Agricultural machines including boom stability devices, and related methods and control systems

Abstract

A sensor assembly for an agricultural machine includes a housing configured to be disposed around a flow channel of the agricultural application machine, the housing defining an air cavity between the flow line and the housing when the housing is disposed around the flow channel, and a sensor in fluid communication with the air cavity and configured to measure a sound pressure within the air cavity. Related flow detection systems and methods are also disclosed.

Description

AGRICULTURAL MACHINES INCLUDING BOOM STABILITY DEVICES, AND RELATED METHODS AND CONTROL SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of the filing date of U. S. Provisional Patent Application 63 / 519,131, "Agricultural Machines Including Boom Stability Devices, and Related Methods and Control Systems," filed August 11, 2023, the entire disclosure of which is incorporated herein by reference.FIELD

[0002] Embodiments of the present disclosure relate generally to treating agricultural fields. More particularly, embodiments of the present disclosure relate to a stability device for a boom arm of an agricultural machine, such as a sprayer or solid material spreader, and to related agricultural machines, methods, and control systems.BACKGROUND

[0003] Agricultural product delivery systems of agricultural machines (e.g., sprayers, spreaders) utilize various mechanisms for conveying a material, such as fertilizer, to a field (e.g., soil in the field and / or crops in the field). The product delivery systems may include conduits (e.g., tubes, hoses, flow channels, etc.) in operable communication with a storage tank storing a material to be applied to the field. The product delivery system may further include a boom configured to laterally extend from a chassis of the agricultural machine to apply the material to the field as the agricultural machine traverses the field. During application processes, the boom is laterally extended from the chassis and the material is flowed through the product delivery system. To cover more area of the field during a pass of the agricultural machine though the field, the length of booms of agricultural machines has been increasing. However, due to the length of the boom, the bouncing of the boom when the agricultural machine passes over obstructions such as rocks and bumps in the field, are exaggerated.BRIEF SUMMARY

[0004] In some embodiments, an agricultural machine comprises a chassis, and a boom comprising at least one boom arm configured to laterally extend from the chassis. The at least one boom arm comprises at least one stability device operably coupled to the at least one boom arm, the at least one stability device comprising a motor, and a flywheel operably coupled to the motor.

[0005] The agricultural machine may further comprise at least one sensor operably coupled to the chassis and configured to generate data of a field in a direction of travel of the agricultural machine. The data generated by the at least one sensor may comprise image data. In some embodiments, the at least one sensor comprises a camera.

[0006] In some aspects, the agricultural machine further comprises an electronic control unit configured to control at least one operating parameter of the at least one stability device based on the image data. In some embodiments, the at least one operating parameter comprises at least one selected from the group consisting of a rotational speed, a direction of rotation, and an orientation of the flywheel.

[0007] The motor may comprise a variable speed motor configured to control a rotational speed of the flywheel. In some embodiments, the motor may be configured to rotate in two directions.

[0008] The at least one stability device may be operably coupled to the at least one boom arm proximate a lateral end of the at least one boom arm distal from the chassis.

[0009] In some embodiments, an axis of rotation of the flywheel is substantially perpendicular to a longitudinal axis of the at least one boom arm.

[0010] In some embodiments, the at least one stability device comprises a first stability device comprising a first flywheel having an axis of rotation in a first direction; a second stability device comprising a second flywheel having an axis of rotation in a second direction orthogonal to the first direction; and a third stability device comprising a third flywheel having an axis of rotation in a third direction orthogonal to the first direction and the second direction.

[0011] In some embodiments, the agricultural machine further comprises a pivot operably coupling the at least one stability device to the at least one boom arm and configured to change an orientation of the flywheel relative to the at least one boom arm.

[0012] The agricultural machine may further comprise another boom arm configured to laterally extend from the chassis in an opposite direction as the at least one boom arm, and at least another stability device operably coupled to the another boom arm. The at least another stability device may comprise another motor, and another flywheel operably coupled to the another motor, the another flywheel having substantially the same mass as the flywheel.

[0013] The at least one stability device may comprise multiple stability devices operably coupled to the at least one boom arm. In some embodiments, each of the multiple stability devices individually comprises a flywheel configured to rotate independent of the flywheels of the other of the multiple stability devices. In some aspects, each of the multiple stability devices is located at a different lateral distance from the chassis than the other of the multiple stability devices.

[0014] The agricultural machine may further comprise at least one storage tank supported by the chassis, and a spray mechanism in fluid communication with the at least one storage tank.

[0015] In some embodiments, the agricultural machine further comprises a reference gyroscope coupled to the chassis. A central controller may be configured to determine the relative orientation of the at least one stability device relative to the reference gyroscope.

[0016] In some embodiments, a method operating an agricultural machine comprises traversing a field with the agricultural machine, and adjusting at least one operating parameter of a flywheel operably coupled to a boom of the agricultural machine.

[0017] Adjusting at least one operating parameter of the flywheel may comprise adjusting at least one parameter selected from the group consisting of a rotational speed, a direction of rotation, and an orientation of the flywheel. In some aspects, adjusting the at least one operating parameter of the flywheel comprises braking the flywheel.

[0018] The method may further comprise receiving sensor data from a camera operably coupled to the agricultural machine. In some embodiments, adjusting the at least oneoperating parameter of a flywheel comprises adjusting the at least one operating parameter based, at least in part, on the received sensor data.

[0019] In some embodiments, adjusting the at least one operating parameter of a flywheel operably coupled to a boom comprises adjusting at least one operating parameter of multiple flywheels operably coupled to the boom.

[0020] Adjusting the at least one operating parameter of a flywheel operably coupled to a boom may include adjusting at least one operating parameter of the boom while turning the agricultural machine. Adjusting the least one operating parameter of the boom while turning the agricultural machine may include at least one operating parameter of the boom while turning the agricultural machine in a direction of the boom.

[0021] In some embodiments, a non-transitory computer-readable storage medium including instructions thereon that, when executed by a processor, cause the processor to analyze data comprising at least one terrain data indicative of a terrain of a field traversed by an agricultural machine or sensor data indicative of an operating parameter of the agricultural machine, and responsive to analyzing the terrain data, adjust at least one operating parameter of a flywheel operably coupled to a boom of the agricultural machine.

