Suspension systems, and related agricultural vehicles and methods

Abstract

A suspension system includes a first arm rotatably coupled to a chassis through a first actuator. The suspension system further includes a second arm rotatably coupled to the first arm through a second actuator, and a wheel operatively coupled to the second arm. Related agricultural vehicles and methods are also disclosed.

Description

TITLESUSPENSION SYSTEMS, AND RELATED AGRICULTURAL VEHICLES AND METHODSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of the filing date of U. K. Patent Application 2308435.3, "Suspension Systems, and Related Agricultural Vehicles and Methods," filed June 6, 2023, the entire disclosure of which is incorporated herein by reference.FIELD

[0002] Embodiments of the present disclosure relate generally to suspension systems. In particular, embodiments of the present disclosure relate to suspension systems for agricultural vehicles, and to related agricultural vehicles and related methods.BACKGROUND

[0003] Agricultural applicators are used to spread agricultural materials (e.g., chemicals) along a field in liquid or solid form. Applicators generally include a self-powered vehicle that includes a chassis with axles and multiple wheels attached to the chassis, with the axles being spaced above the rotational axis of the wheels so that the axles present an elevated axle clearance above the ground. Consequently, applicators are operable to traverse a crop field while much of the chassis is elevated above the associated crop to avoid brushing, trampling, or otherwise harmfully contacting the crop.

[0004] Chemicals, such as fertilizer, may be applied with an applicator including beams extending from the applicator and having nozzles for delivering the chemicals to the crops. It may be desirable to deliver the chemicals to the crops during various stages of a crop cycle. In order to cover all stages of the crop cycle, the height of the applicator may be adjusted to keep nozzles of the applicator at the proper height from the target to reduce drift of the chemical (e.g., the amount of chemical that does not reach the target) and reduce a likelihood of contamination. Regulations to reduce the drift may require lowering the boom height to reduce the distance between the crops and the nozzles. However, the suspensionsystem of the boom may not be adequate to maintain the nozzles at the proper height, increasing the drift of the application process.BRIEF SUMMARY

[0005] Embodiments of the disclosure include a suspension system. The system includes a first arm rotatably coupled to a chassis through a first actuator. The system further includes a second arm rotatably coupled to the first arm through a second actuator. The system also includes a wheel operatively coupled to the second arm. The first actuator is synchronized to the second actuator.

[0006] In some aspects, at least one of the first actuator and the second actuator includes a hydraulic actuator.

[0007] The suspension system may also include an accumulator positioned in series with the first actuator and the second actuator.

[0008] In additional aspects, the suspension system includes a valve between the accumulator and the first actuator. The valve includes an opening smaller than an opening at any of the accumulator, the first actuator, and the second actuator.

[0009] In some embodiments, the suspension system includes manifold configured to control hydraulic pressure to the first actuator and the second actuator.

[0010] In some aspects of the disclosure the manifold includes at least two valves. A first valve of the at least two valves is configured to control the hydraulic pressure to a first side of the each of the first actuator and the second actuator. A second valve of the at least two valves is configured to control the hydraulic pressure to a second side of each of the first actuator and the second actuator.

[0011] In some aspects, the suspension system includes a drive hub coupling the wheel to the second arm.

[0012] In some aspects, an agricultural vehicle includes a chassis, a wheel coupled to the chassis, and a suspension system coupled between the chassis and the wheel. The suspension system includes an arm rotatably coupled to the chassis by a rotating hydraulic actuator. The suspension system further includes an accumulator hydraulically coupled to the rotating hydraulic actuator.

[0013] In some aspects one or more sensors are operably coupled to the agricultural vehicle. The one or more sensors may be selected from the group consisting of position sensors, accelerometers, gyrometers, and pressure sensors.

[0014] In some aspects, the agricultural vehicle includes a controller configured to receive information from the one or more sensors. In some embodiments, the controller is configured to adjust a position of the hydraulic actuator responsive to the information received from the one or more sensors.

[0015] The agricultural vehicle may also include an additional accumulator hydraulically coupled to the hydraulic actuator by an isolation valve.

[0016] The agricultural vehicle may also include an additional hydraulic actuator connected in series with the hydraulic actuator.

[0017] The agricultural vehicle may also include a steering assembly coupled between the arm and the chassis.

[0018] In additional aspects, a method of adjusting a height of an agricultural vehicle includes rotating a first arm coupled to a chassis of the agricultural vehicle with a first actuator, rotating a second arm coupled to a wheel of the agricultural machine with a second actuator, the first arm coupled to the second arm at a pivot. The method further includes stopping rotation of the first actuator and the second actuator when the chassis reaches a desired height.

[0019] In some aspects, the method includes receiving information from one or more sensors positioned on the agricultural vehicle, and determining, from the information received from the one or more sensors, one or more of a position of the first arm, a position of the second arm, a pressure in the first actuator, a pressure in the second actuator, a movement of the agricultural machine, and an orientation of the agricultural machine.

[0020] In some embodiments, responsive to receiving the information from the one or more sensors coupled to the agricultural vehicle, the method includes rotating at least one of the first arm and the second arm to adjust a distance between the wheel and the chassis.

[0021] In an aspect, the method further includes, rotating an actuator individually operably coupled to each wheel of the agricultural vehicle to adjust a distance between each wheel and the chassis.

[0022] In some aspects, the method includes adjusting a distance between the wheel and the chassis without substantially changing another distance between another wheel and the chassis.

