# US 10,245,914 B2 · Controlling ground clearance in a self-propelled agricultural product applicator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,245,914 B2 - Document ID: US10245914B2 - Status: Granted - Kind: B2 - Application number: 15/468,436 - Filed: 2017-03-24 - Published: 2018-09-27 - Granted: 2019-04-02 - Earliest claimed: 2017-03-24 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Richard Kerner; Richard A. Moen; William A. Roach - Web page: https://patentgrep.com/patent/US10245914B2 ## CPC - B60G 17/0155: {pneumatic unit} - A01B 63/1006: {the hydraulic or pneumatic means structurally belonging to the tractor} - A01M 7/0082: {Undercarriages, frames, mountings, couplings, tanks} - B60G 3/12: the arm being essentially parallel to the longitudinal axis of the vehicle - B60G 11/27: wherein the fluid is a gas - B60G 17/019: characterised by the type of sensor or the arrangement thereof {(B60G17/01941 takes precedence)} - A01B 63/002: {Devices for adjusting or regulating the position of tools or wheels (preventing overstrain A01B61/00; wheels adjustable relatively to the frame for drawn implements A01B3/16; tools or tool holders adjustable relatively to the frame for drawn implements A01B63/24)} - A01M 7/0057: {with active regulation of the boom position} - B60G 2300/08: Agricultural vehicles - B60G 2300/083: Boom carrying vehicles, e.g. for crop spraying - B60G 2300/37: Vehicles having steerable wheels mounted on a vertically moving column - B60G 2400/252: vertical - B60G 2400/95: Position of vehicle body elements - B60G 2500/30: Height or ground clearance - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - 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) - A01M: CATCHING, TRAPPING OR SCARING OF ANIMALS (appliances for catching swarms or drone-catching A01K57/00; fishing A01K69/00 - {A01K99/00}; biocides, pest repellants or attractants A01N); APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS ## Abstract A system, apparatus and method for detecting and controlling the height of a frame of a self-propelled agricultural product applicator above a ground surface utilize a trailing link suspension system including an angular position sensor and extensible air strut, for connecting ground engaging wheels of the applicator to the frame of the applicator. Height of the applicator above the ground surface is determined by measuring relative angular rotation of upper and lower suspension arms of the suspension system about a suspension pivot axis, using the angular position sensor. Height is controlled by regulating a flow of pressurized air to the air strut, to thereby control extension of the air strut in a manner that controls a frame to axle, ride-height, distance of the suspension system. ## Claims ### Claim 1 A trailing-arm suspension system for connecting a ground engaging wheel to the frame of a vehicle, the suspension system comprising an upper suspension arm, a lower suspension arm, a load bearing suspension element and an angular position sensor, operatively interconnected to one another and disposed between the ground engaging wheel and the frame: the upper suspension arm defining a frame attachment point thereof, adapted for fixed attachment to the frame; the lower suspension arm defining a rolling axis of the ground engaging wheel and adapted for supportive attachment thereto of the ground engaging wheel for rotation of the ground engaging wheel about the rolling axis of the wheel; the upper and lower suspension arms also defining respective forward and aft ends thereof, with the forward ends being adapted for operative pivoting connection to one another through an angular rotation about a suspension pivot axis extending generally parallel to the rolling axis of the wheel and disposed forward of the rolling axis of the wheel, and the aft ends of the upper and lower suspension arms being disposed respectively aft of the frame attachment point and rolling axis, and with the aft ends of the upper and lower suspension arms being respectively adapted for operative attachment thereto of the load bearing suspension element; and the angular position sensor being operatively connected between the upper and lower suspension arms for detecting an angular rotation of the upper and lower arms with respect to each other about the pivot axis, the angular rotation detected being indicative of a distance between the rolling axis of the wheel and the frame attachment point, and thereby also being indicative of a ride height of the frame above the ground. ### Claim 2 (depends on 1) The trailing arm suspension system of claim 1, wherein the angular position sensor is a rotary position sensor, having a first element thereof fixedly attached to the lower suspension arm for rotation therewith, and also having a second element thereof that is rotatable relative to the first element, with the second element being fixedly attached to the upper suspension arm for rotation therewith, in such a manner that angular rotation of the upper and lower suspension arms relative to one another about the suspension pivot axis rotates the first and second elements