Sprayer Boom Control via Fluidic Actuators
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Solution Overview
Problem
Field sprayer booms with large working widths face challenges in maintaining a constant distance from the ground due to uneven terrain and air movements, leading to uneven spray coverage and drift issues, especially on sloping agricultural land.
Innovation Solution
A device with a pivotable linkage mounted on a carrier vehicle, equipped with sensors and actuators that use a multi-loop control system to maintain precise distance control, utilizing pneumatic or hydraulic actuators and sensors like yaw rate sensors to adjust the boom's position and orientation relative to the ground, decoupling it from the carrier vehicle's movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the sprayer boom is suspended and allowed to rotate freely about a central point, then self-levelling occurs on horizontal farmland, but the distance between nozzles and ground cannot be kept constant on sloping agricultural land
Solution Approach 1:
The patent replaces the purely mechanical self-levelling system with an active control system using inclination sensors, processing units, and actuators. This substitution allows the system to maintain constant nozzle-to-ground distance on sloping land by electronically sensing inclination and actively adjusting the boom position, rather than relying solely on gravitational self-levelling.
Solution Approach 2:
The patent implements a feedback control loop where inclination sensors continuously measure the boom's angle, the processing unit calculates the required adjustment, and actuators apply corrective torque to maintain the desired distance. This closed-loop feedback system ensures constant distance precision even on varying terrain.
2Speed
If mechanical dampers are fitted between the carrier vehicle and spray boom to apply braking torque, then the sprayer boom can be braked, but a coupling between the carrier vehicle and the sprayer boom is created
Solution Approach 1:
The patent replaces mechanical dampers with an active braking system using actuators controlled by a processing unit. This substitution allows independent control of the sprayer boom's rotational speed without creating a mechanical coupling to the carrier vehicle, as the braking torque is applied through the same actuator that controls positioning.
Solution Approach 2:
The control system uses the same actuators that position the sprayer boom to also provide braking function. The processing unit independently controls the actuators to apply braking torque when needed, eliminating the need for separate mechanical dampers and maintaining system decoupling.
3Measurement precision
If inclination sensors are used to determine the position of the sprayer boom, then the rotational speed can be obtained, but incorrect inclination is provided in the event of lateral acceleration
Solution Approach 1:
The patent uses feedback from multiple sensors including inclination sensors and acceleration sensors. The processing unit receives data from all sensors and processes this information to compensate for lateral acceleration effects, providing accurate inclination measurements even during cornering or uneven terrain operation.
Solution Approach 2:
The processing unit serves multiple functions: it processes inclination sensor data, integrates acceleration sensor data to compensate for lateral acceleration effects, calculates rotational speed, and controls actuators. This multi-functional approach allows the system to maintain measurement accuracy under various operating conditions.
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
Ensures precise and even application of spray agents across the field, minimizing drift and adapting to varying terrain without direct ground contact, maintaining stability and accuracy even on uneven surfaces.
Implementation Method 1
at least one sensor arrangement which has a yaw rate, rotational angle speed and/or rotational acceleration sensor
Implementation Method 2
at least one actuator which can apply a torque to the linkage about the axis of rotation
Implementation Method 3
the rotational position is obtained by integrating the rotational speed over time
Data Source
Figure 1
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Figure 3a
AI summary
A device (10) for dispensing liquid and/or solid active ingredients and a method for controlling the device are disclosed. The device (10) comprises a carrier vehicle (12), at least one linkage (16) pivotable about at least one axis of rotation, and at least one sensor arrangement (40) for detecting the rotational speed and/or the rotational position of the linkage (16) about the axis of rotation with respect to a reference plane. A control unit (36) processes output signals from the sensor arrangements (40) into control signals for an actuator (26, 28) for adjusting the linkage (16).The at least one actuator (26, 28) is formed by at least one linear or rotary drive operating under fluidic pressure, which establishes an actuating connection between the carrier vehicle (12) and the pivotable linkage (16), wherein the at least one linear or rotary drive has an active pressure side that can be actuated with fluidic actuating pressure for each of the two adjustment directions of the linkage (16). When the linkage (16) is at rest or moving slightly relative to the carrier vehicle (12), there is an approximately equal pressure level in the active pressure sides of two opposing linear or rotary drives or of one double-acting linear or rotary drive. When the linkage (16) is adjusted relative to the carrier vehicle (12), a defined differential pressure between the active pressure sides of the two opposing linear or rotary drives or of the double-acting linear or rotary drive can be set.