Agricultural Spray Boom Positioning via Pre-recorded Terrain Data
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Solution Overview
Problem
Conventional agricultural distribution machines face delays in reacting to changing height distances between the distribution boom and the crop or terrain, due to long system response times, which can lead to inconsistent material distribution, especially at high speeds.
Innovation Solution
The agricultural distribution machine employs a controllable adjusting device and sensor system that records and stores relative segment positions, allowing for proactive adjustment of the distribution linkage based on pre-recorded data, reducing system reaction time by generating control signals in advance and adjusting travel speed as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional ultrasonic sensors are used for boom position control, then the system can detect height differences, but the reaction time is too long to respond to changing height distances at high driving speeds
Solution Approach 1:
The control system stores relative positions of boom segments along the driving lane during a first traversal and uses this pre-recorded data to generate control signals in advance during subsequent traversals. This preliminary action eliminates the need for real-time sensor detection and reaction, allowing the system to maintain precise height control even at high driving speeds where conventional ultrasonic sensors would be too slow to respond.
2Manufacturing precision
If the spreading boom segments are made adjustable to adapt to terrain changes, then distribution accuracy improves, but the device complexity increases
Solution Approach 1:
Instead of using complex real-time sensing and adjustment mechanisms, the system creates a copy of the terrain profile by storing the relative positions of boom segments from a first traversal. This stored positional data is then reused during subsequent traversals to automatically reproduce the correct boom configuration, achieving high distribution accuracy without the need for complex real-time adjustment mechanisms or additional sensors.
3Loss of time
If the system stores and reuses relative positions from previous traversals, then reaction time is reduced, but the system requires additional data storage and processing
Solution Approach 1:
The control system performs self-service by storing the relative positions of boom segments during a first traversal and automatically reusing this stored data during subsequent traversals. This self-service approach eliminates the need for external real-time sensing systems and complex processing algorithms, reducing reaction time while requiring only simple data storage and retrieval functionality in the control system.
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2
AI summary
The invention relates to an agricultural spreading machine, preferably a field sprayer or a pneumatic fertilizer spreader, comprising a spreading boom for applying material such as fertilizer, pesticides, or seeds. The invention further relates to a method for controlling the position of such a spreading boom. The spreading machine and the method are characterized in that, when traversing an agricultural area (4) to be cultivated along a driving track (5), the relative positions (a1 - a4) of the segments with the associated position data (P) are determined based on the data from the sensor device (10) and the position determination device (6) and stored in a storage device (30).When the agricultural area (4) is subsequently crossed again along the same or substantially the same track (5), control signals (11a) for an actuating device (11) are generated to control the position of the distribution linkage (2) in order to change the segment positions depending on the stored relative positions (a1 - a4) of the segments and position data (P) in order to set the same relative positions (a1 - a4) of the segments along the track as in the previous crossing.