across the laterally sloped ground surface <NUM>, both the agricultural work vehicle <NUM> and the plough implement <NUM> lean towards the bottom of the slope. One of the consequences of this lateral slope is that gravity will pull the plough implement <NUM> down the slope, in direction B, which may result in a lateral displacement of the plough implement <NUM> with respect to the agricultural work vehicle <NUM>. To counteract this lateral displacement caused by gravitational forces, a control unit (not shown) of the agricultural plough arrangement may be configured to laterally adjust the position of the plough implement <NUM> with respect to the agricultural work vehicle <NUM> in direction C.

As has been pointed out before, the lateral adjustment may either be achieved by shifting the main frame towards direction C with a lateral sliding mechanism or by pivoting the main frame of the plough implement <NUM> with the plough width adjustment mechanism in direction C.

In order to identify the laterally sloped surface <NUM>, a control unit may receive field data that is either stored in a memory (e.g. in a database or a look-up table) of the control unit or received as live data from a sensor. In the example of <FIG>, the field data may be ground contour data determined by a front sensor <NUM>. In particular, the sensor <NUM> may be able to identify the particulars of the sloped ground surface <NUM> optically and provide the sensed parameters to the control unit. The control unit may calculate an actuator control signal for the actuator mechanism that shifts parts of the plough implement <NUM> (e.g. the main frame and the plough bodies) uphill in direction C with respect to the agricultural work vehicle <NUM>, on basis of the ground contour data received by the sensor <NUM>.

In an alternative embodiment, the agricultural plough arrangement may include a level sensor for determining the ground contour data associated with the laterally sloped ground surface <NUM> of <FIG>. Again, this live data may be provided to the control unit which, based on this ground contour data from the level sensor, determines the actuator control signal for moving the plough implement <NUM> laterally up the slope in direction C.

Turning to <FIG>, there is shown another embodiment of an agricultural plough arrangement <NUM> according to the present disclosure. The agricultural plough arrangement <NUM> comprises an agricultural vehicle <NUM> and a plough implement <NUM>.

In the embodiment of <FIG>, the agricultural plough arrangement <NUM> travels up a longitudinally sloped ground surface <NUM>. The ground surface <NUM> extends at an angle γ with respect to a horizontal plane A. It will be appreciated, that the term "longitudinally sloped" refers to a slope that is parallel to the direction of travel D of the agricultural plough arrangement <NUM>. In this embodiment, the direction of travel D of the agricultural plough arrangement <NUM> is up the longitudinal slope <NUM> such that the slope <NUM> causes an incline in a longitudinal direction of the agricultural plough arrangement <NUM>.

Similarly to the embodiment shown in figures described with respect to <FIG>, various sensors or look-up tables/databases may be provided to supply the control unit with field data indicative of the parameters of the longitudinally sloped surface <NUM>. Based on this field data, a control unit (not shown) determines an actuator control signal for an actuator mechanism, such as the plough width adjustment mechanism explained above.

In the example of <FIG>, the control unit may determine an actuator control signal that results in the plough width adjustment mechanism acting to yaw the main frame <NUM> of the plough implement <NUM> about pivot <NUM> such that the plough width of the plough implement <NUM> is decreased. A decrease in the plough width will reduce the drag experienced by the agricultural work vehicle <NUM> and support the uphill movement in direction D. Accordingly, the control unit may keep the plough implement <NUM> set to a reduced plough width for as long as the agricultural plough arrangement <NUM> travels up a hill in a longitudinal direction. Similarly, the control unit may be configured to increase the plough width as the agricultural plough arrangement <NUM> travels downhill, such that drag is increased and a constant ploughing speed is achieved across the field. The plough width might be changed based on the gradient of the slope.

Claim 1:
An agricultural plough arrangement (<NUM>) comprising:
an agricultural work vehicle (<NUM>);
a plough implement (<NUM>) connected to the agricultural work vehicle (<NUM>) and comprising at least one ground-engaging tool;
at least one actuator mechanism that is configured to move the at least one ground-engaging tool laterally with respect to the agricultural work vehicle (<NUM>); and
a control unit that is configured to:
receive field data indicative of conditions of a field across which the agricultural plough arrangement is being moved; and
automatically determine an actuator control signal for the actuator mechanism based on the field data, wherein the actuator control signal is for moving the at least one ground-engaging tool laterally with respect to the agricultural work vehicle (<NUM>) on the basis of the field data received wherein
the field data comprises ground contour data associated with current or previous ground contours of the field across which the plough implement is being moved
characterised in that the ground contour data are averaged over the width of the plough implement for lateral contour data or averaged over the length of the plough implement for longitudinal contour data.