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Automatic Control of Boom Height and Positioning on a Self Propelled Sprayer

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  Pp. 421-431 in Proceedings of the World Congress of Computers in Agriculture and Natural Resources (13-15, March 2002, Iguacu Falls, Brazil)  701P0301.(doi:10.13031/2013.8362)
Authors:   S. Sartori, E. L. Domingues, J. B. Kimura and S. A. Garrito
Keywords:   Equipment Automation, Agricultural sprayer, Boom control, Automatic control

Owing to the control of erosion caused by rainwater, the lands have contour curves that make difficult the sprayer movement and stability. The sprayer's operator, besides driving, aligning in the paths between the plants rows, also looks for controlling the height of the boom sections in order to keep them from touching the ground and at an appropriated height above the plants. This procedure causes great errors and variability of chemicals application, resulting in improper distribution and drift. An electronic system to control the boom sections height, by means of multiple sensors, was developed and installed on the Jacto Uniport 2000 self-propelled sprayer. The system and the results of the tests in cotton crops are presented. The deviation values between the ideal spraying height and the actual boom height during the application, as well as the period and the distances traveled corresponding to these deviation values are compared for the manual and automatic control operations. Higher travel speeds were tested.

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