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 manner 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 ploughs are 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 lifted, thereby reducing the working depth.

The ground clearance of the main frame may 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 plough body working depth.

Most modern ploughs are of the reversible type, in which the main frame is rotatable by <NUM> degrees (i.e. reversed) with respect to the headstock. A turning cylinder attached to the headstock may be used to rotate (reverse) the plough. During rotation of the main frame, a first set of plough bodies, which was initially arranged below the main frame (first configuration), is transferred to the top of the main frame. At the same time, a second set of plough bodies, which was initially arranged on top of the main frame, is then transferred to a position below the main frame. The reversible plough is then in its second configuration. The main frame may be repeatedly rotated (reversed) between the first and second configuration, particularly during turning manoeuvres on the headlands. Whenever the plough is reversed, the first and second set of plough bodies swap position.

In reversible ploughs, a means of adjusting the working depth of the plough bodies (i.e. the main frame) is required for both configurations of the reversible plough. There are mainly two types of depth control wheels for reversible ploughs. A first type includes a single pivoting depth wheel, which is used in both configurations of the reversible plough. The single pivoting depth wheel has to be moved from one side of the main frame to the other during reversal. This side transfer of the single depth wheel may be achieved by swinging the latter from one side to the other.

A second solution avoids the need for a movement of the depth adjustment wheel from one side to the other. In this second alternative, two separate depth wheels may be fixed to the main frame. A first depth wheel can be arranged on a first side of the main frame and a second depth wheel may be arranged on the second, opposite side of the main frame. Each of the two wheels is then only utilised in one configuration of the plough.

<CIT> discloses An agricultural planter includes systems, methods, and apparatus for providing down force pressure at row units of the planter. One or more sensors can be included to obtain information related to the ground to automatically adjust the amount of down force provided based upon a ground characteristic in order to maintain a substantially uniform furrow depth.

<CIT> discloses a plough body position control device, in which the plough beam is capable of pivoting relative to the plough frame in response to variation in ploughing load applied to the plough body during ploughing e.g. when encountering a buried stone or other obstacle, a sensor arranged to monitor the position taken-up by the plough beam relative to the plough frame and to respond to movement of the plough beam with the sensor being arranged to issue corresponding sensor signals, and a processor unit arranged to receive signals from the sensor so as to vary the hold-down force exerted on the plough body in response to variation in ploughing load applied to the plough body.

<CIT> discloses a soil cultivation device with at least one soil cultivation tool, a measuring device and a storage unit coupled to the measuring device for storing and processing the data from the measuring device, characterized in that the measuring device has at least one sensor arranged on several or each soil cultivation tool, the measurement signals of which are a measure of disturbance variables acting on the soil cultivation tool and means for data exchange with a global position detection system (GPS). The method according to the invention for creating a soil map with a soil cultivation device consists in that at least one sensor which is present on several or on each soil cultivation tool of a soil cultivation device, the signals of which are each a measure for an on the soil cultivation tool is the influencing disturbance variable, generate measurement signals which are recorded periodically repeating and at the same time together with a position signal originating from the GPS and stored in the memory unit assigned to this.

The solution to the technical problem is achieved by the subject-matter of independent claims <NUM> and <NUM>, defining per se the invention. Particular embodiments of the invention are defined in the dependent claims.

There may be provided a computer program, which when run on a computer, causes the computer to configure any apparatus, including a system, a controller, or a processor disclosed herein or perform any method disclosed herein. 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 non-limiting 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.

One or more embodiments of the present 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 <NUM>. As will be described in more detail below, the plough <NUM> shown in <FIG> is a reversible plough.

The plough <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 depth 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 vehicle such as a tractor. It follows that each run of the illustrated plough <NUM> through a field creates five adjacent furrows.

Turning to <FIG>, a typical operation of an agricultural machinery comprising a tractor <NUM> and a plough <NUM> is described. In use, the plough <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 the plough <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 <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 <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 <NUM> reaches the headlands <NUM> or <NUM> respectively. Once the tractor <NUM> and the corresponding plough <NUM> have turned on the headland <NUM>, <NUM>, the ground engaging tools of the plough <NUM> are, again, lowered towards an operating position to engage the soil of the main field <NUM>.