[0022] The terrain data my include sensor data received from one or more sensors operably coupled to a chassis of the agricultural machine.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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:

[0024] FIG. 1A is a simplified perspective view of an agricultural machine;

[0025] FIG. IB is a simplified partial cross-sectional view of a boom arm of the agricultural machine of FIG. 1A;

[0026] FIG. 1C is a simplified schematic of a stability device operably coupled to the boom arm of the agricultural machine;

[0027] FIG. 2 is a simplified cross-sectional view of another boom arm of an agricultural machine;

[0028] FIG. 3 is a simplified partial perspective view of another boom arm of an agricultural machine;

[0029] FIG. 4 is a simplified perspective view of a gyroscope that may be used in any of the stability devices of FIG. 1A-FIG. 3;

[0030] FIG. 5 is a simplified flow chart illustrating a method of operating an agricultural machine; and

[0031] FIG. 6 is a schematic of a computer-readable storage medium comprising processor-executable instructions configured to embody one or more of the methods of determining at least one flow condition within a flow channel of an agricultural machine.DETAILED DESCRIPTION

[0032] 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.

[0033] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may 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, assembly, spreader, or agricultural implement. 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.

[0034] 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 morerestrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0039] 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.

[0040] 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.

[0041] 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).

[0042] 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.

[0043] From reading the following description it should be understood that the terms "longitudinal" and "transverse" are made in relation to a machine's (e.g., agricultural implement's, agricultural application machine) 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. As used herein, the terms "lateral" and "transverse" are used interchangeably. 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.

[0044] As used herein, an "agricultural machine" means and includes any machine that may be used during an agricultural process (e.g., planting, spraying, harvesting, cutting, baling, spreading, etc.) and may include self-propelled vehicles and towed agricultural implements configured to be towed by a vehicle (e.g., a tractor). Agricultural machines may include tractors, spreaders, planters, air carts, air seeders, harvesters, combines, balers, etc.

[0045] FIG. 1A is a simplified perspective view of an agricultural application machine, which may also be referred to as an agricultural machine or a sprayer 100. The sprayer 100 may comprise a self-propelled sprayer. In other embodiments, the sprayer 100 comprises a trailed sprayer.

[0046] The sprayer 100 may include a chassis 102, a plurality of wheels 104 or other ground-engaging elements supporting the chassis 102 above a surface of a ground 145. When referring to wheels 104 herein, it will be understood that each wheel 104 may include an associated tire configured to engage the ground 145. The sprayer 100 further includes an application system 106, an operator cabin 108, and an engine compartment 110. The operator cabin 108 or "cab" is supported on the chassis 102 and shown in a forward direction F relativeto the application system 106, though parts of the application system 106 may alternatively be at the front of the sprayer 100.

[0047] The application system 106 is supported on the chassis 102 and may include at least one storage tank 112 (e.g., a liquid tank, a tank storing a solid material) and a delivery system for applying a material (e.g., a liquid, such as a liquid fertilizer; or a solid) from the storage tank 112 to crops and / or a field traversed by the sprayer 100. As used herein, delivering a material to a field means and includes delivering (e.g., applying) the material to the field and / or to crops (e.g., row crops) in the field.

[0048] The application system 106 includes a boom 114 having a pair of boom arms 116 extending from a center segment 118 of the boom 114. The boom arms 116 may include, for example, a right boom arm 116 and a left boom arm 116. The boom 114 supports a spray mechanism 121 in fluid communication with the storage tank 112. The spray mechanism 121 may include a plurality of material applicators, such as spray nozzles, configured to provide the material from the storage tank 112 to the field. Hoses (e.g., conduits, tubes) may extend from the storage tank 112 along the boom 114 and to the nozzles of the spray mechanism. The boom arms 116 are illustrated in an extended configuration in FIG. 1A, each laterally extending from the chassis 102 in a direction substantially perpendicular to the forward direction F. A boom positioning mechanism 120 may be configured to adjust a distance between the chassis 102 and the boom 114, such as with actuators 122, which may comprise hydraulic actuators, pneumatic actuators, or electrical actuators. In addition, the boom positioning mechanism 120 may be configured to laterally extend the boom 114 into the configuration illustrated in FIG. 1A, and to retract the boom 114, such as during transportation of the sprayer 100.

[0049] In some embodiments, a central controller 144 is located within the operator cabin 108 and configured to facilitate one or more control operations of the sprayer 100, such as one or more control operations of the boom 114 and the application system 106. The central controller 144 may include an input / output (I / O) device 146, and at least one additional controller 148. In some embodiments, the sprayer 100 includes a global positioning system ("GPS") receiver 150 mounted to the sprayer 100 and operably connected to (e.g., in communication with) the central controller 144. The GPS receiver 150 may provide GPS data tothe central controller 144, such as during traversal of the sprayer 100 in the forward direction F and during receiving of image data from a sensor 142.

[0050] The at least one I / O device 146 may be configured to display information to an operator of the sprayer 100. For example, the I / O device 146 may include a user interface through which the operator activates steering control of the sprayer 100, or control of the boom 114, as described in further detail herein. The at least one additional controller 148 may include, for example, a controller for the application of product by means of the application system 106, a controller for steering of the sprayer 100, a controller for boom positioning mechanism 120 (e.g., to control the actuators 122) to control the height of the boom 114, and / or another controller.

[0051] With reference to FIG. 1A, the sprayer 100 may further include at least one sensor 142 operably coupled (e.g., mounted, attached, secured) thereto, such as to the chassis 102. The sensor 142 may be operably coupled to the sprayer 100, such as to the chassis 102, at a front of the sprayer 100. The field of view of the sensor 142 may be in the forward direction F and may include a surface of the ground 145 where the front wheels 104 will traverse during movement of the sprayer 100 in the forward direction. In some embodiments, the sensor 142 is mounted to the chassis 102 such that the front wheels 104 and the ground 145 where the front wheels 104 will traverse are in the field of view of the sensor 142.

[0052] The sensor 142 may be mounted to the chassis 102 proximate the front of the sprayer 100. In some embodiments, the sprayer 100 includes one sensor 142 operably coupled to the chassis 102. In other embodiments, the sprayer 100 includes multiple sensors 142 (e.g., two sensors 142) operably coupled to the chassis 102 proximate (e.g., in front of) the front wheels 104. For example, in some embodiments, the sensors 142 are coupled to the chassis 102 between each of the front wheels 104 and a longitudinal centerline of the sprayer 100. In some embodiments, a lateral distance between the sensors 142 and the longitudinal centerline of the sprayer 100 is the same as a lateral distance between each sensor 142 and a wheel 104 nearest the respective sensor 142 is the same. In some embodiments, the sensors 142 are coupled to the chassis 102 such that they are laterally aligned with the wheels 104.

