US Patent 11470757 Plough

A plough comprising: a frame; a ground engaging tool that is connected to the frame; and an actuator mechanism that is configured to control a roll angle and/or a pitch angle of the frame. The plough also includes a controller that is configured to: receive ground-contour-data that is representative of contours of a field that the plough is to work; and determine an actuator-control-signal for the actuator mechanism based on the ground-contour-data, wherein the actuator-control-signal is for setting the roll angle and/or the pitch angle of the frame.