In the illustration of <FIG>, the plough <NUM> is working on the main field <NUM> and, therefore, is arranged in the operating position. As the plough <NUM> reaches the border between the headland <NUM>/<NUM> and the main field <NUM>, the plough <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 <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 <NUM> is also reversed. That is, the main frame <NUM> is rotated by <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 <NUM> is set up such that plough bodies 22a, 24a, 26a, 28a, and 30a of each of the pairs are in contact with the soil. This first configuration is shown in <FIG> and sometimes referred to as the "right turning configuration", since the mouldboards of the plough bodies 22a, 24a, 26a, 28a and 30a are arranged to move the soil sideways from left to right when viewed in the direction of travel. In its second configuration (not illustrated), the plough <NUM> is set up such that plough bodies 22b, 24b, 26b, 28b, and 30b of each of the pairs 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 arranged to the right of the tractor (not shown). It follows that the second configuration is also referred to as the "left turning configuration".

Tilling the field with the plough <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 <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 <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 <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 <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 <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 <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 <NUM> the main frame <NUM> is supported by a depth wheel <NUM>. The depth wheel <NUM> is arranged at the back end <NUM> of the plough <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 depth wheel <NUM>, which acts as a depth wheel to adjust the ground clearance of the main frame <NUM>. A linkage provided between the depth 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>. 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 adjusting the link between the depth 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 the soil. If, on the other hand, the main frame <NUM> is lifted, then the working depth of the plurality of first ground engaging tools is decreased, i.e. the plurality of first ground engagement tools are pulled out of the soil.

<FIG> illustrate part of a plough that includes a stone trip mechanism for a plough body <NUM> and a beam <NUM>, where the plough body <NUM> is in a working position. <FIG> shows a side view, <FIG> shows a cross-sectional view along the line B-B in <FIG> shows an end view from a distal end of the beam <NUM>. <FIG> are corresponding views that illustrate the stone trip mechanism where the plough body is in a tripped position, as will be described below.

The beam <NUM> connects the plough body <NUM> to a frame (not shown) of a reversible plough. The plough body <NUM> is an example of a first ground engaging tool. These figures show a beam housing <NUM> that provides a mechanical connection between the beam <NUM> and the frame. The beam <NUM> is pivotally connected to the beam housing <NUM>, and therefore is also pivotally connected to the frame. As will be discussed below, the beam housing <NUM> has two hinge points <NUM>, <NUM>, one of which is usable for each of the first and second configurations of the reversible plough.

The beam <NUM> has a substantially Y-shaped structure, which includes a central portion <NUM>, a first beam arm <NUM> and a second beam arm <NUM>. The central portion <NUM> of the beam <NUM> has a proximal end that is pivotally connected to the beam housing <NUM>, and a distal end. The two beam arms <NUM>, <NUM> extend from the distal end of the beam <NUM>. The first beam arm <NUM> connects the plough body <NUM> to the central portion <NUM> of the beam <NUM>. The second beam arm <NUM> connects a second plough body (not shown to assist with the clarity of the illustration) to the central portion <NUM> of the beam <NUM>. The plough body <NUM> can be used to engage the soil and work the field when the reversible plough is in the first configuration. The second plough body (not shown) can be used to engage the soil and work the field when the reversible plough is in the second configuration.

