Spreading Boom Height Control Using Forward Terrain Profiling
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Solution Overview
Problem
Conventional agricultural distribution machines face challenges in precisely controlling the height of their distribution linkage due to delayed reaction times to changing terrain heights, as existing ultrasonic sensor systems react too slowly to adapt the boom position effectively.
Innovation Solution
A method that determines the terrain contour ahead by simultaneously measuring distances from a reference point and additional points using a sensor device, such as a radar sensor, allowing for timely adjustments by comparing and relating these distances to accurately predict and respond to changes in terrain height.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If ultrasonic sensors are used to detect the height of the distribution boom, then the actual distance to the crop can be detected, but the position control reacts too late due to long system response time
Solution Approach 1:
The patent applies preliminary action by determining the terrain contour at measuring points ahead of the distribution boom before the boom reaches those points. The control device calculates anticipated terrain changes in advance and initiates height adjustment commands beforehand, compensating for the inherent system response delay. This allows the boom to be positioned correctly by the time it reaches the actual measuring point, rather than reacting too late.
2Stability of the object's composition
If the distribution boom has high mass inertia for structural stability, then the boom is stable, but the response time for height adjustment increases
Solution Approach 1:
The control device performs preliminary calculations of the required height adjustment based on anticipated terrain changes. By determining the necessary boom position changes in advance and initiating adjustment commands before the boom reaches the measuring points, the system compensates for the slow response caused by high mass inertia. The heavy boom maintains structural stability while the predictive control ensures timely position correction.
3Loss of time
If multiple measuring points ahead are used to determine terrain contour, then the terrain changes can be detected earlier, but the device complexity increases
Solution Approach 1:
The patent applies multi-functionality by using a single sensor device that performs multiple functions: it measures distances to multiple different measuring points ahead, determines the terrain contour at each point, and provides data for predictive height control calculations. This unified approach allows early terrain change detection without proportionally increasing system complexity, as one device handles what would otherwise require multiple separate systems.
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 approach enables early and precise adaptation of the distribution linkage to changing terrain, improving height control by determining terrain changes ahead of time, thus reducing latency and ensuring accurate distribution over varying terrain.
Implementation Method 1
determining a distance of a distribution boom (10) from at least one further measuring point (S1-S8) of the target area (Z), which is located ahead of the reference measuring point (S0) in the direction of travel of the distribution machine (1)
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3A~3B
AI summary
The invention relates to a method for determining a terrain contour ahead of an agricultural spreading machine in the direction of travel. The method comprises determining (S12) a reference distance (LO) of the spreading boom (10) from a reference measuring point (S0) of a target surface (Z), for example, a soil or crop surface, and determining (S14) a distance (Li) of the spreading boom (2) from a measuring point (Si) of the target surface arranged ahead of the reference measuring point (S0) in the direction of travel (F) of the spreading machine. The method further comprises referencing (S16), preferably by comparison and/or relating, the determined distance (Li) with the determined reference distance (LO) to determine a change in the terrain contour at the measuring point (Si) relative to the reference measuring point (S0). The invention further relates to a method for height control of such a spreading machine.The invention further relates to an agricultural spreading machine with a spreading boom and a control device for height control of a spreading boom of such a spreading machine.