BR102022025963A2 - SYSTEM AND METHOD FOR AN AGRICULTURAL APPLICATOR - Google Patents

Abstract

An agricultural system may include a boom assembly that supports one or more sets of nozzles along it. A boom adjustment system may be operatively coupled to the boom assembly. A detection system can be configured to capture data indicative of one or more application variables. A computing system may be communicatively coupled to the boom adjustment system and the detection system. The computer system may be configured to receive, from the detection system, data associated with one or more application variables, calculate a spray quality index based on the data associated with one or more application variables, and generate an output to alter a boom assembly position through the boom adjustment system based at least in part on a calculated spray quality index deviating from a defined range.

Description

SYSTEM AND METHOD FOR AN AGRICULTURAL APPLICATOR FIELD

[001] The present disclosure generally relates to agricultural implements and, more particularly, to systems and methods for monitoring a spraying operation, such as by monitoring one or more application variables during the spraying operation.

FUNDAMENTALS

[002] Various types of work vehicles use applicators (eg, sprayers, floats, etc.) to deliver an agricultural product to a soil surface in a field. The agricultural product may be in the form of a solution or mixture, with a vehicle (such as water) being mixed with one or more active ingredients (such as a herbicide, fertilizer, fungicide, pesticide or other product).

[003] The applicators can be pulled like an implement or self-propelled and can include a tank, a pump, a lance assembly and a plurality of nozzles carried by the lance assembly in spaced locations. The lance assembly may include a pair of lance arms, with each lance arm extending to either side of the applicator when in an unfolded state. Each boom arm can include multiple boom arm sections, each with multiple sets of nozzles (sometimes also called spray tips).

[004] The sets of nozzles on the boom set disperse the agricultural product transported by the applicator in the field. During a spraying operation, however, several factors can affect the quality of agricultural product application in the field. Consequently, an improved system and method for monitoring the quality of agricultural product application in the field would be welcome in technology.

BRIEF DESCRIPTION

[005] Aspects and advantages of the technology will be presented in part in the following description, or they may be obvious from the description, or they may be learned through the practice of the technology..

[006] In some aspects, this subject matter is directed to an agricultural system includes a boom assembly that supports one or more sets of nozzles along it. A boom adjustment system is operatively coupled to the boom assembly. A detection system is configured to capture data indicative of one or more application variables. A computing system is communicatively coupled to the boom adjustment system and the detection system. The computing system is configured to receive, from the detection system, data associated with one or more application variables, calculate a spray quality index based on the data associated with one or more application variables, the spray quality index spray representing a metric indicative of a spray operation coverage of a portion of a ground surface, and generating an output to change a position of the boom assembly through the boom adjustment system based at least in part on the quality index spray rate calculated deviating from a defined range.

[007] In some respects, this subject matter is directed to a method for an agricultural application operation. The method includes receiving, via a detection system, a first set of data indicative of one or more application variables. The method also includes calculating, with a computing system, a first spray quality index based on the first set of data associated with one or more application variables, the spray quality index representing a metric indicative of an operation coverage of spraying a portion of a soil surface. The method further includes changing, through a boom adjustment system, a boom assembly position from a first position to a second position when the first spray quality index deviates from a predefined range. Lastly, the method includes receiving, via the detection system, a second set of data indicative of one or more application variables.

[008] In some aspects, this subject matter is directed to an agricultural system that includes a boom assembly that supports one or more sets of nozzles along it. A boom adjustment system is operatively coupled to the boom assembly. A detection system is configured to capture data indicative of one or more application variables. A computing system is communicatively coupled to the boom adjustment system and the detection system. The computing system being configured to receive, from the detection system, data associated with one or more application variables and generate an output to change a position of the boom assembly through the boom adjustment system based at least in part on one or more application variables deviating from a defined operating range.

[009] These and other features, aspects and advantages of the present technology will be better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated into and form part of this specification, illustrate modalities of the technology and, together with the description, serve to explain the principles of the technology. BRIEF DESCRIPTION OF THE DRAWINGS

[010] A complete and enabling disclosure of the present technology, including its best mode, addressed to a person versed in the technique, is presented in the descriptive report, which makes reference to the attached figures, in which:

[011] Figure 1 illustrates a perspective view of an agricultural work vehicle according to the aspects of this subject matter;

[012] Figure 2 illustrates a side view of the work vehicle according to the aspects of this subject matter;

[013] Figure 3 is an enlarged view of section III of Figure 1 illustrating a rear view of a portion of a spear assembly in accordance with aspects of the present subject matter;

[014] Figure 4 is a front perspective view of the spear assembly according to the aspects of this subject matter;

[015] Figure 5 is a side perspective view of the spear assembly according to the aspects of the present subject matter;

[016] Figure 6 is a side perspective view of the spear assembly according to the aspects of the present subject matter;

[017] Figure 7 is a front side perspective view of the spear assembly according to the aspects of the present subject matter;

[018] Figure 8 illustrates a component block diagram of the agricultural applicator system according to the aspects of this subject matter; It is

[019] Figure 9 illustrates a flow diagram of a method for an agricultural application operation according to the aspects of this subject matter.

