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    • 专利摘要:
    nozzle control system and method. the present disclosure relates to a system and method for nozzle control. the system includes a total system pressure valve configured to adjust the pressure of an agricultural product within a lance. a head node is configured to receive a total system flow rate measurement, a target total flow rate, and a total system pressure measurement, with the head node being configured to set the total system pressure valve to control the pressure of the agricultural product. a plurality of smart nozzles is configured to dispense the agricultural product, each of the plurality of smart nozzles being associated with an electronic control unit (ecu) and one or more individual nozzles, with the smart nozzle being configured to control a nozzle flow rate of the one or more associated individual nozzles.
    公开号:BR112016008517B1
    申请号:R112016008517-5
    申请日:2014-10-17
    公开日:2021-06-22
    发明作者:John PREHEIM；Jared KOCER；Brent Driesen
    申请人:Raven Industries, Inc；
    IPC主号:
    专利说明:

    PRIORITY CLAIM
    [001] This application claims the priority benefit of U.S. Provisional Patent Application 61/892,339, filed October 17, 2013, which is incorporated herein by reference in its entirety. COPYRIGHT NOTICE
    [002] A portion of the disclosure in this patent document contains material that is subject to copyright protection. The copyright owner has no objection to facsimile reproduction by any individual of the patent document or patent disclosures as contained in the Patent Office's patent records or files, but otherwise reserves if any and all copyrights. The following notice applies to the software and data as described below and on the drawings that form a part of this document: Copyright Raven Industries; Sioux Falls, SD; All rights reserved. FIELD OF TECHNIQUE
    [003] This document refers generally, but not by way of limitation, to a nozzle control system and method for the application of products (granular, fluid or gaseous) to agricultural crops or a field. BACKGROUND
    [004] Agricultural sprinklers are used to distribute agricultural products, such as fertilizers, insecticides, herbicides and fungicides, to a field or agricultural crops. Agricultural sprinklers include one or more spreader booms that are long enough (for example, 60 ft to 150 ft. 60 ft to 45.72 m) to sprinkle multiple rows of agricultural crops in a single pass. Agricultural fields are often irregular in shape and contain one or more of contour changes, tree lines, slopes, weirs or streams. Irregular shapes and contour changes can provide challenges in evenly distributing agricultural produce and can lead to wastage of agricultural produce. Additionally, the configuration of the agricultural sprinkler itself can cause unpredictable variation in the application of the agricultural product.
    [005] Agricultural sprinklers include a reservoir for a carrier substance. The reservoir is in communication, via a manifold, or pipe, with a plurality of sections provided along one or more support lances (eg, lance tubes along the lances). The manifold is the main line that extends between the reservoir and the support booms. Each of the plurality of sections includes multiple spray nozzles that dispense carrier substance received by the section. The carrier substance includes the carrier substance such as water and, in an example, agricultural products dispersed in the carrier substance, for example herbicides, pesticides, fertilizers or the like. OVERVIEW
    [006] The present inventors have recognized, among other things, that a problem to be solved may include the control of dispersion of an agricultural product, such as from an agricultural sprinkler lance. In one example, the present matter can provide a solution to this problem, such as providing a nozzle control system and method that has the ability to determine a specific nozzle flow rate for each nozzle on the boom and to control the nozzle. flow rate for each nozzle on the boom. Such a system includes an electronic control unit on each nozzle configured to receive and handle numerous inputs, such as nozzle position on a boom, boom length, nozzle spacing, boom yaw rate, target rate nozzle flow rate for the system, agricultural sprinkler yaw rate, agricultural sprinkler speed, total system pressure, and agricultural product characteristics. That is, the present matter can provide a solution to the above problem by controlling the flow rate at each nozzle to provide an even distribution of agricultural produce across a field.
    [007] The present inventors have recognized, among other things, that a problem to be solved may include the control of dispersion of an agricultural product, such as from an agricultural sprinkler lance, according to specific characteristics of the field or agricultural culture . In one example, the present matter can provide a solution to this problem, such as providing a nozzle control system and method that includes one or more location trusts associated with the system, the one or more location trusts being configured to mark the location of one or more nozzles from the plurality of nozzles on a field map. Additionally, each of the nozzles of the plurality of nozzles in the system is configured to dispense agricultural produce at individual rates in accordance with the location of the one or more nozzles of the plurality of nozzles on the field map.
    [008] The present inventors have recognized, among other things, that a problem to be solved may include the control of a boom, row or section of an agricultural delivery system. In one example, the present matter can provide a solution to this problem, such as providing greater control to individual sections or rows of an agricultural product delivery system through a method and control system for delivering a configured agricultural product through Product flow rate control keys in each individual nozzle or each nozzle group of the agricultural delivery system.
    [009] This overview is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. A detailed description is included to provide additional information regarding the present patent application. BRIEF DESCRIPTION OF THE DRAWINGS
    [010] The drawings illustrate, in general, by way of example, but not by way of limitation, several modalities discussed in this document.
    [011] Figure 1 is a perspective view of an example of an agricultural sprinkler.
    [012] Figure 2 is a top view of an example of an agricultural sprinkler and an agricultural field.
    [013] Figure 3 is an example of a field moisture content map that includes crop moisture content values associated with corresponding field locations.
    [014] Figure 4 is an exemplary schematic view of a total nozzle control system.
    [015] Figure 5 is a detailed schematic view of an exemplary nozzle control system.
    [016] Figure 6 is an exemplary schematic view of a nozzle ECU.
    [017] Figure 7 is an alternative exemplary schematic view of a nozzle ECU.