[0053] The sensor 142 may be operably coupled to an electronic control unit (ECU) 136 that is, in turn, in operable communication with the central controller 144. As described in further detail herein, in some embodiments, the sensor 142 may capture sensor data indicative of one or more conditions of the ground 145 over which the wheels 104 will traverse during movement of the sprayer 100 over the ground 145, such as in the forward direction F. The ECU 136 may be configured to receive the sensor data from the sensor 142. In embodiments where the sensor 142 comprises a camera, the sensor data comprises image data (e.g., image / video data) of the ground 145 in the field of view of the camera. The sensor data may include an indication of, for example, whether the ground 145 in front of the wheels 104 is level (e.g., substantially level), includes a hole (e.g., a pothole), a bump, rocks, other obstructions in the path of the wheels 104, and / or a grade (e.g., a level of incline and / or decline) of the intended path of travel of the sprayer 100. As described in further detail herein, the ECU 136 may be configured to facilitate control of one or more operations of the boom 114, such as control of at least one stability device (e.g., stability device 124 (FIG. IB)) operably coupled to the boom 114.

[0054] The sensors 142 may comprise one or more of cameras, gap sensors (configured to measure the distance between the sprayer 100 (e.g., the wheels 104 of the sprayer 100) and the ground 145 in front of the sprayer 100), feeler gauges, or time of flight sensors. Non-limiting examples of cameras include one or more of a 3D laser scanner (LiDAR), a 2D laser scanner (LiDAR), a charge-couple device (CCD) sensor, a complementary metal oxide semiconductor (CMOS) sensor, a stereoscopic camera, a monoscopic camera, an infrared (IR) camera, a short-wave infrared (SWIR) camera, a digital single-reflex camera, or a radar camera. The camera may be configured to capture data including one or more of relatively high resolution color images / video, relatively high resolution infrared images / video, or light detection and ranging data. In some embodiments, the camera may be configured to capture image data at multiple focal lengths. In some embodiments, the camera may be configured to combine multiple exposures into a single high-resolution image / video. The field of view of the sensor 142 may be in the forward direction F and may include a surface of the ground 145 where the front wheels 104 will traverse during movement of the sprayer 100 in the forward direction. In some embodiments, the sensor 142 is mounted to the chassis 102 such that thefront wheels 104 and the ground 145 where the front wheels 104 will traverse are in the field of view of the sensor 142. In some embodiments, camera includes multiple image sensors (e.g., cameras) with viewing angles facing different directions, such as a first image sensor facing the forward direction F and a second image sensor generally facing downward toward the ground 145.

[0055] The sprayer 100 may further include at least one additional sensor 143. The additional sensor 143 may be in operable communication with the ECU 136 and / or the central controller 144. The additional sensor 143 may be configured to receive additional sensor data indicative of at least one operating parameter of the sprayer 100. By way of non-limiting example, the additional sensor 143 may include a sensor selected from the group consisting of at least one of an accelerometer (configured to determine an acceleration of the sprayer 100), an inclinometer (configured to determine an incline (e.g., a slope, a tilt), an elevation, a depression of the sprayer 100), a feedback sensor operably coupled to the flywheels 126 or a motor (e.g. motor 132) operably coupled to the flywheel 126 configured to determine a rotational speed of the flywheel 126 and / or motor. As described herein, the at least one additional sensor 143 may facilitate control of operation of the stability device 124.

[0056] In some embodiments, the central controller 144 is configured to receive terrain data (e.g., such as with the I / O device 146) indicative of the terrain of the ground 145, such as a terrain map, a terrain image, previously computed topographical data, or other data indicative of a terrain of the field. The terrain data may be received from a remote location, such as from a remote server. In other embodiments, the terrain data is stored locally, such as on a memory of the central controller 144.

[0057] With continued reference to FIG. 1A, in some embodiments, a reference gyroscope 152 may be coupled to the sprayer 100, such as to the chassis 102. In some embodiments, the reference gyroscope 152 is configured to facilitate control of the boom 114, such as by determining the relative orientation of the boom arms 116 and / or the stability devices 124 (e.g., the flywheels 126 of the stability devices 124) with respect to gravity and / or the surface of the ground 145.

[0058] FIG. IB is a simplified cross-sectional view of one of the boom arms 116. For clarity and ease of understanding the description, FIG. IB does not illustrate the boom arm 116 operably coupled to the sprayer 100, such as to the chassis 102 of the sprayer 100. However, it will be understood that the right side of the boom arm 116 in the view of FIG. IB may be operably coupled to the chassis 102 and / or operably coupled to the center segment 118 (FIG. 1A) of the boom 114, which may be operably coupled to the chassis 102.

[0059] At least one stability device 124 may be operably coupled (e.g., mounted, attached, secured, affixed, in communication with, fastened) to the boom arm 116, such as to a frame 125 of the boom arm 116. By way of non-limiting example, in some embodiments, the at least one stability device 124 is fastened to (e.g., with fasteners, such as nuts, bolts, etc.) the boom arm 116, such as to the frame 125. In some embodiments, at least one stability device 124 is operably coupled to each boom arm 116. In some embodiments, the stability device 124 is operably coupled to the boom arms 116 proximate a lateral end of the boom arms 116. In other words, the stability device 124 may be operably coupled to the boom arm 116 distal from the chassis 102 of the sprayer 100 (e.g., closer to a lateral end of the respective boom arm 116 than to the chassis 102 of the sprayer 100).

[0060] The stability device 124 may include a flywheel 126, which may also be referred to herein a "rotating disc" or a "rotor." The flywheel 126 may include one or more weights configured to increase a mass of the flywheel 126 to correspondingly increase the angular momentum (L) of the flywheel 126 and, by extension, the boom arm 116. The flywheel 126 may include spokes 139 extending from the axle 130 to a rim 140 of the flywheel 126. In other embodiments, the flywheel 126 comprises a solid disk extending radially from the axle 130 to the rim 140.

[0061] The stability device 124 may further include a brake 138 operably coupled to the flywheel 126 and configured to reduce a rotational speed of the flywheel 126. The brake 138 may comprise, for example, a brake caliper configured to squeeze (e.g., pinch) the flywheel 126 to reduce a rotational speed of the flywheel 126. However, the brake 138 may comprise a structure other than a caliper and the disclosure is not so limited. For example, the brake 138 may comprise a drum brake or another type of brake.

[0062] The stability device 124 may be in operable communication with the ECU 136. By way of non-limiting example, the brake 138 and a motor 132 (FIG. 1C) of the stability device 124 may be in operable communication with the ECU 136. In some embodiments, the ECU 136 is located within (e.g., operably coupled to) the frame 125. In other embodiments, the ECU 136 comprises a portion of the central controller 144.

