Spray Boom Attitude Control for Uneven Terrain Application
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing spray boom systems struggle to maintain a consistent distance from the ground on uneven terrain and during vehicle movement, leading to uneven application of spray agents and increased drift due to mechanical dampers and inaccurate inclination sensing.
Innovation Solution
A device with a pivotable spray boom and a control system using inertial sensors to detect rotational speed and position, integrating these measurements to generate precise control signals for actuators, ensuring consistent alignment and damping of the boom, independent of carrier vehicle movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mechanical dampers are used to apply braking torque to the spray boom, then the boom can be decelerated and positioned, but the dampers create a coupling between the carrier vehicle and the spray boom that causes inaccurate positioning when the vehicle rotates on uneven terrain
Solution Approach 1:
The patent replaces mechanical dampers with an active control system using actuators (hydraulic or electric cylinders) that apply torque to the spray boom based on feedback from inclination sensors. This substitution eliminates the mechanical coupling problem while maintaining the ability to decelerate and position the boom accurately, even when the carrier vehicle rotates on uneven terrain.
2Measurement precision
If tilt sensors are used to detect the rotational position of the spray boom, then the position can be measured, but the sensors provide inaccurate readings during lateral accelerations such as cornering
Solution Approach 1:
The patent uses tilt sensors to detect the rotational position of the spray boom and feeds this information back to the control system. The control system processes this feedback and adjusts the actuator torque accordingly to maintain accurate positioning. While tilt sensors have limitations during lateral accelerations, the feedback mechanism allows the system to compensate for measurement errors and maintain positioning accuracy under varying operating conditions.
3Device complexity
If the spray boom is allowed to rotate freely around its axis of rotation, then the system is simple, but the boom continues to rotate after reorientation due to angular momentum, requiring braking torque
Solution Approach 1:
The patent replaces passive mechanical dampers with an active control system using actuators that apply braking torque as needed. The control system monitors the rotational position and rotational speed of the spray boom, and commands the actuators to apply counter-torque to decelerate the boom when necessary. This active control approach provides precise boom control without the positioning errors introduced by mechanical dampers.
4Measurement precision
If distance sensors are used to detect the position of the spray boom ends to the ground, then the distance can be monitored, but the system becomes more complex and requires additional actuators for each boom end
Solution Approach 1:
The patent employs a single actuator on the central section of the spray boom that controls the rotational position of the entire boom assembly. This single actuator serves multiple functions by controlling the orientation of both left and right boom ends simultaneously through the rotational movement of the central section. This multi-functional approach reduces the number of required actuators and sensors compared to individually controlling each boom end.
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 solution allows for precise maintenance of boom distance from the ground and crop, preventing contact and ensuring uniform application, even on uneven surfaces, while actively damping rotational movements to prevent drift and uneven coverage.
Implementation Method 1
The rotational position of the spray boom is calculated by integrating the rotational speed over time
Implementation Method 2
This is achieved by means of at least one actuator, which transmits a force or force couple from the carrier vehicle to the spray boom
Implementation Method 3
This braking torque counteracts the rotational movement initiated by the reorientation torque and thus dampens the system of the spray boom
Implementation Method 4
Even after the reorientation torque ceases, the spray boom would continue to rotate around its axis of rotation without countermeasures, as it retains its angular momentum due to its moment of inertia
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
A device (01) for dispensing liquid and/or solid active ingredients and a method for controlling such a device (01) are described.The device (01) comprises: a carrier vehicle (10), at least one linkage (02, 21, 22) arranged to pivot about at least one axis of rotation (20), at least one sensor arrangement (25, 26) for detecting a rotational speed (w) of the linkage (02, 21, 22) about the axis of rotation (20), at least one sensor arrangement for detecting a rotational position (alpha1, d_alpha1) of the linkage (02, 21, 22) about the axis of rotation (20), a control device processing output signals (alpha0) of the sensor arrangements into control signals, and an actuator (03) influencing the instantaneous rotational position (alpha0) of the linkage (02, 21, 22) depending on control signals from the control device, which converts control signals into mechanical motion or another physical quantity and thus a torque on the linkage (02, 21, 22). exerting force or a force couple exerting a torque on the linkage (02, 21, 22) is generated.