[020] The repeated use of reference characters in this specification and drawings is intended to represent the same characteristics or analogous elements of this technology.

DETAILED DESCRIPTION

[021] Reference will now be made in detail to the embodiments of the disclosure, one or more examples of which are illustrated in the drawings. Each example is provided as an explanation of the speech, not as a limitation of disclosure. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to the present disclosure without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part may be used with another embodiment to produce yet another embodiment. Thus, the present disclosure is intended to cover such modifications and variations as fall within the scope of the appended claims and their equivalents.

[022] In this document, relational terms such as first and second, superior and inferior, and the like, are used only to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual relationship or order. between such entities or actions. The terms "comprises", "comprising" or any other variation thereof, are intended to cover a non-exclusive inclusion, so that a process, method, article or apparatus comprising a list of elements does not only include those elements, but may include other elements not expressly listed or inherent in such process, method, article or apparatus. An element preceded by "comprises...the" does not, without further restriction, exclude the existence of additional identical elements in the process, method, article or apparatus comprising the element.

[023] As used in this document, the terms "first", "second" and "third" may be used interchangeably to distinguish one component from another and are not intended to imply a location or importance of the individual components. The terms “coupled”, “fixed”, “attached to” and the like refer to both direct coupling, attachment or attachment, and indirect coupling, attachment or attachment by means of one or more intermediate components or features, unless otherwise specified. otherwise specified herein. The terms “upstream” and “downstream” refer to the relative direction with respect to an agricultural product within a fluid circuit. For example, “upstream” refers to the direction from which an agricultural product flows and “downstream” refers to the direction in which the agricultural product moves. The term “selectively” refers to the ability of a component to operate in multiple states (eg, an ON state and an OFF state) based on manual and/or automatic control of the component.

[024] Furthermore, any arrangement of components to achieve the same functionality is effectively “associated” so that the functionality is achieved. Therefore, any two components combined here to achieve a specific functionality can be seen as “associated” with each other, so that the desired functionality is achieved, regardless of architectures or intermediate components. Likewise, any two associated components can also be seen as "operationally connected" or "operationally coupled" to each other to achieve the desired functionality, and any two components capable of being associated can also be seen as "operationally coupled" to each other. to achieve the desired functionality. Some examples of operationally attachables include, but are not limited to, physically compatible, physically interacting, wirelessly interacting, wirelessly interacting, logically interacting, and/or logically interacting components.

[025] The singular forms “a”, “an”, “the” and “the” include plural references, unless the context clearly indicates otherwise.

[026] The approximate language, as used in this document throughout the specification and claims, is applied to modify any quantitative representation that may vary permissibly without resulting in a change in the basic function to which it is related. Consequently, a value modified by a term or terms such as “about”, “approximately”, “generally” and “substantially” must not be limited to the precise value specified. In at least some cases, the language of approximation may correspond to the accuracy of an instrument for measuring value or the accuracy of the methods or apparatus for building or manufacturing the components and/or systems. For example, approximation language can refer to being within a ten percent margin.

[027] Furthermore, the technology of the present application will be described in relation to exemplary embodiments. The word "exemplary" is used here to mean "serving as an example, instance, or illustration." Any embodiment described herein as "exemplary" should not necessarily be construed as preferred or advantageous over other embodiments. Furthermore, unless, for example, otherwise identified, all embodiments described herein are to be considered exemplary.

[028] As used in this document, the term “and/or”, when used in a list of two or more items, means that any of the listed items can be used alone, or any combination of two or more of the items Listed items can be employed. For example, if a composition or kit is described as containing components A, B and/or C, the composition or kit may only contain A; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B and C in combination.

[029] In general, this subject matter is directed to a system for various agricultural operations. In some cases, an agricultural system may include a boom assembly that supports one or more sets of nozzles along it. Nozzle sets can be configured to selectively dispense an agricultural product from them.

