Distribution Boom Height Control Using Forward Terrain Contour Sensing
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Solution Overview
Problem
Conventional systems for height control of agricultural distribution machine booms using ultrasonic sensors often react too late to changing height distances between the boom and the crop, due to long system reaction times influenced by mass inertia, hydraulic system response, and data processing time.
Innovation Solution
A method for determining a terrain contour ahead of an agricultural distribution machine, which involves simultaneously determining the reference distance from a reference measuring point and the distance from a measuring point ahead, and referencing these distances to detect changes in the terrain contour, allowing for early reaction in height control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ultrasonic sensors are used for height control of the distribution boom, then the actual distance can be detected, but the system reacts too late due to long reaction time
Solution Approach 1:
The patent applies preliminary action by determining the terrain contour at measuring points ahead of the distribution boom before the boom reaches those points. The control device calculates future height positions based on terrain data from forward measuring points, enabling the boom to be adjusted in advance rather than reacting after the terrain change is detected under the boom. This eliminates the latency inherent in conventional ultrasonic sensor systems that only measure current height distance.
2Strength
If the distribution boom has large mass for structural stability, then it can support the distribution elements, but the mass inertia causes slower response to height adjustments
Solution Approach 1:
By determining terrain contours at measuring points ahead and calculating future height positions in advance, the system compensates for the boom's mass inertia. The control device initiates adjustment commands before the boom needs to respond, allowing the heavy structure sufficient time to reach the target position without compromising structural integrity.
3Ease of operation
If hydraulic adjusting device is used for height control, then the boom can be adjusted, but the hydraulic system response time contributes to overall delay
Solution Approach 1:
The system performs preliminary calculation of future height positions based on terrain contour data from measuring points ahead. This allows the hydraulic adjusting device to be commanded in advance, giving the slow hydraulic system sufficient time to complete its adjustment before the distribution boom reaches the actual terrain feature.
4Loss of time
If data processing time is reduced for faster control, then reaction time improves, but measurement precision may be compromised
Solution Approach 1:
The control device performs comprehensive terrain contour determination and future height position calculation in advance, when there is ample time for processing. By shifting the computational burden to earlier time points before the boom reaches critical positions, the system can execute thorough data processing without compromising measurement precision, while still achieving timely physical adjustment.
Data Source
AI summary
A method for determining a terrain contour lying ahead in the direction of travel of an agricultural distribution machine includes determining a reference distance of a distribution boom from a reference measuring point of a target area, for example, a ground or crop surface, and determining a distance of the distribution boom from a measuring point of the target area arranged ahead of the reference measuring point in the direction of travel of the distribution machine. The method further includes referencing, preferably by comparing and/or relating the determined distance to the determined reference distance, to determine a change in the terrain contour at the measuring point relative to the reference measuring point. An agricultural distribution machine has a distribution boom and a control device for controlling the height of a distribution boom of such a distribution machine.