    [018] Figure 8 is a block diagram that shows an example of a method to control nozzle flow rate in an agricultural sprinkler. DETAILED DESCRIPTION
    [019] As illustrated in Figure 1, an agricultural sprinkler 10 includes a reservoir tank 2, one or more sprinkler lances 4, which include one or more nozzles 5, one or more electronic control unit (ECU) 7 (for example, a microprocessor-based system) and a main node 6. (eg, a microprocessor-based system) In one example, the agricultural sprinkler 10 includes an integral reservoir tank 2 or a trailer behind the reservoir tank. The reservoir tank 2, in one example, includes the agricultural product mixed with a support fluid, such as water, or the support fluid and the agricultural product are mixed in-line before or on the spray lance 4. The nozzles 5 are positioned along the lances sprinkler 4 to deliver the agricultural product to an agricultural crop or an agricultural field 8. Agricultural crops include, but are not limited to, any product grown in an agricultural field, such as row-based or rowless agricultural crops. Agricultural products include, but are not limited to, fertilizers, water, pesticides, fungicides, herbicides or the like. As shown, the agricultural sprinkler 10 includes the main node 6 as described herein. The main node 6, as will be discussed in this document, operates in conjunction with the one or more ECUs 7 to control the delivery of agricultural produce from the reservoir tank 2, to the spray lance 4 and the associated nozzles 5 for delivery to the field. agricultural or agricultural culture.
    [020] As illustrated in Figure 2, an example of an agricultural sprinkler 10 is provided on an agricultural field 8 and delivers an agricultural product. The agricultural sprinkler 10 includes a trailer behind the reservoir tank 2, one or more sprinkler lances 4 (e.g. dual lances extending from the center of the sprinkler 10) and the main node 6. As described herein, the controller 6 controls the delivery of the agricultural product to the agricultural field 8 or agricultural crops.
    [021] Figure 3 is a demonstrative example of a field map 30. Optionally, yield map 30 includes, but is not limited to, providing a visual representation of crop delivery instructions, such as, but not limited to , a soil characteristic, crop yield, crop product instructions, or any combination thereof. An enlarged portion of the field map 30 is shown in the bottom view of Figure 3. As shown by way of dithering, shading or the like variation, a plurality of zones 32 consequently have corresponding product delivery instructions (e.g., product type or flow rate, etc.), magnitude of comparison, or type of calibration instructions. For example, as shown in Figure 3, a plurality of zones 32 that have variable agricultural product delivery instructions is associated with one or more zones 32. Accordingly, each of the zones 32 includes in an example an information matrix that includes the agricultural product delivery instructions. Consequently, the field map 30 provides a representation to the operator of the agricultural product delivery demands during an agricultural product delivery operation. The information provided by field map 30 is optionally used, for example, to determine better farming techniques, planting strategies and the like for the field in the coming season.
    [022] Referring again to Figure 3, the plurality of zones 32 includes sub-zones 34. As shown, each of the zones and sub-zones has different dithering, shading or the like associated with the true cropped agricultural crop characteristic. Optionally, subzones 34 (or any one of the plurality of zones 32) have varying dithering, shading or coloring techniques or any combination thereof to thereby provide indications of calibration instructions, magnitude of comparisons, or both. As shown in Figure 3, through dithering, shading, coloring or the like the agricultural product delivery instructions vary between each of the zones 32. As shown, for example, each of the subzones 34 the dithering is different between the zones, thus indicating the agricultural product delivery instructions, such as the type of agricultural product, among others. Optionally, the field map 30 provides one or more zones 32 interactive zones. For example, the user has the ability to zoom in and examine each of the zones 32 which it consequently allows, for example through a user interface interaction graphic with the field map 30, consequently determining the agricultural product delivery instructions of one or a plurality of zones 32.
    [023] Figure 4 illustrates a schematic of an exemplary total nozzle control system 40, in which one or more nozzles 52 located on a lance 50 have the ability to control a respective nozzle flow rate of an agricultural product dispensed to from the nozzle 52. As shown in Figure 4, a main node 42 is further communicatively coupled to the one or more valves of the lance 51 so that the system pressure within the lance 50 can be controlled by the main node 42. , unlike previous systems, the main node 42 of the current system is not configured to control the flow rate within the system 40, the boom 50 or the smart nozzles 52. The main node 42 includes inputs from a flow meter main 44, a main pressure transducer 46 and a main pulse width modulating valve (PWM) 48. The main node 42 controls the main PWM valve 48 so as to maintain the targeted system pressure of m. Whenever a desired droplet size of the agricultural product is obtained outside the nozzles 52. For example, environmental conditions such as wind, humidity, rain or temperature, field characteristics or user preference determine whether a smaller or larger droplet size than the agricultural product is preferred. By maintaining a constant system pressure, a preferential droplet size can be obtained and maintained by the current system.
    [024] In the exemplary mode, each of the nozzles 52 is an intelligent nozzle that includes an electronic control unit (ECU) that regulates, determines and/or controls the nozzle flow rate of the agricultural product dispensed from the nozzle 52, as discussed with reference to Figure 5. In other embodiments, a group of nozzles 52 is associated with a common ECU and as a group, is considered a single smart nozzle. Smart nozzles 52 are connected to a boom 50 and communicatively coupled to a controller area network 49 (eg CAN ISO bus) of the total control system 40. As discussed in this document, the CAN bus 49 is configured to provide total system information from major node 42 (for example, major node). The ECU on each smart nozzle 52 uses data from the total system information to regulate, determine and/or control the nozzle flow rate of each corresponding smart nozzle 52.