[030] A boom adjustment system can be operationally coupled to the boom assembly. The boom adjustment system can allow adjustment of the height of the structure, the first boom arm, and/or the second boom arm simultaneously from the ground. Additionally or alternatively, the boom adjustment system may allow adjustment of the height of the structure, the first boom arm, and/or the second boom arm independently of each other relative to the ground. Likewise, the boom adjustment system can allow adjustment of a frame inclination, the first boom arm, and/or the second boom arm simultaneously relative to the ground. Additionally or alternatively, the boom adjustment system may allow adjustment of a frame inclination, the first boom arm, and/or the second boom independently of each other relative to the ground.

[031] A detection system can be configured to capture data indicative of one or more application variables. In general, the detection system can be configured to capture data indicative of one or more application variables associated with a spraying operation in which an agricultural product is dispensed from the nozzle assemblies onto an underlying soil surface. The application variable can, in turn, be indicative of the quality of the spraying operation, such as whether a target application rate of the agricultural product is within a defined range.

[032] A computing system can be communicatively coupled to the boom adjustment system and the detection system. The computing system may be configured to receive data associated with one or more application variables from the detection system. The computing system may further be configured to calculate a spray quality index based on data associated with one or more application variables, the spray quality index representing a metric indicative of a spray operation coverage of a portion of a soil surface. Furthermore, the computing system can be configured to generate an output to alter a boom assembly position through the boom adjustment system based at least in part on the calculated spray quality index deviating from a defined range.

[033] With reference to Figures 1 and 2, a sprayer 10 is generally illustrated as a self-propelled agricultural applicator. However, in alternative embodiments, the sprayer 10 can be configured as any other suitable type of applicator configured to perform agricultural application operations, such as a tractor or other vehicle configured to carry or tow an application implement.

[034] In various embodiments, the sprayer 10 can include a chassis 12 configured to support or couple to a plurality of components. For example, front and rear wheels 14, 16 can be attached to frame 12. Wheels 14, 16 can be configured to support sprayer 10 relative to a ground surface 20 and move sprayer 10 in a direction of travel (e.g. example, as indicated by arrow 18 in Figure 1). In this regard, the sprayer 10 may include a powertrain control system 22 that includes a power plant 24, such as an engine, an engine, or a hybrid engine-engine combination, a transmission or hydraulic propulsion system 26 configured to transmit power from the mechanism to wheels 14, 16, and/or a brake system 28.

[035] The chassis 12 can also support a cabin 30, or any other form of user station, to allow the user to control the operation of the sprayer 10. For example, as shown in Figure 1, the sprayer 10 can include an interface user interface 32 having a display 34 for providing messages and/or alerts to the user and/or for allowing the user to interact with the vehicle controller via one or more user input devices 36 (e.g., levers, pedals, control panels, buttons and/or the like).

[036] The chassis 12 can also support a product application system 38 that includes one or more tanks 40, such as a rinse tank and/or a product tank, and one or more sets of nozzles 42. The product tank is generally configured to store or hold an agricultural product, such as a pesticide, fungicide, rodenticide, fertilizer, nutrient, and/or the like. Agricultural product is conveyed from the product tank through piping components, such as interconnecting pieces of piping, for release into the underlying soil surface 20 (e.g., plants and/or soil) through one or more sets of nozzles 42.

[037] One or more sets of nozzles 42 can be operatively coupled to a boom assembly 44. As shown in Figures 1 and 2, the boom assembly 44 can include a structure 46 that supports first and second boom arms 48, 50 , which can be oriented in a cantilevered nature. The first boom arm 48 and the second boom arm 50 are generally movable between an operational or deployed position (Figure 1) and an inoperative or folded position (Figure 2). In dispensing the product, the first boom arm 48 and/or the second boom arm 50 extends laterally out of the sprayer 10 to cover swaths of the underlying ground surface 20, as illustrated in Figure 1. transport, the first boom arm 48 and/or the second boom arm 50 of the boom assembly 44 can be independently folded forward or backward in the inoperative position, thereby reducing the overall width of the sprayer 10, or in some examples, the full width of a towable implement when the applicator is configured to be towed behind the sprayer 10.

[038] In some examples, the boom assembly 44 may include a boom adjustment system 52. The boom adjustment system 52 may allow adjustment of the height of the structure 46, the first boom arm 48, and/or the second boom arm 50 simultaneously with respect to the ground surface 20. Additionally or alternatively, the boom adjustment system 52 may allow adjustment of the height of the frame 46, the first boom arm 48, and/or the second boom arm 50 independently of one another with respect to the ground surface 20. Likewise, the boom adjustment system 52 can allow adjustment of the frame 46, the first boom arm 48, and/or the second boom arm in an inclination 50 simultaneously with respect to the ground surface 20. Additionally or alternatively, the boom adjustment system 52 can allow for adjustment in an inclination of the frame 46, the first boom arm 48, and/or the second boom independently of each other in relative to the ground surface 20.