[0023] In some aspects of the disclosure, responsive to determining the orientation of the agricultural machine, the method includes increasing a height of the chassis at one of a front of the agricultural vehicle, a back of the agricultural vehicle, or one side of the agricultural vehicle to substantially level the agricultural vehicle.BRIEF DESCRIPTION OF THE DRAWINGS

[0024] While the specification concludes with claims particularly pointing out and distinctly claiming what are regarded as embodiments of the present disclosure, various features and advantages may be more readily ascertained from the following description of example embodiments when read in conjunction with the accompanying drawings, in which:

[0025] FIG. 1 is a front perspective of an agricultural applicator;

[0026] FIG. 2 illustrates a side view of a suspension system of the agricultural application of FIG. 1;

[0027] FIGS. 3A and 3B illustrate schematic views of the suspension system of FIG. 2 in different positions;

[0028] FIG. 4 illustrates a hydraulic schematic of a hydraulic suspension system; and

[0029] FIG. 5 illustrates a flow chart illustrating of a method of adjusting a height of a vehicle;

[0030] FIG. 6 illustrates a control diagram of a hydraulic suspension system.DETAILED DESCRIPTION

[0031] The illustrations presented herein are not actual views of any agricultural machine or portion thereof, but are merely idealized representations to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

[0032] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosuremay be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional acts and structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

[0033] As used herein, the terms "comprising," "including," "containing," "characterized by," and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0034] As used herein, the term "may" with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term "is" so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

[0035] As used herein, the term "configured" refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

[0036] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0037] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0038] As used herein, spatially relative terms, such as "beneath," "below," "lower," "bottom," "above," "upper," "top," "front," "rear," "left," "right," and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

[0039] As used herein, the term "substantially" in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance, such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

[0040] As used herein, the term "about" used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

[0041] As used throughout, ranges are used as shorthand for describing each and every value that is within the range. Any value within the range can be selected as the terminus of the range.

[0042] From reading the following description it should be understood that the terms "longitudinal" and "transverse" are made in relation to a machine's normal direction of travel. In other words, the term "longitudinal" equates to the fore-and-aft direction, whereas the term "transverse" equates to the crosswise direction, or left and right. Furthermore, the terms "axial" and "radial" are made in relation to a rotating body such as a shaft, wherein axial relates to a direction along the rotation axis and radial equates to a direction perpendicular to the rotation axis.

[0043] As used herein, the terms "vertical," "horizontal," and "lateral" is in reference to a major plane of a structure and are not necessarily defined by earth's gravitational field. A "horizontal" or "lateral" direction is a direction that is substantially parallel to the major plane of the structure, while a "vertical" direction is a direction that is substantially perpendicular to the major plane of the structure. The major plane of the structure is defined by a surface of the structure having a relatively large area compared to other surfaces of the structure. With reference to the drawings, a "horizontal" or "lateral" direction may be perpendicular to an indicated "Y" axis, and may be parallel to an indicated "X" axis and / or parallel to an indicated "Z" axis; and a "vertical" direction may be parallel to an indicated "Y" axis, may be perpendicular to an indicated "X" axis, and may be perpendicular to an indicated "Z" axis.

[0044] Turning initially to FIG. 1, a self-propelled, agricultural vehicle 100 (e.g., applicator or sprayer) is operable to travel along a field to apply chemicals to a crop. However, the principles of the disclosure are applicable where the vehicle 100 is used for other agricultural applications, such as towing an implement through a field including crops, harvesting crops, etc. As will be described in greater detail, the vehicle 100 has an adjustable height to shift between low clearance configurations and elevated clearance configurations while maintaining a lateral wheel spacing. The vehicle 100 broadly includes a rolling chassis 102 (also referred to as a "chassis"), cab 104, an engine, and a sprayer assembly 106 (also referred to as a "delivery system") mounted on a frame 108.

[0045] The sprayer assembly 106 is operable to apply a liquid, such as a liquid chemical (e.g., fertilizer, pesticide, herbicide, etc.), to crops over a large area. However, the principles of the disclosure are applicable where another vehicle 100 is operably supported on the rolling chassis 102. For example, the vehicle 100 may include a granular material spreader. The sprayer assembly 106 may include a boom assembly 110 and a liquid container 112. The boom assembly 110 includes a boom 114 and boom support 116 for adjustably positioning the boom 114. The boom support 116 may include a boom suspension configured to maintain the boom assembly 110 in a desired position relative to the rolling chassis 102. In some embodiments, the boom support 116 is configured to adjust a height of the boom assembly 110 relative to the rolling chassis 102. The vehicle 100 may also include alternative sprayer assemblies 106 for chemical sprayer operations. For example, features of another tilting boom sprayer are disclosed in U.S. Patent 8,464,967, "Applicator Boom Tile Frame," issued June 18, 2013.

[0046] The booms 114 of the boom assembly 110 may laterally extend from the beam support 116 and be configured to cover a large area laterally extending away from the chassis 102. Increasing a length of the booms 114 of the boom assembly 110 may reduce a number of passes to apply the chemicals to a field of crops, which may reduce a time to apply the chemicals to the field of crops. As a length of the booms 114 of the boom assembly 110 increases, minor elevational differences on ground 118 traversed by the vehicle 100 are exaggerated at the lateral ends of the booms 114. Thus, uneven surfaces of the ground 118 (e.g., hills), and suspension responses of the boom assembly 110 and the vehicle 100 may result in damage to the booms 114 and / or associated equipment, such as through contactwith the ground 118. A suspension system capable of rapidly responding to changing surfaces and independent height adjustment may facilitate the use of longer booms 114 which may effectively increase a coverage area of the associated vehicle 100.

[0047] FIG. 2 illustrates a side view of a suspension system 200 configured to couple a wheel 220 to a frame 202, such as the frame 108, of the rolling chassis 102 of the vehicle 100. The suspension system 200 may include stacked control arms including an upper control arm 204 (e.g., a first arm) and a lower control arm 206 (e.g., a second arm). The upper control arm 204 may be rotatably coupled to the frame 202 through an upper pivot 214 on a first end (e.g., upper end or proximal end) of the upper control arm 204. The upper control arm 204 may also be rotatably coupled to a lower control arm 206 through a lower pivot 212 positioned on a second end (e.g., lower end or distal end) of the upper control arm 204. The lower control arm 206 may be coupled between the upper control arm 204 at the lower pivot 212 and the wheel 220 at a hub 216. Thus, the upper control arm 204 may be operably coupled to the wheel 220 through the lower control arm 206.

[0048] At least one of the lower pivot 212 and the upper pivot 214 may individually include at least a portion of an actuator (e.g., a rotary hydraulic actuator or a rotating electric actuator). In some embodiments, each of the lower pivot 212 and the lower control arm 206 individually includes at least a portion of an actuator. As described in greater detail below, in some embodiments, the lower pivot 212 and the upper pivot 214 individually comprise an output shaft or are otherwise rotationally coupled to an output shaft of an actuator. In some embodiments, the upper pivot 214 comprises an output shaft or is rotatably coupled to an output shaft of an actuator and is fixedly coupled to the frame 202 and rotatably coupled to the upper control arm 204; and the lower pivot 212 comprises an output shaft or is rotatably coupled to an output shaft of another actuator and is fixedly coupled to the lower control arm 206 and rotatably coupled to the upper control arm 204. In other embodiments, the upper pivot 214 is formed by a rotary actuator, such that a first housing of the rotary actuator forms the side of the upper pivot 214 coupled to the frame 202 (e.g., the output shaft of the rotary actuator) and a second housing of the rotary actuator forms the side of the upper pivot 214 coupled to the upper control arm 204. Similarly, the lower pivot 212 is also formed by a rotary actuator, such that a first housing of the rotary actuator forms the side of the lower pivot 212 coupled to the upper control arm 204 (e.g., the output shaft of the rotary actuator) and asecond housing of the rotary actuator forms the side of the lower pivot 212 coupled to the lower control arm 206.

