Suspension system for an agricultural machine and agricultural sprayer

Abstract

This refers to one or more vehicle sensors that can be used in an agricultural machine's suspension control system to dynamically adjust pistons located near the machine's wheels to substantially control its orientation. Such vehicle sensors could include: a speed sensor configured to provide an output indicating the machine's speed; a turning angle sensor configured to provide an output indicating the machine's turning angle; and / or an inertial measurement unit (IMU) configured to detect an angle between the chassis and the horizon. The output can be compared to a threshold to determine when to control valves in the suspension system to apply height corrections.

Description

/ 34 “SUSPENSION CONTROL SYSTEM THAT PROVIDES GUIDANCE CONTROL FOR AN AGRICULTURAL MACHINE AND AGRICULTURAL SPRAYER” Field of Invention

[001] The invention relates generally to agricultural product application equipment such as self-propelled sprayers and, in particular, to a suspension system for an agricultural machine that includes suspension assemblies, pressure sensors, electronically controlled valves, a vehicle sensor such as a speed sensor, a turning angle sensor and / or an Inertial Measurement Unit (IMU), and a processor configured to compare an output from the vehicle sensor to a threshold and control the electronically controlled valves to apply height corrections when the output exceeds the threshold. Background of the Invention

[002] High-clearance sprayers are becoming larger and more complex to allow for increased coverage in a single pass, improving application efficiency. Such sprayers can traverse a variety of soil surface conditions such as rocks, impacts, mounds, holes, steps, slopes, and the like, many of which can affect different machine wheels at different times. As a result, sprayer booms that extend laterally may come into contact with the ground at times, potentially resulting in damage. Furthermore, uneven weight distribution of the agricultural machine on certain wheels can cause the machine to lose traction, become stuck, or create other operational hazards. To minimize the effect of such conditions, operators typically travel at low speeds (on the order of 5 mph or less) when there is a risk of encountering such soil surface conditions.However, traveling at low speeds has the disadvantage of requiring more effort. Petition 870260062976, dated 06 / 26 / 2026, page 51 / 88 / 34 time to treat an agricultural field which can result in operator fatigue, wear and tear on the machine and / or loss of productivity. For this reason, it is desirable to improve the suspension system for such machines. Description of the Invention

[003] One or more vehicle sensors may be used in an agricultural machine's suspension control system to dynamically adjust pistons located near the machine's wheels to substantially control steering. Such vehicle sensors could include: a speed sensor configured to provide an output indicating a machine speed; a turning angle sensor configured to provide an output indicating a machine turning angle; and / or an Inertial Measurement Unit (IMU) configured to detect an angle between the chassis and the horizon. The output can be compared to a threshold to determine when to control valves in the suspension system to apply height corrections.

[004] Suspension cylinders or other suspension components can be monitored at each edge of a sprayer to determine values ​​relating to magnitudes of suspension flex or sag at each edge of the sprayer. These values, relative to each other, can correspond to the amounts of articulation, roll, and / or clearance experienced by the sprayer at a given time. A controller can use these observed values ​​to determine target values ​​for amounts of suspension cylinder rod extension or positions of other suspension components to achieve desired travel characteristics such as travel height and / or machine orientation. This could be done using summation functions that add the observed values ​​corresponding to, for example, articulation, roll, clearance, and / or height to determine target values ​​at each edge. Petition 870260062976, dated 06 / 26 / 2026, page 52 / 88 / 34 The controller commands each of the suspension cylinders to extend or retract its boom based on target values ​​to attempt to achieve the desired chassis height and / or guidance characteristics. Maintaining a desired chassis height and / or guidance characteristic (or guidance characteristics) can facilitate, for example, keeping a spray boom parallel to the horizon, keeping the boom parallel to the ground, avoiding maneuvering movements where the front wheel is lifted during rapid acceleration by pulling the front of the sprayer down while accelerating, avoiding abrupt downward movements during rapid deceleration by pushing the front of the sprayer upward while decelerating, and lapping off edges by tilting the sprayer inward during return maneuvers.

[005] A piston may be located near each wheel on four edges of an agricultural machine (typically four wheels, although two or more wheels may be provided at each wheel location). Each piston may be operable to adjust the height of the agricultural machine relative to its proximal wheel via a piston stroke. Each piston may be in communication with a sensor to determine the piston stroke, an accumulator to hold fluid for the piston, a control valve to actuate the fluid flow rate, and a closed-loop controller (which may be a Proportional Integral Derivative (PID) controller) to adjust the piston stroke to a target setpoint while minimizing a feedback error measured by the piston sensor. Each piston may also be in communication with a diagonally opposite piston to control the fluid flow rate in the diagonally opposite piston, which includes as described in US Patent No. 8,297.634 which was incorporated by reference. A control system can be provided on the agricultural machine to dynamically adjust the pistons located near each wheel. The control system can implement a... Petition 870260062976, dated 06 / 26 / 2026, page 53 / 88 / 34 logic for: (1) continuously evaluating the articulation height, clearance, roll and / or the machine in relation to the wheels based on sensor readings from pistons located near the wheels; (2) determining the target height that adjusts for each wheel to provide machine orientation above the ground surface and thereby protect the sprayer booms that extend laterally (and / or substantially equalize the machine weight distribution on each wheel); and (3) sending a stroke setpoint based on the target height to a closed-loop controller (which may be a PID controller) in communication with each piston that continuously operates to adjust the piston to the target.Articulation can be determined by (1) detecting the stroke of each piston through the corresponding piston sensors; (2) determining a first average stroke between a first diagonal pair of sensors and a second average stroke between a second diagonal pair of sensors; and (3) subtracting the second average stroke from the first average stroke. The resulting magnitude can represent the average amount of articulation in a pair of diagonally opposite wheels relative to another pair of diagonally opposite wheels, and the resulting signal can represent the direction of articulation, which can be clockwise or counterclockwise. Forward / reverse tilt, or drift, can be determined by calculating a differential piston measurement between the front and rear of the machine. Side-to-side tilt, or roll, can also be determined by calculating a differential piston measurement between sides of the machine.The control system can determine the fluid flow rate in the suspension system by estimating the total fluid in each closed-loop piston system. The fluid can be estimated using a pressure sensor and / or transducer on each piston and applying the ideal gas law (pV=nRT) with respect to each accumulator and tracking fluid flow between diagonally opposed pistons. By determining the articulation height, clearance, roll and / or machine, the... Petition 870260062976, dated 06 / 26 / 2026, page 54 / 88 / 34 The control system can calculate a target height for each edge of the machine (near each piston / wheel) and can convert each target height into a corresponding stroke adjustment for each piston based on a predetermined machine geometry (e.g., wheel radius, piston stroke, angle, pan height, and so on). The calculated stroke adjustment is sent to each piston, and the closed-loop controller for each piston can operate to minimize a detected feedback error to achieve the calculated stroke adjustment. Consequently, the detected feedback error can be provided as part of two closed loops: (1) a first circuit that runs the control system to determine the calculated stroke adjustment; and (2) a second circuit to achieve the provided stroke adjustment on each piston.

