# US 11,076,532 B2 · Method and system for controlling the height of an agricultural implement relative to the ground > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,532 B2 - Document ID: US11076532B2 - Status: Granted - Kind: B2 - Application number: 16/134,588 - Filed: 2018-09-18 - Published: 2019-03-21 - Granted: 2021-08-03 - Earliest claimed: 2017-09-18 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Kenneth E. Seiders, Jr. - Web page: https://patentgrep.com/patent/US11076532B2 ## CPC - A01D 41/141: {Automatic header control} - A01B 63/008: {Vertical adjustment of tools (A01B63/10 takes precedence)} - A01B 63/111: regulating working depth of implements - A01B 63/1112: {using a non-tactile ground distance measurement, e.g. using reflection of waves} - A01B 63/1115: {using a mechanical ground contact sensor} - A01B 63/114: to achieve a constant working depth - A01D 75/287: {acting on the mowing table (A01D75/285 takes precedence)} - A01B 63/10: operated by hydraulic or pneumatic means - A01D: HARVESTING; MOWING - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) ## Abstract In one aspect, a method is disclosed for automatically controlling a position of an implement of an agricultural work vehicle relative to a ground surface. The method may include monitoring, with one or more computing devices, an implement position parameter indicative of the position of the implement relative to the ground surface. The method may also include calculating a normal output signal based on the implement position parameter. The method may also include determining when a boost condition is satisfied based on a comparison between the implement position parameter and a predetermined implement position parameter threshold. The method may also include computing a boost output signal based on the implement position parameter. The method may also include adjusting the position of the implement relative to the ground surface based on the normal output signal and the boost output signal. ## Claims ### Claim 1 A method for automatically controlling a position of an implement of an agricultural work vehicle relative to a ground surface, the method comprising: monitoring, with one or more computing devices, an implement position parameter indicative of the position of the implement relative to the ground surface; calculating, with one or more computing devices, a normal output signal associated with controlling an operation of an actuator based on the implement position parameter, the actuator being configured to adjust the position of the implement relative to the ground surface; determining, with the one or more computing devices, when a boost condition is satisfied based on a comparison between the implement position parameter and a predetermined implement position parameter threshold; when it is determined that the boost condition is satisfied, computing, with the one or more computing devices, a boost output signal associated with controlling the operation of the actuator based on the implement position parameter; calculating, with the one or more computing devices, a total output signal for controlling the operation of the actuator as function of both the normal output signal and the boost output signal; and controlling, with the one or more computing devices, the operation of the actuator based on the total output signal to adjust the position of the implement relative to the ground surface. ### Claim 2 (depends on 1) The method of claim 1, wherein computing the boost output signal includes computing an integral signal based on the implement position parameter with respect to time. ### Claim 3 (depends on 1) The method of claim 1, wherein calculating the normal output signal includes calculating an integral signal based on the implement position parameter with respect to time. ### Claim 4 (depends on 1) The method of claim 1, wherein the actuator is configured to raise and lower the implement relative to the ground surface, the implement position parameter being indicative of an actuator pressure associated with the actuator. ### Claim 5 (depends on 4) The method of claim 4, wherein the boost condition is satisfied when the actuator pressure is less than a predetermined actuator pressure threshold. ### Claim 6 (depends on 1) The method of claim 1, wherein the boost condition is satisfied when the implement contacts the ground surface. ### Claim 7 (depends on 1) The method of claim 1, wherein the implement position parameter is indicative of an implement height relative to the ground surface. ### Claim 8 (depends on 7) The method of claim 7, wherein the boost condition is satisfied when the implement height exceeds a predetermined height maximum threshold relative to the ground surface. ### Claim 9 (depends on 7) The method of claim 7, wherein the boost condition is satisfied when the implement height is indicative of the implement contacting the ground surface. ### Claim 10 (depends on 1) The method of claim 1, wherein: the implement position parameter is indicative of an implement angle relative to the ground surface; the actuator is configured to adjust the implement angle relative to the ground surface; the boost condition is satisfied when the implement angle exceeds a predetermined maximum angle range; and controlling the operation of the actuator comprises controlling the operation of the actuator based on the total output signal such that the implement angle is reduced to within the predetermined maximum angle range. ### Claim 11 (depends on 1) The method of claim 1, further comprising applying a saturation function to the boost output signal. ### Claim 12 (depends on 1) The method of claim 1, wherein calculating the boost output signal includes applying a ramp function to the boost output signal in which the boost output signal increases from zero to a predetermined boost constant over a predetermined ramp time. ### Claim 13 (depends on 1) The method of claim 1, wherein calculating the total output signal for controlling the operation of the actuator as function of both the normal output signal and the boost output signal comprises summing the normal output signal and the boost output signal to calculate the total output signal. ### Claim 14 A position control system for an implement of an agricultural work vehicle, the position control system comprising an implement; an implement position sensor configured to detect a position of the implement relative to a ground surface; an actuator configured to adjust the position of the implement relative to the ground surface; a controller communicatively coupled to the implement position sensor, the controller including a processor and associated memory, the memory storing instructions that, when executed by the processor, configure the implement controller to: monitor an implement position parameter indicative of the position of the implement relative to the ground surface based on signals received from the implement position sensor; calculate a normal output signal associated with controlling an operation of the actuator based on the implement position parameter; determine when a boost condition is satisfied based on a comparison between the implement position parameter and a predetermined implement position parameter threshold; when it is determined that the boost condition is satisfied, compute a boost output signal associated with controlling the operation of the actuator based on the implement position parameter; calculate a total output signal for controlling the operation the actuator as function of both the normal output signal and the boost output signal; and control the operation of the actuator based on the total output signal to adjust the position of the implement relative to the ground surface. ### Claim 15 (depends on 14) The system of claim 14, wherein the controller is further configured to compute an integral signal based on the implement position parameter with respect to time to compute the boost output signal. ### Claim 16 (depends on 14) The system of claim 14, wherein the controller is further configured to calculate an integral signal based on the implement position parameter with respect to time to calculate the normal output signal. ### Claim 17 (depends on 14) The system of claim 14, wherein the actuator is configured to raise and lower the implement relative to the ground surface, and wherein the implement position parameter is indicative of an actuator pressure associated with the actuator, and wherein the boost condition is satisfied when the actuator pressure is less than a predetermined actuator pressure threshold. ### Claim 18 (depends on 14) The system of claim 14, wherein the boost condition is satisfied when the implement contacts the ground surface. ### Claim 19 (depends on 14) The system of claim 14, wherein the implement position parameter is indicative of an implement height relative to the ground surface and the boost condition is satisfied when the implement height exceeds a predetermined height maximum threshold relative to the ground surface. ### Claim 20 (depends on 14) The system of claim 14, wherein: the implement position parameter is indicative of an implement angle relative to the ground surface; the actuator is configured to adjust the implement angle relative to the ground surface; the boost condition is satisfied when the implement angle exceeds a predetermined maximum angle range; and the operation of the actuator is controlled based on the total output signal such that the implement angle is reduced to within the predetermined maximum angle range. ### Claim 21 (depends on 14) The system of claim 14, wherein the controller is further configured to apply a ramp function to the boost output signal in which the boost output signal increases from zero to a predetermined boost constant over a predetermined ramp time. ### Claim 22 (depends on 14) The system of claim 14, wherein the controller is configured to calculate the total output signal by summing the normal output signal and the boost output signal.