[0049] In some embodiments, the actuators are controlled individually, such that each actuator is configured to move (and the output shaft thereof is configured to rotate) independent of the other rotary actuator. In other embodiments, the actuators are commonly controlled, such that each of the actuators are synchronized (i.e., they move together). Synchronized actuators may be beneficial to keep the hub 216 vertically aligned with the upper pivot 214, or at the same relative vertical offset from the upper pivot 214. This maintains the distance between the front wheels 220 and the rear wheels 220 of the vehicle 100, which may simplify machine control. The actuator at the lower pivot 212 may be configured to rotate the lower control arm 206 relative to the upper control arm 204, such as by changing an angle 208 between the upper control arm 204 (e.g., the longitudinal axis of the upper control arm 204) and the lower control arm 206 (e.g., the longitudinal axis of the lower control arm 206) at the lower pivot 212. Similarly, the actuator at the upper pivot 214 may be configured to rotate the upper control arm 204 relative to the frame 202, such as by changing an angle 210 between the upper control arm 204 (e.g., the longitudinal axis of the upper control arm 204) and the frame 202 at the upper pivot 214 (e.g., the major surface of the frame 202, which may be substantially parallel to the ground 118). Controlling the angle 210 between the upper control arm 204 and the frame 202 at the upper pivot 214 and the angle 208 between the upper control arm 204 and the lower control arm 206 at the lower pivot 212 may facilitate controlling a height of the frame 202 relative to the hub 216 (and, therefore, the ground 118) while also improving the suspension of the vehicle 100, as described in further detail below.

[0050] The suspension system 200 may also include a control module 218 configured to control the actuators of the upper pivot 214 and / or the lower pivot 212. For example, the control module 218 may include a hydraulic manifold configured to control hydraulic pressure to one or more rotating actuators of the rotary actuators of the suspension system 200. The control module 218 may further include an electronic controller configured to control one or more actuators, such as by controlling one or more hydraulic manifolds and / or by controlling power to the actuators. The electronic controller may also be configured to monitor the suspension system 200, such as actuator positions, hydraulic pressure, rotational speed, etc.

[0051] The hub 216 may include a drive configured to drive the associated wheel 220. In some embodiments, the hub 216 includes a hydraulic drive configured to convert a fluid pressure into rotational motion of the wheel 216. For example, a pressurized fluid may flow through an impeller and induce rotation on the wheel 220 through the hub 216. In other embodiments, the hub 216 includes an electric drive configured to provide rotational motion to the wheel 220. In additional embodiments, the hub 216 includes a chain drive configured to induce rotation on the wheel 220 through a sprocket or gear in the hub 216. The chain drive is also coupled to a rotational input, such as an axle, differential, or drive (e.g., hydraulic drive or electric drive) in another location, such as on the frame 202, such that the chain drive transfers the rotational input from the other location (e.g., frame 202) to the wheel 220.

[0052] FIGS. 3A and 3B are schematic illustrations of the suspension system 200 in two different positions. FIG. 3A illustrates the suspension system 200 in a retracted configuration where an angle 208 between the upper control arm 204 and the lower control arm 206 is an acute angle (e.g., less than 90 degrees). FIG. 3B illustrates the suspension system 200 in an extended configuration where the angle 208 between the upper control arm 204 and the lower control arm 206 is an obtuse angle (e.g., greater than 90 degrees).

[0053] As discussed above, the lower pivot 212 and the upper pivot 214 may individually include an actuator, such as a hydraulic actuator and / or an electric actuator. For example, the lower pivot 212 and the upper pivot 214 may individually comprise the output shaft of the actuator or may be rotationally coupled to the output shaft of the actuator such that rotation of the output shaft of the actuator causes the respective lower pivot 212 and the upper pivot 214 to rotate. The lower pivot 212 and the upper pivot 214 may be referred to herein as being coupled to the actuator(s). In some embodiments, the lower pivot 212 may comprise the output shaft of an actuator coupled to the lower control arm 206 and the upper control arm 204 and the upper pivot 214 may comprise the output shaft of another actuator coupled to the upper control arm 204 and the frame 202. In some embodiments, the actuator is configured to translate linear motion to the rotational motion of the output shaft (and, therefore, to the respective upper pivot 214 and lower pivot 212).

[0054] In some embodiments, the lower pivot 212 and the upper pivot 214 individually comprise a portion of (e.g., an output shaft of) or are coupled to an output shaft of a hydraulic actuator (also referred to as a pneumatic actuator), such as one or more of arack and pinion actuator, a vane actuator, a scotch yoke actuator, a helical actuator, or another type of actuator. The hydraulic actuator may be driven with a fluid (e.g., hydraulic oil, air), which may be provided to the hydraulic actuator via hydraulic ports (e.g., input and output ports). The actuator may be configured to convert linear motion to rotational motion. The hydraulic actuator may include a piston configured to interface with an output shaft in manner that converts linear motion of the piston to rotational motion of the output shaft. For example, the actuator may include a piston that interfaces with an output shaft through helical teeth coupled to the output shaft, such that linear motion of the piston translates the helical teeth, which in turn, causes the output shaft to rotate. In other embodiments, the piston includes a rack-and-pinion actuator including a rack configured to interface with a pinion gear that is coupled to the output shaft. In additional embodiments, a piston is coupled to the output shaft at a point offset from a rotating axis of the output shaft, such as through a pitman arm.