[006] Specifically, then, one aspect of the present invention may provide a suspension system for an agricultural machine, which includes: multiple suspension assemblies, each suspension assembly including an articulated frame assembly and a cylinder, wherein each cylinder includes a piston rod configured to extend and retract relative to a base, wherein the articulated frame assembly is coupled to the agricultural machine at a pivot point and is coupled to a wheel at a central point, and which includes the cylinder which is operationally coupled to the agricultural machine at a cylindrical point and is also operationally coupled to the articulated frame assembly at an actuation point distal to the pivot point, such that the action of the cylinder at the actuation point causes the articulated frame assembly to pivot at the pivot point; multiple tires, each tire being mounted on a wheel;Multiple electronically controlled valves, each valve configured to control a fluid flow rate and a control volume to operate a cylinder; a configured vehicle sensor; Petition 870260062976, dated 06 / 26 / 2026, page 55 / 88 / 34 to provide an output, the vehicle sensor that was selected from the group consisting of: a speed sensor configured to provide an output indicating a speed of the agricultural machine and a turning angle sensor configured to provide an output indicating a turning angle of the agricultural machine; and a processor in communication with the position sensors, the electronically controlled valves and the vehicle sensor, wherein the processor executes a program stored in a non-transient medium to: determine a height for each suspension assembly from a position indicated by a position sensor configured relative to a cylinder of the suspension assembly;Calculate at least one of the agricultural machine's clearance and roll to determine a height correction for each suspension assembly, where clearance is a comparison between the front and rear heights of the agricultural machine and roll is a comparison between the left and right side heights of the agricultural machine; compare the vehicle sensor output to a limit; and control the electronically controlled valves to change the control volumes to apply the height corrections when the output exceeds the limit.

[007] Yet another aspect of the invention may provide a suspension system for an agricultural machine, which includes: multiple suspension assemblies, each suspension assembly including an articulated frame assembly and a cylinder, wherein each cylinder includes a piston rod configured to extend and retract relative to a base, wherein the articulated frame assembly is coupled to the agricultural machine at a pivot point and is coupled to a wheel at a central point, and which includes the cylinder which is operationally coupled to the agricultural machine at a cylindrical point and is also operationally coupled to the articulated frame assembly at an actuation point distal to the pivot point such that the action of the cylinder at the actuation point causes the assembly to Petition 870260062976, dated 06 / 26 / 2026, page 56 / 88 / 34 articulated frames pivoting at the pivot point; multiple tires, each tire mounted on a wheel; multiple electronically controlled valves, each valve configured to control a fluid flow rate to and a control volume to operate a cylinder; an Inertial Measurement Unit (IMU) configured to detect an angle between the chassis and the horizon; and a processor communicating with the position sensors, the electronically controlled valves, and the IMU, the processor executing a program stored in a non-transient medium is configured to: determine a height for each suspension assembly from a position indicated by a position sensor configured relative to a cylinder of the suspension assembly;Calculate at least one of the agricultural machine's clearance and roll to determine a height correction for each suspension assembly, where clearance is a comparison between the front and rear heights of the agricultural machine, and roll is a comparison between the left and right side heights of the agricultural machine; compare an IMU output to a limit; and control the electronically controlled valves to change the control volumes to apply the height corrections when the IMU output exceeds the limit.

[008] Other aspects, objectives, functions and advantages of the invention will become apparent to those skilled in the art from the detailed description below and the accompanying Figures. It should be understood, however, that the detailed description and specific examples, while indicating particular embodiments of the present invention, are given by way of illustration and not limitation. Many alterations and modifications can be made within the scope of the present invention without departing from its spirit, and the invention includes all such modifications. Brief Description of the Figures

[009] Illustrative embodiments of the invention are illustrated. Petition 870260062976, dated 06 / 26 / 2026, pp. 57 / 88 / 34 in the attached figures, in which similar reference numerals represent similar parts along the same lines. Figure 1 is a side elevation of an agricultural machine according to the present invention; Figure 2 is a front elevation view of an agricultural machine from Figure 1; Figure 3 is a simplified diagrammatic view of an exemplary suspension assembly for the agricultural machine in Figure 1; Figure 4 is an illustrative portion of a suspension system for the agricultural machine in Figure 1; Figure 5 is a schematic view of a pair of transversely connected suspension assemblies from Figure 4; Figure 6 is a diagram of a suspension control system for the agricultural machine in Figure 1; Figure 7 is a schematic diagram to provide height corrections in the suspension control system of Figure 6; Figure 8 is a schematic diagram for controlling the electronically controlled valves to apply the height corrections of Figure 7; Figures 9A and 9B are diagrams that illustrate the angle between the chassis and the horizon, and the negative angle between the chassis and the horizon, respectively; and Figure 10 is a simplified diagrammatic view of an alternative suspension assembly, according to one aspect of the invention. Detailed Description of Achievements

[010] Now, with reference to the Figures and, specifically, to Figure 1, an agricultural machine is shown here as a self-propelled agricultural sprayer vehicle or self-propelled sprayer 15 having a lance of Petition 870260062976, dated 06 / 26 / 2026, page 58 / 88 / 34 spraying 17, such as those available from CNH Industrial, which include the Miller Nitro and Condor Series sprayers and New Holland Guardian Series sprayers. The sprayer 15 includes a chassis 20 which has a chassis frame 25 that supports various assemblies, systems and components. These various assemblies, systems and components include a cab 30, an engine 35 and a hydraulic system 40. The hydraulic system 40 receives power from the engine 35 and includes at least one hydraulic pump which may be in a hydrostatic arrangement to provide hydraulic pressure to operate hydraulic components within the hydraulic system 40. For sprayers with hydrostatic drives, hydraulic motors are operationally connected to the hydraulic pump (or hydraulic pumps) for the rotating wheels 44 with tires 45 mounted thereon.In mechanical drive applications, a mechanical transmission receives power from the engine 35 and releases power to rotate the wheels 44 (and tires 45) by means of transmission line components that transmit power, such as drive shafts, differentials, and other gear assemblies in the portal, crankcases, or other housings. In one aspect, the sprayer 15 may include four wheels 44, which includes: a front left wheel 44a (with a front left tire 45a mounted on it), a front right wheel 44b (with a front right tire 45b mounted on it), a rear left wheel 44c (with a rear left tire 45c mounted on it), and a rear right wheel 44d (with a rear right tire 45d mounted on it). Although an arrangement with four wheels 44 is shown by way of example, in another aspect, larger or smaller numbers of wheels 44 could be implemented, such as a sprayer 15 with six wheels 44.Furthermore, although wheels 44 with tires 45 mounted on them are shown as an example, in another aspect, continuous tracks of bearings or track plates could be driven instead. Petition 870260062976, dated 06 / 26 / 2026, p. 59 / 88 / 34, for two or more wheels each.