<FIG> also show an actuator mechanism <NUM> that provides a bias force to the beam <NUM> such that the plough body <NUM> is biased towards the working position. In this way, the bias force can be indirectly applied to the plough body by the actuator mechanism <NUM> applying a force to a beam that is mechanically connected to the plough body. The actuator mechanism shown in these figures can also be referred to as a stone trip mechanism. The bias force can be set such that when the plough body <NUM> is being pulled through soil as the plough is working the field, the plough body <NUM> maintains its intended orientation. That is, the bias force applied by the actuator mechanism <NUM> overcomes the reactive force <NUM> experienced by the plough body as it moves through the soil. However, if the plough body <NUM> were to hit a stone or other obstruction buried under the ground, then the additional force that is applied to the plough body by the stone is able to overcome the bias force applied by the actuator mechanism such that the beam <NUM> can pivot about one of the hinge points <NUM>, <NUM>. It will be appreciated that any reference to a stone in this document, can more generally relate to any obstruction that is experienced by a plough or other agricultural implement. When the beam <NUM> pivots in this way, the plough body <NUM> moves upwards as shown in <FIG> such that it is above the stone. Therefore, the ploughing operation does not need to stop when a stone is experienced by the plough body <NUM>. Once the plough body <NUM> has passed the stone, the bias force applied by the actuator mechanism returns the plough body <NUM> to its working position.

The actuator mechanism <NUM> includes a cylinder <NUM>, a connection bar <NUM> and a linkage <NUM>. The connection bar <NUM> in this example is mainly located in a cavity that is inside the central portion <NUM> of the beam <NUM>. In this way, the central portion <NUM> of the beam <NUM> can be considered as a sleeve around the connection bar <NUM>. Most of the length of the connection bar <NUM> is visible in the cross-sectional view of <FIG>, and an end of the connection bar <NUM> is also visible in <FIG>. In <FIG>, the connection bar <NUM> is obscured by the cylinder <NUM> and the beam <NUM>.

In this example, the beam <NUM> includes a cylinder mounting region (lug) <NUM> at the proximal end of the central portion <NUM> of the beam <NUM>, and a linkage mounting region (lug) <NUM> at the distal end of the central portion <NUM> of the beam <NUM>. As shown in <FIG>, the cylinder mounting region <NUM> and the linkage mounting region <NUM> extend from opposite sides of the beam <NUM> such that they are laterally offset from each other at opposite ends of the connection bar <NUM>.

A first end of the linkage <NUM> is connected to the linkage mounting region <NUM> at a linkage-beam connection point <NUM>. In this way, the first end of the linkage <NUM> can rotate relative to the beam <NUM>, but cannot experience a translational movement relative to the beam <NUM>. A second end of the linkage <NUM> is connected to a first end of the cylinder <NUM> at a linkage-cylinder connection point <NUM>. A second end of the cylinder <NUM> is connected to the cylinder mounting region <NUM> at a cylinder-beam connection point <NUM>. A first end of the connection bar <NUM> is connected to the beam housing <NUM> (and therefore also the frame) at a bar-frame connection point <NUM>. A second end of the connection bar <NUM> is pivotally connected to a mid-point of the linkage <NUM> at a bar-linkage connection point <NUM>. That is, the bar-linkage connection point <NUM> is between the linkage-beam pivot point <NUM> and the linkage-cylinder connection point <NUM>, along a longitudinal direction of the linkage <NUM>.

In this example, the linkage-beam connection point <NUM>, the linkage-cylinder connection point <NUM>, the cylinder-beam connection point <NUM>, the bar-frame connection point <NUM> and the bar-linkage connection point <NUM> are all pivot points such that the two associated components are rotatable relative to each other. It will be appreciated that in other examples, one or more of these connection points can be rigid connections that do not allow for relative rotational movement, and that any non-linear or rotational movement can be accommodated by other components in the actuator mechanism <NUM>.

An accumulator (not shown in <FIG>) maintains a pressure of the fluid in the cylinder <NUM> when the ground engaging tool <NUM> is in its working position. The pressure in the cylinder <NUM> attempts to push the second end of the linkage <NUM> away from the cylinder mounting region <NUM>, such that it would rotate about the bar-linkage connection point <NUM> and push the linkage-beam pivot point <NUM> back towards the beam housing <NUM>. In this way, the central portion <NUM> of the beam <NUM> is biased along the connection bar such that it abuts the beam housing <NUM>. Therefore, the bias force applied by the cylinder <NUM> acts to maintain the beam <NUM> in its current, working, position with respect to the beam housing <NUM>.

