An agricultural spraying machine which is supported on the ground and is movable in a forward direction over a field, the agricultural spraying machine comprising: a chassis; a sprayer linkage, the sprayer linkage configured with a middle segment movably supported on the chassis; a pair of booms arranged on respectively one side of the middle segment and which are pivotable by respectively at least one actuator in relation to the middle segment about an axis extending in the forward direction; a control device configured to receive a signal from at least one sensor associated with the pair of booms and generate a control signal, the control device receiving the signal from the at least one sensor as an input variable and wherein the control device receives the signals provided by the at least one sensor in respect of the relative position of the pair of booms in relation to a field contour; and wherein an adjustment of the at least one actuator occurs using control signals from the control device, the control signals being respectively dependent on the input variables and configured to drive the actuator on with a view to maintaining the positions of the booms in a desired position above the field contour wherein due to the mechanical coupling of the pair of booms by the middle segment, also results in a movement of other respective booms.

A product system for an agricultural sprayer includes a product tank configured to store a volume of an agricultural product. A fill station is configured to accept the agricultural product from an off-board source. A flow assembly is fluidly coupled with the fill station and is configured to direct the agricultural product into a product tank from the conduit. A reclaim system is configured to provide the agricultural product within the flow assembly to the product tank. A computing system is communicatively coupled to the reclaim system. The computing system is configured to receive inputs indicative of activation of a fill mode, detect termination of the fill mode, and activate a reclaim mode to move the agricultural product from at least the conduit to the product tank through activation of the reclaim system.

An agricultural vehicle is provided herein that includes a chassis operably coupled with a powertrain control system. A boom assembly is operably coupled with the chassis. One or more nozzles is positioned along the boom assembly. A flow control assembly is configured to selectively dispense an agricultural product from a tank through the one or more nozzles. A controller is operably coupled with the powertrain control system and the boom assembly. The controller includes a processor and associated memory with the memory storing instructions that, when implemented by the processor, configure the controller to receive instructions to accelerate or decelerate the vehicle and alter a flow rate of the agricultural product through actuation of the flow control assembly in response to receiving instructions to accelerate or decelerate the vehicle.

A boom assembly for an agricultural applicator includes a frame supporting a boom arm pivotably coupled to the frame and rotatable about a first axis. A first actuation assembly is pivotably coupled to the frame and the boom arm at a first pivot point for rotation about a second axis on a first side of the first axis. A second actuation assembly is pivotably coupled to the frame and the boom arm at a second pivot point for rotation about a third axis on a second side of the first axis. A sensor is configured to detect data indicative of a relative position of the boom arm relative to the frame. A computing system is configured to activate at least one of the first actuation assembly or the second actuation assembly in response to determining that the boom arm has deviated from a predefined angular range.

An agricultural sprayer includes a boom assembly having first and second wing boom sections. Additionally, the sprayer includes an actuator configured to adjust a fore/aft tilt angle of the boom assembly, with the fore/aft tilt angle defined between a central axis of the boom assembly and a vertical direction. Moreover, the sprayer includes a sensor configured to capture data associated with a position of the second boom section relative to the first boom section. In this respect, a computing system is configured to determine an angle defined between the first and second boom sections or a height of a tip of the second boom section based on the data captured by the sensor. In addition, the computing system is configured to control an operation of the actuator to adjust the fore/aft tilt angle of the boom assembly based on the determined angle or the determined height.

A boom height control system for an agricultural crop sprayer includes a spray boom and an actuator arranged to adjust a position of at least a portion of the spray boom in response to a position adjustment command. A speed sensor is provided to measure a forward speed of the sprayer and generate a speed value. A position sensor is provided to measure a current position of the spray boom portion and generate a current position value. A controller is in communication with the speed sensor, the position sensor and the actuator. The controller is configured to generate the position adjustment command based upon a target position value, a current position value and a speed value.

A spraying machine includes a machine body, a support frame, and a spraying portion. The support frame includes a horizontal frame having a length along a left-right direction, and a pair of vertical frames and each having a length along an up-down direction, and protruding downward from both ends of the horizontal frame. The spraying portion is supported by the support frame, and sprays a spraying material. The support frame is supported by the machine body to be rotatable around a rotation axis passing through a fulcrum portion provided on the horizontal frame and extending along a front-back direction, while maintaining a relative positional relationship between the pair of vertical frames and the horizontal frame.

A boom sprayer includes any number of components to treat plants as the boom sprayer travels through a plant field. The components take actions to treat plants or facilitate treating plants. The boom sprayer includes any number of sensors to measure the state of the boom sprayer as the boom sprayer treats plants. The boom sprayer includes a control system to generate actions for the components to treat plants in the field. The control system includes an agent executing a model that functions to improve the performance of the boom sprayer treating plants. Performance improvement can be measured by the sensors of the boom sprayer. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.

A boom suspension system may comprise a center frame operably connected to a main frame with linkages configured for vertical movement. A sensor may be operably connected to a pair of boom structures, which may extend laterally outward from opposing sides of the center frame. A controller may be configured to receive input data from the sensor and determine forces or flow rate to tilt cylinders, which may be coupled between each boom structure and the center frame. Each tilt cylinder may be operably connected to a hydraulic circuit, which may comprise a flow control mode and a pressure control mode determined by the controller. The hydraulic circuit may comprise a first set of valves in parallel with a second set of valves. Each set of valves may comprise a solenoid valve in series with a pressure regulating valve and a pressure sensor disposed on either side of each solenoid valve.

An automated implement control system includes one or more distance sensors configured for coupling with an agricultural implement. The one or more distance sensors are configured to measure a ground distance and a canopy distance from the one or more sensors to the ground and crop canopy, respectively. An implement control module is in communication with the one or more distance sensors. The implement control module controls movement of the agricultural implement. The implement control module includes a confidence module configured to determine a ground confidence value based on the measured ground distance and a canopy confidence value based on the measured canopy distance. A target selection module of the implement control module is configured to select one of the measured ground or canopy distances as a control basis for controlling movement of the agricultural implement based on the comparison of confidence values.