    [025] The main node 42 controls a system pressure using, for example, the main PSI transducer 46 and the main pulse-width-modulating valve (PWM) 48, rather than controlling a system flow rate . Although Figure 4 illustrates a PWM valve like the main valve 48, the modalities are not as limited. For example, the main valve 48 includes any valve that has the capability to control the pressure of a system, such as, for example, a ball valve, a PWM valve or a butterfly valve. For example, the head node 42 maintains the system pressure at a system target value by contracting to affirmatively control the agricultural product flow rate, and the flow rate is controlled at each smart nozzle 52. In another example, the master node controls the system pressure to one or more target values and the smart nozzles 52 control the flow rate in each of the smart nozzles 52 and therefore the total agricultural product flow rate in the system.
    [026] In one example, the target system pressure is provided by a user, such as in User Interface 56 (UI) connected to head node 42 by CAN bus ISO 53. In a further example, the user also provides a target system flow rate (eg volume/area) in the UI. In one example, head node 42 provides the target system flow rate for each of the one or more smart nozzles 52 so that each smart nozzle 52 (or each ECU, as discussed in this document) determines a rate of individual agricultural product flow rate for smart nozzle 52. For example, the target system flow rate is divided by the number of nozzles to provide 52 a target rate of agricultural product flow for each of the one or more nozzles 52. In one example, the main node measures the flow rate (eg volume by time) with a main flow meter 44 and compares it to the target total flow rate (eg designated by one or more among the user, type of agricultural crop, soil characteristic, type of agricultural product, historical data or similar). Major node 42 is configured to determine a difference or error, if present, between the measured system flow rate and the target system flow rate. In such an example, the head node 42 provides the difference determined by the ISO CAN bus 53, to the individual nozzles 52 (or ECUs, as discussed in this document). The one or more nozzles 52 receive the difference on the CAN 53 bus and adjust their duty cycle/flow/pressure curve using the difference (eg, compensating for errors in the system) to reduce the error between flow rates. system measures and target.
    [027] Additionally, in at least some examples, the main node 42 reports the actual pressure, as measured by the main PSI transducer 46, as well as the lance 50 information, which includes, but is not limited to, one or more of the yaw rate, speed, number of smart nozzles on the boom, distance between smart nozzles on the boom and smart nozzles 52 (or ECUs as described in this document) for individual flow rate control of each of the nozzles smarts 52. For example, the information provided from the main node 42 is used in addition to the nozzle characteristics to control the individual flow rate control of each smart nozzle 52. The nozzle characteristics include, but are not limited to, position of nozzle on a boom, the boom length, the nozzle spacing, the target flow rate for the system, the boom yaw rate, the agricultural sprinkler yaw rate, the agricultural sprinkler speed, ession of total system and agricultural product characteristics. System 40 is configured to be installed on an agricultural sprinkler and as such, as the sprinkler moves during operation (translates and rotates), the one or more nozzle characteristics, in one example, are dynamic and, consequently, change the individual flow rate.
    [028] Figure 5 illustrates a detailed schematic view of an exemplary nozzle control system 60. The control system 60 includes a main node 62 communicatively coupled to one or more lance valves 70 so that the pressure of system within the boom can be controlled by main node 62. Additionally, main node 62 includes inputs from a main flow meter 64, a main pressure transducer 66 and a main pulse width modulation (PWM) valve 68 Additionally, as described herein, the head node is coupled to an UI 76 and, in one example, a battery 78, so as to provide power to one or more of the head node 62 and the UI 76.
    [029] As shown in the embodiment of Figure 5, a smart nozzle includes an ECU 72 coupled to a PWM 73 valve. That is, Figure 5 illustrates 36 ECUs directly related to 36 nozzles of the nozzle control system 60, but the modalities are not so limited. A main node 62 is communicatively coupled, by CAN ISO 69 bus to ECU-18 and ECU-19, where ECU-18 72 and ECU-19 72 define a central region of the boom. From the central region of the boom, the ECUs 72 are communicatively coupled to the nearest ECU 72 in the direction towards each terminal end 74 of the boom. That is, the ECU-18 is communicatively coupled to the ECU-17, which is communicatively coupled to the ECU-16, and so on until the terminator after ECU-1 is reached. The same pattern holds for the other half of the boom. Although 36 ECU 72 are illustrated, the modalities are not so limited. Additionally, as shown in Figure 5, each ECU 72 is coupled to a PWM 73 valve, however the modalities are not as limited. For example, a single ECU 72 is communicatively coupled to more than one PWM valve 73. In other words, a single ECU 72, in one example, is communicatively coupled to more than one nozzle, such as , for example, all other nozzles. In one example, 12 ECUs share control of the 36 nozzles on the boom. In one example, a plurality of nozzles are partitioned into groups of nozzles such that each nozzle group includes an ECU 72 configured to control a nozzle group flow rate of agricultural produce dispensed from each nozzle of the nozzle group based on the nozzle characteristics, as described herein, of the respective nozzles. The benefits of such arrangements include cost savings. Thus, a smart nozzle is a single nozzle and an associated ECU is a group of nozzles associated with a common ECU.
    [030] In yet another example, system 60 includes one or more location trusts associated with system 60, the one or more location trusts being configured to mark the location of one or more nozzles (or ECUs) of the plurality of nozzles on a field map (eg, indexed with product flow rates, moisture content, crop type, crop product type, or similar). Optionally, each of the nozzles, nozzle groups or ECUs 72 of the system is configured to control the agricultural produce at individual rates according to the location of the one or more nozzles (or ECUs 72) of the plurality of nozzles on the field map (and , optionally in addition to the nozzle features described herein). Additionally, each of the plurality of nozzles (or ECUs 72) can be cycled, such as on/off, according to the location of the nozzle (or nozzle group or ECU 72) in the field. This is in contrast to previous approaches that required all nozzles in a boom section to be turned off or turned on at the same time.