<FIG> illustrate the stone trip mechanism where the plough body <NUM> is in a tripped position. Features of <FIG> that are also shown in <FIG> will be given corresponding reference numbers in the <NUM> series, and will not necessarily be described again. <FIG> also show an accumulator <NUM> that is connected to the cylinder <NUM> by a hose <NUM>, such that it maintains the pressure of the fluid in the cylinder <NUM>.

In <FIG>, the plough body <NUM> has encountered a stone, which has resulted in a high reactive force <NUM> on the plough body <NUM> when it was in its working position. As will be discussed below, this high reactive force <NUM> is larger than the bias force that is provided by the cylinder <NUM> such that the beam <NUM> has pivoted about the first hinge point <NUM>, and the plough body <NUM> has moved out of the way of the stone. More particularly, since the reactive force <NUM> will always be experienced by the lower, in-use, plough body, the beam <NUM> will always pivot about the upper hinge point. Therefore, if the plough were in the second configuration such that the second beam arm <NUM> were facing downwards, the beam <NUM> would pivot about the second hinge point <NUM> (which would be the upper hinge point) upon experiencing a stone.

As the beam <NUM> pivots about first hinge point <NUM>, the second hinge point <NUM> separates and part of the beam <NUM> moves away from the beam housing <NUM>. The first end of the connection bar <NUM> is connected to the beam housing <NUM> at the bar-frame connection point <NUM>, such that the central portion <NUM> of the beam <NUM> moves along the connection bar <NUM> towards the linkage <NUM>. Since the second end of the connection bar <NUM> is connected to a mid-point of the linkage <NUM> at a bar-linkage connection point <NUM>, the linkage <NUM> rotates about the bar-linkage connection point <NUM>. As the linkage <NUM> rotates, the second end of the linkage <NUM> (and therefore also the linkage-cylinder connection point <NUM>) moves closer to the cylinder-beam connection point <NUM>. As the linkage-cylinder connection point <NUM> moves closer to the cylinder-beam connection point <NUM>, the cylinder <NUM> is compressed. In this way, the beam <NUM> is only able to rotate about the first hinge point <NUM> when the reactive force <NUM> on the plough body <NUM> results in a force on the cylinder <NUM> applied by the linkage <NUM>, that is greater than the bias force that is provided by the fluid in the cylinder <NUM>.

<FIG> shows an example of an agricultural system <NUM> according to the present disclosure. The agricultural system <NUM> includes a plough <NUM> and a tractor <NUM>. In this example the tractor <NUM> is towing the plough <NUM>, although it could also push the plough <NUM>. The agricultural system <NUM> includes a location-determining-system <NUM> and a controller <NUM>. In this example the location-determining-system <NUM> is a GPS. The location-determining-system <NUM> and the controller <NUM> are shown in <FIG> as located on the tractor <NUM>. However, it will be appreciated from the description that follows that the location-determining-system <NUM> and / or the controller <NUM> can instead be located on the plough <NUM>. Also, the functionality of the controller <NUM> can be provided by one or more processors that are collocated with one or both of the plough <NUM> and the tractor <NUM>, or can be located remotely from the tractor <NUM> and the plough <NUM>.

In this example, the plough <NUM> includes one or more trip-sensors (not shown), which can provide trip-data. A trip-sensor can provide the trip-data to the controller <NUM>. The trip-sensor can directly or indirectly monitor the position of one or more, or all, of the plough bodies <NUM> and / or the speed with which a plough body <NUM> leaves it's working position.

The trip-data can be provided to the controller <NUM> in response to the stone-trip-mechanism being tripped, live as it is determined, in some examples. In other examples the trip-data may be stored in a memory that is in electronic communication with the trip-sensor, and then passed on to the controller <NUM> for processing later on. In such an example, a timestamp associated with the trip-data may also be stored in the memory. Then, the controller <NUM> may receive an entire field's worth of trip-data at the end of the ploughing operation.