[0055] In some embodiments, the hydraulic actuator includes a vane actuator including a vane driven actuator including one or more vanes coupled to the output shaft. The output shaft and vanes are rotatably positioned within a circular chamber, such that a hydraulic fluid introduced on a first side of the vane(s) induces a rotational force in a first direction and a hydraulic fluid introduced on a second side of the vanes opposite the first side of the vane(s) induces a rotational force in a second direction opposite the first direction. The direction of rotation of the output shaft may be based on the differential pressure between the hydraulic fluid on each side of the vane(s). In other embodiments, each of the lower pivot 212 and the upper pivot 214 individually includes an electric actuator (e.g., an electric motor) configured to control an angle of rotation, such as a stepper motor, or a motor with specific time to rotation angle relationships, such as a low speed DC motor. An electric actuator may also include a force multiplier, such as a gearbox configured to increase the output torque of the electric actuator.

[0056] The actuator coupled to the upper pivot 214 may be configured to change the angle 210 between the upper control arm 204 and the frame 202, and the actuator coupled to the lower pivot 212 may be configured to change the angle 208 between the upper control arm 204 and the lower control arm 206. A distance 304 between the upper pivot 214 and the hub 216 may increase responsive to an increase of the angle 208; and the distance 304 maydecrease responsive to a decrease in the angle 208. Increasing the distance 304 may result in an increased distance between the frame 202 and a surface 302 (e.g., the ground) on which the wheel 220 is resting; similarly, decreasing the distance 304 may decrease the distance between the frame 202 and the surface 302. Thus, increasing the angle 208 may result in an increased height of the frame 202 above the surface 302 and decreasing the angle 208 may result in a decreased height of the frame 202 above the surface 302. FIG. 3B illustrates an increased height relative to the height illustrated in FIG. 3A where the angle 208 in FIG. 3B is obtuse resulting in the increased distance 304 between the upper pivot 214 and the hub 216.

[0057] The actuator of the lower pivot 212 may be configured to rotate between about 0 degrees and 180 degrees, such that the angle 208 may be within the range of from about 0 degrees to about 180 degrees. When the angle 208 is about 0 degrees there may be little to no distance 306 between the hub 216 and the upper pivot 214. When the angle 208 is about 180 degrees the distance 304 between the upper pivot 214 and the hub 216 may be equivalent to the combination of the length of the upper control arm 204 and the lower control arm 206.

[0058] In some embodiments, the actuator of the upper pivot 214 may rotate to adjust the distance between the lower pivot 212 and the frame 202 (and, therefore, the distance 304). For example, increasing the angle 210 may increase the distance 304; and decreasing the angle 210 may decrease the distance 304. The angle 210 may be within a range of from about 0 degrees to about 90 degrees.

[0059] In some embodiments, the actuator of the lower pivot 212 is rotated to cause the angle 208 to increase and the actuator of the upper pivot 214 is simultaneously rotated to cause the angle 210 between the frame 202 and the upper control arm 204 to increase. The increasing angle 210 in conjunction with the increasing angle 208 may further increase a height of the frame 202 above the surface 302. For example, the maximum height of the frame 202 above the surface 302 is achieved when the angle 210 between the frame 202 and the upper control arm 204 is about 90 degrees and the the angle 208 between the upper control arm 204 and the lower control arm 206 is about 180 degrees. In other embodiments, the actuator of the lower pivot 212 is rotated to cause the angle 208 to increase independent of the actuator of the upper pivot 214 and the actuator of the upper pivot 214 in rotated tocause the angle 210 between the frame 202 and the upper control arm 204 to increase independent of the actuator of the lower pivot 212.

[0060] In some embodiments, the actuators of the upper pivot 214 and the lower pivot 212 are commonly controlled, such that the actuators of the upper pivot 214 and the lower pivot 208 maintain a vertical alignment between the hub 216 and the upper pivot 214 (e.g., the upper pivot 214 is laterally centered within lateral boundaries defined by the wheel 220). In other embodiments, the actuators in the upper pivot 214 and the lower pivot 212 may be controlled individually, such that the angles 208 and 210 are adjusted independent of one another. For example, individually controlling the upper pivot 214 and the lower pivot 212 may facilitate control of suspension characteristics, such as by adjusting the caster (e.g., vertical alignment) of the suspension system 200. By way of non-limiting example, the upper pivot 214 and the lower pivot 208 may be controlled to position the hub 216 in front of the upper pivot 210 in the direction of travel of the associated vehicle 100 (e.g., in a positive caster position), which may result in increased stability (e.g., the vehicle 100 is more likely to travel in a straight line).

[0061] In some embodiments, the upper control arm 204 and the lower control arm 206 have substantially the same length. Thus, when fully extended, the distance 304 between the upper pivot 214 and the hub 216 is about two times the length of either of the upper control arm 204 or the lower control arm 206. In other embodiments, the upper control arm 204 and the lower control arm 206 have unequal lengths, such that one of the upper control arm 204 and the lower control arm 206 is longer than the other of the upper control arm 204 and the lower control arm 206. For example, different lengths of the upper control arm 204 and the lower control arm 206 may result in the hub 216 and the upper pivot 214 being out of vertical alignment in certain positions, which may change clearance considerations for the wheels 220 at lower heights and may facilitate larger ranges of motion and / or lower heights.

[0062] Each of the upper control arm 204 and the lower control arm 206 may have a length within a range of from about 20 cm to about 100 cm, such as from about 20 cm to about 50 cm, from about 50 cm to about 75 cm, or from about 75 cm to about 100 cm. However, the disclosure is not so limited, and the length of the upper control arm 204 and the lower control arm 206 may be different than those described. The length of the upper control arm 204 and the lower control arm 206 may be determined, at least partially, based on anamount of height adjustment desired between the ground and the frame 202 (e.g., which may depend on, for example, the types of crops the vehicle 100 will be used for).

