# US 12,004,503 B2 · Compensation system for an agricultural machine, and distribution machine and method for compensating for ground unevenness for an agricultural machine

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- Number: US 12,004,503 B2
- Document ID: US12004503B2
- Status: Granted
- Kind: B2
- Application number: 17/199,276
- Filed: 2021-03-11
- Published: 2021-09-16
- Granted: 2024-06-11
- Earliest claimed: 2020-03-12
- Assignees: HORSCH LEEB Application Systems GmbH
- Applicants: HORSCH LEEB Application Systems GmbH
- Inventors: Theodor Leeb
- Web page: https://patentgrep.com/patent/US12004503B2

## CPC

- A01M 7/0089: {Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06)}
- B62D 37/04: by means of movable masses
- B62D 49/085: {Counterweight}
- A01B 63/10: operated by hydraulic or pneumatic means
- A01B 73/065: {to a position essentially forward of the axis, in relation to the direction of travel}
- A01M 7/0057: {with active regulation of the boom position}
- A01M 7/0075: {including folding means}
- 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
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- 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

A compensation system for an agricultural machine comprises a distributor boom mounted on a chassis in a height-adjustable manner. The distributor boom has side parts which are pivotably arranged to the left and right on a central part, and a plurality of distribution elements arranged thereon which are connected to a storage container for material to be distributed. A vertical position of the distributor may be changed by an actuating device. A data processer is configured to generate actuating signals for the actuating device for changing the vertical position. To prevent collisions of the distributor boom with the ground while at the same time minimizing drift, a sensor device is configured to detect rotation of the chassis or the distributor boom in the direction of travel and the data processer is configured to generate actuating signals for the actuating device based upon the rotation.

## Claims

### Claim 1

A compensation system for an agricultural machine, comprising:
a chassis bearing components of the agricultural machine;
a distributor boom which is mounted on the chassis in a height-adjustable manner relative to the chassis, comprising:
a central part and side parts which are pivotably arranged to the left and right on the central part; and
a plurality of distribution elements arranged thereon, which are connected or connectable to a storage container for at least one material to be distributed;
an actuating device for changing a vertical position of the distributor boom relative to the chassis;
a sensor device configured to detect a rotation in the direction of travel, wherein the rotation comprises at least one of:
a rotation of the chassis in the direction of travel; or
a rotation of the distributor boom in the direction of travel; and
a data processing device configured to generate actuating signals for the actuating device for changing the vertical position, wherein the actuating signals are generated based on the rotation.

### Claim 2 (depends on 1)

The compensation system according to claim 1, wherein the sensor device is configured to detect the rotation relative to a reference plane; and
wherein the reference plane is defined by at least one of:
a ground surface;
an artificial horizon;
a horizontal line; or
an orientation of the gravitational acceleration.

### Claim 3 (depends on 1)

The compensation system according to claim 1, wherein the sensor device and/or the data processing device determines a direction of the rotation in the direction of travel.

### Claim 4 (depends on 1)

The compensation system according to claim 1, wherein, upon a right oriented direction of rotation, the data processing device is configured to generate an actuating signal for the actuating device, such that no change is carried out to the vertical position of the distributor boom relative to the chassis.

### Claim 5 (depends on 1)

The compensation system according to claim 1, wherein, upon a right oriented direction of rotation, the data processing device is configured to generate an actuating signal for the actuating device, such that one or more increases or reductions in the vertical position of the distributor boom, relative to the chassis, is carried out.

### Claim 6 (depends on 1)

The compensation system according to claim 1, wherein, upon a left-oriented direction of rotation, the data processing device is configured to generate an actuating signal for the actuating device, such that an increase in the vertical position of the distributor boom, relative to the chassis, is carried out by the actuating device.

### Claim 7 (depends on 1)

The compensation system according to claim 1, wherein the sensor device is configured to detect at least one of:
a rotation;
an inclination;
an angular rate of the chassis in the direction of travel; or
an angular rate of the distributor boom in the direction of travel.

### Claim 8 (depends on 1)

The compensation system according to claim 1, wherein the sensor device comprises at least one of:
an inclination sensor;
an acceleration sensor; or
an angular rate sensor.

### Claim 9 (depends on 1)

The compensation system according to claim 1, wherein:
the sensor device is formed by at least one angular rate sensor configured to detect an angular rate of at least one of the chassis or the distributor boom, in the direction of travel; and
at least one of the data processing device or the sensor device, is configured to calculate by time integration of the angular rate, an inclination of at least one of the chassis or the distributor boom in the direction of travel.

### Claim 10 (depends on 1)

The compensation system according to claim 1, wherein the data processing device is configured to generate actuating signals for the actuating device using the vehicle geometry of the agricultural machine, and using at least one of the inclination of the chassis or the distributor boom, caused by the rotation of the chassis or the distributor boom in the direction of travel.