    [031] In one example, each nozzle 72 ECU is programmable to receive, track, or manipulate designated nozzle control factors. For example, each ECU 72 focuses on a nozzle spacing, target system flow rate, and agricultural sprinkler speed while ignoring yaw rate, nozzle location in the field, etc. Such examples provide the benefit of simplifying the system to user specifications, provide greater system programmability, and provide cost-effective nozzle-specific flow rate solutions. In yet another example, the ECUs 72 associated with each nozzle are instead consolidated into one or more centralized nodes that determine the individual flow rates of each of the respective nozzles in a similar manner to the ECUs 72 associated with each of the nozzles described above.
    [032] Figure 6 is an exemplary schematic view of an ECU 80. The ECU 80 includes two connectors, which include a 4-pin 84 thermistor and a 12-pin 82-A connector and an 86 LED. The 86 LED, at an example indicates the ready state of the smart nozzle. In one example, LED 86 is a multi-color LED, where a specific color shown along with a rate at which LED 86 flashes indicates whether the smart nozzle is in an error mode, which includes the type of error, alert state, ready state, actively controlling state or similar. The 4-pin thermistor 84 includes, in one example, numerous control aspects, such as, but not limited to, the valve and the thermistor. The 82-A 12-pin connector includes, in one example, numerous control aspects, such as, but not limited to, any specific configuration, power, ground, nozzle initialization and location recognition. Such pin indexing, in one example, is applicable to a smart nozzle or the CAN ISO bus. The lines with arrows signify an 88 cable to daisy chain the 82-A ECU to a 13-pin 82-B connector that includes 83-B pins, although the modalities are not as limited. The ECU 80 controls the nozzle flow rate based on a number of parameters including, but not limited to: sprinkler or boom speed, yaw rate, target system flow rate (eg volume/area) and the runtime on/off command. Such parameters allow the ECU 80 to calibrate the duty cycle curve (for example, the duty cycle curve provided by a nozzle manufacturer) of each smart nozzle needed to achieve the target nozzle flow rate of each of the smart nozzles. Each smart nozzle is additionally configured according to the nozzle spacing on the boom, the location on the boom and the nozzle type. Additionally, each smart nozzle can regulate or control the nozzle flow rate based on the nozzle location in the field (as described above).
    [033] In one example, the ECU 80 additionally includes the thermistor 84 in order to provide temperature sensitive control of the nozzle. For example, as power is supplied to thermistor 84, thermistor 84 heats up, thereby changing the resistivity of thermistor 84. Agricultural produce flows through thermistor 84, reduces the heat of thermistor 84 and changes the resistivity of thermistor 84 In one example, changes in resistivity of thermistor 84 are used to indicate or determine that a nozzle is dirty, clogged, or the like. In another example, a pressure transducer or sensor is configured to measure pressure past each of the PWM valves (eg 73, Figure 5). In one example, the pressure transducer is attached to each smart nozzle or plugged in as an add-on feature.
    [034] In a further example, total system data (eg actual flow rate compared to target flow rate, held pressure versus target pressure, etc.) is used to calibrate one or more thermistors. The smart-nozzle calibrated thermistor 84 is then used to further calibrate the corresponding smart-nozzle duty cycle curve. The benefits of such examples provide a more accurate, configurable, and effective smart nozzle for applying an agricultural product.
    [035] Figure 7 illustrates an alternative exemplary view of an ECU 90. The ECU 90 includes a 6-pin connector 92 93 and an LED 94 on the circuit board. In such an example, each ECU 90 is connected to one another or connected to a centrally located hub. Although the nozzle control systems and methods described in this document and shown in Figures 1 and 2 make reference to a main PWM valve communicatively coupled to a main node, the modalities are not as limited. For example, other valves are contemplated. Additionally, the examples herein are described in relation to an agricultural sprinkler, but other embodiments, such as, but not limited to, planters or tool bars, are contemplated.
    [036] Figure 8 is a block diagram showing an example of a method 100 for controlling nozzle flow rate in an agricultural sprinkler that has a boom with a plurality of nozzles. In describing method 100, reference is made to the features and elements previously described in this document, although not numbered. At 102, method 100 includes determining a speed of an agricultural sprinkler, a total flow rate of a plurality of nozzles, and a yaw rate of the agricultural sprinkler. In one example, the speed of the agricultural sprinkler is determined by a GPS module, an accelerometer, a speedometer, tachometer or similar. In one example, the total flow rate of the plurality of nozzles is determined by a sum of the individual flow rates of each of the plurality of nozzles or is measured by a flow meter. In one example, the yaw rate is determined by a yaw sensor coupled to the boom, main node or agricultural sprinkler to detect a chassis yaw and provide a yaw signal. At 104, a pressure of an agricultural product on a boom is controlled by a pressure valve in communication with the main node. At 106, method 100 includes calculating, using at least one of the velocity, the total flow rate, and the yaw rate, a target nozzle flow rate from at least a portion of the plurality of nozzles. As described herein, at 108 method 100 includes controlling the nozzle flow rate of the portion of the plurality of nozzles.
    [037] In one example, the method includes determining a boom section flow rate, which includes a portion of the plurality of nozzles, based on at least one of velocity, total flow rate and yaw rate and controlling the flow rate of the boom section. For example, the boom section corresponds to a group of nozzles as described in this document, such as a plurality of nozzles controlled by a common ECU. As described herein, the control includes controlling each of the nozzles of the plurality of nozzles to dispense the agricultural product at individual rates in accordance with the location of the one or more nozzles of the plurality of nozzles on a field map. Additionally, current method 100 includes that controlling the lance pressure is independent of controlling the nozzle flow rate of the portion of the plurality of nozzles.