of the rotary position sensor relative to one another, to thereby cause the rotary position sensor to detect the angular rotation. ### Claim 3 (depends on 1) The trailing arm suspension system of claim 1, wherein the load bearing suspension element is an extensible air strut: the air strut having an upper end thereof adapted for operative attachment to the aft end of the upper suspension arm, and also having a lower end thereof adapted for operative attachment to the aft end of the lower suspension arm; with the air strut being configured for receiving a flow of pressurized air from an air power source, and for extending and retracting in response to the flow of pressurized air, to thereby respectively lower and raise the rolling axis of the wheel with respect to the frame attachment point. ### Claim 4 (depends on 3) The trailing arm suspension system of claim 3, wherein the angular position sensor is a rotary position sensor, having a first element thereof fixedly attached to the lower suspension arm for rotation therewith, and also having a second element thereof that is rotatable relative to the first element, with the second element being fixedly attached to the upper suspension arm for rotation therewith, in such a manner that angular rotation of the upper and lower suspension arms relative to one another about the suspension pivot axis rotates the first and second elements of the rotary position sensor relative to one another, to thereby cause the rotary position sensor to detect the angular rotation. ### Claim 5 (depends on 3) The suspension system of claim 3, further including an electronic control unit operatively connected for receiving a signal from the angular position sensor and for controlling the flow of pressurized air to the air strut from the air power source, to thereby control extension and retraction of the air strut in response to the signal from the angular position sensor. ### Claim 6 (depends on 5) The suspension system of claim 5, wherein the electronic control unit is configured to receive an input signal indicative of a desired height of the frame above the ground surface engaged by the wheel, compare the desired height to the current angular position of the upper and lower arms, and for controlling the air power source in a manner causing the air strut to support the frame at the desired height by driving the air strut to an extended position whereat the angular position sensor indicates that the angular position of the upper and lower arms corresponds to the desired height. ### Claim 7 (depends on 1) The suspension system of claim 1, wherein the upper suspension arm is rigid, does not articulate vertically with respect to the frame, and the forward end of the upper suspension arm is disposed below the frame attachment point. ### Claim 8 A self-propelled agricultural product applicator, having a ground engaging wheel operatively connected to a frame by a trailing-arm suspension system, with the frame being adapted for supporting at least one product container, the frame defining forward and rear ends of the frame, a longitudinally extending central axis of the frame extending from the rear to the front of the frame in a direction of travel of the applicator, and a vertical axis of the frame, and the suspension system comprises: an upper suspension arm, a lower suspension arm, an air strut, and an angular position sensor, operatively interconnected to one another and disposed between the ground engaging wheel and the frame; the upper suspension arm defining a frame attachment point thereof, adapted for fixed attachment to the frame; the lower suspension arm defining a rolling axis of the ground engaging wheel and adapted for supportive attachment thereto of the ground engaging wheel for rotation of the ground engaging wheel about the rolling axis of the wheel; the upper and lower suspension arms also defining respective forward and aft ends thereof, with the forward ends being adapted for operative pivoting connection to one another through an angular rotation about a suspension pivot axis extending generally parallel to the rolling axis of the wheel and disposed forward of the rolling axis of the wheel, and the aft ends of the upper and lower suspension arms being disposed respectively aft of the frame attachment point and rolling axis, and with the aft ends of the upper and lower suspension arms being respectively adapted for operative attachment thereto of the air strut; the air strut having an upper end thereof adapted for operative attachment to the aft end of the upper suspension arm, and also having a lower end thereof adapted for operative attachment to the aft end of the lower suspension arm; with the air strut being configured for receiving a flow of pressurized air from an air power source, and for extending and retracting in response to the flow of pressurized air, to thereby respectively lower and raise the rolling axis of the wheel with respect to the frame attachment point; and the angular position sensor being operatively connected between the upper and lower suspension arms for detecting an angular rotation of the