### Claim 11 (depends on 1)

The compensation system according to claim 1, wherein the data processing device is configured to generate actuating signals as a function of a rotation in the direction of travel of at least one of the chassis or the distributor boom, such that a vertical position of the distributor boom relative to the chassis is changed, such that an actual distance of the distributor boom relative to a ground surface is kept substantially constant or within defined limit values.

### Claim 12 (depends on 1)

Compensation system according to claim 1, wherein:
the data processing device is configured, in a first operating mode and in a second operating mode, to generate actuating signals for the actuating device;
wherein in the first operating mode, actuating signals are generated for the actuating device on the basis of actual distances of the distributor boom relative to a ground surface detected by distance sensors arranged on the distributor boom; and
wherein in the second operating mode, actuating signals are generated for the actuating device on the basis of a rotation of at least one of the chassis or the distributor boom, in the direction of travel, which has been detected by the sensor device.

### Claim 13 (depends on 1)

The compensation system according to claim 1, wherein:
the data processing device is configured in a third operating mode to generate actuating signals for the actuating device; and
wherein in the third operating mode, actuating signals are generated for the actuating device on the basis of actual distances of the distributor boom relative to a ground surface detected by distance sensors arranged on the distributor boom, and on the basis of a rotation of at least one of the chassis or the distributor boom, in the direction of travel, which has been detected by the sensor device.

### Claim 14 (depends on 13)

The compensation system according to claim 13, wherein:
the data processing device is configured in the first operating mode, the second operating mode, or the third operating mode to generate actuating signals for the actuating device; and
wherein a change of operating mode is initiated on the basis of the system reaching one or more threshold values selected from a list comprising:
a maximum or minimum rotation of the chassis in the direction of travel;
a maximum or minimum rotation of the distributor boom in the direction of travel;
a minimum time in which a rotation of the chassis in the direction of travel is present;
a minimum time in which a rotation of the distributor boom in the direction of travel is present;
a distance travelled in which a rotation of the chassis in the direction of travel is present; and
a distance travelled in which a rotation of the distributor boom in the direction of travel is present.

### Claim 15 (depends on 1)

A distribution machine for dispensing agricultural materials, comprising the compensation system of claim 1.

### Claim 16 (depends on 1)

The compensation system according to claim 1, wherein the agricultural machine is selected from a group of machines comprising:
a field sprayer;
a fertilizer spreader; and
a combination field sprayer and fertilizer spreader.

### Claim 17 (depends on 1)

The compensation system according to claim 1, wherein rotation in the direction of travel is a rotation along an axis which runs perpendicular to a movement direction of the agricultural machine, and which is defined according to at least one of the following:
a rotation along an axis formed by a running gear; or
a rotation of the chassis or boom caused by an inclination, wherein the inclination is a difference in height between a front set of wheels and a back set of wheels.

### Claim 18 (depends on 1)

The compensation system according to claim 1, further comprising a speed controller configured to determine, from the detected rotation, whether the actuating device can modify the vertical position of the distributor boom with a sufficient reaction speed to prevent an upcoming collision, and if the actuating device cannot react with the sufficient reaction speed, the speed controller is configured to modify the travel speed of the agricultural machine to prevent the collision.

### Claim 19

A method for compensating for ground unevenness for an agricultural machine, comprising:
mounting a distributor boom onto a chassis in a height-adjustable manner relative to the chassis, wherein the distributor boom comprises a central part and side parts which are pivotably arranged to the left and right on the central part, as well as a plurality of distribution elements for distributing materials;
modifying a vertical position of the distributor boom relative to the chassis via an actuating device;
detecting a rotation in a direction of travel for the agricultural machine using a sensor device, the rotation comprising at least one of:
a rotation of the chassis in the direction of travel; or
a rotation of the distributor boom in the direction of travel; and
generating actuating signals for the actuating device using a data processing device, wherein the actuating signals change the vertical position of the distributor boom and are generated based on the detected rotation.

### Claim 20 (depends on 19)

The method according to claim 19, wherein:
the rotation in the direction of travel is a rotation along an axis which runs perpendicular to a movement direction of the agricultural machine, and which is defined according to at least one of the following:
a rotation along an axis formed by a running gear; or
a rotation of the chassis or boom caused by an inclination, wherein the inclination is a difference in height between a front set of wheels and a back set of wheels;
the method also further comprising:
selecting at least one of a first, second, or third operating mode for generating actuating signals via the data processing device, wherein:
in the first operating mode, actuating signals are generated for the actuating device based on actual distances of the distributor boom relative to a ground surface, detected by one or more distance sensors arranged on the distributor boom;
in the second operating mode, actuating signals are generated for the actuating device based on a rotation of the chassis, distributor boom, or both the chassis and the distributor boom, in the direction of travel detected by the sensor device; and
in the third operating mode, actuating signals are generated for the actuating device based on a combination of both the first operating mode and the second operating mode.