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 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 pivotably 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 adjusting an applied force output by at least one adjustable frame actuator that is coupled to the adjustable frame and the main frame based on the actual ground following indicator and the desired ground following indicator.   
     
     
         2 . The method of  claim 1 , wherein adjusting the applied force output by the at least one adjustable frame actuator that is coupled to the adjustable frame and the main frame includes:
 sending a first signal to the at least one adjustable frame actuator coupled to the adjustable frame and the main frame; and   adjusting an applied force output by the at least one adjustable frame actuator from a first applied force to a second applied force based on the first signal,   wherein at the first applied force the actual ground following indicator is not equal to or within a predetermined threshold of the desired ground following indicator, and at the second applied force the actual ground following indicator is equal to or within the predetermined threshold of the desired ground following indicator.   
     
     
         3 . The method of  claim 1 , wherein determining an actual ground following indicator includes:
 determining an applied force of the adjustable frame acting on the row unit.   
     
     
         4 . The method of  claim 3 , wherein determining the applied force of the adjustable frame acting on the row unit includes:
 measuring the applied force output by the at least one adjustable frame actuator via a load cell coupled to the at least one adjustable frame actuator.   
     
     
         5 . The method of  claim 3 , wherein determining the applied force of the adjustable frame acting on the row unit includes:
 measuring the applied force output by the at least one adjustable frame actuator via a pressure sensor coupled to the at least one adjustable frame actuator.   
     
     
         6 . The method of  claim 3 , wherein determining an actual ground following indicator further includes at least one of:
 determining a position of the row unit relative to the adjustable frame; and   measuring a parameter of the row unit irrespective of the adjustable frame.   
     
     
         7 . 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.   
     
     
         8 . 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.   
     
     
         9 . The method of  claim 8 , 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.   
     
     
         10 . The method of  claim 8 , 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 a position of the linking arm relative to the adjustable frame.   
     
     
         11 . The method of  claim 8 , wherein determining a position of the row unit relative to the adjustable frame includes:
 measuring the distance between the adjustable frame and a portion of the linking arm of the row unit.   
     
     
         12 . 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.   
     
     
         13 . The method of  claim 12 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 measuring a 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.   
     
     
         14 . The method of  claim 12 , wherein measuring a parameter of the row unit irrespective of the adjustable frame includes:
 measuring the position of a row cleaner of the row unit relative to a shank of the row unit, wherein the row cleaner is pivotably coupled to the shank; and   measuring, with an ultrasonic sensor, the distance between the ground and a portion of the row unit.   
     
     
         15 . The method of  claim 12 , 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.   
     
     
         16 . The method of  claim 12 , 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 12 , 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.   
     
     
         18 . The method of  claim 12 , 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.   
     
     
         19 . The method of  claim 1 , wherein determining the desired ground following indicator includes:
 accessing the desired ground following indicator from a memory of the agricultural machine on which the ground following indicator is stored.   
     
     
         20 . The method of  claim 19 , further comprising:
 receiving a signal indicative of a desired ground following indicator from a user input device prior to accessing the desired ground following indicator stored on the memory of the agricultural machine.