[0063] FIG. 1C is a simplified perspective view of the stability device 124. The stability device 124 may include a base 128 configured to be operably coupled to the boom arm 116, such as to the frame 125 of the boom arm 116. In other words, the base 128 may comprise a platform configured to be operably coupled to the frame 125 of the boom arm 116 and facilitate coupling of the stability device 124 to the boom arm 116. An axle 130, which may comprise an axis about which the flywheel 126 rotates, may operably couple the flywheel 126 to the motor 132. The motor 132 may be configured to facilitate rotation of the flywheel 126. In some embodiments, the stability device 124 includes a pivot 134 configured to rotate in three mutually orthogonal directions (e.g., in the X-direction, in the Y-direction, in the Z-direction). The pivot 134 may comprise a rotating mount or a gimbal. In some embodiments, the axis of rotation of the flywheel 126 (e.g., the axle 130) may be moved relative to the boom arm 116 and the stability device 124 comprises a gyroscope (e.g., configured such that the axis of rotation of the flywheel 126 may be moved in any of three mutually orthogonal direction).

[0064] The motor 132 may comprise a variable speed motor such that the rotational speed (e.g., the rotations per minute (RPM)) of the motor 132 may be controlled, such as with the ECU 136.

[0065] The ECU 136 may be configured to facilitate control of one or more operating parameters of the stability device 124. For example, the ECU 136 may be configured to control one or more of a rotational speed of the motor 132, a rotational direction (e.g., clockwise or counterclockwise) of the motor 132, an orientation of the stability device 124 (e.g., an orientation of the pivot 134 and the axle 130), and an application of the brake 138 to the flywheel 126. The ECU 136 may be configured to control a rotational speed of the motor 132 and, therefore, the rotational speed of the flywheel 126 operably coupled to the motor 132. For example, the ECU 136 may be configured to increase the rotational speed of the flywheel126 by increasing the speed of the motor 132, and / or to decrease the rotational speed of the flywheel 126 by decreasing the speed of the motor 132 and / or by activating the brake 138. In some embodiments, the ECU 136 is configured to facilitate movement of the pivot 134 to control an orientation of the flywheel 126 relative to the frame 125 of the boom arm 116. The ECU 136 may be configured to facilitate control of the rotational direction of the flywheel 126, such as by controlling the rotational direction of the motor 132.

[0066] With reference to FIG. 1A, in some embodiments, an axis of rotation of the axle 130 (e.g., a longitudinal axis of the axle 130) may be substantially parallel (e.g., parallel) to the longitudinal axis of the sprayer 100 and the longitudinal axis of the chassis 102 (i.e., the axis of rotation of the axle 130 may be substantially parallel to the forward direction F (FIG. 1A)). The axis of rotation of the axle 130 may be substantially perpendicular (e.g., perpendicular) to the lateral direction (and the length of the boom arm 116).

[0067] The angular momentum of the flywheel 126 may be proportional to the product of the rotational inertia (I) and the angular velocity (co) of the flywheel 126. Since the angular momentum of the flywheel 126 is proportional to the angular velocity of the flywheel 126, increasing the rotational speed (e.g., the RPM) of the flywheel 126 increases the angular momentum of the flywheel 126. Accordingly, the ECU 136 may be configured to control the angular momentum of the flywheel 126, such as by controlling the speed of the flywheel 126 (e.g., by increasing the speed of the motor 132) and / or causing the brake 138 to stop the flywheel 126. In addition, the ECU 136 may be configured to control an orientation (e.g., a direction) of the angular momentum of the flywheel 126, such as by controlling an orientation of the pivot 134 and / or a direction of rotation of the motor 132. Since the flywheel 126 is operably coupled to the boom arm 116, the angular momentum of the flywheel 126 is an extension of the angular momentum of the boom arm 116. Accordingly, in some embodiments, by controlling one or more of the rotational speed, the rotational direction, the orientation, and the braking of the flywheel 126, the angular momentum of the boom arm 116 may be controlled.

[0068] The resistance of the boom arm 116 to rotation and movement may be proportional to the angular momentum (e.g., the magnitude and direction of the angularmomentum) of the boom arm 116. Therefore, by controlling the angular momentum of the flywheel 126, the resistance to motion (e.g., bouncing, swinging) of the boom arm 116 may be controlled. In other words, the angular momentum of the boom arm may be increased with the stability device 124 to maintain the boom arm 116 substantially parallel to the ground 145 (e.g., the length of the boom arm 116 in the lateral direction) substantially parallel to the ground 145).

[0069] In addition, by controlling the angular momentum of the boom arm 116, a force applied to the boom arm 116 at the location of the flywheel 126 may be adjusted. The force on the boom arm 116 at the end of the boom arm 116 may apply a torque to the boom arm 116 at the boom positioning mechanism 120 (FIG. 1A). In some embodiments, increasing the lateral distance between the flywheel 126 and the attachment between the boom arm 116 and the chassis 102 (FIG. 1A) and / or the center segment 118 (FIG. 1A) increases the torque on the boom arm 116 applied by the flywheel 126.

[0070] In some embodiments, a direction of the angular momentum of the flywheel 126 and a direction of a torque and / or a force (perpendicular to the torque) applied by the flywheel 126 on the boom arm 116 may be based on the orientation of the axle 130 about which the flywheel 126 rotates determines. Accordingly, the orientation of the axle 130 may be changed to change the direction of the angular momentum of the flywheel 126 (and the boom arm 116) and the torque and force applied to the boom arm 116 and to facilitate a direction of a force and a torque applied to the boom arm 116.

[0071] The rotational speed of the flywheel 126 may increase or decrease the angular velocity (and the corresponding angular momentum) of the flywheel 126, which may correspondingly increase the angular momentum of the boom arm 116 to which the stability device 124 is operably coupled. In addition, the direction of rotation of the flywheel 126 and the orientation of the axle 130 relative to the boom arm 116 may change the direction of the angular momentum of the flywheel 126 and, therefore, of the boom arm 116 to which the stability device 124 is operably coupled. Accordingly, the magnitude and direction of the angular momentum of the boom arm 116 may be controlled to increase or decrease the resistance of the boom arms 116 to move upward or downward, to tilt, or to move front toback responsive to the wheels 104 of the sprayer 100 encountering an obstruction on the surface of the ground 145 during traversal of the sprayer 100.

[0072] FIG. 2 is a simplified cross-sectional view of a boom arm 200 that may be used in the sprayer 100. The boom arm 200 may replace the boom arm 116 of the boom 114 of FIG. 1A-FIG. 1C. The boom arm 200 may be substantially the same as the boom arm 116 of FIG. 1A and FIG. IB, except that the boom arm 200 may include more than one stability device 124 operably coupled to the frame 125 and in operable communication with the ECU 136. In some embodiments, each of the stability devices 124 (and the corresponding flywheels 126) are laterally spaced from one another and located a different lateral distance from the chassis 102 (FIG. 1A) than one another. The stability devices 124 may be substantially the same as the stability device 124 described with reference to FIG. 1C.