The location-determining-system <NUM> can provide location-data to the controller <NUM>. In some examples, the location-determining-system can be associated with the plough <NUM> and / or the tractor <NUM>. Again, the location-determining-system <NUM> can provide location-data to the controller <NUM> live as the plough <NUM> moves around a field, or can be stored in a memory along with associated timestamps for subsequent communication on the controller <NUM>.

The controller <NUM> can apply a mathematical operation to the received location-data to determine one or more plough-body-locations, which represent the location of one or more of the individual plough bodies <NUM> of the plough <NUM>. For instance, the controller <NUM> can use a predetermined offset between: (i) the location of the location-determining-system <NUM>; and (ii) the location of one or more of the individual plough bodies <NUM> to determine a plough-body-location. The controller <NUM> may also use the direction of travel of the location-determining-system <NUM> / tractor <NUM> to apply the offsets in the correct direction. In this way a single location-determining-system <NUM> can be used for a plurality of plough bodies <NUM>. Alternatively, a location-determining-system can be provided for a single plough body <NUM>.

In some examples, the location-determining-system <NUM> can include a path transmitter or a speed sensor (as non-limiting examples of additional components) that can be used with a GPS to obtain more accurate location data.

When the controller <NUM> receives trip-data from the trip-sensor, it can store the associated location-data in memory as a trip-location. In examples where the location-data and trip-data are stored in memory along with associated timestamps, the controller can determine the location-data that is associated with received trip-data by looking up the location of the tractor / plough at the time that the trip occurred. In some examples, the controller <NUM> can determine which of a plurality of plough bodies <NUM> have been tripped based on the trip-data. For instance, the trip-data may include a plough-body-identifier that indicates which plough body has been tripped. Then, the controller <NUM> can determine plough-body-trip-locations (which are the location of the specific plough bodies that have been tripped) based on the received location-data. A plough-body-trip-location is an example of a trip-location. In this way, the memory can store geographical information that relates to where in a field the stone-trip-mechanism has tripped, and therefore can identify the location of stones / obstructions in the field. In some examples the controller <NUM> can also store a trip-identifier in the memory. The trip-identifier can be a unique identifier that is associated with a trip-location that is stored in the memory.

Advantageously, the trip-locations (such as the plough-body-trip-locations) that are stored in memory can be used to generate a map of the field in which the plough <NUM> was working. The map can include identifiers for the locations of stones / obstacles based on the trip-locations in the memory. The map can be used manually or automatically for a subsequent agricultural operation in the field such that the stones / obstructions can be taken into account. For examples, a route through the field can be generated to avoid the stones / obstructions. Also, one or more operating parameters of an agricultural machine can be manually or automatically controlled during the subsequent agricultural operation to account for the locations of the stones / obstructions. Further details are provided below.

In some examples, the trip-data may simply take a binary value that indicates whether or not a trip has occurred. For example, the trip-data may be set to a value of '<NUM>' when a trip occurs. Such a trip may be detected by a sensor that determines that the plough body has moved by more than a threshold amount against the bias force of the stone trip mechanism. Such a sensor may be associated with a cylinder of the stone trip mechanism. In this way, the trip-data may be implemented as simple flag. Alternatively, the trip-data may take one of a plurality values when a trip occurs. For instance, the trip-data may be referred to as trip-depth-data that represents the depth of a plough body during the trip. In one example, the trip-depth-data may be provided by a sensor that monitors the position of the cylinder that forms part of the stone trip mechanism. In this way, the trip-data can represent the depth of the stone, which can be useful in a subsequent agricultural operation as will be discussed below.

In examples where the trip-data includes trip-depth-data, a controller can beneficially generate a three-dimensional map of subterranean obstacles in the field which includes the depth of each obstacle.

In some examples, the controller <NUM> can process the trip-data and store one or more of the following examples of a trip-location in memory:.