[039] With reference to Figure 3, in various embodiments, the sets of nozzles 42 can be mounted and/or coupled to the first and/or second boom arms 48, 50 of the boom set 44, with the sets of nozzles 42 being spaced from one another along a lateral direction 54. In addition, fluid conduits can fluidly couple the nozzle assemblies 42 to the tank 40. In this regard, as the sprayer 10 as the sprayer 10 travels across the surface of the soil 20 in the direction of travel 18 to perform a spraying operation therein, the agricultural product moves from the tank 40 through the fluid conduits to each of the sets of nozzles 42. The nozzles can, in turn, dispense or otherwise spray a fan of agricultural produce onto the underlying soil surface 20. For example, nozzle assemblies 42 may include flat fan nozzles configured to dispense a flat fan of agricultural produce. However, in alternative embodiments, nozzle sets 42 may include any other suitable types of nozzles, such as double pattern nozzles and/or hollow cone nozzles.

[040] With further reference to Figure 3, during a spraying operation, several application variables can affect the quality of application of the agricultural product on the soil surface 20, which can be computed in a spraying quality index. The spray quality index can represent a metric indicative of the coverage of a spray operation over a portion of a soil surface 20. In some cases, the spray quality index can be used to determine whether the agricultural product was applied to various portions of the ground surface 20 within a defined range and/or misapplied to various portions of the ground surface 20, deviating from the defined range. In some cases, the defined range can be correlated to a defined application rate.

[041] In various embodiments, one or more application variables that can affect the quality of the spray can include at least one of an air flow in each nozzle assembly 42, a nozzle tip size and style, which agricultural product is being applied, an incorrect agricultural product application rate, adverse weather conditions as determined by meeting one or more criteria, an agricultural product application rate or pressure deviating from a predefined range, boom assembly movement (e.g., sudden ) deviating from a range of motion, a sprayer deviating from a preset speed, a sprayer acceleration/deceleration deviating from a preset range, a turning radius deviating from preset criteria, and/or any other variable.

[042] According to the aspects of the present subject matter, to monitor one or more application variables, the vehicle may include a detection system 56. In general, the detection system 56 may be configured to capture data indicative of one or more more application variables associated with the application of the agricultural product to the underlying soil surface 20. The application variable can, in turn, be indicative of the quality of the spraying operation, such as whether a target application rate of the agricultural product is within a defined range.

[043] The detection system 56 may include one or more sensors 58, a weather station 60 and/or any other assembly, which may be installed on the sprayer 10 and/or on the boom assembly 44. In several examples, the one or more sensors 58 and/or the weather station 60 can be configured to capture data from an associated nozzle assembly 42 and/or one or more sensors 58 can be configured to capture data indicative of a component which is then related to the nozzle assemblies 42 For example, as illustrated in Figure 3, one or more sensors 58 can be positioned adjacent to the nozzle assemblies 42 and/or within the nozzle assemblies 42 to capture data indicative of various application variables associated with the respective nozzle assembly 42. Additionally, or alternatively, as illustrated in Figure 3, data from one or more sensors 58 and/or weather station 60 can be used to determine an application variable for each nozzle assembly 42. For example, various forces can be placed on the assembly of lance 44 causing the lance assembly 44, and consequently the nozzle assemblies 42 positioned along the lance assembly 44, to be offset or repositioned with respect to the frame 46 and/or the sprayer 10. In embodiments that use an arm of boom 50 that is supported by structure 46 in a cantilevered orientation (or any other non-uniform orientation) as illustrated in Figure 3, an outer nose assembly 42 will have a greater magnitude of deflection from its standard position than a boom assembly 42 nozzle 42. Once the deflecting force is overcome and/or no longer present, the boom arm 50 will move back to its default position. In some embodiments, movement of boom arm 50 may generally occur as harmonic oscillations. During swings, an acceleration or velocity of an inner nose assembly 42 may be less than that of an outer nose assembly 42 due to varying magnitudes of deflection along the boom arm 50. Furthermore, since the boom assembly 44 is offset, a path of motion of inner nose assembly 42 may be non-parallel to a path of motion of outer nose assembly 42. In some embodiments, a boom velocity and/or boom acceleration of boom arm 50 may be calculated based on the detected and/or calculated position of various portions of the boom arm 50 based on position sensor data at known periods to define a boom deflection model. The boom deflection model may map a deflection of each nozzle assembly 42, a velocity or acceleration of the nozzle assembly, and/or a path of motion of each nozzle assembly 42 relative to frame 46. In various embodiments, the model of boom deflection can be determined through various geometric equations, look-up tables (LUTs) and/or any other method to determine a position, a velocity and/or an acceleration of each nozzle assembly 42. Due to the varied velocity of the assembly of nozzle and/or path of movement of each nozzle assembly 42, an air flow speed and/or direction in each nozzle assembly 42 may vary relative to each other. As such, the boom deflection model, the speed of the sprayer 10 and data from the sensing system 56 can be used to determine a spray quality index.

