How Farm Machines Automatically Adjust Height Over Uneven Ground
This patent describes a system for farm equipment, like sprayers, to automatically keep their working parts at a precise, even height above the ground by using stored maps of the field and multiple motion sensors.
Original patent title: “Implement and boom height control system and method”
This patent describes a system for farm equipment, like sprayers, to automatically keep their working parts at a precise, even height above the ground by using stored maps of the field and multiple motion sensors. Granted to Agjunction in 2017 with 20 claims and 1 forward citation, and it is expected to expire in 2034.
Coverage
What does this patent actually cover?
The system first "stores field terrain elevation data" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1) for a specific work area. A user then selects a "desired height" (Claim 1) for the machine's working part, such as a sprayer boom, above the ground. As the machine moves, it "receives inertial movement data from multiple inertial measurement units (IMU) located on different sections" of the working component (Claim 1). These IMUs track the component's position. A computer then "compares the sensor data with the field terrain elevation data" (Claim 1). Based on this comparison and the desired height, the system "adjusts heights of the different sections of the working component" (Claim 1), for example, using an "electro-hydraulic mechanism" (Claim 7), to maintain the correct distance from the ground. The system can also use "global navigation satellite system (GNSS) measurements" (Claim 5) as part of its sensor data for enhanced accuracy. For example, a large crop sprayer driving over a bumpy field uses this system to ensure its spray nozzles stay exactly 20 inches above the plant canopy, preventing over-spraying or under-spraying.
The gap
What does this patent NOT cover?
- Does not cover systems that adjust the height of a working component without first "storing field terrain elevation data" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover systems that rely on only a single "inertial measurement unit (IMU)" for height control (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1 specifies "multiple inertial measurement units (IMU) located on different sections").
- Does not cover systems that only adjust the overall height of the working component uniformly, rather than "adjusting heights of the different sections" independently (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover systems that exclusively use non-inertial sensors (like optical or ultrasonic) without also incorporating "inertial movement data" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The key innovation is combining pre-mapped terrain data with real-time motion sensor data from multiple points on a large implement. This allows for precise, independent height adjustments of different sections of the machine, ensuring an even working height even over highly uneven ground.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Automated boom height control on agricultural sprayers
Precision planting depth control on seeders
Automated tillage depth control on cultivators
Guidance systems for large agricultural machinery
Why it matters
The bigger picture
This technology is crucial for precision agriculture. By maintaining a consistent height, farm implements like sprayers apply chemicals more accurately, reducing waste and environmental impact. It also helps planting equipment place seeds at the correct depth, leading to better crop yields. This precision saves farmers money and improves efficiency.
Filed
March 14, 2014
Granted
October 10, 2017
Market context
Who's building on this
Companies in this space
AgJunction, the original assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is a key player in precision agriculture technology. Other major agricultural equipment manufacturers like John Deere, CNH Industrial (Case IH, New Holland), and technology providers like Trimble and Raven Industries are also actively developing and integrating similar advanced guidance and implement control systems into their product lines.
Market impact
This type of technology has significantly advanced precision agriculture, enabling farmers to optimize input usage (fertilizers, pesticides, seeds) and improve crop yields. It has led to the development of highly automated farm machinery capable of operating with minimal human intervention, driving efficiency and sustainability in the agricultural sector.
Claim 1 — Plain English
What this patent covers
The system first "stores field terrain elevation data" (Claim 1) for a specific work area. A user then selects a "desired height" (Claim 1) for the machine's working part, such as a sprayer boom, above the ground. As the machine moves, it "receives inertial movement data from multiple inertial measurement units (IMU) located on different sections" of the working component (Claim 1). These IMUs track the component's position. A computer then "compares the sensor data with the field terrain elevation data" (Claim 1). Based on this comparison and the desired height, the system "adjusts heights of the different sections of the working component" (Claim 1), for example, using an "electro-hydraulic mechanism" (Claim 7), to maintain the correct distance from the ground. The system can also use "global navigation satellite system (GNSS) measurements" (Claim 5) as part of its sensor data for enhanced accuracy. For example, a large crop sprayer driving over a bumpy field uses this system to ensure its spray nozzles stay exactly 20 inches above the plant canopy, preventing over-spraying or under-spraying.
The clever bit
The key innovation is combining pre-mapped terrain data with real-time motion sensor data from multiple points on a large implement. This allows for precise, independent height adjustments of different sections of the machine, ensuring an even working height even over highly uneven ground.
What it does not cover
- Does not cover systems that adjust the height of a working component without first "storing field terrain elevation data" (Claim 1).
- Does not cover systems that rely on only a single "inertial measurement unit (IMU)" for height control (Claim 1 specifies "multiple inertial measurement units (IMU) located on different sections").
- Does not cover systems that only adjust the overall height of the working component uniformly, rather than "adjusting heights of the different sections" independently (Claim 1).
- Does not cover systems that exclusively use non-inertial sensors (like optical or ultrasonic) without also incorporating "inertial movement data" (Claim 1).
Patent timeline
Application submitted to the patent office
Application published, typically 18 months after filing
Patent officially issued
Patent enters public domain
PatentBrief Score
Impact Score
Early stage
Citation count
6/40
Early citations
Claim breadth
13/20
Broad claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more →
Recency
10/20
Granted 5–10 years ago
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$107K – $343K
Midpoint $215K · 7.4 yr remaining · industry ×2.2
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
20 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Koch, S. A., & Gattis, J. M. (2017). How Farm Machines Automatically Adjust Height Over Uneven Ground (U.S. Patent No. 9,781,915). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/9781915/implement-and-boom-height-control-system-and-method
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does How Farm Machines Automatically Adjust Height Over Uneven Ground cover?
This patent describes a system for farm equipment, like sprayers, to automatically keep their working parts at a precise, even height above the ground by using stored maps of the field and multiple motion sensors.
Who owns patent US 9781915?
Agjunction owns this patent, granted in 2017.
When does this patent expire?
This patent is expected to expire on March 14, 2034, when the invention enters the public domain.
What is patent US 9781915 cited by?
This patent has been cited by 1 later patents that build on its ideas.
What problem does this patent solve?
This technology is crucial for precision agriculture. By maintaining a consistent height, farm implements like sprayers apply chemicals more accurately, reducing waste and environmental impact. It also helps planting equipment place seeds at the correct depth, leading to better crop yields. This precision saves farmers money and improves efficiency.
What does this patent NOT cover?
Does not cover systems that adjust the height of a working component without first "storing field terrain elevation data" (Claim 1).
Patent monitoring