Optionally, the controller <NUM> can group a plurality of individual trip-locations together such that they are associated with the same stone / obstruction. For instance, if two trip-locations are less than a threshold-distance apart, then the controller <NUM> may group them together as being associated with the same stone / obstruction. The controller <NUM> can then attribute the same stone-identifier to each of the trip-locations that are grouped together. In this way, multiple trip-locations that are less than the threshold-distance from at least one other trip-location are all grouped together with the same stone-identifier. In some applications, the controller <NUM> can process the trip-locations that are all associated with the same stone-identifier in order to determine one or more stone-coordinates that define the periphery of the stone or obstruction. Additionally or alternatively, the controller <NUM> can determine stone-coordinates using trip-start-location and trip-stop-location (or plough-body-trip-start-location and plough-body-trip-stop-location).

<FIG> illustrates schematically how stored trip-locations can be used in a subsequent agricultural operation. <FIG> illustrates a ploughing operation as the subsequent agricultural operation. It will be appreciated that in other examples different types subsequent agricultural operation can be performed, including any other type of tillage operation, a baling operation, and a harvesting operation, as non-limiting examples.

<FIG> shows a field <NUM>, in which three subterranean stones (or other obstructions) <NUM>, <NUM>, <NUM> are located. As discussed above, an earlier ploughing operation in the field has caused the stone-trip-mechanisms on the plough to trip when the plough bodies encountered the stones <NUM>, <NUM>, <NUM>. The locations of the plough bodies when the associated stone-trip-mechanisms were tripped is stored in memory as trip-locations. These trip-locations can be displayed on a map in the cab of the tractor <NUM>. The map may display the same information that is shown in <FIG>, optionally including a current location of the tractor <NUM> and the plough <NUM>. This can assist the operator in visualising where the stones / obstructions are while they are working the field.

<FIG> schematically shows part of an agricultural system, which includes an agricultural implement such as a plough, that can be used to perform the subsequent agricultural operation. The agricultural system includes a controller <NUM> and an actuator <NUM>. The actuator <NUM> can be any component that controls operation of the agricultural implement. In one example, the actuator <NUM> can be part of a stone-trip-mechanism that provides a bias force to a plough body such that it is biased towards a working position. The actuator <NUM> can be the same as the one described with reference to <FIG>, <FIG>, or could be different. Examples of other actuators <NUM> that can be used are described below.

The controller <NUM> receives implement-location-data <NUM> and one or more trip-locations <NUM> from memory. The implement-location-data <NUM> is representative of a current location of the agricultural implement. The implement-location-data can be received from a location-determining-system that is associated with the agricultural implement and / or an associated agricultural vehicle in the same way as described above. The controller <NUM> can process the implement-location-data <NUM> and the one or more trip-locations <NUM> stored in memory to determine whether or not to provide an actuator-control-signal <NUM> to the actuator <NUM>. The actuator-control-signal <NUM> is operable to control the operation of the actuator <NUM>.

In an example where the actuator <NUM> is a stone-trip-actuator, such as the actuator mechanism <NUM> of <FIG>, the actuator-control-signal <NUM> can decrease the bias force that is provided by the stone-trip-actuator based on a predetermined relationship between the implement-location-data <NUM> and a trip-location <NUM>. An example of such a predetermined relationship is the result of a comparison between (i) the difference between the implement-location-data <NUM> and a trip-location <NUM>, and (ii) a distance-threshold. In some examples, the controller <NUM> can determine, and take into account, a direction of travel of the agricultural implement as part of the predetermined relationship to determine whether or not a collision is likely, and therefore whether or not to decrease the bias force. If such a relationship is satisfied, then the agricultural implement can be considered as being in the vicinity of a stone / obstruction. It can be advantageous to decrease the bias force in advance of an expected collision with the stone / obstacle such that the ground engaging tool can trip more easily. This can reduce the likelihood of the ground engaging tool being damaged by the stone / obstacle.