[0073] In some embodiments, the boom arm 200 includes three of the stability devices 124. In other embodiments, the boom arm 200 includes two stability devices 124, or greater than three stability devices 124 (e.g., four, six, eight, ten, twelve, or more stability devices 124). Each of the stability devices 124 may be substantially the same. For example, a diameter and a mass of the flywheel 126 of each stability device 124 may be substantially the same. In addition, the brake 138 of each of the stability devices 124 may be substantially the same.

[0074] In other embodiments, one or more features of the stability device 124 may be different than a corresponding one or more features of another stability device 124. For example, at least one of the diameter of the flywheel 126, a mass of the flywheel 126, a motor 132 of a stability device 124 may be different than a corresponding feature of another stability device 124. In some embodiments, a mass of the flywheel 126 of at least one of the stability devices 124 is different than the mass of the flywheel 126 of at least another of the stability devices 124. In some embodiments, first stability device(s) 124 located on the boom arm 116 farther from the chassis 102 (FIG. 1A) may include a flywheel 126 having a smaller mass than the mass of the flywheels 126 of second stability device(s) 124 operably coupled to the boom arm 116 laterally closer to the chassis 102 than the first stability device(s) 124. Similarly, in some embodiments, a diameter of the flywheel 126 of at least one of the stability devices 124 isdifferent than the diameter of the flywheel 126 of at least another of the stability devices 124. In some embodiments, first stability device(s) 124 located on the boom arm 116 farther from the chassis 102 (FIG. 1A) may include a flywheel 126 having a smaller diameter than the diameter of the flywheels 126 of second stability device(s) 124 operably coupled to the boom arm 116 laterally closer to the chassis 102 than the first stability device(s) 124.

[0075] A rotational speed of the flywheel 126 of each of the stability devices 124 may be configured to be individually controlled. For example, the flywheel 126 of each of the stability devices 124 may be controlled by a corresponding motor 132 (FIG. 1C) and a corresponding brake 138. Accordingly, the rotational speed of each of the flywheels 126 may be independently controlled by the ECU 136. In some embodiments, each of the flywheels 126 is rotated at substantially the same RPM. In other embodiments, the RPM of at least one of the flywheels 126 is different than the RPM of at least another one of the flywheels 126.

[0076] In addition, an orientation of each of the flywheels 126 (e.g., the orientation of the axle 130 relative to the boom arm 116 (e.g., the longitudinal axis of the boom arm 116) may be the same as the orientation of the flywheels 126 of the other stability devices 124. In other embodiments, at least one of the stability devices 124 may include a flywheel 126 oriented at a different orientation with respect to the boom arm 116 than the flywheel 126 of at least another stability device 124. In some embodiments, the boom arm 116 includes at least three stability devices 124, each stability device 124 comprising a flywheel 126 having an axis of rotation in a plane perpendicular to the axis of rotation of the flywheel 126 of each of the other stability devices 124.

[0077] The boom 114 (FIG. 1A) of the sprayer 100 (FIG. 1A) includes a pair of boom arms 200, such as a left boom arm 200 and a right boom arm 200. In some embodiments, the left boom arm 200 is substantially the same as the right boom arm 200, and comprises a mirror image of the right boom arm 200 (e.g., about the longitudinal axis of the chassis 102). In some such embodiments, the left boom arm 200 includes a same number of stability devices 124 as the right boom arm 200. In addition, stability devices 124 of the left boom arm 200 may be substantially the same (e.g., have the same mass, have a flywheel 126 having substantially thesame diameter) as corresponding stability devices 124 of the right boom arm 200 (e.g., located at substantially the same lateral distance from the chassis 102 as one another).

[0078] In some embodiments, the ECU 136 may be configured to facilitate control of one or more operating parameters of stability devices 124 on a first boom arm 116 to be different than a corresponding one or more operating parameters of stability devices 124 on a second boom arm 116. For example, in some embodiments, a direction of rotation of the flywheels 126 of stability devices 124 on a first boom arm 116 may be opposite a direction of rotation of flywheels 126 of stability devices 124 on a second boom arm 116.

[0079] In some embodiments, the boom arm 200 may include more than one stability device 124 at a particular lateral distance from the chassis 102 (FIG. 1A). For example, the boom arm 200 may include multiple stability devices 124 (and, therefore, multiple flywheels 126) located at the same lateral distance from the chassis 102 as one another.

[0080] FIG. 3 is a simplified, partial perspective view of a boom arm 300 that may be used in the sprayer 100. The boom arm 300 may replace the boom arm 116 of the boom 114 of FIG. 1A-FIG. 1C. The boom arm 300 may be substantially similar to the boom arm 200 described with reference to FIG. 2, except that an axis of rotation of flywheels 126 of each of the stability devices 124 coupled to the boom arm 300 may be oriented at an angle with respect to one another. In some embodiments, the boom arm 300 includes a first stability device 124 comprising a first flywheel 126 having an axis of rotation in a first direction (e.g., a longitudinal axis about which the first flywheel 126 rotates extending in the first direction), a second stability device 124 comprising a second flywheel 126 having an axis of rotation in a second direction (e.g., a longitudinal axis about which the second flywheel 126 rotates extending in the second direction) perpendicular to (e.g., substantially perpendicular to) the first direction, and a third stability device 124 comprising a third flywheel 126 having an axis of rotation in a third direction (e.g., a longitudinal axis about which the third flywheel 126 rotates extending in the third direction) perpendicular to (e.g., substantially perpendicular to) the first direction and the second direction, In some such embodiments, the boom arm 300 may include at least one flywheel 126 having an axis of rotation about a longitudinal axis in each of three mutually perpendicular directions. Accordingly, in some embodiments, the angularmomentum of the boom arm 116 in each of three mutually perpendicular directions, and the torque and / or force applied to the boom arm 116 in each of the three mutually perpendicular directions, may be adjusted by changing the rotational speed and / or the rotational direction of the respective flywheels 126.

[0081] While the flywheels 126 and the corresponding stability devices 124 have been illustrated as laterally spaced along the boom arm 300, in some embodiments, the flywheels 126 and stability devices are located closer to one another (e.g., at the same or about the same lateral distance from the chassis 102) than that illustrated in FIG. 3.