[011] Also, with reference to Figure 1, a product system 7 may include a product storage system 47 with a product tank 49 that stores a liquid agricultural product 50 in the chassis 20. The product 50 may include any of a variety of liquid agricultural products, such as various pesticides, herbicides, fungicides, liquid fertilizers and other liquids that include beneficial liquid suspensions for application on agricultural fields by means of a spray lance 17. A rinsing system 9 may include a rinsing liquid storage system 51 that has a rinsing tank 53 that stores a rinsing liquid 54, such as water or other suitable rinsing liquid. In addition, an air purging system 11 may include a compressed air storage system that has an air compressor 57 operationally connected to an air tank 59 that stores air 60 compressed by a compressor 57.A flow system is configured to selectively convey liquid product 50, rinsing liquid 54 and / or air 60 through various defined flow paths via the sprayer 15 and lance 17 depending on which of the following procedures is being performed: spraying, rinsing, pneumatic purging or lance venting. During spraying and rinsing procedures, the flow system may power a pump 61 to convey liquid product 50 or rinsing liquid 54 to the lance 17.

[012] In operation, pump 61 can propel liquid product 50 or rinsing liquid 54 through piping components, such as interconnected pipe pieces, and through a lance flow system 63 that includes lance pipe segments 65 to release out of spray lance nozzles 70 that are spaced apart along the width of the lance 17 during spraying or rinsing operations. Petition 870260062976, dated 06 / 26 / 2026, page 60 / 88 / 34 sprayer 15 (according to activation / deactivation states that can be implemented, for example, with the use of electronically controlled switches). Consequently, such piping components can connect to the product storage system 47, the rinse liquid storage system 51, and the lance 17 via an integrated valve system and lance valve system. During spraying procedures, nozzle groups 70 defined in spray sections along the lance 17 can selectively release the product 50 to release over an agricultural field at locations that correspond to activated spray section positions. The lance 17 is connected to the chassis 20 with a lifting arm assembly 75 that is configured to move the lance 17 up and down to adjust the application height of the product 50.

[013] In further reference to Figure 2, the boom 17 may include multiple boom segments 80 connected longitudinally to provide the corresponding width of the assembled boom 17. The boom segments 80 include a central section 85 and left and right boom arms 87, 89 that extend in opposite directions from the central section 85. The left and right boom arms 87, 89 have multiple segments with pairs of primary boom segments 90, secondary boom segments 95, and removable boom segments 100 that extend in opposite directions along the respective left and right boom arms 87, 89 mirrored around a longitudinal geometric axis of the sprayer 15.The corresponding left and right segments of the primary, secondary, and removable boom segment pairs 90, 95, 100 are substantially identical, so only one will be described, with the description applying to both the left and right segments of the left and right boom arms 87, 89. The primary boom segment 90 has an inner primary boom end 105 that is connected with the hinge 110 to the outer section end. Petition 870260062976, dated 06 / 26 / 2026, page 61 / 88 / 34 central 115, with hinge 110 configured to allow generally backward horizontal pivoting of the primary, secondary, and removable boom segments 90, 95, 100 towards the chassis 20 when folding the boom 17 to reach a stored position. The primary boom segment 90 extends from the inner end of primary boom 105 in the opposite direction from the central section 85 to the outer end of primary boom 120. The hinge 125 is disposed between the outer end of primary boom 120 and the inner end of secondary boom 130 and is configured to allow folding of the secondary and removable segments 95, 100 relative to the primary boom segment 90 to reach the stored position.For horizontal folding of secondary and removable segments 95, 100 against the primary boom segment 90, hinge 125 allows horizontal pivoting of the secondary and removable segments 95, 100 towards the primary boom segment 90. For vertical folding of secondary and removable segments 95, 100 against the primary boom segment 90, hinge 125 allows vertical pivoting of the secondary and removable segments 95, 100 towards the primary boom segment 90. The secondary boom segment 95 extends from the inner end of secondary boom 130 in the opposite direction from the primary boom segment 90 to the outer end of secondary boom 135.The removable joint 140 is disposed between the outer end of the secondary boom 135 and the inner end of the removable boom 145 and is configured to allow momentary deflection of the removable boom segment 100 in the opposite direction to its extended outward position during collisions with crops, the ground and / or other obstacles. The removable boom segment 100 extends from the inner end of the removable boom 145 in the opposite direction from the secondary boom segment 95 to the outer end of the removable boom 150. In the stored boom position 17, the secondary and removable boom segments 95, 100 are folded against the. Petition 870260062976, dated 06 / 26 / 2026, page 62 / 88 / 34 primary boom segment 90. The primary boom segment 90 is bent towards the chassis 20 so that the outer end of the removable boom 150 is close to the inner end of the primary boom 105 threaded towards the front of the sprayer 15 with the outer end of the primary boom 120 and the inner end of the secondary boom 130 threaded towards the rear of the sprayer 15. Suspension System

[014] As explained in more detail below, sprayer 15 may include a suspension system with four separate suspension assemblies 160, each corresponding to a respective wheel 44 of sprayer 15. A suspension assembly 160 is illustrated in Figure 3 by way of example. For sprayer 15, the left front, right front, left rear and right rear suspension assemblies 160a, 160b, 160c and 160d, respectively, may be configured similarly. However, alternative aspects may provide larger or smaller numbers of suspension assemblies.

[015] Furthermore, although not specifically shown, one or more of the 160 suspension assemblies may include steering elements, such as in the left and right front suspension assemblies 160a and 160b, respectively, for two-wheel driving and, optionally, in the left and right rear suspension assemblies 160c and 160d, respectively, for four-wheel driving. Additionally, although not specifically shown, the 160 suspension assembly could be configured as part of an axle slider assembly (or “sliding drawer”) that could move forward and backward on the chassis 20 to alter the distance (or rolling surface width) between the wheels 44 on opposite sides of the sprayer 15. In such an arrangement, front and rear wheels on certain sides, such as the left front wheel 44a and the rear wheel Petition 870260062976, dated 06 / 26 / 2026, p. 63 / 88 / 34 left 44c, can be attached to the same axle slider to ensure alignment of the rear wheels behind the front wheels. Such concepts are further described in US Patent No. 8,297,634, which is incorporated by reference.

[016] Each suspension assembly 160 may include an articulated frame assembly 162 and a cylinder 164. The cylinder 164 could be a single-acting or double-acting cylinder that is responsive to a fluid in a control volume, such as an oil (hydraulic) or gas (pneumatic). The cylinder 164 may include a piston rod 166 configured to extend and retract relative to a base 168. The articulated frame assembly 162 may connect to the sprayer 15 at a pivot point 170 which could be on a relative edge of the chassis 20. The articulated frame assembly 162 may also connect to one or more wheels 44, with tires 45 mounted on them, at a central point 172 (or multiple wheels, which include those to drive a continuous band of bearings or track plates). Cylinder 164 can be operationally coupled to the agricultural machine at a cylindrical point 174 which could also be on a relative edge of the chassis 20.Cylinder 164 can also be operationally coupled to the articulated frame assembly 162 at an actuation point 176 distal to the pivot point 170. This arrangement allows the action of cylinder 164 at the actuation point 176 to cause the articulated frame assembly 162 to pivot at the pivot point 170. Connections between the articulated frame assembly 162 and the pivot point 170, the articulated frame assembly 162 and the central point 172, cylinder 164 and the cylindrical point 174, and / or cylinder 164 and the actuation point 176, could be made, for example, by pins fastened to through holes in the articulated frame assembly 162 and / or cylinder 164 and corresponding channels in the chassis 20 and / or wheels 44, and which include mounting supports in certain instances. In one aspect, the base 168 of each cylinder can be... Petition 870260062976, dated 06 / 26 / 2026, page 64 / 88 / 34 operationally coupled to the cylindrical point 174 and the piston rod 166 of each cylinder can be operationally coupled to the actuation point 176, as shown in Figure 3. However, in another aspect, the base 168 of each cylinder can be operationally coupled to the actuation point 176 and the piston rod 166 of each cylinder can be operationally coupled to the cylindrical point 174.

