US 11,980,181 B2
Agricultural sprayer active boom center frame positioning system
Adam D. Sporrer, Ankeny, IA (US); Kyle R. Blaylock, Ankeny, IA (US); Matthew J. Darr, Ames, IA (US); Robert McNaull, Ames, IA (US); and Kevin L. Ehrecke, Ames, IA (US)
Assigned to Deere & Company, Moline, IL (US); and Iowa State University Research Foundation, Inc., Ames, IA (US)
Filed by Deere & Company, Moline, IL (US); and Iowa State University Research Foundation, Inc., Ames, IA (US)
Filed on Feb. 18, 2021, as Appl. No. 17/178,526.
Claims priority of provisional application 62/985,132, filed on Mar. 4, 2020.
Prior Publication US 2021/0274773 A1, Sep. 9, 2021
Int. Cl. A01B 63/00 (2006.01); A01B 63/02 (2006.01); A01C 23/00 (2006.01); A01C 23/04 (2006.01); A01M 7/00 (2006.01); B05B 12/12 (2006.01); G05B 19/05 (2006.01)
CPC A01M 7/0089 (2013.01) [A01B 63/008 (2013.01); A01B 63/02 (2013.01); A01C 23/007 (2013.01); A01C 23/047 (2013.01); A01M 7/0042 (2013.01); A01M 7/0057 (2013.01); B05B 12/126 (2013.01); G05B 19/05 (2013.01); G05B 2219/15064 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A center frame positioning system for an agricultural sprayer vehicle, the system comprising:
one or more controllable, variable pressure actuators that each are configured to operably exert a force on a suspended center frame of the agricultural sprayer vehicle, wherein a sprayer boom is attached to the suspended center frame;
one or more sensors that provide center frame position data indicative of a detected operable position of the suspended center frame, wherein the center frame position data comprises one or more of: a vehicle heading, a vehicle turn rate, a vehicle speed, a vehicle chassis roll; a boom roll of the sprayer boom, and a lift actuation provided by the one or more actuators; and
a control device that receives the center frame position data and provides one or more actuator adjustment commands based at least upon the received center frame position data;
wherein the control device determines one or more of: a chassis roll moving average of the vehicle, and a boom roll moving average of the boom coupled with the center frame; and
wherein the control device further determines whether to provide an actuator adjustment command to adjust the position of the center frame based at least on the control device performing one or more of:
comparing the vehicle speed to a predetermined vehicle speed threshold;
comparing the vehicle chassis roll moving average to a predetermined vehicle chassis roll threshold; and
comparing the boom roll moving average to a predetermined boom roll threshold;
wherein the force exerted on the suspended center frame by the one or more actuators is operably adjusted as a result of the one or more actuator adjustment commands; and
wherein adjustment of the force exerted on the center frame results in adjustment of a distance of the sprayer boom from the ground.