    [038] Another exemplary modality will now be described. In this modality, the head node handles numerous functions in the system. It communicates with a pump and a pressure sensor in order to regulate the pressure in the system to a desired target pressure. It also communicates with a flow sensor to get the actual total flow rate. The head node additionally receives vehicle speed data from a GPS system, the yaw rate from a yaw sensor and a target volume/area of an agricultural product (typically entered by a user).
    [039] The head node also provides error correction to the system by looping through each smart nozzle and calculating each smart nozzle flow rate. The head node determines this flow rate based on vehicle speed, yaw rate, nozzle location on the boom, and target volume per area. The head node then sums the flow rates and compares this sum to the actual total system flow rate to determine an error percentage. The error percentage is then provided on the CAN bus for the smart nozzles to change their flow rate.
    [040] The head node also checks the saturation points in the flow range for the smart nozzles, to produce the most accurate percent error. For example, if the master node calculates a flow rate for a smart nozzle that exceeds the maximum nozzle flow rate, then the master node uses the maximum nozzle flow rate instead of the calculated nozzle flow rate when adding rates to determine a total flow rate. The head node in this mode does not control the flow rates of the smart nozzles themselves.
    [041] Each smart nozzle independently calculates and controls its own flow rate based on CAN bus data from the head node. In one example, each nozzle performs its own flow rate calculation independent of the other nozzles. In particular, the head node transmits vehicle speed, yaw rate, boom width, location of each nozzle on the boom, target volume per area for applied product, and error correction. Using this data provided on the CAN bus, each smart nozzle determines its own flow rate, adjusted for error correction determined by the main node.
    [042] The flow rate for a smart nozzle is obtained by multiplying multiple inputs together (eg velocity, yaw rate, volume/area). The system (eg, the head node) can also apply logic (such as if-then assumptions) to determine whether a smart nozzle should be on or off. For example, if there is an error or the main switch is off, the target rate might not be applied to the smart nozzle and the smart nozzle might be turned off. NOTES AND EXAMPLES
    [043] Example 1 may include matter (such as an apparatus, a method, a means to perform actions, or a machine-readable media that includes instructions that, when performed by the machine, can cause the machine to perform actions), such as a method for controlling the nozzle flow rate of an agricultural product in an agricultural sprinkler having a plurality of smart nozzles each associated with an electronic control unit (ECU) and one or more individual nozzles comprising : determine an agricultural sprinkler speed, a target total flow rate of the plurality of smart nozzles, and a yaw rate of the agricultural sprinkler; controlling an agricultural product pressure of the agricultural sprinkler with the use of a head node; determine a target nozzle flow rate for each smart nozzle using at least one of velocity, target total flow rate, and yaw rate; and controlling with each respective smart nozzle, the nozzle flow rate of the associated one or more individual nozzles based on the target nozzle flow rate for the respective smart nozzle.
    [044] Example 2 may include, or may optionally be combined with the matter of Example 1 to optionally include, wherein determining the target nozzle flow rate for each smart nozzle includes determining at each of the smart nozzles the target nozzle flow rate for the respective smart nozzle.
    [045] Example 3 may include, or may optionally be combined with the subject matter of one or any combination of Examples 1 or 2 to optionally include further comprising: calculating a lance section flow rate, wherein the section boom includes a portion of the plurality of smart nozzles based on at least one of speed, target total flow rate, and yaw rate; and control boom section flow rate.
    [046] Example 4 may include, or may optionally be combined with the subject matter of one or any combination of Examples 1 to 3 to optionally include, further comprise controlling the nozzle flow rate of each of the smart nozzles to Dispense agricultural produce at individual rates according to the location of each of the smart nozzles or individual nozzles on a field map.
    [047] Example 5 may include, or may optionally be combined with the material of one or any combination of Examples 1 to 4 to optionally include, agricultural product pressure control being performed independent of rate control. nozzle flow target for each of the smart nozzles.
    [048] Example 6 may include, or may optionally be combined with the subject matter of one or any combination of Examples 1 to 5 to optionally include, the nozzle flow rate control including determining an on/off state from one or more of the plurality of smart nozzles.
    [049] Example 7 may include, or may optionally be combined with the matter of one or any combination of Examples 1 to 6 to optionally include, further comprising calculating an error with the major node, which includes: determining the rate of nozzle flow from each of the smart nozzles based on the speed, yaw rate, location of the smart nozzle on the boom, and the target total flow rate of each of the smart nozzles; sum up the nozzle flow rate of each of the smart nozzles; compare the sum to an actual total system flow rate to provide an error percentage; and provide the error percentage for each of the smart nozzles.
    [050] Example 8 may include matter (such as an apparatus, a method, a medium for performing actions or a machine-readable media that includes instructions that, when performed by the machine, can cause the machine to perform actions), such as a system for controlling nozzle flow rate, comprising: a total system pressure valve configured to adjust the pressure of an agricultural product within a lance; a head node configured to receive a total system flow rate measurement, a target total flow rate, and a total system pressure measurement, the head node being configured to adjust the total system pressure valve to control the pressure of the agricultural product; and a plurality of smart nozzles configured to dispense the agricultural product, the plurality of smart nozzles each being associated with an electronic control unit (ECU) and one or more individual nozzles, in which the smart nozzle is configured to control a nozzle flow rate of the one or more associated individual nozzles.
    [051] Example 9 may include, or may optionally be combined with the material of Example 8 to optionally include, each ECU being configured to receive at least one agricultural sprinkler measurement from the main node which includes a speed boom, a total system flow rate, and a farm sprinkler yaw rate.