In this way, the controller <NUM> provides an actuator-control-signal <NUM> to the actuator <NUM> in order to automatically set the level of the bias force that is provided by the actuator <NUM>. In this way, the actuator <NUM> can be set such that the performance of the agricultural implement is improved. For instance, in examples where the actuator <NUM> is a stone trip mechanism for a plough, the stone trip mechanism can be controlled such that it trips at an appropriate reactive force that is experienced by the plough body. This can involve charging the accumulator that is shown in <FIG> such that it sets a level of the pressure in the cylinder based on a trip-location <NUM>. In this way: (i) it can be easier for the stone-trip-mechanism to trip when it encounters a stone in a known location, which reduces the likelihood of the plough body being damaged; (ii) it may reduce the likelihood of a false trip occurring, when no stone is present; and / or (iii) it may reduce the likelihood that the plough body does not trip when a stone is encountered.

The controller <NUM> can process the implement-location-data <NUM> and one or more trip-locations <NUM> such that the controller automatically decreases the bias force applied by a stone-trip-mechanism in a predetermined (virtual) area. If the bias force is reduced so much that the reactive force experienced by the plough body as it moves through the soil is greater than the bias force, then the plough body will be automatically raised such that the plough body's working depth is reduced in order for the plough body to avoid a stone (or other obstacle such as a drainage well) rather than hitting it. Alternatively, if the bias force is not greater than the reactive force (but is nonetheless reduced), then the stone-trip-mechanism can trip more easily when the plough body does encounter a stone.

The trip-locations <NUM> can be considered as defining virtual forbidden areas in the field. The actuator <NUM> can be considered as operating as a section control that enables a plough body to be extracted from the soil such that it is dragged along on the surface at specific locations in the field, in order to improve the quality of the agricultural operation and / or reduce the likelihood of the plough body being damaged.

Examples of other actuators <NUM> that can be automatically controlled by an actuator-control-signal <NUM> include:.

<FIG> illustrates another example of an agricultural system of the present disclosure. <FIG> shows a plough <NUM> that provides event-data <NUM> and an associated event-location <NUM> to memory <NUM>. The memory <NUM> may be collocated with the plough <NUM>, or may be remote from it. For example, the plough may provide the event-data <NUM> and the event-location <NUM> to the memory <NUM> over a network such as the internet. Optionally, a controller (not shown) can generate a map <NUM> from the event-data <NUM> and the associated event-location <NUM> that are stored in memory <NUM>.

An agricultural implement <NUM> can retrieve event-data <NUM> and event-location <NUM> from memory, and use that data to control an actuator <NUM> associated with the agricultural implement <NUM>. In a similar way to the controller of <FIG>, a controller <NUM> associated with the agricultural implement <NUM> can process the event-data <NUM> and event-location <NUM>, along with implement-location-data <NUM> (such as provided by a GPS <NUM>), in order to provide an actuator-control-signal <NUM> to the actuator <NUM>. The agricultural implement <NUM> is a plough. The actuator <NUM> can be any known type of actuator for adjusting an operating parameter of the agricultural implement <NUM>, including the ones disclosed elsewhere in this document.

One example of event-data <NUM> is trip-data, and an example of the associated event-location is the trip-location, as described above. However, in this example, the event-data is not limited to only trip events. Other types of events that can be recorded instead of, or in addition to, trip events include:.

It can be beneficial to record the location of such events in memory. For instance, an operator of an agricultural implement <NUM> that performs a subsequent agricultural operation can consult an associated map <NUM>, and take special care when approaching a location where an event has previously occurred.

Additionally or alternatively, the controller <NUM> can process the above types of event-data in one or more of the following ways:.

It will be appreciated that for each of the above examples, the objective of automatically controlling an actuator <NUM> is to improve the performance of the operation that is performed by the agricultural implement based on the locations of previously recorded events and / or previously recorded operating conditions. When the actuator <NUM> is a stone-trip-actuator, this can include setting the bias force to reduce the number of false trip events (when no stone or other obstacle is encountered), to reduce the number of times that the actuator mechanism does not trip when it does encounter a stone, and or to reduce the number of times that a plough body is damaged by a stone / obstruction. Furthermore, it can be an objective to set the bias force such that the ground engaging tool is in its correct working position when no stone is encountered. That is, the "normal" reactive force that is experienced by the ground engaging tool when no stone is encountered should not result in prolonged trip events.