[0063] FIG. 4 illustrates a schematic of an embodiment of a hydraulic suspension system 400. The hydraulic suspension system 400 may include a pump 402 and a manifold 404 configured to control hydraulic pressure in the hydraulic suspension system 400, as well as the movement of actuators 406, 408. The actuators 406, 408 may correspond to the actuators of the lower pivot 212 and the upper pivot 214 and may include hydraulic actuators. The manifold 404 may be configured to control a rotational movement and direction of the actuators 406, 408 (e.g., the output shafts of the actuators 406, 408). For example, the pump 402 may direct fluid pressure provided by the pump 402 to a first side 418 of the actuators 406, 408, or a second side 420 of the actuators 406, 408. A higher pressure applied to the first side 418 of the actuators 406, 408 relative to the second side 420 of the actuators 406, 408 may cause the output shaft of the actuators 406, 408 to rotate in a first direction and a higher pressure applied to the second side 420 of the actuators 406, 408 relative to the first side 418 may cause the output shaft of the actuators 406, 408 to rotate in a second direction, opposite the first direction. Rotating the output shaft of the actuators 406, 408 in the first direction may be configured to increase respective angles (e.g., the angles 304, 308 (FIGS. 3A and 3B)) between arms (e.g., upper control arm 204, lower control arm 206 (FIGS. 2-3B)) coupled to the actuators 406, 408. Rotating the output shaft of the actuators 406, 408 in the second direction may be configured to decrease the respective angles (e.g., the angles 304, 308 (FIGS. 3A and 3B)) between arms (e.g., upper control arm 204, lower control arm 206 (FIGS. 2-3B)) coupled to the actuators 406, 408.

[0064] The actuators 406, 408 may be coupled in series, such that each of the actuators 406, 408 is influenced by a substantially same pressure on a same side of the actuators 406, 408. For example, a first actuator 406 may be positioned between an upper arm (e.g., upper control arm 204 (FIGS. 2-3B) and a frame (e.g., frame 202 (FIGS. 2-3B) and an output shaft of the first actuator 406 may correspond to or be rotationally coupled to the upper pivot 214; and a second actuator 408 may be positioned between the upper arm and a lower arm (e.g., lower control arm 206 (FIGS. 2-3 B)) and an output shaft of the second actuator 408 may correspond to or be rotationally coupled to the lower pivot 208. When a pressure is applied to the first side 418 of the first actuator 406 by the manifold 404 and thepump 402, the output shaft of the first actuator 406 rotates in the first direction, increasing the angle between the upper arm and the frame. The pressure is also transmitted to the first side 418 of the second actuator 408, such that the output shaft of the second actuator 408 rotates in the first direction increasing the angle between the upper arm and the lower arm. The combined increase of the angles may cause a height of the associated vehicle (e.g., vehicle 100) to increase. Similarly, when a pressure is applied to the second side 420 of the second actuator 408 by the manifold 404 and the pump 402, the output shaft of the second actuator 408 rotates in the second direction decreasing the angle between the upper arm and the lower arm. The pressure is also transmitted to the second side 420 of the first actuator 406, such that the output shaft of the first actuator 406 rotates in the second direction, decreasing the angle between the upper arm and the frame. The combined decrease in the angles may cause a height of the associated vehicle to decrease.

[0065] The hydraulic suspension system 400 may include a valve 410 (e.g., a solenoid valve) in-line (e.g., in series) with the actuators 406, 408. The valve 410 may be sized and configured to restrict fluid flow in the hydraulic line (e.g., a flow of hydraulic oil or air in the hydraulic line). A cross-sectional area of an opening of the valve 410 is less than a crosssection of the adjoining hydraulic lines and the openings to the other components in the hydraulic suspension system 400, such as the actuators 406, 408. In some embodiments, the valve 410 comprises a pulsed solenoid valve, such as a pulse width modulation (PWM) valve configured to facilitate variable control of the flow of hydraulic fluid through the valve 410 by pulsing the valve 410, such as by electronic actuation of the valve 410. Restricting fluid flow in the line (such as by pulsing the fluid flow through the valve 410) may reduce the rate of a change in position of the actuators 406, 408 or a change in pressure in the associated hydraulic line. For example, a sudden impact, such as when the wheel (e.g., wheel 220 (FIGS. 2-3B)) contacts a bump or rock, may cause a sudden increase or decrease in pressure in the line and may move the upper control arm 204 and the lower control arm 206, decreasing or increasing the respective angles 304, 308. The valve 410 may restrict the flow of fluid into or out of the actuators 406, 408 which may resist the rotation of the actuators 406, 408, dampening the effect of the impact on the vehicle. Thus, the valve 410 may have a similar effect on the hydraulic suspension system 400 as a dampener or shock absorber in a conventional suspension system.

[0066] The hydraulic suspension system 400 may also include one or more accumulators 412, 414. The accumulators 412, 414 may be configured to maintain a pressure in the hydraulic suspension system 400 when the manifold 404 is closed and the pump 402 is not increasing or decreasing the pressure of the hydraulic suspension system 400. The accumulators 412, 414 include a closed side 422 and an open side 424. The closed side 422 includes a fluid (such as a gas) that can be compressed (i.e., a compressible fluid). The open side 424 is coupled to the fluid in the hydraulic suspension system 400. Thus, an increase in pressure in the hydraulic suspension system 400 compresses the fluid in the closed side 422 of the accumulators 412, 414 and a decrease in pressure in the hydraulic suspension system 400 decompresses the fluid in the closed side 422 of the accumulators 412, 414. As the fluid in the closed side 422 compresses and decompresses, the fluid may generate a pressure opposing the pressure in the hydraulic suspension system 400 and substantially matching the pressure in the hydraulic suspension system 400. Thus, the pressure in the closed side 422 of the accumulators 412, 414 may increase as the fluid is compressed and may decrease as the fluid is decompressed. The accumulators 412, 414 may have a similar effect on the hydraulic suspension system 400 as a spring in a conventional suspension system.

[0067] One or more of the accumulators 412, 414 may be in fluid communication with an isolation valve 416 configured to selectively isolate the associated accumulator 412, 414 from the hydraulic suspension system 400 (e.g., from the pump 402, the other accumulator 412, 414, and the actuators 406, 408). For example, in the embodiment illustrated in FIG. 4, a first accumulator 412 is coupled directly to the hydraulic suspension system 400 and a second accumulator 414 is coupled to the hydraulic suspension system 400 through an isolation valve 416. The isolation valve 416 is configured to selectively connect or isolate the second accumulator 414 from the hydraulic suspension system 400. Connecting both the first accumulator 412 and the second accumulator 414 to the hydraulic suspension system 400 may result in a softer suspension by spreading the pressure across both the first accumulator 412 and the second accumulator 414. The softer suspension may result in the arms 204, 206 and actuators 406, 408 moving through larger angles 304, 308 (e.g., more suspension travel) before the first accumulator 412 and the second accumulator 414 oppose the movement. This may result in a more comfortable (e.g., less bouncy) ride. Isolating the second accumulator 414 will result in the hydraulic suspension system 400 having only thefirst accumulator 412 operatively coupled to the hydraulic suspension system 400. This may result in a stiffer suspension which will result in the arms 204, 206 and actuators 406, 408 traveling through smaller angles (e.g., less suspension travel) before the first accumulator 412 opposes the movement. This may result in a stiffer less comfortable ride with increased control of the ride height (e.g., the distance 304). Thus, the isolation valve 416 may facilitate adjusting the suspension characteristics for different applications. For example, a softer suspension may be used for transporting the vehicle 100 to a location for operator comfort and a stiffer suspension may be used when using the vehicle 100 to treat crops for tighter control of the vehicle height.