    [052] Example 10 may include, or may optionally be combined with material from one or any combination of Examples 8 or 9 to optionally include, each ECU being configured to calibrate a duty cycle curve of the respective nozzle smart based on real smart nozzle performance.
    [053] Example 11 may include, or may optionally be combined with material from one or any combination of Examples 8 through 10 to optionally include, each ECU being configured to adjust the product's smart nozzle flow rate spray dispensed into each associated individual nozzle according to a difference between the target total flow rate and the total system flow rate measurement.
    [054] Example 12 may include, or may optionally be combined with the subject matter of one or any combination of Examples 8 to 11 to optionally include, further comprise a main flow meter to provide system flow rate measurement total.
    [055] Example 13 may include, or may optionally be combined with the subject matter of one or any combination of Examples 8 to 12 to optionally include, the total system flow rate measurement being determined at the main node as a sum of each smart nozzle.
    [056] Example 14 may include, or may optionally be combined with the subject matter of one or any combination of Examples 8 to 13 to optionally include, further comprise a location module that includes one or more location fiducials associated with the system , the one or more location fiducials configured to mark the location of one or more of the plurality of smart nozzles on a field map.
    [057] Example 15 may include, or may optionally be combined with the material of one or more combinations of Examples 8 to 14 to optionally include, the flow rate of the agricultural product being dispensed from a plurality of nozzles intelligent is controlled according to the one or more fiducials of location.
    [058] Example 16 may include matter (such as an apparatus, a method, a means to perform actions, or a machine-readable media that includes instructions that, when performed by the machine, can cause the machine to perform actions), such as a system for controlling the nozzle flow rate of an agricultural product in an agricultural sprinkler having a plurality of smart nozzles each associated with an electronic control unit (ECU) and one or more individual nozzles comprising : a total system pressure valve, configured to adjust the pressure of the agricultural product inside the agricultural sprinkler; and a head node configured to receive a total system flow rate measurement and a total system pressure measurement, the head node being configured to adjust the total system pressure valve to control the pressure of the crop, in that each of the plurality of smart nozzles is configured to dispense agricultural product from the one or more associated individual nozzles at an individual rate based on nozzle characteristics of the one or more associated individual nozzles.
    [059] Example 17 may include, or may optionally be combined with the subject matter of Example 16 to optionally include, the nozzle characteristics varying with one or more of a smart nozzle or an individual nozzle position on a spear , boom length, an individual or smart nozzle spacing, a boom yaw rate, a target system flow rate, an agricultural sprinkler yaw rate, an agricultural sprinkler speed, the total system pressure, and the characteristics of the agricultural product.
    [060] Example 18 may include, or may optionally be combined with the subject matter of one or any combination of Examples 16 or 17 to optionally include, comprise one or more location fiducials associated with the system, the one or more of which location fiducials are configured to mark the location of one or more smart nozzles from the plurality of smart nozzles on a field map.
    [061] Example 19 can include, or can optionally be combined with the material of one or any combination of Examples 16 to 18 to optionally include, each of the smart nozzles being configured to dispense the agricultural product at individual rates according to the location of the one or more smart nozzles of the plurality of nozzles in the field map.
    [062] Example 20 may include, or may optionally be combined with material from one or any combination of Examples 16 to 19 to optionally include, the ECU being configured to control a collective nozzle flow rate of the nozzles intelligent based on the nozzle characteristics of the associated nozzles.
    [063] Each of these non-limiting examples may stand by itself, or may be combined in any permutation or combination with any one or more of the other examples.
    [064] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, the specific embodiments in which the invention may be practiced. These modalities are also referred to in this document as "examples". Such examples may include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only elements shown or described are provided. In addition, the present inventors also contemplate examples using any combination or permutation of the elements shown or described (or one or more aspects thereof), in relation to a particular example (or one or more aspects thereof) or in relation to others. examples (or one or more aspects thereof) shown or described in this document.
    [065] In the event of inconsistent uses between this document and any documents then incorporated by reference, the use of this document prevails.
    [066] In this document, the terms "a" or "an" are used, as is common in patent documents, to include one or more than one, regardless of any other occurrences or uses of "at least one" or " one or more”. In this document, the term "or" is used to refer to an exclusive or non-exclusive one, such that "A or B" includes "A but not B", "B but not A" and "A and B" unless otherwise stated. In this document, the terms “which includes” and “in which” are used as plain English equivalents of the respective terms “which comprises” and “in which”. Furthermore, in the following claims, the terms "which includes" and "which comprises" are open-ended, that is, a system, device, article, composition, formulation or process that includes elements in addition to those listed after such term in a claim are still considered to be within the scope of such claim. In addition, in the following claims, the terms "first", "second", "third", etc. they are used merely as labels and are not intended to impose numerical requirements on your objects.
    [067] The examples of methods described in this document can be implemented per computer or machine at least in part. Some examples might include computer readable media or machine readable media encoded with operable instructions for configuring an electronic device to perform methods as described in the examples above. An implementation of such methods may include code such as microcode, assembly language code, a higher level language code, or the like. Such codes may include computer readable instructions for performing various methods. Code can form portions of computer program products. Additionally, in one example, code may be tangibly stored on one or more nonvolatile tangible or non-volatile non-transient tangible computer readable media, such as during execution or at other times. Examples of such tangible computer readable media may include, but are not limited to, hard disks, removable magnetic disks, removable optical disks (eg, compact disks and digital video disks), magnetic cassettes, sticks or memory cards, memories access memory (RAMs), read-only memories (ROMs) and the like.
