| 主权项 |
1. An arrangement for controlling a position of an implement mounted on an agricultural vehicle that can move in a forward direction across a field by tires or tracks that engage with the ground, the arrangement comprising:
a control unit that is connected in a signal-transmitting manner to an actuator arranged for adjusting the position of the implement relative to the vehicle; a ground profile determining device, which is connected to the control unit and is designed to determine or to store a ground profile in front of the vehicle in an area of the ground to be driven over by the vehicle in the future; where the control unit is programmed to determine an expected vertical movement of the vehicle due to the ground profile and to prospectively transmit to the actuator a control signal, consistent with a reaction time of the actuator, that is dimensioned such that the implement is continuously guided in a predeterminable position above the ground profile; and where the control device is programmed to take into account, when determining the expected vertical movement of the vehicle because of the ground profile, an expected deformation of the ground profile due to a ground engagement means and an expected vertical movement of the vehicle relative to the ground profile because of movement induced in the tires or a suspension of the vehicle by the ground profile; where the ground engagement means comprises tires or tracks. |
