Sprayer Boom Height Control Using Terrain Scanning
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Solution Overview
Problem
Existing agricultural field sprayer systems face challenges in maintaining a consistent distance from the ground and avoiding obstacles, leading to potential damage and inefficiencies, especially in uneven terrain or with gaps in inventory.
Innovation Solution
A device with independently pivotable extension arms equipped with ultrasonic and laser sensors, a control device, and scanners to create a surface model of the terrain ahead, allowing for automatic adjustment and minimization of deviations from the optimal operating height and angle, thereby reducing the risk of collision and damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If boom arms are equipped with sensors to automatically adjust height and avoid obstacles, then the risk of collision and damage is reduced, but the device complexity increases
Solution Approach 1:
The system divides the sensing and control functions into separate modules: scanner units for obstacle detection, sensors for distance measurement, and a control device for processing information. This segmentation allows each component to perform its specific function efficiently while maintaining overall system reliability without excessive complexity.
Solution Approach 2:
The scanner units detect obstacles in advance before the boom arms reach them, allowing the control device to calculate and execute height adjustments beforehand. This preliminary detection and action prevents collisions before they occur, enhancing reliability without requiring complex real-time reaction systems.
2Measurement precision
If multiple sensors and scanner units are used to detect terrain and obstacles, then the precision of height and angle adjustment is improved, but the use of energy increases
Solution Approach 1:
The system combines scanner units and sensors into an integrated detection system where both components work together under a single control device. This merging allows the system to share processing resources and coordinate measurements, achieving high precision while optimizing energy usage through unified control rather than separate independent systems.
Solution Approach 2:
The control device receives continuous feedback from both scanner units and sensors, processes this information, and adjusts boom arm positions accordingly. This feedback mechanism enables precise height and angle adjustments by constantly comparing actual positions with target positions, achieving high measurement precision while managing energy consumption through efficient feedback loops.
3Manufacturing precision
If the boom arms are adjusted frequently to maintain consistent distance from ground, then the application homogeneity is improved, but the productivity decreases
Solution Approach 1:
The scanner units detect obstacles and terrain features in advance, allowing the control device to pre-calculate the optimal boom arm trajectory. This preliminary action enables the system to make smooth, planned adjustments rather than frequent reactive corrections, maintaining application homogeneity while minimizing interruptions to forward motion and preserving productivity.
Solution Approach 2:
The system dynamically adjusts boom arm positions based on real-time terrain and obstacle information from sensors and scanners. This dynamic adaptation allows the boom arms to maintain optimal distance from the ground surface continuously, ensuring homogeneous application across varying terrain while the control system optimizes adjustment frequency to avoid unnecessary movements that would reduce productivity.
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 significantly reduces setpoint errors and the risk of damage by automatically adjusting the sprayer's height and angle relative to the terrain, ensuring a consistent application of liquids and avoiding obstacles, even in complex environments.
Implementation Method 1
at least one first sensor unit (10a, 10b), in particular at least one ultrasonic sensor
Implementation Method 2
at least one scanner unit (17), in particular at least one laser scanner
Data Source
Figure 1
Figure 2
AI summary
The invention relates to a device (1) for discharging liquids, such as fertilizer or the like. The device according to the invention has at least two extension arms (3a, 3b), each of which comprises multiple means for distributing the liquid, said at least two extension arms (3a, 3b) being pivotal about one or more axes (5a, 5b) running approximately parallel to a travel direction of the device. The device also has one or more actuators (7a, 7b) which are connected to the at least two extension arms (3a, 3b) and which can transmit an actuating force for a pivoting movement to the at least two extension arms (3a, 3b). The device (1) additionally comprises one or more first sensors (9a, 9b), by means of which a relative actual distance of the at least two extension arms (3a, 3b) from ground-side working crops and/or a relative inclination position of the at least two extension arms relative to a horizontal can be ascertained; and one or more second sensors (11a, 11b), by means of which at least one environment profile of the environment lying ahead in the travel direction of the device (1) can be detected, wherein the one or more first sensors (9a, 9b) and the one or more second sensors (11a, 11b) are connected to a controller (S), by means of which the one or more actuators (7a, 7b) can be actuated for a defined pivoting movement of the at least two extension arms (3a, 3b) while taking into consideration the actual state ascertained by the one or more first sensors (9a, 9b) and/or the relative inclination position and the environment profile detected by the one or more second sensors (11a, 11b). Furthermore, one or more scanners are provided, by means of which at least one environment lying ahead in the travel direction can be detected and scanned over the entire working width. Using the ascertained data, a surface model can be generated, and the one or more scanners are connected to a controller (S), by means of which the at least two extension arms (3a, 3b) can be preset on the basis of the surface model.