    [068] The above description is intended to be illustrative and not restrictive. For example, the examples (or one or more aspects thereof) described above can be used in combination with each other. Other modalities may be used, such as by a person of ordinary skill in the art by reviewing the above description. The Abstract is provided to allow the reader to quickly verify the nature of the technical disclosure. It is understood that it will not be used to interpret or limit the scope or meaning of the claims. Furthermore, in the Detailed Description above, several features can be grouped together to simplify disclosure. This should not be interpreted to imply that a disclosed and unclaimed resource is essential to any claim. Rather, inventive matter may be in less than all the resources of a particular revealed modality. Thus, the following claims are incorporated herein into the Detailed Description as examples or embodiments, each claim standing by itself as a separate embodiment and it is contemplated that such embodiments may be combined with each other in various combinations or permutations. The scope of the invention is to be determined by reference to the appended claims, together with the full scope of equivalents to which such claims are entitled.
    权利要求:
    Claims (21)
    [0001]
    1. Method for controlling nozzle flow rate of an agricultural product in an agricultural sprinkler (10) having a main node (6, 42, 62) and a plurality of smart nozzles (5, 52), each of the smart nozzles (5, 52) having an independent electronic control unit (ECU) (7, 72, 80) 90) and one or more individual nozzles, characterized in that it comprises: determining a speed of the agricultural sprinkler (10), a target total flow rate of the plurality of smart nozzles, and a yaw rate of the agricultural sprinkler (10); controlling an agricultural product pressure of the agricultural sprinkler (10) using the main node (6, 42, 62); determine, with each respective smart nozzle ECU (5, 52), a target nozzle flow rate for each smart nozzle (5, 52) using at least one of the speed, the total target flow rate and the yaw rate; control with each respective smart nozzle ECU (5, 52), the nozzle flow rate of the one or more individual nozzles associated based on the target nozzle flow rate for the respective smart nozzle (5, 52) and a correction of error; and calculating the error correction with the main node (6, 42, 62), including: determining the target nozzle flow rate of each of the smart nozzles (5, 52); sum up the target nozzle flow rate of each of the smart nozzles (5, 52); compare the sum to an actual total system flow rate to determine error correction; and provide error correction for each of the smart nozzles (5, 52).
    [0002]
    2. Method according to claim 1, characterized in that determining the target nozzle flow rate for each smart nozzle (5, 52) includes determining in each of the smart nozzles (5, 52) the rate- nozzle flow target for the respective smart nozzle (5, 52).
    [0003]
    3. Method according to claim 1, characterized in that it comprises: calculating a lance section flow rate, wherein the lance section includes a portion of the plurality of smart nozzles, based on at least one of speed, target total flow rate, and yaw rate; and control boom section flow rate.
    [0004]
    4. Method according to claim 1, characterized in that it further comprises controlling the nozzle flow rate of each of the smart nozzles (5, 52) to dispense the agricultural product at individual rates in accordance with the location of each of the smart nozzles (5, 52) or individual nozzles on a field map.
    [0005]
    5. Method according to claim 1, characterized in that the control of the pressure of the agricultural product is performed independently of controlling the target nozzle flow rate for each of the smart nozzles (5, 52).
    [0006]
    6. Method according to claim 1, characterized in that controlling the nozzle flow rate includes determining an on/off state of one or more of the plurality of smart nozzles (5, 52).
    [0007]
    7. System for controlling nozzle flow rate (40, 60) of an agricultural product in an agricultural sprinkler (10) characterized in that it comprises: a pump or valve of total system pressure, configured to adjust the pressure of a agricultural product inside a spear; a head node (6, 42, 62) configured to receive an actual total system flow rate measurement, a target total flow rate, and a total system pressure measurement, the head node (6, 42, 62) is configured to adjust the total system pressure to control the pressure of the agricultural product and configured to determine an error correction; a plurality of smart nozzles configured to dispense agricultural product, each of the plurality of smart nozzles having an independent electronic control unit (ECU) (7, 72, 80, 90) and one or more individual nozzles, where each smart nozzle ECU is configured to determine and control a nozzle flow rate from the one or more associated individual nozzles based on at least the total flow target rate and error correction; and wherein the master node (6, 42, 62) is configured to calculate the error correction, including: determining the target nozzle flow rate of each of the smart nozzles (5, 52); sum up the target nozzle flow rate of each of the smart nozzles (5, 52); compare sum to actual total system flow rate measurement to determine error correction; and provide error correction for each of the smart nozzles (5, 52).
    [0008]
    8. System according to claim 7, characterized in that each ECU (7, 72, 80, 90) is configured to receive at least one measurement of the agricultural sprinkler (10) from the main node (6, 42 , 62) which includes a boom speed, a total system flow rate, and a yaw rate of the agricultural sprinkler (10).
    [0009]
    9. System according to claim 7, characterized in that each ECU (7, 72, 80, 90) is configured to calibrate a duty cycle curve of the respective smart nozzle (5, 52) based on a real smart nozzle performance.
    [0010]
    10. System according to claim 7, characterized in that each ECU (7, 72, 80, 90) is configured to adjust the smart nozzle flow rate of the agricultural product dispensed in each associated individual nozzle according to a difference between the target total flow rate and the total system flow rate measurement.
    [0011]
    11. System according to claim 7, characterized in that it comprises a main flow meter (44, 64) to provide total system flow rate measurement.
    [0012]
    12. System according to claim 7, characterized in that the actual total system flow rate measurement is determined at the main node (6, 42, 62) as a sum of the nozzle flow rate of each nozzle intelligent.
    [0013]
    13. System according to claim 7, characterized in that it further comprises a location module that includes one or more location trusts associated with the system, the one or more location trusts being configured to mark the locating one or more of the plurality of smart nozzles on a field map.