In some examples, the controller <NUM> can set the level of the bias force that is provided by the actuator <NUM> such that that it does not exceed a maximum-force-value and / or it does not drop below a minimum-force-value. Especially in relation to the maximum-force-value, this can ensure that the bias force does not get so high that the plough body breaks when it experiences a stone, rather than causing a trip event.

One or more of the above thresholds may be settable by a user based such that they are appropriate for the field that is being worked by the agricultural implement. For examples where there is a first-threshold and a second-threshold, these thresholds may be the same as each other, or different.

<FIG> illustrates schematically a method of operating an agricultural system. As discussed above, the agricultural system can include a plough having a plough body. The agricultural system can also include a stone-trip-mechanism, a trip-sensor, and a location-determining-system associated with the plough.

At step <NUM>, the method includes receiving trip-data from the trip-sensor, which is indicative of when the stone-trip-mechanism is tripped. At step <NUM>, the method includes storing location-data provided by the location-determining-system as a trip-location. The trip-location is a location of the plough at the time that the stone-trip-mechanism is tripped.

The method of <FIG> can advantageously enable the locations of stones or other obstacles that are encountered by the plough to be stored in memory. In this way, a subsequent agricultural operation in the field can be performed more effectively by taking into account the locations of the stones / obstacles.

Optionally, the method of <FIG> can also include generating a map based on the stored trip-locations.

<FIG> illustrates schematically another method of operating an agricultural system. As discussed above, the agricultural system can include an agricultural implement. The agricultural implement includes an actuator for controlling operation of the agricultural implement. The agricultural system also includes a location-determining-system, which is associated with the agricultural implement. The location-determining-system can provide implement-location-data that is representative of a current location of the agricultural implement.

At step <NUM>, the method includes receiving one or more trip-locations. The one or more trip-locations are locations of a plough at a time that a stone-trip-mechanism has tripped in an earlier agricultural operation. The one or more trip-locations can be retrieved from a memory that was written following the earlier agricultural operation.

At step <NUM>, the method involves receiving the implement-location-data from the location-determining-system.

At step <NUM>, the method involves processing the implement-location-data and the one or more trip-locations and providing an actuator-control-signal to the actuator in order to control the operation of the actuator. As discussed above, this can advantageously improve the performance of the agricultural implement because it can take into account the locations at which the stone-trip-mechanism tripped in the earlier agricultural operation.

Claim 1:
An agricultural system comprising:
a plough (<NUM>) that includes a plough body, the plough comprising:
an actuator (<NUM>) that comprises a stone-trip-actuator, wherein the stone-trip-actuator is for applying a bias force to the plough body of the plough (<NUM>) such that it is biased towards a working position;
a location-determining-system associated with the plough (<NUM>), wherein the location-determining-system is configured to provide implement-location-data (<NUM>) that is representative of a current location of the plough (<NUM>); and
a controller (<NUM>) that is configured to:
receive one or more trip-locations (<NUM>), wherein the one or more trip-locations are locations of a second plough (<NUM>) at a time that a stone-trip-mechanism has tripped in an earlier agricultural operation;
receive the implement-location-data (<NUM>);
determine a ground-engaging-tool-location based on the implement-location-data, wherein the ground-engaging-tool-location represents a current location of the plough body; and
process the ground-engaging-tool-location and the one or more trip-locations (<NUM>) in order to provide an actuator-control-signal (<NUM>) to the stone-trip-actuator, wherein the actuator-control-signal (<NUM>) is configured to decrease the bias force that is provided by the stone-trip-actuator based on the result of a comparison between (i) the difference between the ground-engaging-tool-location and the trip-location, and (ii) a distance-threshold in order to control the operation of the stone-trip-actuator .