[017] Consequently, a position of the piston rod 166 relative to the base 168 (indicated by the arrow “S”) can set a relative suspension height (indicated by “Hs”) for the suspension assembly 160. In operation, with the cylinder 164 which is a double-acting cylinder, the piston rod 166 can be adjusted to a standard stroke length and can extend and retract from the standard stroke length with movement of the sprayer 15 over the ground, which can serve to dampen and control the pivoting movement of the articulated frame assembly 162.

[018] Several parameters of the suspension assembly 160 can be predetermined and stored in a suspension control system to calculate the suspension height (Hs). Such predetermined parameters may include: a distance between the pivot point 170 and the center point 172 (indicated by “D”); a distance between the pivot point 170 and the cylinder point 174 (indicated by “F”); a distance between the pivot point 170 and the actuation point 176 (indicated by “A”); a vertical distance between the pivot point 170 and a lower center area of ​​the chassis 20 (or belly pan) that provides clearance for the sprayer 15 over crops and the ground below (indicated by “Hbp”); a cylinder length 164 when the piston rod 166 is fully retracted or collapsed (indicated by “HCmin”); and a piston rod length of 166 when fully extended from cylinder 164 (where an “S” arrow on piston rod 166 becomes “Smax”).It should be noted that any length of cylinder 164 (indicated. Petition 870260062976, dated 06 / 26 / 2026, page 65 / 88 / 34 by “HC”) is, for this reason, equal to the length of cylinder 164 when piston rod 166 is fully retracted (HCmin) plus the stroke of piston rod 166 (S).For example, the vertical distance between pivot point 170 and the lowest central area of ​​chassis 20 (Hbp) could be about 0.38 m (15.112 inches); the distance between pivot point 170 and central point 172 (D) could be about 1.76 m (69.170 inches); the distance between pivot point 170 and actuation point 176 (A) could be about 0.74 m (29 inches); the distance between pivot point 170 and cylindrical point 174 (F) could be about 0.74 m (29 inches); the length of piston rod 166 when fully extended from cylinder 164 (Smax) could be, for example, about 0.2 m (8 inches); and the length of cylinder 164 when piston rod 166 is fully retracted (HCmin) could be about 0.48 m (19 inches).From predetermined parameters, additional parameters can be derived, which include: an angle of the arm-cylinder between a first line through the cylindrical point 174 and the actuation point 176 and a second line through the actuation point 176 and the pivot point 170 (indicated by the angle “ac”); and an angle of the arm-wheel between a third line through the center point 172 and the pivot point 170 and a fourth line horizontally through the center point 172 (indicated by “tc”).

[019] In addition, a position sensor 180 may be disposed in relation to each cylinder 164. Each position sensor 180 may be configured to generate an electrical signal to the suspension control system to indicate a corresponding piston rod position 166 relative to base 168, which corresponds to the stroke (S). For example, with piston rod 166 having a length of approximately 0.2 m (8 inches), piston rod 166 could be set to a standard stroke that is a midpoint of 0.1 m (4 inches) (S = 4). When piston rod 166 is fully extended Petition 870260062976, dated 06 / 26 / 2026, page 66 / 88 / 34 (Smax), the stroke length could be 0.2 m (8 inches) (S = 8), and when piston rod 166 is fully retracted (Smin), the stroke length could be 0 m (0 inches) (S = 0).

[020] From the predetermined, derived and aforementioned parameters and from the position of the 180 position sensor that indicates the travel (S), the suspension height (Hs) for any 160 suspension assembly can then be geometrically calculated, as per the equation: Hs =_D*COS(_tc-(ACOS((_AA2+_FA2-(S+_HCMiN)A2) / (2*_A*_F))-_ac)).

[021] Furthermore, as explained in more detail below, the suspension height (Hs) is equal to the suspension height when piston rod 166 is fully retracted (indicated by “Hmin”) plus a suspension height correction (indicated by “Hcor”). As an example, the suspension height when piston rod 166 is fully retracted (Hmin) could be approximately 0.41 m (16.145 inches).

[022] In addition, each 45 tire may have a static load rolling circumference (indicated by “Rsl”) which provides a height dimension from the center point 172 to the ground. As an example, the static load rolling circumference of the 45 tire (Rsl) could be approximately 0.86 m (34 inches). An addition of the rolling circumference (Rsl), the suspension height (Hs) and the vertical distance between the pivot point 170 and the lowest center area of ​​the chassis 20 (Hbp) provides a total clearance for the sprayer 15 (indicated by “C”) over crops and the ground below. The clearance (C) may be an adjustable value set by the operator, such as 1.91 m (75 inches).

[023] However, the static load rolling circumference (Rsl) can be reduced by varying the amounts that depend on the downward force or load exerted on tire 45. For example, as additional force (including weight) is applied to tire 45, such as loading product tank 49 with agricultural liquid product 50, tire 45 will deflect more and more. Petition 870260062976, dated 06 / 26 / 2026, page 67 / 88 / 34 more by a deflection value (indicated by “Rcor”), also known as tire squat, and the static load rolling circumference (Rsl) will consequently decrease. On the other hand, as the force is reduced on tire 45, such as when emptying the product tank 49 during spraying operations, tire 45 will decrease by a decreasing deflection value (Rcor) and the static load rolling circumference (Rsl) will increase. The varying deflection values ​​(Rcor) can be specified in a lookup table or other data structure 238 in a suspension control system (see Figure 6) that compares such tire dimensions with applied forces over a working range. Data structure 238 can include multiple unique data adjustments to differentiate tires, with each data adjustment based on tire size, type, and similarity, according to tire manufacturers.From data structure 238, an accurate static load rolling circumference (Rsl), reduced by a deflection value (Rcor), can be determined for each tire 45. Although a suspension system with “front” and “rear” arms is generally described above by way of example, in other respects, suspension systems with sliding and / or “hook and loop” configurations could also be implemented. In such alternative aspects, the geometric calculations described above may differ to achieve the same result. Control Volume

[024] Figure 4 is a schematic view of a portion of a suspension system 200 for the sprayer 15 provided according to an aspect of the invention. In particular, in similar arrangements, as noted above, the left front suspension assembly 160a may include a left front cylinder 164a; the right front suspension assembly 160b may include a right front cylinder 164b; the left rear suspension assembly 160c may include a left rear cylinder 164c; and the assembly of Petition 870260062976, dated 06 / 26 / 2026, p. 68 / 88 / 34 right rear suspension 160d may include a right rear cylinder 164d. The system 200 also includes accumulators 202a ad, various lines, hoses and fittings, such as T-fittings 204a ad electronically controlled dual valves 206a ad to control fluid, such as oil (hydraulic) or gas (pneumatic), stored in a reservoir 216 (Figure 5), which leaks to and from control volumes 218 of fluid in the system. Each accumulator 202 may have two chambers or portions separated by a diaphragm, with an incompressible fluid portion 212 in one and a compressible gas portion in the other 214.

