# US 2021/0329905 A1 · Systems and methods for power line detection during spraying application and boom folding > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0329905 A1 - Document ID: US20210329905A1 - Status: Published application - Kind: A1 - Application number: 17/228,781 - Filed: 2021-04-13 - Published: 2021-10-28 - Earliest claimed: 2020-04-22 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Peter Hloben - Web page: https://patentgrep.com/patent/US20210329905A1 ## CPC - A01M 7/0057: {with active regulation of the boom position} - A01M 7/0075: {including folding means} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An agricultural machine includes a chassis, a center frame mounted for vertical movement, and laterally extendable right and left foldable booms. A sprayer boom controller includes positioning data. A first identification system transmits a predefined frequency radio signal at a first point in time. A second identification system on the right boom and a third identification system on the left boom receive the radio signal. An identification system calculates actual distances between the first and second identification systems and the first and third identification systems based on the wavelength of the radio signal and the differences of the first and second points in time and the first and third points in time. Information regarding the actual distances is transmitted to the sprayer boom controller which compares the calculated distances with the predetermined positioning data and stops folding and/or unfolding in response to determining they exceed or underrun a tolerance value. ## Claims ### Claim 1 An agricultural machine comprising: a chassis; a sprayer boom assembly with a center frame mounted for vertical movement on the chassis and laterally extendable right and left foldable and unfoldable booms connected to the center frame, each right and left boom includes one or more boom sections, wherein the right or left booms are foldable or unfoldable in a vertical direction; a sprayer boom controller that includes predetermined positioning data of the sprayer boom assembly; a first identification system mounted on the agricultural machine at a determinable position that transmits a predefined frequency radio signal at a first point in time; a second identification system mounted on the right boom that receives the radio signal transmitted from the first identification system at a second point in time; a third identification system mounted on the left boom that receives the radio signal transmitted from the first identification system at a third point in time; and an integrated identification system controller that calculates actual distances between (i) the first and second identification systems based on a wavelength of the radio signal and a difference of the first and second points in time and (ii) the first and third identification systems based on the wavelength of the radio signal and a difference of the first and third points in time, wherein, information from the integrated identification system controller regarding the actual distances is transmitted to the sprayer boom controller, wherein, the sprayer boom controller is configured to compare the calculated actual distance values with the predetermined positioning data, wherein, the predetermined positioning data includes reference distance values between the first and second identification systems and the first and third identification systems for discrete folding and unfolding positions of the right and left booms, and wherein, the sprayer boom controller is configured to stop folding and/or unfolding in response to exceeding or underrunning a tolerance value between the calculated actual distance and the reference distance values. ### Claim 2 (depends on 1) The agricultural machine of claim 1, wherein the center frame is moveable vertically by a parallel linkage system. ### Claim 3 (depends on 1) The agricultural machine of claim 1, wherein the second identification system is mounted on a tip of an outermost right boom section and the third identification system is mounted on a tip of an outermost left boom section. ### Claim 4 (depends on 1) The agricultural machine of claim 1, comprising one or more sensors to determine the approach of one or more discrete folding or unfolding positions of the right and left booms. ### Claim 5 (depends on 1) The agricultural machine of claim 1, wherein the identification system includes a transmitter, a receiver, an antenna, a controller, or a battery. ### Claim 6 (depends on 1) The agricultural machine of claim 1, wherein the predefined frequency of radio signal is in the range of radio wave spectrum. ### Claim 7 (depends on 1) The agricultural machine of claim 1, wherein the agricultural machine is a self-propelled or trailed agricultural sprayer. ### Claim 8 (depends on 1) The agricultural machine of claim 1, wherein the agricultural machine is an unmanned autonomous vehicle. ### Claim 9 A method of monitoring folding or unfolding of a sprayer boom assembly mounted on an agricultural machine, wherein the agricultural machine includes a chassis; the sprayer boom assembly with a center frame mounted for vertical movement on the chassis and laterally extendable right and left foldable and unfoldable booms connected to the center frame, each right and left boom comprising one or more boom sections, wherein the right or left booms are foldable or unfoldable in vertical direction; a sprayer boom controller; a first identification system mounted on the agricultural machine at a determinable position to transmit a predefined frequency radio signal; a second identification system mounted on the right boom; and a third identification system mounted on the left boom to receive the radio signal transmitted from the first identification system, the method comprising: storing predetermined positioning data of the sprayer boom assembly for discrete folding and unfolding positions of the right and left booms as reference distance values in the sprayer boom controller; transmitting the predefined frequency radio signal from the first identification system at a first point in time during folding or unfolding of the sprayer boom; receiving, by the second identification system during folding or unfolding of the sprayer boom, the predefined radio frequency signal transmitted from the first identification system at a second point in time; receiving, by the third identification system during folding or unfolding of the sprayer boom, the predefined radio frequency signal transmitted from the first identification system at a third point in time; calculating, using an integrated identification system controller, actual distance values between (i) the first and second identification systems based on a wavelength of the predefined radio frequency signal and a difference between the first and second points in time and (ii) the first and third identification systems based on the wavelength of the predefined radio frequency signal and a difference between the first and third points in time; transmitting information regarding the actual distance values from the integrated identification system controller to the sprayer boom controller; comparing, by the sprayer boom controller, the actual distance values with the predetermined positioning data, wherein the predetermined positioning data includes reference distance values between the first and second identification systems and the first and third identification systems for discrete folding and unfolding positions of the right and left booms; and stopping, via the sprayer boom controller, folding or unfolding of the sprayer boom assembly in response to exceeding or underrunning a tolerance value between the calculated actual distance and the reference distance values. ### Claim 10 (depends on 9) The method of claim 9, wherein the transmitting, receiving, calculating, and comparing are performed in response to the sprayer boom assembly approaching a predetermined discrete folding or unfolding position. ### Claim 11 (depends on 9) The method of claim 9, wherein the transmitting, receiving, calculating, and comparing are performed in response either the left boom or right boom approaching a predetermined discrete folding or unfolding position. ### Claim 12 (depends on 9) The method of claim 9, wherein the agricultural machine includes a positioning system, the method further comprising storing positioning data of the agricultural machine at a field location in response to stopping the folding or unfolding of the sprayer boom assembly. ### Claim 13 (depends on 9) The method of claim 9, wherein the agricultural machine is a self-propelled or trailed agricultural sprayer ### Claim 14 (depends on 9) The method of claim 9, wherein the agricultural machine is an unmanned autonomous vehicle.