Annular Sprayer TCV Calculation via Polar Sector Segmentation
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Solution Overview
Problem
Current tree canopy volume (TCV) calculation methods for variable-rate spray systems with annular application structures are inadequate, leading to unsatisfactory spray coverage and accuracy, particularly in environments like orchards and vineyards.
Innovation Solution
A TCV calculation method utilizing a 2D LiDAR and speed sensor, which involves real-time environmental data acquisition, point-cloud clustering, and sector area calculation, allowing for efficient and accurate volume determination without converting polar coordinates to rectangular coordinates, and is applicable to various environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the conventional TCV calculation model (tree row volume, TRV) is used with Cartesian coordinate transformation, then the calculation is applicable to common profiling sprayers with vertical application structures, but the calculation accuracy is far from satisfactory for sprayers with annular application structures
Solution Approach 1:
The patent segments the tree canopy into multiple radial sectors based on the annular application structure's nozzle distribution. Each sector is independently calculated using polar coordinates, allowing the system to adapt to the specific geometric configuration of annular sprayers while maintaining high calculation accuracy for each segment and the whole canopy volume.
Solution Approach 2:
The patent changes the coordinate system parameter from Cartesian (x, y, z) to polar coordinates (r, θ, z) to match the annular application structure's geometry. This parameter transformation enables accurate representation of the radial spray pattern and improves TCV calculation accuracy for annular sprayers without sacrificing adaptability through the generalized mathematical formulation.
2Productivity
If polar coordinates are transformed into rectangular coordinates for TCV calculation, then the calculation can be performed using conventional methods, but the calculation speed decreases and complexity increases
Solution Approach 1:
Instead of transforming polar coordinates to rectangular coordinates as in conventional methods, the patent inverts the approach by directly performing TCV calculation in polar coordinates. This eliminates the coordinate transformation step entirely, reducing computational complexity and increasing calculation speed while maintaining compatibility with the annular application structure's natural geometric representation.
3Reliability
If the conventional TRV model is used for annular application structures, then the system maintains simplicity, but the spray coverage range and angle are not optimized
Solution Approach 1:
The patent applies local quality by tailoring the calculation methodology to match the specific geometric characteristics of the annular application structure. The polar coordinate-based sector calculation method is specifically designed to accommodate the radial arrangement of nozzles and the curved spray paths, ensuring optimal spray coverage and angle for this particular application structure type without requiring complex physical modifications to the sprayer hardware.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method enables quicker and more universal TCV calculation, improving the accuracy and universality of variable-rate spraying, allowing for precise control of solenoid valves and nozzles, and constructing a 3D model of the tree canopy, enhancing the overall spraying process.
Implementation Method 1
acquiring, by a robot operating system (ROS), environmental information of an orchard in real time by using vertical/horizontal scanning LiDAR
Data Source
AI summary
The present disclosure provides a variable-rate spray control system based on an annular application structure and a tree canopy volume (TCV) calculation method thereof. The TCV calculation method includes: acquiring in real time, by using vertical/horizontal scanning two-dimensional (2D) LiDAR, point cloud data of a variable-rate sprayer in motion in an orchard environment; acquiring speed information of the variable-rate sprayer by using a speed sensor; dividing spraying regions according to an angle at which contacts of nozzles on an annular application structure are mutually spaced on an arc; filtering interferences by setting a threshold range, calculating a sector area of a tree canopy according to trunk distance information from the horizontal LiDAR and point cloud information from the vertical LiDAR within the threshold range, and calculating a TCV in combination with the information of the speed sensor and a scanning cycle of the vertical LiDAR.