{
  "patent_number": "US 9781915",
  "country": "US",
  "title": "How Farm Machines Automatically Adjust Height Over Uneven Ground",
  "original_title": "Implement and boom height control system and method",
  "summary": "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.",
  "what_it_does": "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.",
  "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)."
  ],
  "filed": "2014-03-14",
  "granted": "2017-10-10",
  "expires": "2034-03-14",
  "status": "active",
  "holder": "Agjunction",
  "holder_url": "https://patentbrief.org/company/agjunction",
  "inventors": [
    {
      "name": "Steven A. Koch",
      "url": "https://patentbrief.org/inventor/steven-a-koch"
    },
    {
      "name": "Joshua M. Gattis",
      "url": "https://patentbrief.org/inventor/joshua-m-gattis"
    }
  ],
  "times_cited": 1,
  "tags": [
    "agriculture",
    "software",
    "telecommunications",
    "mechanical",
    "robotics"
  ],
  "abstract": "A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control compute engine. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed.",
  "url": "https://patentbrief.org/patent/us/9781915/implement-and-boom-height-control-system-and-method",
  "markdown_url": "https://patentbrief.org/patent/us/9781915/implement-and-boom-height-control-system-and-method/md",
  "google_patents_url": "https://patents.google.com/patent/US9781915",
  "relatedPatents": []
}