Sprayer Boom Position Monitoring for Power Cable Clearance
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Solution Overview
Problem
Current agricultural sprayer systems face challenges in detecting and avoiding overhead electrical power cables during the folding and unfolding of sprayer booms, which can lead to hazardous situations due to the complexity of operations and environmental conditions, making it difficult for operators to maintain a safe distance.
Innovation Solution
A system and method for monitoring the folding or unfolding of agricultural sprayer boom assemblies using a sprayer boom controller that employs identification systems to calculate actual distance values between radio signal transmitters and receivers mounted on the booms, comparing these values with predetermined reference distances to prevent unsafe proximity to power cables, utilizing a combination of radio frequency signals and sensors for accurate positioning and actuation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the sprayer boom is folded or unfolded to enable compact transportation and field operation, then the adaptability and versatility of the sprayer is improved, but the risk of contacting overhead power cables increases
Solution Approach 1:
The system performs preliminary detection of overhead power cables using sensors (laser, ultrasonic, or electromagnetic) before the boom reaches a hazardous position. The controller receives signals from these sensors and预先 determines potential collision risks, allowing the system to take preventive action before the harmful contact occurs.
Solution Approach 2:
The system continuously monitors the boom's position and the detected power cable locations, comparing real-time data with safe operating parameters. When the boom approaches a hazardous zone, the controller receives feedback signals and automatically adjusts the boom's movement or stops the folding/unfolding operation to maintain safe distances.
2Device complexity
If the operator monitors boom position manually to avoid power cables, then the system complexity is reduced, but the reliability of hazard avoidance decreases
Solution Approach 1:
The system performs self-monitoring of the boom's position and surrounding environment for power cables. The sensors automatically detect hazards and the controller autonomously makes decisions about boom movement, eliminating the need for continuous manual operator attention while maintaining high reliability in hazard avoidance.
Solution Approach 2:
The manual visual monitoring and judgment process is replaced with automated sensor systems (laser, ultrasonic, or electromagnetic sensors) and electronic control. This substitution of mechanical/operator-based monitoring with electronic sensing and control systems significantly improves detection accuracy and response reliability.
3Productivity
If the boom moves quickly to complete folding/unfolding operations, then the productivity is improved, but the safety distance to power cables cannot be maintained
Solution Approach 1:
The system dynamically adjusts the boom's movement speed based on real-time detection of power cable positions. When the boom is in safe zones, it can move at high speed to maintain productivity. When approaching detected power cables, the controller automatically reduces speed or stops movement to maintain safe distances, creating a dynamic balance between speed and safety.
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
The system effectively prevents the sprayer boom from folding or unfolding too close to power cables by stopping the motion when unsafe distances are detected, ensuring operator safety and preventing damage to the machinery.
Implementation Method 1
A first identification system mounted on the agricultural machine at a determinable position transmits a predefined frequency radio signal
Implementation Method 2
calculate actual distance values between the first and second identification systems and the first and third identification systems based on the wavelength of the radio signal and the differences of the first and second points in time and the first and third points in time
Data Source
Figure 1A~1C
Figure 2A~2C
Figure 2D~2E
AI summary
An agricultural machine (10) and method of monitoring folding and/or unfolding of a sprayer boom assembly (18) mounted on an agricultural machine (10) is disclosed. An agricultural machine (10) comprising a chassis (12), a sprayer boom assembly (18) with a center frame (20) mounted for vertical movement on the chassis (12) and laterally extendable right and left foldable and unfoldable booms (22, 24) connected to the center frame (20). Each right and left boom (22, 24) comprising one or more boom sections (26, 28, 30, 32), wherein the right or left booms (22, 24) are foldable or unfoldable in vertical direction. A sprayer boom controller (70) comprising predetermined positioning data (76) of the sprayer boom assembly (18). A first identification system (34) mounted on the agricultural machine (10) at a determinable position to transmit a predefined frequency radio signal (36) at a first point in time. A second identification system (38) mounted on the right boom (22) and a third identification system (40) mounted on the left boom (24) to receive said radio signal (36) transmitted from the first identification system (34) at a second and third point in time, respectively. An integrated identification system controller (84) to calculate actual distances between the first and second identification systems (34, 38) and the first and third identification systems (34, 40) based on the wavelength of the radio signal (36) and the differences of the first and second points in time and the first and third points in time respectively, wherein, an information from the integrated identification system controller (84) regarding the actual distances is transmitted to the sprayer boom controller (70). The sprayer boom controller (70) is configured to compare the calculated actual distance values with the predetermined positioning data (76), wherein, the predetermined positioning data (76) comprises reference distance values (66) between the first and second identification systems (34, 38) and the first and third identification systems (34, 40) for discrete folding and unfolding positions of the right and left booms (22, 24). The sprayer boom controller (70) is configured to stop folding and/or unfolding in case of exceeding or underrunning a tolerance value between the calculated actual distance and the reference distance values (66).