[0082] Although the stability device 124 and the flywheel 126 have been described and illustrated as having a particular structure in FIG. 1A-FIG. 3, the disclosure is not so limited. FIG. 4 is a simplified perspective view of a gyroscope 400 that may replace portions of the stability devices 124. The gyroscope 400 may be configured such than an axis of rotation 402 may be moved in any direction (e.g., such as in any of three mutually perpendicular directions). The gyroscope 400 includes a flywheel 404 operably coupled to a shaft 406. A base may be configured to be operably coupled (e.g., mounted, attached, secured, affixed, in communication with, fastened) to the boom arms 116, 200, 300, such as to the frame 125 thereof. The flywheel 404 may be located within gimbals 408. In some embodiments, the axis of rotation 402 of the flywheel 404 may be free to move with respect to the gimbals 408. In use and operation, the shaft 406 may be operably coupled to a motor (e.g., motor 132) configured to provide a driving force for rotating the flywheel 404.

[0083] Although the sprayer 100 has been described and illustrated as comprising a liquid sprayer, the disclosure is not so limited. Rather, the stability device(s) 124 may be operably coupled to a boom arm of any agricultural machine. For example, the stability device(s) 124 may be operably coupled to a boom arm of a dry material spreader configured to deliver a solid product (e.g., fertilizer) to the field. Accordingly, the stability device(s) may be operably coupled to any agricultural machine to which a boom arm or boom-like structure laterally extends.

[0084] FIG. 5 illustrates a method 500 of controlling an operation of an agricultural machine (e.g., the sprayer 100). The method 500 may be performed while traversing through a field, such as while performing a spraying operation through a field of crops.

[0085] The method 500 includes receiving data comprising at least one of terrain data indicative of a terrain of a field traversed by a sprayer 100 and sensor data indicative of at least one operating parameter of the sprayer 100, as shown in act 502. The terrain data may include at least one of terrain maps, terrain images (e.g., satellite terrain images), or previously computed topographical data. In some embodiments, the sensor data comprises data from one or more sensors (e.g., one or more of the sensors 142, one or more additional sensors 143, and / or the GPS receiver 150) of the sprayer 100 as the sprayer 100 traverses a field (e.g., the ground 145). By way of non-limiting example, act 502 includes receiving the sensor data from at least one sensor operably coupled to the chassis 102 as the sprayer 100 traverses the field. The sensor data may comprise at least one selected from the group consisting of image data obtained from a camera, acceleration data, incline data, data indicative of a rotational speed of motor(s) 132, and a location of the sprayer 100. In some embodiments, the sensor comprises a camera and the sensor data comprises image data. The terrain data comprises at least one selected from the group consisting of terrain maps, terrain images (e.g., satellite terrain images), and previously computed topographical data of the field. The terrain data may be stored in memory or may be received from a remote location (e.g., from a server).

[0086] Responsive to receiving the data, the method 500 may further include analyzing the data (e.g., the at least one of the terrain data and the sensor data) to determine a condition of an intended path of the sprayer 100 and / or an operating parameter of the sprayer 100, as shown in act 504. In some embodiments, the central controller 144 may be configured to determine a presence of one or more of obstructions (e.g., holes (potholes), bumps, rocks, or other obstructions), a rate of change in the topography of the terrain of the ground 145, and a grade (e.g., an incline and / or a decline) of the ground 145 in the intended path of the sprayer 100 (e.g., where at least one of the wheels 104 will traverse). In some embodiments, act 504 includes determining that the sprayer 100 will traverse ground 145 having one or more bumps and / or one or more rocks that may cause the boom arms 116 to bounce responsive to thesprayer 100 traversing the bumps and / or rocks. In some embodiments, act 504 includes determining at least one operating parameter of the sprayer 100, such as at least one of an acceleration, an incline (e.g., slope, tilt), or a position of the sprayer 100. In some embodiments, act 504 includes analyzing the topography of the terrain of the ground 145 proximate the sprayer 100 based on the location of the sprayer 100 (e.g., from the GPS receiver 150) and previously determined data regarding the terrain of the field.

[0087] After analyzing the data, the method 500 may further include determining an angular momentum (e.g., an inertial load) of a boom arm 116 of the sprayer 100 for stabilizing the boom arm 116 as the sprayer 100 traverses the ground 145, as shown in act 506. A greater angular momentum in a particular direction may correspond to a resistance to change (e.g., in speed and / or orientation) of the boom arm 116 (e.g., in an orthogonal direction). Determining the angular momentum of the boom arm 116 may include determining the angular momentum of the boom arm 116 to at least partially compensate for the condition of the intended path of the sprayer 100 determined during act 504. In some embodiments, determining the angular momentum for the boom arm 116 includes determining a desired rotational speed and / or a desired orientation of the flywheel 126 of the stability devices 124 of the boom arm 116.

[0088] In some embodiments, determining the angular momentum of the boom arm 116 includes determining that a current angular momentum of the boom arm 116 should be increased responsive to determining that the ground 145 in front of the sprayer 100 includes rocks, bumps, and / or holes (determined from the sensors 142 and / or from the GPS receiver 150 and a map of the field), determining that the sprayer 100 is turning in a direction, and / or on determining that the sprayer 100 is on an incline or a decline. By way of non-limiting example, responsive to determining that the ground 145 includes bumps, the angular momentum of the boom arm 116 may be increased relative to the current angular momentum of the boom arm 116. Increasing the angular momentum may cause the boom arm 116 to exhibit a greater resistance to a change in the orientation (e.g., a height, a tilt, a rotation) of the boom arm 116.

[0089] In some embodiments, the angular momentum of the boom arm 116 for stabilizing the boom arm 116 may include determining the angular momentum based on one ormore machine learning models. For example, the central controller 144 may include a machine learning model configured to determine the angular momentum (e.g., the magnitude and direction of the angular momentum) and, therefore, the orientation and speed of the flywheel(s) 126 for achieving the angular momentum for stabilizing the boom arm 116.

[0090] The method 500 further includes adjusting at least one operating parameter of a stability device 124 operably coupled to the boom arm 116, as shown in act 508. In some embodiments, the operating parameter of the stability device 124 may be adjusted based, at least in part, on the determined angular momentum of the boom arm 116 determined during act 506. Adjusting the operating parameter of the stability device 124 may include increasing the rotational speed of a flywheel 126 (e.g., by increasing the power to the motor 132 (FIG. 1C), decreasing the rotational speed of the flywheel 126 (e.g., such as by applying the brake 138, by decreasing the power to the motor 132), changing the orientation of the flywheel 126 (e.g., by moving the pivot 134 (FIG. 1C) in a desired direction), and altering (e.g., reversing) a direction of rotation of the flywheel 126. A rate at which the rotational speed of the flywheel 126 may be increased or decreased may also be varied to apply a force to the boom arm 116, which may facilitate increasing a rate at which the boom arm 116 may be lifted.