[025] Each of the cylinders 164 is similar to the others and operates in a similar manner. Specifically, with further reference to Figure 5, with respect to the right front cylinder 164b, it includes a base port 208, a rod port 210, and a movable piston rod 166. Fluid in a control volume 218b enters the base port 208 (and exits at the rod port 210 in a control volume 218c) causing the piston rod 166 to extend, and fluid in the control volume 218b enters the rod port 210 (and exits at the base port 208 in the control volume 218c) causing the piston rod 166 to retract. Consequently, the base port 208 of cylinder 164b is in fluid communication via the control volume 218b with the fluid portion 212 of a respective associated accumulator 202b via an associated T-fitting 204b.In operation, when the right front wheel 44b experiences an impact, for example, the piston rod 166 retracts, causing fluid to exit the base port 208 and leak into the fluid portion 212 of the associated accumulator 202b. When the sprayer 15 moves through the impact, fluid from this chamber of the accumulator 202b leaks back into the base port 208, causing the piston rod 166 to extend to its previous position. In this way, the accumulator essentially operates as a spring, and fluid resistance in the interconnecting lines essentially acts as a damper or shock absorber. Petition 870260062976, dated 06 / 26 / 2026, p. 69 / 88 / 34 shock absorber.

[026] Valves 206 control the amount of fluid in the associated accumulator 202 so that a desired neutral position (approximately the mid-stroke position) of the piston rod 166 in each of the cylinders 164 can be achieved based on the sprayer load 15. In this way, each piston rod 166 is movable a sufficient amount in each direction to achieve the necessary pivoting movement of the articulated frame assembly 162 and the desired vehicle height can be achieved by the sprayer 15.

[027] System 200 also transversely connects the independent suspension assemblies. In particular, cylinder 164 of each suspension assembly 160 is in fluid communication with a cylinder 164 of a diagonally opposite suspension assembly 160. For example, in Figure 5, cylinder 164b is in fluid communication with the identical cylinder 164c on the diagonally opposite side of the sprayer 15. Specifically, the base port 208 of cylinder 164b is in fluid communication (through the T-fitting 204b) with the rod port 210 of cylinder 164c, and the base port 208 of cylinder 164c completes the circuit by connecting (through another T-fitting 204c) to the rod port 210 of cylinder 164b. Similarly, cylinder 164a is in fluid communication with the identical cylinder 164d on the diagonally opposite side of sprayer 15.Specifically, the base port 208 of cylinder 164a is in fluid communication (through the T-fitting 204a) with the rod port 210 of cylinder 164d, and the base port 208 of cylinder 164d completes the circuit by connecting (through another T-fitting 204d) to the rod port 210 of cylinder 164a. These interconnections are channeled transversely, in such a way that when cylinders 164a or 164b in an assembly move to an extended or retracted position (due to irregularities in the terrain or forces associated with the rotating sprayer 15), then the cylinder... Petition 870260062976, dated 06 / 26 / 2026, page 70 / 88 / 34 associated cylinder 164d or 164c, respectively, in the diagonally opposite assembly, is also propelled into the same extended or retracted position. Similarly, if cylinder 164d or 164c is forced into an extended or retracted position, then the associated cylinder 164a or 164b, respectively, in the diagonally opposite assembly would be propelled into the same extended or retracted position. This transverse action of the cylinders helps to keep the sprayer 15 in a stable horizontal orientation, so that the chassis 20 remains level and the approximately constant weight distribution to all four wheels is maintained.

[028] In addition, a pressure sensor 220 may be arranged in relation to each control volume 218. Each pressure sensor 220 may be configured to generate an electrical signal to the suspension control system to indicate a pressure of a corresponding control volume 218. In one aspect, the pressure sensors 220 could be arranged as in-line fittings with the valves 206. For example, as shown in Figure 5, a pressure sensor 220b, arranged as an in-line fitting with the valve 206b, may generate a signal indicating a pressure of the control volume 218b. Similarly, an optional temperature sensor 222 may be arranged in relation to each control volume 218. Each temperature sensor 222, when configured, may generate an electrical signal to the suspension control system to indicate a temperature of a corresponding control volume 218.In one aspect, the temperature sensors 222 could be arranged as in-line fittings with the valves 206. For example, as shown in Figure 5, a temperature sensor 222b, arranged as an in-line fitting with the valve 206b, can generate a signal indicating a temperature of the control volume 218b.

[029] A level orientation of the sprayer 15 maintains the approximately constant weight distribution between the wheels 44 and the tires. Petition 870260062976, dated 06 / 26 / 2026, pp. 71 / 88 / 34 45. This, in turn, reduces overall soil compaction, reduces injury to crop roots, and improves traction effort when low soil adhesion conditions exist, such as under turbid conditions. Suspension Control

[030] Referring now to Figure 6, a suspension control system 230 can be configured to provide suspension control for the sprayer 15. The suspension control system 230 may include a controller 232 that has a processor 233 communicating with the position sensors 180, the pressure sensors 220, the temperature sensors 222 and the valves 206. The processor 233 may communicate with the position sensors 180, the pressure sensors 220, the temperature sensors 222 and / or the valves 206, for example, via a Society of Automotive Engineers (SAE) J1939 bus, an International Organization for Standardization (ISO) 11783 bus, an ISO 11898 bus and / or another Controller Area Network (CAN) bus or other communications system.Processor 233 can communicate with position sensors 180, pressure sensors 220, temperature sensors 222 and / or valves 206 periodically, for example, with an update rate on the order of at least 50 milliseconds. Processor 233 can execute a program 234 stored in a non-transient medium 236 to receive signals from position sensors 180, pressure sensors 220 and / or temperature sensors 222, and provide signals to valves 206 to change control volumes 218, to ideally control the suspension system as described in this document.

[031] In further reference to Figure 7, in one aspect, in block 240, processor 233 can execute to determine a suspension height (Hs) for each suspension assembly 160 from a position indicated by a position sensor 180 configured relative to a cylinder 164 of the assembly. Petition 870260062976, dated 06 / 26 / 2026, page 72 / 88 / 34 of suspension 160, which provides a stroke (S), which includes as described above in relation to Figure 3. With the suspension heights (Hs) for each of the calculated 160 suspension sets, processor 233 can then execute to calculate one or more of the sprayer 15 characteristics in block 242, the articulation (A), roll (R), spacing (P), and / or machine height (H), as described in this document, to determine articulation height corrections (indicated by “AHcor”), roll height corrections (indicated by “RHcor”), spacing height corrections (indicated by “PHcor”) and / or machine height corrections (indicated by “MHcor”), respectively.Each of the preceding height corrections can be calculated in order of priority to determine their respective contributions to the height corrections (Rcor), as target height corrections (Rcor'), to optimize the suspension assemblies 160. In this way, the suspension control system can represent, for multiple suspension characteristics, one after the other, provided that the appropriate suspension heights (Hs) are available, which include maintaining a user-defined clearance (C) and / or a zero frame orientation relative to the horizon (Figure 8). Such suspension heights (Hs) may be limited by maximum piston rod lengths 166 (Smax).

