Spray Boom Inertial Control for Ground Distance Stability
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Solution Overview
Problem
Existing devices for dispensing solid active ingredients, such as spray booms on agricultural vehicles, face challenges in maintaining a consistent distance from the ground on uneven terrain, leading to uneven application and increased risk of spray drift due to mechanical dampers and inclination sensor inaccuracies.
Innovation Solution
A device with a pivotable linkage and sensor arrangements that integrate rotational speed and position measurements to calculate and adjust the linkage's position independently of the carrier vehicle's movements, using inertial sensors and actuation to maintain a constant alignment and distance from the ground.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If mechanical dampers are used to apply braking torque to the spray boom, then the spray boom can be decelerated and aligned, but the dampers create a coupling between the carrier vehicle and spray boom that transmits unwanted torque during carrier vehicle rotation
Solution Approach 1:
The patent extracts the measurement function from the carrier vehicle reference frame and places it directly on the spray boom through inertial sensors. This separates the measurement system from the mechanical coupling system, allowing the spray boom to be measured and controlled independently without transmitting carrier vehicle movements through mechanical dampers.
Solution Approach 2:
The patent replaces the mechanical damper-based alignment system with an inertial measurement and active control system. Instead of using mechanical dampers to sense and respond to alignment errors, the system uses inertial sensors to measure the spray boom's orientation independently and uses actuators to actively maintain the desired alignment, eliminating the harmful mechanical coupling.
2Measurement precision
If inclination sensors are used to detect boom position, then the boom alignment can be monitored, but the sensors provide inaccurate readings during lateral acceleration such as cornering
Solution Approach 1:
The patent replaces inclination sensors that rely on gravitational reference with inertial sensors (gyroscopes) that measure rotational velocity. This substitution eliminates the fundamental limitation of inclination sensors during lateral acceleration, as gyroscopes measure rotation directly without being affected by linear acceleration forces.
Solution Approach 2:
The patent changes the measurement parameter from inclination angle (which is affected by lateral acceleration) to rotational velocity around the longitudinal axis. By measuring angular velocity directly and integrating it to obtain orientation, the system achieves accurate measurements during cornering and other maneuvers involving lateral acceleration.
3Ease of operation
If the spray boom is suspended to rotate freely for self-leveling, then even application can be achieved on horizontal areas, but the desired effect is not achieved on agricultural areas that run along a slope
Solution Approach 1:
The patent transitions from a passive self-leveling system to an active dynamic control system. Instead of relying on gravitational self-leveling that only works on horizontal surfaces, the system uses inertial sensors to continuously measure the spray boom's orientation and actuators to actively adjust and maintain the desired alignment regardless of terrain slope or carrier vehicle movement.
Solution Approach 2:
The patent implements a feedback control system where inertial sensors continuously measure the spray boom's rotational position, the control unit processes this information to determine alignment errors, and actuators apply corrective torque to maintain the desired orientation. This closed-loop feedback enables the system to adapt to any terrain condition, including slopes, whereas passive self-leveling lacks this adaptive capability.
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 ensures precise control of the spray boom's position relative to the ground, reducing drift and ensuring uniform application even on uneven surfaces, while avoiding the limitations of mechanical dampers and inclination sensor errors.
Implementation Method 1
at least one rotational rate sensor (25, 26) arranged on the spray boom (02) and detecting the rotational speed w of the spray boom (02) around the at least one rotational axis (20)
Implementation Method 2
an actuator (03), which, at least when required, generates a force couple that changes the alignment of the spray boom (02) around an axis of rotation running through the central point
Implementation Method 3
mechanical dampers mounted between the carrier vehicle and the sprayer boom have typically been used to apply the braking torque
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) pivotably arranged 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 exerts 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.