    [0014]
    14. System according to claim 13, characterized in that the flow rate of the agricultural product dispensed from the plurality of smart nozzles is controlled according to the one or more fiducials of location.
    [0015]
    15. System for controlling nozzle flow rate (40, 60) of an agricultural product in an agricultural sprinkler (10) having a main node (6, 42, 62) coupled to a plurality of smart nozzles, each of the plurality of intelligent nozzles having an independent electronic control unit (ECU) (7, 72, 80, 90) and one or more individual nozzles, characterized in that it comprises: a pump or total system pressure valve configured to adjust the pressure of the agricultural product inside the agricultural sprinkler (10); a main pressure transducer (46, 66) for measuring total system pressure; a flow meter (44, 64) for measuring the total system flow rate; a main node (6, 42, 62) configured to receive the total system flow rate measurement from the flow meter (44, 64) and the total system pressure measurement from the pressure transducer (46, 66), being that the main node (6, 42, 62) is configured to adjust the total system pressure to control the pressure of the agricultural product; wherein each smart nozzle ECU (5, 52) is configured to control the dispensing of agricultural produce from the associated one or more individual nozzles at an individual rate based on nozzle characteristics of the associated one or more individual nozzles; and wherein the master node (6, 42, 62) is configured to calculate the error correction, including: determining the target nozzle flow rate of each of the smart nozzles (5, 52); sum up the target nozzle flow rate of each of the smart nozzles (5, 52); compare sum to total system flow rate measurement to determine error correction; and provide error correction for each of the smart nozzles (5, 52).
    [0016]
    16. System according to claim 15, characterized in that the nozzle characteristics vary with one or more of a smart nozzle (5, 52) or an individual nozzle position on a lance, a lance length, a smart or individual nozzle spacing, a boom yaw rate, a target system flow rate, an agricultural sprinkler yaw rate (10), an agricultural sprinkler speed (10), the total system pressure, and agricultural product characteristics.
    [0017]
    17. System according to claim 15, characterized in that it comprises one or more location fiducials associated with the system, the one or more location fiducials being configured to mark the location of one or more smart nozzles (5 , 52) of the plurality of smart nozzles in a field map.
    [0018]
    18. System according to claim 17, characterized in that each of the smart nozzles (5, 52) is configured to dispense the agricultural product at individual rates according to the location of the one or more smart nozzles (5, 52) of the plurality of smart nozzles on the field map.
    [0019]
    19. System according to claim 15, characterized in that the ECU (7, 72, 80, 90) is configured to control a collective nozzle flow rate of the smart nozzles based on the nozzle characteristics of the individual nozzles associated based on nozzle characteristics.
    [0020]
    20. Sprinkler control system configured to control the sprinkler characteristics of sprinkler nozzles, the sprinkler control system characterized by comprising: a main node (6, 42, 62) configured to couple with one or more valves. system pressure or a system pump, the main node (6, 42, 62) is configured to: control the system pressure of a liquid agricultural product; and determining an error correction, the error correction based on the difference between an actual system flow rate and a sum of target flow rates; and a plurality of smart nozzles, each of the smart nozzles (5, 52) includes at least one control valve and an electronic control unit (ECU) (7, 72, 80, 90) in communication with the main node, the at least one control valve and the ECU are configured to control a component flow rate of a liquid agricultural product through one or more spray nozzles, each smart nozzle (5, 52) is configured to: determine the target rate of flow for the one or more spray nozzles with the ECU, determine a duty cycle for the one or more spray nozzles with the ECU, the duty cycle based on the target flow rate and error correction, and operate the at least one control valve for dispensing the liquid agricultural product to one or more spray nozzles in accordance with the duty cycle.
    [0021]
    21. Method for controlling sprinkler nozzle characteristics in a sprinkler system characterized by comprising: controlling the sprinkler system with a main node; controlling a pressure system of a liquid agricultural product, the pressure system corresponding to a specific spray droplet size; and determining an error correction based on the difference between an actual system flow rate and a sum of target flow rates; controlling a plurality of duty cycles of a plurality of smart nozzles, controlling a duty cycle of the plurality of duty cycles for a smart nozzle (5, 52) of the plurality of smart nozzles including: determining the target flow rate for one or more spray nozzles with an electronic control unit (ECU) (7, 72, 80, 90) of a smart nozzle (5, 52) of a plurality of smart nozzles, determine the duty cycle for the one or more spray nozzles with the ECU, duty cycle based on target flow rate and error correction, and operating at least one control valve with the ECU to deliver liquid agricultural product to the one or more spray nozzles. according to the work cycle.
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    同族专利:
    公开号 | 公开日
    WO2015058091A1|2015-04-23|
    US20180042214A1|2018-02-15|
    US20160227755A1|2016-08-11|
    US9781916B2|2017-10-10|
    US20200107538A1|2020-04-09|
    US10368538B2|2019-08-06|
    US11134668B2|2021-10-05|
    CA2926448A1|2015-04-23|
    CA2926448C|2020-09-22|
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    法律状态:
    2018-11-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-04-28| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-04-06| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-06-22| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 17/10/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    2022-01-18| B17A| Notification of administrative nullity (patentee has 60 days time to reply to this notification)|Free format text: REQUERENTE DA NULIDADE: STARA S/A. INDUSTRIA DE IMPLEMENTOS AGRICOLAS - 870210119257 - 21/12/2021 |
    优先权:
    申请号 | 申请日 | 专利标题
    US201361892339P| true| 2013-10-17|2013-10-17|
    US61/892,339|2013-10-17|
    PCT/US2014/061150|WO2015058091A1|2013-10-17|2014-10-17|Nozzle control system and method|
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