Implement contouring toolbar

Abstract

An agricultural machine includes a frame member; a toolbar coupled to the frame member parallel to the frame member; a row unit coupled to the toolbar; and an actuator coupled between the frame member and the toolbar, the actuator configured to rotate the toolbar based on a sensed position of the toolbar. Related methods are also disclosed.

1 . A method of reactively controlling ground following of a row unit of an agricultural machine, the method comprising:
 providing a main frame, an adjustable frame coupled to the main frame and configured to pass over a portion of ground, and the row unit which includes a linking arm coupled to the adjustable frame:   determining an actual ground following indicator associated with an actual height of the row unit relative to the portion of ground;   determining a desired ground following indicator associated with a desired height of the row unit relative to the portion of ground;   comparing the desired ground following indicator to the actual ground following indicator; and   adjusting the actual ground following indicator toward the desired ground following indicator, which includes moving the adjustable frame from a first position relative to the main frame to a second position relative to the main frame based on the actual ground following indicator and the desired ground following indicator.   
     
     
         2 . The method of  claim 1 , wherein moving the adjustable frame from a first position relative to the main frame to a second position relative to the main frame includes:
 sending a first signal to at least one adjustable frame actuator coupled to the adjustable frame and the main frame; and   moving the at least one adjustable frame actuator from a first position to a second position based on the first signal, wherein in the first position the actual ground following indicator is not equal to or within a predetermined threshold of the desired ground following indicator, and in the second position the actual ground following indicator is equal to or within the predetermined threshold of the desired ground following indicator.   
     
     
         3 . The method of  claim 2 , wherein determining an actual ground following indicator includes:
 determining a position of the adjustable frame relative to the main frame.   
     
     
         4 . The method of  claim 3 , wherein determining the position of the adjustable frame relative to the main frame includes:
 measuring a position of the at least one adjustable frame actuator coupled to the adjustable frame and the main frame.   
     
     
         5 . The method of  claim 3 , wherein determining the position of the adjustable frame relative to the main frame includes:
 measuring an angle formed between the adjustable frame and the main frame.   
     
     
         6 . The method of  claim 3 , wherein determining the position of the adjustable frame relative to the main frame includes:
 measuring a distance between the ground and the adjustable frame.   
     
     
         7 . The method of  claim 6 , wherein determining the position of the adjustable frame relative to the main frame further comprises:
 comparing distance between the ground and the adjustable frame to a distance between the ground and the main frame.   
     
     
         8 . The method of  claim 6 , wherein measuring the distance between the ground and the adjustable frame includes at least one of:
 measuring, with an ultrasonic sensor, the distance between the ground and the adjustable frame; and   measuring a position of a ground engaging mechanism, which is coupled to the adjustable frame, relative to the adjustable frame.   
     
     
         9 . The method of  claim 1 , wherein determining an actual ground following indicator includes:
 measuring a reactive force applied by the ground to a gauge wheel coupled to the adjustable frame.   
     
     
         10 . The method of  claim 1 , wherein determining an actual ground following indicator includes:
 determining a position of the row unit relative to the adjustable frame.   
     
     
         11 . The method of  claim 10 , wherein determining a position of the row unit relative to the adjustable frame includes:
 measuring an angle formed between the linking arm and at least one of:
 a portion of the adjustable frame; and 
 a portion of the row unit coupled to the linking arm. 
   
     
     
         12 . The method of  claim 10 , wherein determining a position of the row unit relative to the adjustable frame includes:
 measuring a position of a row unit actuator, which is configured to adjust the position of the linking arm relative to the adjustable frame.   
     
     
         13 . The method of  claim 10 , wherein determining a position of the row unit relative to the adjustable frame includes:
 measuring a distance between the adjustable frame and a portion of the linking arm of the row unit.   
     
     
         14 . The method of  claim 1 , wherein determining an actual ground following indicator includes:
 measuring a parameter of the row unit irrespective of the adjustable frame.   
     
     
         15 . The method of  claim 14 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes at least one of:
 measuring the position of a gauge wheel of the row unit relative to a shank of the row unit, wherein the gauge wheel is coupled to the shank; and   measuring, with an ultrasonic sensor, a distance between the ground and a portion of the row unit.   
     
     
         16 . The method of  claim 14 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 measuring the position of a closing wheel of the row unit relative to a shank of the row unit, wherein the closing wheel is pivotably coupled to the shank.   
     
     
         17 . The method of  claim 14 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 measuring the position of an opening disc of the row unit relative to a surface of the ground.   
     
     
         18 . The method of  claim 14 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 measuring a reactive force applied by the ground to a gauge wheel of the row unit.   
     
     
         19 . The method of  claim 14 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 determining a ground contact value indicative of a percentage of time that a gauge wheel of the row unit is in contact with the ground.   
     
     
         20 . The method of  claim 11 , further comprising:
 receiving a signal indicative of a desired ground following indicator from a user input device.