[032] Although any of the articulation, roll, tilt, and / or machine height characteristics may be considered in the suspension system in any order of priority, articulation is, in particular, considered first. Articulation is a comparison between diagonally opposite suspension heights (Hs) of the sprayer 15. Articulation can be calculated as a difference between a first average of suspension heights (Hs) of the left front and right rear suspension assemblies 160a, 160d and a second average of suspension heights (Hs) of the right front and left rear suspension assemblies 160b, 160c to determine Petition 870260062976, dated 06 / 26 / 2026, p. 73 / 88 / 34 joint height corrections (AHcor). The joint height corrections (AHcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in a first addition block 244, to maintain the proper extension suspension height (Hs).

[033] Roll is a comparison between left-side and right-side suspension heights (Hs) of sprayer 15. Roll can be calculated as a difference between a first average of suspension heights (Hs) of the left front and left rear suspension assemblies 160a, 160c and a second average of suspension heights (Hs) of the right front and right rear suspension assemblies 160b, 160d to determine roll height corrections (RHcor). The roll height corrections (RHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first addition block 244, to maintain the proper extension suspension height (Hs).

[034] The clearance is a comparison between the front and rear suspension heights (Hs) of the sprayer 15. The clearance can be calculated as a difference between a first average of suspension heights (Hs) of the left and right front suspension assemblies 160a, 160b and a second average of suspension heights (Hs) of the left and right rear suspension assemblies 160c, 160d to determine clearance height corrections (PHcor). The clearance height corrections (PHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first addition block 244, to maintain the proper extension suspension height (Hs).

[035] Machine height is a comparison between a total clearance for the sprayer 15 (C) over crops and the ground below, which can be provided as input from an operator and an addition of the lamination circumference (Rsl) and the vertical distance between the point of Petition 870260062976, dated 06 / 26 / 2026, p. 74 / 88 / 34 pivot 170 and the lowest central area of ​​the chassis 20 (Hbp). The clearance (C), an adjustable value, can typically be adjusted by an operator to 1.91 m (75 inches). Mathematically, the machine height can be expressed as C - (Rsl + Hbp). An average machine height can be determined and uniformly applied to each of the 160 suspension assemblies as machine height corrections (MHcor). The machine height corrections (MHcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first addition block 244, to maintain the proper extension suspension height (Hs).

[036] Next, target height corrections (Rcor') can be applied to the suspension heights when piston rod 166 is fully retracted (Hmin) in a second addition block 246 to determine target suspension heights (Hs') that are optimized for suspension assemblies 160. From the target suspension heights (Hs') and the predetermined, derived, and aforementioned parameters, the target strokes (S') can then be geometrically calculated, as per the equation: S' = (_AA2+_FA2-2*_A*_F*COS(ACOS((Hs') / _D)-_tc-_ac))A0.5-_ HCmin.

[037] Then, with further reference to Figure 8, processor 233 can be run to control valves 206 in a closed-loop control system 260 (see Figure 8) to leak fluid into or from control volumes 218 to minimize an error value (E) between certain (target) values ​​and measured values. Tire Deflection

[038] Furthermore, in one aspect, in block 250, processor 233 can be run to determine the static load rolling circumference suspension height (Rsl) for each tire 45 from a pressure indicated by a pressure sensor 220 set relative to a control volume 218 to operate a cylinder 164 of the suspension assembly 160, which Petition 870260062976, dated 06 / 26 / 2026, page 75 / 88 / 34 provides a pressure (indicated by “p”), which includes as described above in relation to Figure 5. In particular, processor 233 can convert the pressures (p) to determine downward forces on the tires 45. The downward forces on the tires 45 could be determined, for example, by first calculating the first forces from the first pressures on the first sides of the cylinders 164 of the suspension assemblies 160 so that the tires 45 are mounted, calculating the second forces from the second pressures on the second sides of the cylinders 164 of the suspension assemblies 160 so that the tires 45 are mounted, and comparing the first and second forces. The first sides of cylinders 164 could include base 168 and base port 208, and the second side of the cylinder could include piston rod 166 and rod port 210.The first force is therefore a product of the first pressure and the area of ​​the first side, and the second force is therefore a product of the second pressure and the area of ​​the second side. However, a certain portion of the area of ​​the second side is consumed by the piston rod 166; this portion is subtracted from the area of ​​the second side to determine the second force. The downward force is then determined as the difference between the first and second forces.

[039] With the forces down, the processor can then reference data structure 238 to compare tire dimensions (indicated by “R”) with applied forces (indicated by “F”) over a working range (indicated by “WR”), as described above in relation to Figure 3. Generally, over the working range (WR), tire dimensions (R) change proportionally with the applied force (F). From data structure 238, an accurate static load rolling circumference (Rsl), reduced by a deflection value (Rcor), can be determined for each tire 45.

[040] According to the calculations above, regarding the suspension heights (Hs), with the static load rolling circumference (Rsl) for each tire calculated, processor 233 can be run to calculate Petition 870260062976, dated 06 / 26 / 2026, p. 76 / 88 / 34 one or more of the sprayer characteristics 15 in block 252, the articulation (A), the roll (R), the spacing (P), and / or the machine height (H), due to tire deflection or squat, to determine the articulation tire height corrections (indicated by “ARcor”), roll tire height corrections (indicated by “RRcor”), spacing tire height corrections (indicated by “PRcor”) and / or machine tire height corrections (indicated by “MHRcor”), respectively. Each of the preceding tire height corrections can be calculated in order of priority to determine respective contributions to the tire height corrections (Rcor), as target tire height corrections (Rcor'), to further optimize the suspension assemblies 160.Thus, the suspension control system can account for multiple tire deflection or squat characteristics, one after the other, provided that the appropriate suspension heights (Hs) remain available.

[041] Although any of the machine's articulation, roll, pitch, and / or tire height characteristics may be considered in the suspension system in any order of priority, articulation is, in particular, considered first. Articulation is a comparison between diagonally opposite static load rolling circumferences (Rsl) of the sprayer 15. Articulation can be calculated as a difference between a first average of static load rolling circumferences (Rsl) of the front left and rear right tires 45a, 45d and a second average of static load rolling circumferences (Rsl) of the front right and rear left tires 45b, 45c to determine articulation tire height corrections (ARcor).The articulation tire height corrections (ARcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first addition block 244, to maintain the proper extension suspension height (Hs). Petition 870260062976, dated 06 / 26 / 2026, pp. 77 / 88 / 34

[042] Roll is a comparison between static load rolling circumferences of the left and right sides (Rsl) of the sprayer 15. Roll can be calculated as a difference between a first average of static load rolling circumferences (Rsl) of the left front and left rear tires 45a, 45c and a second average of static load rolling circumferences (Rsl) of the right front and right rear tires 45b, 45d to determine rolling tire height corrections (RRcor). The rolling tire height corrections (RRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first addition block 244, to maintain the proper extension suspension height (Hs).