[0091] In some embodiments, responsive to determining that the sprayer 100 will encounter bumps, act 508 includes increasing an RPM of the flywheel 126 to increase the angular momentum of the boom arm 116 and a resistance to movement of the boom arm 116. Responsive to determining that the sprayer 100 will encounter a grade, such as an incline or decline, act 508 may include changing an orientation of the flywheel 126. Responsive to determining that the sprayer 100 will encounter a rock (which may otherwise cause the boom arm 116 to bounce up and down, such as a rock having a size greater than a predetermined percentage of a diameter of the wheels 104), act 508 may include rapidly decreasing the RPM of the flywheel 126 (e.g., by rapidly applying the brake 138 to the flywheel 126), which may cause the boom arm 116 to lift in an upward direction (e.g., when the flywheel 126 is oriented as shown in FIG. IB and FIG. 2 and rotating in the clockwise direction). In some embodiments, responsive to determining that the sprayer 100 will encounter a side incline such that the height of the wheels 104 on the left side of the sprayer 100 will be different than the height ofthe wheels 104 on the right side of the sprayer 100, act 508 may include at least one of changing an orientation of the flywheels 126, changing an RPM of flywheels 126 operably coupled to the left boom arm 116 relative to the RPM of the flywheels 126 operably coupled to the right boom arm 116, or changing the direction of rotation of the flywheels 126 operably coupled to the left boom arm 116 relative to the direction of rotation of the flywheels 126 operably coupled to the right boom arm 116. Responsive to determining that the ground over which the sprayer 100 will traverse is substantially flat (e.g., does not include bumps, rocks, holes, etc.), act 508 may include maintaining a rotational speed of the flywheels 126. In some embodiments, responsive to determining that the sprayer 100 is turning in a direction (e.g., cornering), act 508 includes adjusting the inertia of the boom arms 116 depending on the direction in which the sprayer 100 is turning to counteract the forces on the boom arms 116 during turning. For example, during turning, the boom arm 116 in the direction of the turn will lower. The RPM of the flywheel(s) 116 on the boom arm 116 in the direction of the turn may be adjusted to counteract the forces induced on the boom arm 116 responsive to the turn. By way of non-limiting example, the RPM of the flywheel(s) 116 of the boom arm 116 in the direction of the turn may be decreased or braked to increase the rotation inertial and / or induce an upward force on the boom arm 116. In some embodiments, the RPM of the flywheel(s) 116 on the opposite boom arm 116 may be adjusted in the opposite direction as the flywheel(s) 116 on the boom arm 116 in the direction of the turn. In some embodiments, act 508 includes preemptively increasing or decreasing the RPM of the flywheel(s) 126 depending on the determined angular momentum to stabilize the boom arm prior to encountering the field in the path of the sprayer 100.

[0092] With continued reference to FIG. 5, in some embodiments, the method 500 further includes comparing the current angular momentum of the boom arm 116 to the determined angular momentum of the boom arm 116 to stabilize the boom arm 116 determined during act 506, as shown in act 510. For example, in some embodiments, act 510 includes measuring the rotational speed of the flywheel 126 and determining whether the rotational speed of the flywheel 126 is sufficient to achieve the desired angular momentum of the boom arm 116. In some embodiments, act 510 includes summing the angular momentumof the stability devices 124 operably coupled to the boom arm 116 and determining the magnitude and direction of the angular momentum of the boom arm 116. In some embodiments, act 510 includes adjusting the rotational speed of the flywheel(s) 126 to achieve a desired angular momentum of the boom arm 116.

[0093] FIG. 6 is a schematic view of a computer device 602, in accordance with embodiments of the disclosure. In some embodiments, the ECU 136 and / or the central controller 144 comprises a computer device such as the computer device 602 of FIG. 6. The computer device 602 may include a communication interface 604, at least one processor 606, a memory 608, a storage device 610, an input / output device 612, and a bus 614. The computer device 602 may be used to implement various functions, operations, acts, processes, and / or methods disclosed herein, such as the method 600.

[0094] The communication interface 604 may include hardware, software, or both. The communication interface 604 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the computer device 602 and one or more other computing devices or networks (e.g., a server). As an example, and not by way of limitation, the communication interface 604 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a Wi-Fi.

[0095] The at least one processor 606 may include hardware for executing instructions, such as those making up a computer program. By way of non-limiting example, to execute instructions, the at least one processor 606 may retrieve (or fetch) the instructions from an internal register, an internal cache, the memory 608, or the storage device 610 and decode and execute them to execute instructions. In some embodiments, the at least one processor 606 includes one or more internal caches for data, instructions, or addresses. The at least one processor 606 may include one or more instruction caches, one or more data caches, and one or more translation look aside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in the memory 608 or the storage device 610.

[0096] The memory 608 may be coupled to the at least one processor 606. The memory 608 may be used for storing data, metadata, and programs for execution by the processor(s). The memory 608 may include one or more of volatile and non-volatile memories, such as Random-Access Memory ("RAM"), Read-Only Memory ("ROM"), a solid state disk ("SSD"), Flash, Phase Change Memory ("PCM"), or other types of data storage. The memory 608 may be internal or distributed memory.

[0097] The storage device 610 may include storage for storing data or instructions. As an example, and not by way of limitation, storage device 610 may include a non-transitory storage medium described above. The storage device 610 may include a hard disk drive (HDD), Flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The storage device 610 may include removable or non-removable (or fixed) media, where appropriate. The storage device 610 may be internal or external to the storage device 610. In one or more embodiments, the storage device 610 is non-volatile, solid-state memory. In other embodiments, the storage device 610 includes read-only memory (ROM). Where appropriate, this ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or Flash memory or a combination of two or more of these.

[0098] The storage device 610 may include machine-executable code stored thereon. The storage device 610 may include, for example, a non-transitory computer-readable storage medium. The machine-executable code includes information describing functional elements that may be implemented by (e.g., performed by) the at least one processor 606. The at least one processor 606 is adapted to implement (e.g., perform) the functional elements described by the machine-executable code. In some embodiments the at least one processor 606 may be configured to perform the functional elements described by the machine-executable code sequentially, concurrently (e.g., on one or more different hardware platforms), or in one or more parallel process streams.

