Multi-jointed Spray Boom Articulation for Terrain Adaptation
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Solution Overview
Problem
Conventional sprayers face challenges in managing boom height control and spray drift due to their rigid structures and lack of flexibility, particularly when operating on uneven terrain or encountering obstacles, leading to inefficiencies in chemical application.
Innovation Solution
A multi-jointed spray boom system with pivotally coupled frames and articulating actuators allows for independent control of each boom section, enabling precise adjustment of spray pipe heights and orientations to maintain target spray heights and prevent drift, using sensors and a controller to optimize spray distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the boom is made rigid and heavy for structural stability, then the strength and stability are improved, but the flexibility to adapt to uneven terrain deteriorates
Solution Approach 1:
The boom is divided into multiple sections (first boom section, second boom section, third boom section) that can independently articulate relative to each other. This segmentation allows each section to adapt to local terrain variations while maintaining overall structural integrity, resolving the contradiction between rigidity and flexibility.
Solution Approach 2:
The boom incorporates articulating joints between sections that allow dynamic adjustment of relative positions. These joints enable the boom to change its configuration in real-time to accommodate uneven terrain, transforming a static rigid structure into a dynamic adaptive system.
2Reliability
If the entire boom is raised to avoid obstacles, then the obstacle avoidance is improved, but the spray coverage and productivity deteriorate
Solution Approach 1:
The articulated boom sections can be independently raised or lowered, allowing only the portion near an obstacle to be elevated while other sections maintain spray coverage. This selective adjustment preserves productivity while providing obstacle avoidance where needed.
Solution Approach 2:
Different boom sections can have different vertical positions tailored to local conditions. When an obstacle is detected in one area, only that local section is raised, while other sections continue spraying at optimal heights, maintaining overall productivity.
3Reliability
If the boom is raised to avoid obstacles on uneven terrain, then the obstacle avoidance is improved, but the spray drift and chemical waste increase
Solution Approach 1:
By segmenting the boom into independently controllable sections, the system can minimize the number of sections that need to be raised. This reduces the overall boom height increase and consequently decreases spray drift and chemical waste compared to raising the entire boom.
Solution Approach 2:
The system applies obstacle avoidance locally to specific boom sections rather than globally to the entire boom. This localized response maintains spray coverage and minimizes drift in areas where obstacles are not present, reducing overall chemical loss.
Data Source
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AI summary
A multi-jointed spray boom (1100) for travelling along a ground is disclosed. The multi-jointed spray boom (1100) comprising: a center frame (1104); a first boom frame (1106) and a second boom frame (1108), the first boom frame (1106) pivotally coupled to the center frame (1104) at a first pivot location (1144) and the second boom frame (1108) pivotally coupled to the first boom frame (1108) at a second pivot location (1148); a first articulating actuator (1118) coupled between the center frame (1104) and the first boom frame (1106), the first articulating actuator (1118) being movable between a retracted position and an extended position; a second articulating actuator (1146) coupled between the first boom frame (1106) and the second boom frame (1108), the second articulating actuator (1146) being movable between a retracted position and an extended position; a first spray section coupled to the first boom frame (1106), the first spray section including a first spray pipe (1126) and a first nozzle coupled to the first spray pipe (1126), the first nozzle configured to be fluidly coupled to a fluid source for spraying a fluid; a second spray section coupled to the second boom frame (1108), the second spray section including a second spray pipe (1128) and a second nozzle coupled to the second spray pipe (1128), the second nozzle configured to be fluidly coupled to the fluid source for spraying the fluid; and wherein, a movement of the first articulating actuator (1118) causes the first boom frame (1106) to pivot about the first pivot location relative to the center frame (1104), and a movement of second articulating actuator (1146) causes the second boom frame (1108) to pivot about the second pivot location (1148) relative to the first boom frame (1106).