upper and lower arms with respect to each other about the suspension pivot axis, the angular rotation detected being indicative of a distance between the rolling axis of the wheel and the frame attachment point, and thereby also indicative of a ride height of the frame above the ground. ### Claim 9 The self-propelled agricultural product applicator 8, wherein the upper suspension arm is rigid, does not articulate vertically with respect to the frame, and the forward end of the upper suspension arm is disposed below the frame attachment point. ### Claim 10 (depends on 8) The self-propelled agricultural product applicator of claim 8, wherein the suspension system provides sole support for the ground engaging wheel attached thereto. ### Claim 11 (depends on 10) The self-propelled agricultural product applicator of claim 10 further comprising a hydraulic motor drive unit operatively attaching the wheel to the lower suspension arm. ### Claim 12 (depends on 8) The self-propelled agricultural product applicator of claim 8, wherein the angular position sensor is a rotary position sensor, having a first element thereof fixedly attached to the lower suspension arm for rotation therewith, and also having a second element thereof that is rotatable relative to the first element, with the second element being fixedly attached to the upper suspension arm for rotation therewith, in such a manner that angular rotation of the upper and lower suspension arms relative to one another about the suspension pivot axis rotates the first and second elements of the rotary position sensor relative to one another, to thereby cause the rotary position sensor to detect the angular rotation. ### Claim 13 (depends on 12) The self-propelled agricultural product applicator of claim 12, further including an electronic control unit operatively connected for receiving a signal from the angular position sensor and for controlling the flow of pressurized air to the air strut from the air power source, to thereby control extension and retraction of the air strut in response to the signal from the angular position sensor. ### Claim 14 (depends on 13) The self-propelled agricultural product applicator of claim 13, wherein the electronic control unit is configured to receive an input signal indicative of a desired height of the frame above the ground surface engaged by the wheel, compare the desired height to the current angular position of the upper and lower arms, and for controlling the air power source in a manner causing the air strut to support the frame at the desired height by driving the air strut to an extended position whereat the angular position sensor indicates that the angular position of the upper and lower arms corresponds to the desired height. ### Claim 15 (depends on 8) The self-propelled agricultural product applicator of claim 8 having two, or more, ground engaging wheels each operatively attached to the frame by individual trailing arm suspension systems comprising: an upper suspension arm, a lower suspension arm, an air strut, an angular position sensor, and a hydraulic motor drive unit operatively interconnected to one another and disposed between the ground engaging wheel and the frame for providing sole support of the ground engaging wheel respectively attached to that suspension system; the upper suspension arm defining a frame attachment point thereof, adapted for fixed attachment to the frame, and being rigid and non-articulable vertically with respect to the frame, with the forward end of the upper suspension arm being disposed below the frame attachment point; the lower suspension arm defining a rolling axis of the ground engaging wheel and adapted for supportive attachment thereto of the ground engaging wheel for rotation of the ground engaging wheel about the rolling axis of the wheel; the upper and lower suspension arms also defining respective forward and aft ends thereof, with the forward ends being adapted for operative pivoting connection to one another about a suspension pivot axis extending generally parallel to the rolling axis of the wheel and disposed forward of the rolling axis of the wheel, and the aft ends of the upper and lower suspension arms being disposed respectively aft of the frame attachment point and rolling axis, and with the aft ends of the upper and lower suspension arms being respectively adapted for operative attachment thereto of the air strut; the air strut having an upper end thereof adapted for operative attachment to the aft end of the upper suspension arm, and also having a lower end thereof adapted for operative attachment to the aft end of the lower suspension arm; the air strut being configured for receiving a flow of pressurized air from an air power source, and for extending and retracting in response to the flow of pressurized air, to thereby respectively lower and raise the rolling axis of the wheel with respect to the frame attachment point; and the angular position sensor being operatively connected between the upper and lower suspension arms for detecting an angular rotation of the upper and lower arms with respect to each