[0099] When implemented by the at least one processor 606, the machine-executable code is configured to adapt the at least one processor 606 to perform operations ofembodiments disclosed herein. For example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the method 500 of FIG. 5. As another example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the operations discussed for the sprayer 100 of FIG. 1A, the stability devices 124 of FIG. IB, FIG. 1C, FIG. 2, and FIG. 3, or the gyroscope 400 of FIG. 4. As a specific, non-limiting example, the machineexecutable code may be configured to adapt the at least one processor 606 to cause the stability device 124 to change an operating parameter of the flywheel 126, such as at least one of a rotational speed, a rotational direction, an orientation, or a brake applied to the flywheel 126. In another non-limiting example, the machine-executable code may be configured to adapt the at least one processor 606 to increase a rotational inertial of at least one of the boom arms 116.

[0100] The input / output device 62 may correspond to the input / output device 146 of FIG. 1A, FIG. IB, FIG. 2, and FIG. 3 and may allow an operator of the sprayer 100 to provide input to, receive output from, the computer device 602. The input / output device 612 may include a mouse, a keypad or a keyboard, a joystick, a touch screen, a camera, an optical scanner, network interface, modem, other known I / O devices, or a combination of such I / O interfaces. The input / output device 612 may include one or more devices for the operator to toggle between various displays of the boom 114, such as the operating conditions of the stability device(s) 124.

[0101] In some embodiments, the bus 614 (e.g., a Controller Area Network (CAN) bus, an ISOBUS (ISO 11783 Compliant Implement Control)) may include hardware, software, or both that couples components of computer device 602 to each other and to external components.

[0102] 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.

[0103] 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 hereinafterclaimed, including legal equivalents thereof. In addition, features from one embodiment may be 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.T1

Claims

CLAIMSWhat is claimed is:

1. An agricultural machine comprising: a chassis; a plurality of ground-engaging elements supporting the chassis; an application system carried by chassis; and a boom carried by the chassis and comprising at least one boom arm configured to laterally extend from the chassis, the at least one boom arm comprising at least one stability device operably coupled to the at least one boom arm, the at least one stability device comprising: a motor; and a flywheel operably coupled to the motor.

2. The agricultural machine of claim 1, further comprising at least one sensor operably coupled to the chassis and configured to generate data of a field in a direction of travel of the agricultural machine.

3. The agricultural machine of claim 2, further comprising an electronic control unit configured to control at least one operating parameter of the at least one stability device based on the data.

4. The agricultural machine of claim 2 or claim 3, wherein the at least one sensor is configured to generate image data.

5. The agricultural machine of claim 1 or claim 2, further comprising an electronic control unit configured to control at least one selected from the group consisting of a rotational speed, a direction of rotation, and an orientation of the flywheel.6 The agricultural machine of any one of claims 1 through 5, wherein the at least one stability device further comprises a brake operably coupled to the flywheel and configured to reduce a rotational speed of the flywheel.

7. The agricultural machine of any one of claims 1 through 6, wherein the motor comprises a variable speed motor configured to control a rotational speed of the flywheel.

8. The agricultural machine of any one of claims 1 through 7, wherein the at least one stability device is operably coupled to the at least one boom arm proximate a lateral end of the at least one boom arm distal from the chassis.

9. The agricultural machine of any one of claims 1 through 8, wherein an axis of rotation of the flywheel is substantially perpendicular to a longitudinal axis of the at least one boom arm.

10. The agricultural machine of any one of claims 1 through 9, wherein the at least stability device comprises: a first stability device comprising a first flywheel having an axis of rotation in a first direction; a second stability device comprising a second flywheel having an axis of rotation in a second direction orthogonal to the first direction; and a third stability device comprising a third flywheel having an axis of rotation in a third direction orthogonal to the first direction and the second direction.

11. The agricultural machine of any one of claims 1 through 10, further comprising a pivot operably coupling the at least one stability device to the at least one boom arm and configured to change an orientation of the flywheel relative to the at least one boom arm.

12. The agricultural machine of any one of claims 1 through 11, further comprising: another boom arm configured to laterally extend from the chassis in an opposite direction as the at least one boom arm; and at least another stability device operably coupled to the another boom arm, the at least another stability device comprising: another motor; and another flywheel operably coupled to the another motor, the another flywheel having substantially the same mass as the flywheel.

13. The agricultural machine of any one of claims 1 through 12, wherein the at least one stability device comprises multiple stability devices operably coupled to the at least one boom arm.

14. The agricultural machine of claim 13, wherein each of the multiple stability devices individually comprises a flywheel configured to rotate independent of the flywheels of the other of the multiple stability devices.

15. The agricultural machine of claim 13 or claim 14, wherein each of the multiple stability devices is located at a different lateral distance from the chassis than the other of the multiple stability devices.

16. The agricultural machine of any one of claims 1 through 15, wherein the application system comprises: at least one storage tank supported by the chassis; and a nozzle carried by the boom, the nozzle in fluid communication with the at least one storage tank.

17. The agricultural machine of any one of claims 1 through 16, further comprising a reference gyroscope coupled to the chassis.

18. A method of operating an agricultural machine comprising a boom, the method comprising: engaging a surface of a field while traversing the field with the agricultural machine; and adjusting at least one operating parameter of a flywheel operably coupled to the boom.

19. The method of claim 18, wherein adjusting at least one operating parameter of a flywheel comprises adjusting at least one parameter selected from the group consisting of a rotational speed, a direction of rotation, and an orientation of the flywheel.

20. The method of claim 18 or claim 19, wherein adjusting at least one operating parameter of a flywheel comprises braking the flywheel.

21. The method of any one of claims 18 through 20, further comprising receiving sensor data from a camera operably coupled to the agricultural machine.

22. The method of claim 21, wherein adjusting at least one operating parameter of a flywheel comprises adjusting the at least one operating parameter based, at least in part, on the received sensor data.

23. The method of any one of claims 18 through 22, wherein adjusting at least one operating parameter of a flywheel operably coupled to a boom comprises adjusting at least one operating parameter of multiple flywheels operably coupled to the boom.

24. The method of any one of claims 18 through 23, wherein adjusting at least one operating parameter of a flywheel operably coupled to a boom comprises adjusting at least one operating parameter of the boom while turning the agricultural machine.

25. The method of claim 24, wherein adjusting at least one operating parameter of the boom while turning the agricultural machine comprises adjusting the at least one operating parameter of the boom while turning the agricultural machine in a direction of the boom.

26. A non-transitory computer-readable storage medium including instructions thereon that, when executed by a processor, cause the processor to: analyze data comprising at least one terrain data indicative of a terrain of a field traversed by an agricultural machine or sensor data indicative of an operating parameter of the agricultural machine; and responsive to analyzing the data, adjust at least one operating parameter of a flywheel operably coupled to a boom of the agricultural machine.

27. The non-transitory computer-readable storage medium of claim 26, wherein the sensor data is received from one or more sensors operably coupled to a chassis of the agricultural machine.

Images