Agricultural Boom Deflection Compensation via Sensor Feedback
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Solution Overview
Problem
Agricultural sprayers face challenges in maintaining accurate application of agricultural products due to boom deflection during operation, leading to misapplication of the product on the field.
Innovation Solution
A system comprising a boom arm with a position sensor and a computing system that determines a boom deflection model based on data from the position sensor and field sensor, allowing for precise control of nozzle flow rates to ensure accurate application of agricultural products.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the boom assembly is extended to cover wide swaths of the field, then the productivity is improved, but the boom deflection increases causing misapplication of agricultural product
Solution Approach 1:
The system employs position sensors to continuously monitor the actual position of the boom assembly and nozzle assemblies during operation. This feedback information is fed to the control system which calculates corrections to the actuator commands, ensuring that the nozzle assemblies maintain accurate positioning relative to the target despite boom deflection. This closed-loop feedback mechanism resolves the contradiction by enabling wide swath coverage while maintaining application precision through real-time position correction.
Solution Approach 2:
The control system dynamically adjusts the flow rate of agricultural product based on the detected boom deflection magnitude. When deflection is detected, the system modifies the spraying parameters (flow rate, timing) to compensate for the positional change. This parameter adjustment allows the system to maintain accurate application despite the physical deflection caused by extending the boom to cover wide areas.
2Manufacturing precision
If the nozzle assembly flow rate is increased to compensate for boom deflection, then the application accuracy is improved, but the product loss increases
Solution Approach 1:
The control system calculates the expected boom deflection and determines the appropriate flow rate compensation in advance, before the actual spraying occurs. By pre-calculating the correction based on detected deflection and predicting the nozzle position relative to the target, the system applies the precise amount of agricultural product needed to achieve accurate coverage, avoiding both under-spraying and excessive over-spraying that would lead to product loss.
Solution Approach 2:
The system applies partial compensation for boom deflection by adjusting the flow rate based on the magnitude and direction of deflection. Rather than applying a fixed excessive amount, the control system calculates the precise partial adjustment needed to account for the deflection, ensuring accurate application without unnecessary product loss. The compensation is proportional to the actual deflection detected.
Data Source
AI summary
A system for an agricultural vehicle can include a nozzle assembly positioned along a boom assembly. A position sensor can be associated with the boom assembly. A field sensor can be associated with the nozzle assembly. A computing system can be operably coupled with the nozzle assembly, the position sensor, and the field sensor. The computing system can be configured to detect a target within a field based on data from the field sensor, determine a boom deflection model based on data from the position sensor, and activate the nozzle assembly to apply an agricultural product to the target at a first flow rate based on the boom deflection model. The first flow rate is varied from a nominal flow rate when the boom assembly is deflected.