[0068] The hydraulic suspension system 400 further includes a tank 428 including a volume of the hydraulic fluid. The tank 428 may be in fluid communication with the pump 402 and the manifold 404 and may be configured to provide hydraulic fluid to the hydraulic suspension system 400 and / or store hydraulic fluid from the hydraulic suspension system 400.

[0069] FIG. 5 illustrates a method 500 of adjusting a height of an agricultural vehicle (e.g., the vehicle 100). The method 500 includes determining a desired height of the vehicle, as shown in act 502. The desired height of the vehicle may be determined based on several factors, including one or more of the type of crop being treated, the type of treatment (e.g., fertilizer, herbicide, pesticide, etc.), the type of application (e.g., granule spreader, sprayer, etc.), and height of the crop being treated, environmental conditions (e.g., wind, rain, temperature, etc.). In some embodiments, the desired height is input by a user. In other embodiments, the desired height is calculated by a controller based on sensor inputs and user inputs.

[0070] Responsive to determining the desired height of the vehicle, the method 500 includes rotating at least one actuator (e.g., at least one of actuators 406, 408), as shown in act 504. Rotation of the at least one actuator adjusts the height of the vehicle by causing the associated arm (e.g., upper control arm 204 or lower control arm 206) to rotate relative to an associated anchor point (e.g., the respective frame 202 or upper control arm 204) which may result in a change in height of the vehicle by changing the angle between the arm and anchor point as described above, with respect to FIGS. 3A and 3B.

[0071] The method 500 may further include rotating at least one other actuator (e.g., the other of the actuators 406, 408), as shown in act 506. Rotation of the other actuator mayadjust the height of the vehicle, as described above with reference to act 504 and with respect to FIGS. 3A and 3B.

[0072] The method 500 further includes stopping rotation of the actuators when the desired height is reached, as shown in act 508.

[0073] The method 500 further includes determining one or more conditions of the vehicle, as shown in act 510. For example, a controller may monitor one or more sensors to determine one or more conditions of the vehicle. The conditions may include one or more of a pitch of the vehicle, a roll of the vehicle, a tilt of the vehicle, or the presence of and / or contact with discontinuous features of the terrain. For example, braking, acceleration, or a change in direction may induce a pitch or roll of the vehicle. A change in terrain, such as a hill, may cause the vehicle to tilt forward, backward, or side to side. Discontinuous features of the terrain may cause the vehicle to jolt or bounce when a wheel contacts the discontinuous feature.

[0074] Responsive to determining the one or more conditions of the vehicle, the method 500 may include adjusting the pressure of hydraulic fluid to at least one of the actuators, as shown in act 512. Adjusting the pressure to the actuators may minimize the effect of the detected condition on the chassis of the vehicle. For example, an actuator associated with the wheel that contacts a discontinuous feature in the terrain may be adjusted to move the wheel relative to the vehicle such that the chassis does not move up or down responsive to the wheel contacting the discontinuous feature. Similarly, a position of one or more actuators may be adjusted to maintain the vehicle in a level orientation, limiting the tilt of the vehicle when one or more wheels are on a hill. For example, the height of the vehicle may be adjusted to a greater height at a downhill side of the vehicle to maintain the vehicle in a substantially level orientation. The controller may also adjust the pressure and / or position of one or more actuators during braking, acceleration, or a change of direction to minimize pitch and or roll of the chassis during the associated braking, acceleration, or change of direction.

[0075] FIG. 6 illustrates a control diagram of a control system of a hydraulic suspension system, such as the hydraulic suspension system 400 (FIG. 4). The control system may include a controller 602 configured to receive input signals and information from external devices, such as sensors, user interfaces, switches, etc., that may be coupled to the vehicle100. The controller 602 may be located within, for example, the cab 104 of the vehicle 100. The controller 602 may be configured to output signals and information to external devices, such as displays, controller components, motors, actuators, etc. The controller 602 includes a memory device (e.g., a non-transitory computer readable medium) configured to store information, data, and instructions; and a processor configured to execute instructions and perform processes, such as analyzing data and information stored in the memory device, analyze signals and information received from external devices, and generate information and signals to be sent to external devices.

[0076] The hydraulic suspension system 400 may include different sensors positioned at different locations in the hydraulic suspension system 400. For example, the hydraulic suspension system 400 may include position sensors 604, such as angular sensors (e.g., potentiometers, encoders, Hall-effect sensors, Rotary Variable Differential Transformer (RVDT) sensors, etc.), rotary sensors (e.g., Hall-effect sensors, potentiometers, RVDT sensors, etc.), and linear sensors (e.g., Linear Variable Differential Transformer (LVDT) sensors, inductive sensors, Magnetostrictive Linear Position Sensors, Laser triangulation sensors, optical sensors, etc.). The hydraulic suspension system 400 may also include pressure sensors 610, such as piezoresistive pressure sensors, differential pressure sensors, capacitive pressure sensors (e.g., Micro Electro-Mechanical System (MEMS) sensors), strain sensors, optical pressure sensors, etc. The hydraulic suspension system 400 may also include acceleration sensors, such as accelerometers 606 and gyrometers 608. The hydraulic suspension system 400 may also include binary sensors, such as end switches, limit switches, current switches, etc.

[0077] The position sensors 604 may be configured to determine positions of one or more of the suspension arms (e.g., upper control arms 204 (FIGS. 2-3B), the lower control arms 206 (FIGS. 2-3B), etc.), respective angles (e.g., angles 304, 308 (FIGS. 3A-3B) of the suspension arms; steering positions, etc.; position of wheels (e.g., wheel 220 (FIGS. 2-3B)) relative to the frame (e.g., frame 108 (FIG. 1), frame 202 (FIGS. 2-3B), etc.); and platform height, such as height of vehicle 100 (FIG. 1) or height of boom 114 (FIG. 1). The controller 602 may receive the position information (data) from the positions sensors 604. The position sensors 604 may be coupled to the vehicle 100 at one or more of the upper control arms 204, the lower control arms 206, the chassis 102, an axle, and the frame 108.

