# US 12,005,896 B2 · Control system to dampen structural oscillations of vehicle implements > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,896 B2 - Document ID: US12005896B2 - Status: Granted - Kind: B2 - Application number: 17/137,108 - Filed: 2020-12-29 - Published: 2022-06-30 - Granted: 2024-06-11 - Earliest claimed: 2020-12-29 - Assignees: Trimble Inc. - Applicants: Trimble Inc. - Inventors: Justin Creaby; Joshua Rands - Web page: https://patentgrep.com/patent/US12005896B2 ## CPC - A01M 7/0057: {with active regulation of the boom position} - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - A01C 23/007: {Metering or regulating systems} - A01M 7/0089: {Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06)} - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - H04Q 9/00: Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom - B05B 13/005: {mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers} - G01C 19/00: Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects - 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 - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - A01C: PLANTING; SOWING; FERTILISING (parts, details or accessories of agricultural machines or implements, in general A01B51/00 - A01B75/00) - H04Q: SELECTING (switches, relays, selectors H01H; wireless communication networks H04W) - B05B: SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES (spray-mixers with nozzles B01F25/72; processes for applying liquids or other fluent materials to surfaces by spraying B05D) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract Described herein are systems, methods, and other techniques for damping oscillations of an implement of a vehicle while the vehicle is moving. Sensor data is captured using one or more sensors that are attached to the vehicle. The sensor data is analyzed to extract one or both of symmetric oscillation information or asymmetric oscillation information. One or both of a speed damping signal or a steering damping signal are generated based on analyzing the sensor data. The speed damping signal is generated in response to extracting the symmetric oscillation information and the steering damping signal is generated in response to extracting the asymmetric oscillation information. A movement of the vehicle is modified using one or both of the speed damping signal or the steering damping signal. ## Claims ### Claim 1 A method of damping oscillations of an implement of a vehicle while the vehicle is moving, the method comprising: capturing sensor data using one or more sensors that are attached to the vehicle; analyzing the sensor data to extract symmetric oscillation information and asymmetric oscillation information from the sensor data, wherein extracting the symmetric oscillation information includes extracting a frequency and a phase corresponding to symmetric oscillations of the vehicle, and wherein extracting the asymmetric oscillation information includes extracting a frequency and a phase corresponding to asymmetric oscillations of the vehicle; generating (i) a speed damping signal using the frequency and the phase corresponding to the symmetric oscillations and (ii) a steering damping signal using the frequency and the phase corresponding to the asymmetric oscillations, wherein the steering damping signal is generated by extracting a signal from the sensor data having the frequency corresponding to the asymmetric oscillations, time-shifting the extracted signal based on the phase corresponding to the asymmetric oscillations, and scaling the extracted signal; and modifying a movement of the vehicle using the speed damping signal and the steering damping signal. ### Claim 2 (depends on 1) The method of claim 1, wherein capturing the sensor data includes capturing accelerometer data using an accelerometer attached to the vehicle. ### Claim 3 (depends on 2) The method of claim 2, wherein the symmetric oscillation information is extracted from the accelerometer data. ### Claim 4 (depends on 1) The method of claim 1, wherein capturing the sensor data includes capturing gyro data using a gyroscope attached to the vehicle. ### Claim 5 (depends on 4) The method of claim 4, wherein the asymmetric oscillation information is extracted from the gyro data. ### Claim 6 (depends on 1) The method of claim 1, wherein modifying the movement of the vehicle using the speed damping signal includes combining the speed damping signal with an existing speed signal. ### Claim 7 (depends on 1) The method of claim 1, wherein modifying the movement of the vehicle using the steering damping signal includes combining the steering damping signal with an existing steering signal. ### Claim 8 (depends on 1) The method of claim 1, wherein the speed damping signal is generated to include the frequency corresponding to the symmetric oscillations. ### Claim 9 A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for damping oscillations of an implement of a vehicle while the vehicle is moving, the operations comprising: capturing sensor data using one or more sensors that are attached to the vehicle; analyzing the sensor data to extract symmetric oscillation information and asymmetric oscillation information from the sensor data, wherein extracting the symmetric oscillation information includes extracting a frequency and a phase corresponding to symmetric oscillations of the vehicle, and wherein extracting the asymmetric oscillation information includes extracting a frequency and a phase corresponding to asymmetric oscillations of the vehicle; generating (i) a speed damping signal using the frequency and the phase corresponding to the symmetric oscillations and (ii) a steering damping signal using the frequency and the phase corresponding to the asymmetric oscillations, wherein the steering damping signal is generated by extracting a signal from the sensor data having the frequency corresponding to the asymmetric oscillations, time-shifting the extracted signal based on the phase corresponding to the asymmetric oscillations, and scaling the extracted signal; and modifying a movement of the vehicle using the speed damping signal and the steering damping signal. ### Claim 10 (depends on 9) The non-transitory computer-readable medium of claim 9, wherein capturing the sensor data includes capturing accelerometer data using an accelerometer attached to the vehicle. ### Claim 11 (depends on 10) The non-transitory computer-readable medium of claim 10, wherein the symmetric oscillation information is extracted from the accelerometer data. ### Claim 12 (depends on 9) The non-transitory computer-readable medium of claim 9, wherein capturing the sensor data includes capturing gyro data using a gyroscope attached to the vehicle. ### Claim 13 (depends on 12) The non-transitory computer-readable medium of claim 12, wherein the asymmetric oscillation information is extracted from the gyro data. ### Claim 14 (depends on 9) The non-transitory computer-readable medium of claim 9, wherein modifying the movement of the vehicle using the speed damping signal includes combining the speed damping signal with an existing speed signal. ### Claim 15 A system for damping oscillations of an implement of a vehicle while the vehicle is moving, the system comprising: one or more processors; and a computer-readable medium comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising: capturing sensor data using one or more sensors that are attached to the vehicle; analyzing the sensor data to extract symmetric oscillation information and asymmetric oscillation information from the sensor data, wherein extracting the symmetric oscillation information includes extracting a frequency and a phase corresponding to symmetric oscillations of the vehicle, and wherein extracting the asymmetric oscillation information includes extracting a frequency and a phase corresponding to asymmetric oscillations of the vehicle; generating (i) a speed damping signal using the frequency and the phase corresponding to the symmetric oscillations and (ii) a steering damping signal using the frequency and the phase corresponding to the asymmetric oscillations, wherein the steering damping signal is generated by extracting a signal from the sensor data having the frequency corresponding to the asymmetric oscillations, time-shifting the extracted signal based on the phase corresponding to the asymmetric oscillations, and scaling the extracted signal; and modifying a movement of the vehicle using the speed damping signal and the steering damping signal. ### Claim 16 (depends on 15) The system of claim 15, wherein capturing the sensor data includes capturing accelerometer data using an accelerometer attached to the vehicle. ### Claim 17 (depends on 16) The system of claim 16, wherein the symmetric oscillation information is extracted from the accelerometer data. ### Claim 18 (depends on 15) The system of claim 15, wherein capturing the sensor data includes capturing gyro data using a gyroscope attached to the vehicle. ### Claim 19 (depends on 18) The system of claim 18, wherein the asymmetric oscillation information is extracted from the gyro data.