other about the suspension pivot axis, the angular rotation detected being indicative of a distance between the rolling axis of the wheel and the frame attachment point, and thereby also indicative of a ride height of the frame above the ground. ### Claim 16 (depends on 15) The self-propelled agricultural product applicator of claim 15, further including an electronic control unit operatively connected for controlling the flow of pressurized air to the air struts of the suspension systems of the two, or more, ground engaging wheels from the air power source, to thereby control extension and retraction of the air struts. ### Claim 17 (depends on 16) The self-propelled agricultural product applicator of claim 16, wherein the electronic control unit is configured to receive an input signal indicative of a desired height of the frame above the ground surface engaged by the wheel, compare the desired height to the current angular position of the upper and lower arms, and for controlling the air power source in a manner causing the air strut to support the frame at the desired height by driving the air strut to an extended position whereat the angular position sensor indicates that the angular position of the upper and lower arms corresponds to the desired height. ### Claim 18 A method for controlling the height of a frame of a self-propelled agricultural product applicator above a ground surface by: connecting the frame to a ground supporting wheel of the applicator using a trailing link suspension system including an upper suspension arm attached to the frame, a lower suspension arm providing sole support of a ground engaging wheel attached thereto, the upper and lower suspension arms having respective forward ends thereof connected to one another at a suspension pivot axis for pivoting angular rotation relative to one another about the suspension pivot axis, and an extensible air strut operatively interconnected between the upper and lower arms; connecting an angular position sensor between the upper and lower suspension arms for detecting an angular rotation of the upper and lower arms with respect to each other about the pivot axis, the angular rotation detected being indicative of a distance between the rolling axis of the wheel and the frame attachment point, and thereby also indicative of a ride height of the frame above the ground; and controlling a flow of pressurized air to the air strut achieve a desired angular rotation as detected by the angular position sensor of the upper and lower suspension arms about the suspension pivot axis, to thereby control extension of the air strut and height of the applicator frame above the ground surface. ### Claim 19 (depends on 18) The method of claim 18, further comprising connecting two or more ground engaging wheels of the applicator to the frame using individual trailing link suspension systems, each including an upper suspension arm attached to the frame, a lower suspension arm providing sole support of a ground engaging wheel attached thereto, an extensible air strut operatively interconnected between the upper and lower arms, and an angular position sensor operatively connected between the upper and lower suspension arms thereof, and controlling a flow of pressurized air to the air struts of each respective suspension system to achieve a desired angular rotation as detected by the angular position sensor of the upper and lower suspension arms about the suspension pivot axis of each respective suspension system, to thereby control extension of the respective air struts and height of the applicator frame above the ground surface. ### Claim 20 (depends on 18) The method of claim 18, wherein: the upper suspension arm defines a frame attachment point thereof, adapted for fixed attachment to the frame; the lower suspension arm defines a rolling axis of the ground engaging wheel and is adapted for supportive attachment thereto of the ground engaging wheel for rotation of the ground engaging wheel about the rolling axis of the wheel; the upper and lower suspension arms also define respective forward and aft ends thereof, with the forward ends being adapted for operative pivoting connection to one another about a suspension pivot axis extending generally parallel to the rolling axis of the wheel and disposed forward of the rolling axis of the wheel, and the aft ends of the upper and lower suspension arms being disposed respectively aft of the frame attachment point and rolling axis, and with the aft ends of the upper and lower suspension arms being respectively adapted for operative attachment thereto of the air strut; the air strut has an upper end thereof adapted for operative attachment to the aft end of the upper suspension arm, and also has a lower end thereof adapted for operative attachment to the aft end of the lower suspension arm; and the air strut is configured for receiving a flow of pressurized air from an air power source, and for extending and refracting in response to the flow of pressurized air, to thereby respectively lower and raise the rolling axis of the wheel with respect to the frame attachment point.