[0078] The pressure sensors 610 may be configured to determine fluid pressures in the hydraulic lines and / or at different devices in the hydraulic system. For example, the pressure sensors 610 may measure fluid pressures at one or more of an outlet from the system pump (e.g., pump 402), fluid pressures at the manifold (e.g., manifold 404), fluid pressure on a first side of the actuators 612 (e.g., actuators 406 (FIG. 4), 408 (FIG. 4)), fluid pressure on a second side of the actuators, fluid pressure on an open side (e.g., open side 424 (FIG. 4)) of the accumulators (e.g., accumulators 412, 414 (FIG. 4)), and fluid pressure on a closed side (e.g., closed side 422 (FIG. 4) of the accumulators. The pressure sensors 610 may also measure differential pressures in the hydraulic suspension system 400, such as differential pressures across components of the hydraulic suspension system 400. For example, the pressure sensors 610 may provide differential pressure measurements across one or more of the pump 402, the manifold 404, the actuators 612, etc. The controller 602 may receive the pressure information (data) from the pressure sensors 610.

[0079] The accelerometers 606 may be configured to measure movement of the vehicle 100 or components thereof. For example, accelerometers 606 on the chassis 102 of the vehicle 100 may provide information regarding lateral acceleration of the vehicle 100, such as when the vehicle 100 begins moving, stops moving, accelerates, or decelerates. Accelerometers 606 on the chassis 102 of the vehicle 100 may provide information regarding vertical acceleration of the vehicle 100, such as when the vehicle 100 hits a bump or ditch or when the vehicle 100 pitches forward, backward, or side to side, such as in the case of a change of terrain, a change of direction, acceleration, or deceleration. Accelerometers 606 may also be positioned on components of the vehicle 100, such as on the arms (e.g., upper control arm 204 (FIGS. 2-3B), lower control arms 206 (FIGS. 2-3B), and wheels (e.g., wheels 220 (FIGS. 2-3 B)) . The accelerometers 606 positioned on the control arms and / or wheels 116, 220 may be configured to provide information regarding vertical acceleration of the associated control arm or wheel 116, 216, such as when the wheel 116, 216 contacts a bump, ditch, rock, etc. The controller 602 may receive the accelerometer information (data) from the accelerometers 606.

[0080] The gyrometers 608 may be configured to measure a relative orientation of the vehicle 100. For example, gyrometers 608 on the chassis 102 of the vehicle 100 may provide information regarding a pitch or tilt of the vehicle 100 (e.g., an incline of the vehicle100). For example, the gyrometers 608 may detect that the vehicle 100 is tilted to the side when operating on a hill (e.g., a side hill), tilted backward when climbing a hill, or tilted forward when descending a hill. The gyrometers 608 may also detect when the vehicle 100 pitches or rolls, such as due to a change in direction, an acceleration, or a deceleration. The controller 602 may receive the gyrometer data from the gyrometers 608.

[0081] The controller 602 may further be configured to receive information from a user interface 614. The user interface 614 may include controls, such as operator controls (e.g., acceleration controls, braking controls, height controls, etc.) The user interface 614 may also provide information regarding the mode of operation, such as whether the vehicle 100 is in transportation mode (e.g., traveling to a destination) or in operation mode (e.g., treating crops in a field). The user interface 614 may also provide the user with the ability to manually control through the controller 602 of the hydraulic suspension system 400.

[0082] The controller 602 may be configured to control the pressure in the hydraulic suspension system. For example, the controller 602 may control the pump 402 and the manifold 404. The controller may turn the pump 402 on and off to modulate pressure in the hydraulic suspension system 400. For example, the pump 402 may be turned on when one or more valves of the manifold 404 are opened, such that the pump 402 pressurizes the hydraulic fluid in the hydraulic suspension system 400. In some embodiments, the pump 402 and / or manifold 404 is connected to a secondary loop, such that the pump 402 continues to operate to maintain a pressure in the secondary loop even if the valves of the manifold 404 are closed. The controller 602 may modulate a speed of the pump 402 to change the pressure in the secondary loop, which may then be transmitted to the hydraulic suspension system 400 when one or more of the valves in the manifold 404 are opened. The controller 602 may modulate valves of the manifold 404 to control fluid pressure within the hydraulic suspension system 400 and / or to control a position of the actuators 612 (e.g., actuators 406, 408).

[0083] The controller 602 may also transmit information to the user interface 614. For example, the user interface 614 may include one or more displays or other apparatus for visually transmitting data, such as lights, dials, gauges, etc. The controller 602 may transmit status information and / or measurements from the different sensors to the user interface 614 where the user may use the information to adjust or maintain operation of the vehicle 100.

[0084] The controller 602 may be configured to adjust operation of the pump 402, manifold 404, and / or actuators 612 based on measurement data from one or more of the position sensors 604, pressure sensors 610, accelerometers 606, or gyrometers 608. For example, responsive to receiving measurement data from one or more of the position sensors 604, pressure sensors 610, accelerometers 606, and gyrometers 608, the controller 602 may cause one or both of the pump 402 and manifold 404 to adjust the height of the vehicle 100.

[0085] In some embodiments, the controller 602 is configured to determine that the vehicle 100 is on a side hill based on measurement data from the accelerometers 606 and / or gyrometers 608 as discussed above. Responsive to determining that the vehicle 100 is on a side hill, the controller 602 may cause the hydraulic suspension system 400 to adjust a position of the actuators 612 to substantially level the vehicle 100. For example, the actuators 612 on a downhill side of the vehicle 100 may be adjusted to enlarge an angle of the associated upper control arm 204 and lower control arm 206 and increase a height of the vehicle 100 on the downhill side; and / or the actuators 612 on an uphill side of the vehicle 100 may be adjusted to decrease an angle of the associated upper control arm 204 and lower control arm 206 and decrease a height of the vehicle 100 on the uphill side.

