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The machine is supplied with 24 V by two 12 V lead batteries connected in series (1) and recharged by a 28 V alternator (2) driven by a power take-off (3).
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The 24 V voltage supplies the main electrical box (11) which contains the electrical power management system, a battery protection system, a router and a switch for the connection to the Internet and to the control panel via a Wi-Fi and 4G antenna (12).
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The main electrical box (11) powers the 6 vision boxes (5-10). It is switched on and off by the operator via the remote ON/OFF control box (4).
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The 3 spraying booms (14) can be adjusted by means of the 3 buttons (15) for raising and lowering. Values measured by the pressure sensor located on the left spraying boom get transmitted to the computer of the vision box (5). Three master vision boxes also activate the opening of the solenoid valves.
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Each of the 6 vision boxes contains a camera for the recognition of the targets to be sprayed, a group of four LEDs, an electronic card for the management of the flashes, a computer for image processing and a fan.
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The 6 vision boxes each contain a visual odometry (VO) camera for evaluating the machine's forward speed, as well as a battery supplying the real-time clock (RTC).
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When a mission is started, the computers switch on the LEDs (flash), evaluate the speed of the machine with the visual odometry (VO) cameras and activate the target detection. If targets are detected, the computers send the commands to open the solenoid valves of the spraying booms, taking into account the machine’s forward speed.