[043] The clearance is a comparison between front and rear static load rolling circumferences (Rsl) of the sprayer 15. The clearance can be calculated as a difference between a first average of static load rolling circumferences (Rsl) of the front left and front right tires 45a, 45b and a second average of static load rolling circumferences (Rsl) of the rear left and rear right tires 45c, 45d to determine clearance tire height corrections (PRcor). The clearance tire height corrections (PRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first addition block 244, to maintain the proper extension suspension height (Hs).

[044] Machine height is a comparison between static load rolling circumferences (Rsl) of each 45 tire of the 15 sprayer. An average of static load rolling circumferences (Rsl) can be calculated to determine machine height tire corrections (MHRcor). The machine height tire corrections (MHRcor) can then be applied to the target height corrections (Rcor') for the Petition 870260062976, dated 06 / 26 / 2026, p. 78 / 88 / 34 sets of 160 suspension in the first addition block 244, to maintain the proper extension suspension height (Hs).

[045] Then, the target height corrections (Rcor'), with corrections for suspension assembly and / or tire characteristics 45, can be applied to the suspension heights when the piston rod 166 is fully retracted (Hmin) in the second addition block 246 to determine the target suspension heights (Hs') that are optimized for the suspension assemblies 160. From the target suspension heights (Hs') and the predetermined, derived and aforementioned parameters, the target strokes (S') can then be geometrically calculated to provide a closed-loop control system 260 as described above. Closed-Loop Control

[046] Referring now to Figure 8, the processor 233 can execute the closed-loop control system 260 to control the valves 206 to leak fluid to or from the control volumes 218 to minimize an error value (E) between certain (target) values ​​and measured values. In particular, in block 262, the processor 233 can determine the target control volumes 218 (indicated by “CV’”) that correspond to the target strokes (S’) for the cylinders 164 and a pressure (p) indicated by a pressure sensor 220 from a control volume 218 to the cylinder 164 to ultimately produce the target strokes (S’) in a steady state or equilibrium condition.Furthermore, in block 264, processor 233 can determine a measured quantity of fluid in each control volume 218 using a position indicated by a position sensor, the stroke (S) set relative to a cylinder 164 and a pressure (p) indicated by a pressure sensor 220 from a control volume 218 to cylinder 164.

[047] For example, again, with reference to Figure 5, the amount of fluid in each control volume 218 can be determined Petition 870260062976, dated 06 / 26 / 2026, page 79 / 88 / 34 adding a first volume of a cylinder 164 that has a portion of the control volume 218 (like the base 168 of cylinder 164b that has a first portion of the control volume 218b), a second volume of the fluid portion 212 of an accumulator 202 that has a second portion of the control volume 218 (like the fluid portion 212 of accumulator 202b that has a second portion of the control volume 218b) and a third volume of a diagonally opposite cylinder 164 that has a third portion of the control volume 218 (like the piston rod side 166 of cylinder 164c that has a third portion of the control volume 218b). In most systems, the interconnection lines between cylinders 164, accumulators 202 and valves 206 may be negligible; however, an additional constant could be added to account for this volume within the scope of the invention.

[048] The base volume 168 of cylinder 164 can be readily calculated based on the dimensions of cylinder 164 and the stroke (S) of piston rod 166 for the measured control volume (CV) (or the stroke (S') for the target control volume (CV')). The piston rod side volume 166 of cylinder 164 can be calculated based on the dimensions of cylinder 164 and the stroke (S) of piston rod 166, less the volume consumed by piston rod 166 in the stroke (S), for the measured control volume (CV) (or the stroke (S') for the target control volume (CV')). The volume of the fluid portion 212 of accumulator 202 can be indirectly calculated by first determining a volume of the gas portion 214 of accumulator 202, then subtracting the volume of the gas portion 214 from the total volume of accumulator 202.The volume of gas portion 214 can be approximated using the ideal gas law: pV=nRT; where “p” is the pressure of the gas in gas portion 214; “V” is the volume of gas portion 214 to be dissolved; “n” is the amount of gas (in mol) in gas portion 214; “R” is the ideal or universal gas constant, equal to the product of the Boltzmann constant and Avogadro's constant; and “T” is the absolute temperature of the gas. Petition 870260062976, dated 06 / 26 / 2026, pages 80 / 88 / 34 The gas pressure “p” in gas portion 214 can be approximated to be equal to the pressure (p) of the control volume 218 provided by the pressure sensors 220. The quantity of gas “n” can be predetermined according to the manufacture of the accumulator 202. The gas temperature “T” can be fixed at a predetermined operating constant, or alternatively, it can be approximated to be equal to the temperature provided by the temperature sensors 222.

[049] With the target control volumes 218 (CV') and the determined measured control volumes (CV), the processor 233 can then be run to compare the target control volumes 218 (CV') and the measured control volumes 218 (CV) in a closed-loop addition 266 to produce error values ​​(E) between the two settings. The error values ​​(E) can then be applied with closed-loop control 268, such as via Proportional Integral Derivative (PID) control, to control the valves 206 to leak fluid to or from the control volumes 218 to minimize the error values ​​(E). Orientation Control

[050] The sprayer 15 can also be configured to control the orientation of the chassis frame 25 relative to the suspension assemblies 160 to prevent unwanted twisting. For example, the sprayer 15 could pass over downhill slopes to the left or right, or downhill steps at the front or rear, which twists the chassis, affecting spraying operations and / or risking loss of control. The sprayer 15 can be enabled to maintain a substantially constant orientation between chassis and horizon, in particular around 0°, using an Inertial Measurement Unit (IMU) 270, an electronic device configured to measure and report a specific body force, angular rate and / or magnetic field surrounding the body, using a combination of accelerometers, Petition 870260062976, dated 06 / 26 / 2026, p. 81 / 88 / 34 gyroscopes and / or magnetometers. The IMU 270 can detect, for example, orientations with respect to at least two geometric axes, which include: a geometric x-axis to detect slopes between chassis and horizon that cause rolling; and a geometric y-axis to detect steps between chassis and horizon that cause displacement. For example, with further reference to Figure 9A, the IMU 270 could detect an angle Θ indicating chassis-horizon roll to the right (which may be caused by a downward and rightward slope).

[051] If it is enabled to maintain a substantially constant orientation between chassis and horizon and an angle between chassis and horizon is detected, in block 272, processor 233 can then be run to apply a correction factor corresponding to the correction target to provide self-leveling. In the example of Figure 9A, this could result in a corresponding improvement in the target suspension height (Hs') on the right side to substantially level the chassis frame 25, as by roll height corrections (RHcor), to control roll, as to attenuate roll, as provided in Figure 9. Similarly, for a detected offset, processor 233 could be run to apply a correction factor corresponding to the correction target to provide self-leveling, as by offset height corrections (PHcor), to control offset, as to attenuate offset.

