US 12,063,877 B2
Ground following optimization with downforce control systems and methods
Grant J. Wonderlich, Milan, IL (US); Colter W. Kinney, Lohrville, IA (US); Bradley A. Wackerle, Delmar, IA (US); Nathan A. Mariman, Davenport, IA (US); James R. Peterson, Annawan, IL (US); Randall A. Maro, Davenport, IA (US); and Kenneth E. Herrmann, Port Byron, IL (US)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by DEERE & COMPANY, Moline, IL (US)
Filed on Jul. 28, 2021, as Appl. No. 17/387,466.
Prior Publication US 2023/0036582 A1, Feb. 2, 2023
Int. Cl. A01B 63/00 (2006.01); A01C 5/06 (2006.01); A01C 7/20 (2006.01); G05D 15/01 (2006.01)
CPC A01B 63/008 (2013.01) [A01C 5/062 (2013.01); A01C 7/208 (2013.01); G05D 15/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of reactively controlling ground following of a row unit of an agricultural machine
that includes a main frame, an adjustable frame coupled to the main frame and configured to pass over a portion of terrain, and the row unit, which includes a linking arm pivotably coupled to the adjustable frame, the method including:
determining an actual ground following indicator associated with an actual height of the row unit relative to the portion of terrain;
determining a desired ground following indicator associated with a desired height of the row unit relative to the portion of terrain;
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 the force applied 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.