US Patent 10264730 Agricultural tool control system

An agricultural tool including an elongated frame, ground engaging wheels for supporting the frame, and at least two rotors carried by a respective arm. Each respective arm is moveable into a working position in which the rotors are carried on opposing sides of the frame at a distance away from the frame. Each rotor includes a hub provided with tines and each hub is supported above the ground by at least one support wheel. The tool further includes a control system which detects when the tool is moving around a bend and identifies which of the rotors is an inner rotor moving on the inside of the bend and raises the inner rotor to compensate for the downward force exerted on the inner rotor during the turn.