[052] In another aspect, whether an IMU is present or not, operator input 274 could be provided by an operator in the cab to provide desired configuration adjustments, such as clearance (C). A vehicle speed sensor and a turning angle sensor could provide measurements used by processor 233 in comparison to a lookup table 278. If an output from the speed sensor and / or the turning angle sensor exceeds a limit, processor 233 can be run to Petition 870260062976, dated 06 / 26 / 2026, pp. 82 / 88 / 34 apply clearance height corrections (PHcor) and / or roll height corrections (RHcor) to control clearance and / or roll at a desired target, which could be set to attenuate clearance and / or roll. In one aspect, research table 278 could trigger overcompensation (zero past) of the suspension to account for “winding” between chassis frame 25 and spray boom 17. Alternative Suspension System

[053] It should be noted that several aspects of the invention could also be applied to alternative suspension systems. For example, with further reference to Figure 10, an alternative suspension system 300 could be implemented on the sprayer 15. The suspension system 300 could include a cylinder 302, such as cylinder 164. Cylinder 302 could be a single or double-acting cylinder that is responsive to a fluid in a control volume, such as an oil (hydraulic) or gas (pneumatic). In addition, cylinder 302 could include a piston rod 304 configured to extend and retract relative to a base 306. Cylinder 302 could be operationally coupled to an upper support assembly 308, which operates as an articulated frame assembly, at an actuation point 310, such as actuation point 176, which could be on a relative edge of the chassis 20.Cylinder 302 could also be operationally coupled to a middle support assembly 312 at a cylindrical point 314, such as cylindrical point 174. Suspension system 300 could also include an air bag 316 to absorb impacts. The air bag 316 could be operationally coupled to the middle support assembly 312, mounted below. The air bag 316 could also be operationally coupled to a lower support assembly 318. The lower support assembly 318 could include a center point 320, such as center point 172, to mount wheel 44 (or multiple wheels, including one). Petition 870260062976, dated 06 / 26 / 2026, pp. 83 / 88 / 34 continuous band of bearings or track plates for drive). This arrangement allows the action of cylinder 302 at actuation point 310 to cause the upper support assembly 308 to slide up and down at slide points 322, along upper sliding guides 324 mounted on an upper side of the middle support assembly 312, between the middle support assembly 312 and the chassis 20. This arrangement also allows the action of the air bag 316 to cause the lower support assembly 318 to slide up and down at slide points 326, along lower sliding guides 328 mounted on a lower side of the middle support assembly 312.In one aspect, the base 306 of each cylinder can be operationally coupled to the actuation point 310 and the piston rod 166 of each cylinder can be operationally coupled to the cylindrical point 314, as shown in Figure 10. However, in another aspect, the base 168 of each cylinder can be operationally coupled to the cylindrical point 314 and the piston rod 166 of each cylinder can be operationally coupled to the actuation point 310. The cylinder 302 and the air bag 316 can allow adjustment of the suspension system 300 to a predetermined adjustable clearance (C), as determined by the operator, which provides an overall sprayer height of 15. The suspension control system 230 (Figure 6) could be applied in relation to the cylinder 306 to allow following more uneven terrain than that provided by the bag 316.

[054] Although the best method contemplated by the inventors for carrying out the present invention is revealed above, the practice of the invention above is not limited to it. It will be clear that various additions, modifications and new arrangements of the functions of the present invention can be made without departing from the spirit and scope of the underlying inventive concept. Petition 870260062976, dated 06 / 26 / 2026, pp. 84 / 88

Claims

1 / 3 Claims 1. SUSPENSION CONTROL SYSTEM PROVIDING GUIDANCE CONTROL FOR AN AGRICULTURAL MACHINE, comprising: a plurality of suspension assemblies (160), each suspension assembly comprising a set of articulated frames (162) and a cylinder (164), each cylinder (164) comprising a piston rod (166) configured to extend and retract relative to a base (168), wherein the set of articulated frames (162) is coupled to the agricultural machine, and the cylinder (164) being operationally coupled to the set of articulated frames (162) at an actuation point (176); a plurality of position sensors (180), wherein each position sensor (180) is configured in relation to a cylinder (164), wherein each position sensor (180) is configured to generate a signal that indicates a position of a piston rod (166) in relation to a base (168);a plurality of electronically controlled valves (206), each electronically controlled valve (206) being configured to control a fluid flow rate to and from a control volume (218) to operate a cylinder (164); a vehicle sensor configured to provide an output, the vehicle sensor being selected from the group consisting of: a speed sensor configured to provide an output indicating the speed of the agricultural machine and a yaw angle sensor configured to provide an output indicating the yaw angle of the agricultural machine;and the controller (232) in communication with the plurality of position sensors (180), the plurality of electronically controlled valves (206) and the vehicle sensor, wherein the orientation control is done Petition 870260062976, dated 06 / 26 / 2026, page 85 / 88 2 / 3 by a controller (232) that: determines a height for each suspension assembly from a position indicated by a position sensor (180) configured in relation to a cylinder (164) of the suspension assembly; calculates at least one of the agricultural machine's offset and roll to determine a height correction for each suspension assembly, wherein the offset is a comparison between the front and rear heights of the agricultural machine, and the roll is a comparison between the left and right side heights of the agricultural machine; compares the output of the vehicle sensor to a limit;and controls the electronically controlled valves (206) to change the control volumes to apply height corrections when the output exceeds the limit; characterized in that the clearance and roll are calculated to determine a clearance height correction (PHcor) and a roll height correction (RHcor) for each suspension assembly (160), respectively, and wherein the height correction for each suspension assembly comprises an addition of the clearance height correction (PHcor) and the roll height correction (RHcor).

2. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the plurality of suspension assemblies (160) consists of a left front suspension assembly (160a), a right front suspension assembly (160b), a left rear suspension assembly (160c) and a right rear suspension assembly (160d).

3. SUSPENSION CONTROL SYSTEM, according to claim 2, characterized in that the clearance is a difference between an average of the heights of the left front suspension assemblies (160a) and right front suspension assemblies (160b) and an average of the heights of the left rear suspension assemblies (160c) and right rear suspension assemblies (160d), and the roll is a difference between an average of the heights of the left front suspension assemblies (160a) and left rear suspension assemblies (160c) and an average of the heights of the right front suspension assemblies (160b) and right rear suspension assemblies (160d).

4. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the electronically controlled valves (206) are controlled to attenuate a drift or a roll.

5. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that it further comprises an Inertial Measurement Unit (IMU) (207) configured to detect an angle between chassis (20) and the horizon.

6. SUSPENSION CONTROL SYSTEM, according to claim 5, characterized in that the controller (232) is additionally designed to control the valves (206) for controlling the angle between chassis (20) and horizon.

7. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the electronically controlled valves (206) are controlled in closed-loop Proportional Integral Derivative (PID) control systems.

8. AGRICULTURAL SPRAYER, characterized by having a suspension system as defined in claims 1 to 7. Petition 870260062976, dated 06 / 26 / 2026, pp. 87 / 88

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