[0086] In some embodiments, the controller 602 is configured to detect discontinuities in the surface 302 of the ground 118, such as bumps, ditches, etc., when one or more of the wheels 116, 220 contacts the discontinuity. Responsive to detecting the discontinuities, the controller 602 may adjust one or more of the pressure in the hydraulic suspension system 400 and the position of the actuators 612 through signals to the manifold 404 and / or pump 402 to compensate for the discontinuity such that the impact is lessened or substantially prevented at the chassis 102, which may result in fewer variations of the height of the boom 114.

[0087] In some embodiments, the controller 602 is configured to detect a forward or reverse pitch, such as those caused by braking or acceleration, with signals from the accelerometers 606 and / or the gyrometers 608. Responsive to detecting the pitch, the controller 602 may cause the hydraulic suspension system 400 (e.g., the manifold 404 and / or pump 402) to compensate for the forward or reverse pitch by adjusting the pressure in the hydraulic suspension system 400 to adjust the position of the actuators 612 at one or both of the front of the vehicle 100 and / or the rear of the vehicle 100. For example, in a brakingcondition where the vehicle 100 pitches forward, the controller 602 may cause the pressure in the actuators 612 at the front of the vehicle 100 to increase a height of the vehicle 100 at the front of the vehicle 100 to reduce (e.g., compensate for) the forward pitch. Similarly, in an acceleration condition where the vehicle 100 pitches to the rear (e.g., reverse pitch), the controller 602 may similarly adjust a pressure of the hydraulic suspension system 400 and / or a position of the actuators 612 at the rear of the vehicle 100 to increase the height of the vehicle 100 at the rear of the vehicle 100 and compensate for the reverse pitch of the vehicle 100.

[0088] In some embodiments, the controller 602 is configured to detect a lateral pitch or roll, such as from turning the vehicle 100, responsive to signals from the accelerometers 606 and / or the gyrometers 608. The controller 602 may adjust one or more of the pressure in the hydraulic suspension hydraulic suspension system 400 and the position of the actuators 612 at one or both sides of the vehicle 100 by causing the manifold 404 and / or pump 402 to compensate for and / or correct the lateral pitch or roll. For example, when the vehicle 100 turns in one direction (e.g., to the right) the vehicle 100 pitches or rolls to the opposite direction (e.g., to the left). In such embodiments, the controller 602 causes the pressure in the actuators 612 of the hydraulic suspension system 400 on the opposite side (e.g., the left side) of the vehicle 100 to increase, limiting the movement of the hydraulic suspension system 400 on the left side of the vehicle 100 and thereby limiting the lateral pitch. In another example, the controller 602 may cause the actuators 612 on the opposite side (e.g., the left side) of the vehicle 100 to adjust to a slightly increased angle slightly increasing a height of the opposite side (e.g., the left side) of the vehicle 100 to compensate for the lateral pitch.

[0089] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

[0090] While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment maybe combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.

Claims

CLAIMSWhat is claimed is:

1. A suspension system comprising: a first arm rotatably coupled to a chassis by a first actuator; a second arm rotatably coupled to the first arm by a second actuator; and a wheel operatively coupled to the second arm; wherein the first actuator is synchronized to the second actuator.

2. The suspension system of claim 1, wherein at least one of the first actuator and the second actuator comprises a hydraulic actuator.

3. The suspension system of claim 2, further comprising an accumulator positioned in series with the first actuator and the second actuator.

4. The suspension system of claim 3, further comprising a valve between the accumulator and the first actuator, the valve including an opening smaller than an opening at any of the accumulator, the first actuator, and the second actuator.

5. The suspension system of any one of claims 2 through 4, further comprising a manifold configured to control a hydraulic pressure to the first actuator and the second actuator.

6. The suspension system of claim 5, wherein the manifold comprises at least two valves, a first valve of the at least two valves configured to control the hydraulic pressure to a first side of each of the first actuator and the second actuator and a second valve of the at least two valves configured to control the hydraulic pressure to a second side of each of the first rotating actuator and the second rotating actuator.

7. The suspension system of any one of claims 1 through 6, wherein the wheel is operatively coupled to the second arm with a drive hub.

8. An agricultural vehicle comprising: a chassis; a wheel coupled to the chassis; a suspension system coupled to and between the chassis and the wheel, the suspension system comprising: an arm rotatably coupled to the chassis by a hydraulic actuator; and an accumulator hydraulically coupled to the hydraulic actuator.

9. The agricultural vehicle of claim 8, further comprising at least one sensor operably coupled to the agricultural vehicle.

10. The agricultural vehicle of claim 9, wherein the at least one sensor is selected from the group consisting of position sensors, accelerometers, gyrometers, and pressure sensors.

11. The agricultural vehicle of claim 9 or claim 10, further comprising a controller configured to receive information from the one or more sensors.

12. The agricultural vehicle of claim 11, wherein the controller is configured to adjust a position of the hydraulic actuator responsive to the information received from the one or more sensors.

13. The vehicle of any one of claims 8 through 12, further comprising an additional accumulator hydraulically coupled to the hydraulic actuator by an isolation valve.

14. The vehicle of any one of claims 8 through 13, further comprising an additional hydraulic actuator connected in series with the hydraulic actuator.

15. The vehicle of any one of claims 8 through 14, further comprising a steering assembly coupled between the arm and the chassis.

16. A method of adjusting a height of an agricultural vehicle comprising: rotating a first arm coupled to a chassis of the agricultural vehicle with a first actuator; rotating a second arm coupled to a wheel of the agricultural vehicle with a second actuator, the first arm coupled to the second arm at a pivot; and stopping rotation of the first actuator and the second actuator when the chassis reaches a selected height.

17. The method of claim 16, further comprising: receiving information from one or more sensors coupled to the agricultural vehicle; and determining, from the information received from the one or more sensors, one or more of a position of the first arm, a position of the second arm, a pressure in the first actuator, a pressure in the second actuator, a movement of the agricultural machine, and an orientation of the agricultural machine.

18. The method of claim 17, further comprising responsive to receiving the information from one or more sensors coupled to the agricultural vehicle, rotating the first arm and the second arm to adjust a distance between the wheel and the chassis.

19. The method of claim 17 or claim 18, further comprising rotating an actuator individually operably coupled to each wheel of the agricultural vehicle to adjust a distance between each wheel and the chassis.

20. The method of any one of claims 17 through 19, further comprising, responsive to determining the orientation of the agricultural machine, increasing a height of the chassis at one of a front of the agricultural vehicle, a back of the agricultural vehicle, or one side of the agricultural vehicle to substantially level the agricultural vehicle.T1

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