Development of Tractor Automatic Controlled Boom Sprayer Using CAN-BUS

In Japan, comfort and efficiency are being pursued for sprayer. To respond to this need, tractor automatic controlled boom sprayer using CAN-BUS was prototyped and developed. In this paper, the configuration and function of the boom sprayer equipped with CAN-BUS are described. In addition, the sprayer performance test is discussed. The CAN-BUS system of the boom sprayer, plugged tractor ECU, is comprised of two sprayer ECUs and two controllers. In order to respond to changes in the target spray volume per unit area, the sprayer sends the target tractor speed to the tractor by CAN-BUS and the tractor adjusts its traveling speed accordingly. The performance test of boom sprayer confirmed that the precision of application rate achieved by this system is high enough for practical use.