[044] With reference to Figures 4 to 7, in some cases, the sprayer 10 can be configured to change one or more components of it based on the data captured by the detection system 56. For example, one or more components can be changed when the spray quality index deviates from a defined overall range and/or a spray quality from a single nozzle assembly 42 deviates from a defined range. Additionally or alternatively, one or more components can be changed when one or more application variables deviate from a defined operating range. Additionally or alternatively, one or more components can be changed based on environmental factors to adjust coverage or deviation of dispensed product. Additionally or alternatively, one or more components may be altered based on the specific product to be dispensed from sprayer 10 and/or for any other purpose.

[045] In some cases, one or more components may at least include the boom adjustment system 52 operationally coupled to the sprayer 10 and/or the boom assembly 44. As shown, in some embodiments, the boom assembly 44 includes the frame 46, a right inner boom section 62 and a left inner boom section 64 pivotally coupled to frame 46, a right boom arm section 66, and a left center boom section 68 pivotally coupled pivotally attached to respective right boom arm section 62 and left inner boom arm section 64, and a right outer boom arm section 70 and left outer boom arm section 72 pivotally coupled to respective boom arm section right boom 66 and left intermediate boom arm section 68. For example, each of the inner boom arm sections 62, 64 can be pivotally attached to frame 46 at pivot joints 74. intermediate boom arm 66, 68 are pivotally attachable to respective inner boom arm sections 62, 64 at pivot joints 76, while outer boom arm sections 70, 72 are pivotally attachable to respective boom arm sections 76, 72. intermediate boom arm 66, 68 at knuckle joints 78. Knuckle joints 74, 76, 78 may be configured to allow relative pivotal movement between adjacent boom arm sections of boom assembly 44.

[046] Additionally, as shown in Figure 4, the boom assembly 44 may include internal bending actuators 80 coupled between the inner boom arm sections 62, 64 and the frame 46 to allow articulation or bending between fully extended positions and transport. For example, by retracting/extending the inboard bend actuators 80, the inner boom arm sections 62, 64 can be pivoted or folded relative to frame 46 about a pivot axis 74A defined by pivot joints 74. In addition, In addition, the boom assembly 44 may also include intermediate bender actuators 82 coupled between each inner boom arm section 62, 64 and its adjacent intermediate boom arm section 66, 68 and outer bent actuators 84 coupled between each boom section. middle boom arm 66, 68 and its adjacent outer boom arm section 70, 72. As such, by retracting/extending the center and outer bend actuators 82, 84, each center and outer boom arm section 66, 68 , 70, 72 may be hinged or folded with respect to their respective inwardly adjacent boom arm section 62, 64, 66, 68 about a respective pivot axis 76A, 78A.

[047] In various embodiments, the spear assembly 44 can be moved up and/or down to adjust the distance between the spear assembly 44 and the ground surface 20 along a vertical direction 86. Additionally or alternatively, the vertical positioning of the various individual boom arm sections of the boom assembly 44 can also be adjusted relative to the ground surface 20. Additionally or alternatively, an angle of application of the nozzle assemblies 42 can be adjusted relative to the ground surface 20 to change spray coverage. For example, an angle of inclination (e.g., as indicated by arrow 88 in Figure 4) of the lance assembly 44 can be adjusted with respect to the vertical direction 86 so that the angle of application of the nozzle assemblies 42 is adjusted so corresponding.

[048] In various embodiments, the detection system 56 can be configured to capture data indicative of an orientation or position of the boom assembly 44 relative to the ground surface 20. In various embodiments, an orientation sensor 58 can be positioned at each boom arm section 46, 62, 64, 66, 68, 70, 72 of the boom assembly 44. However, in alternative embodiments, the sensor 58 may be positioned in any other suitable location and/or coupled to any other suitable component of agricultural sprayer 10.

[049] With reference to Figures 4 to 7, the boom adjustment system 52 may include a linkage assembly 90 configured to couple the boom assembly 44 to the sprayer 10, for example, by means of a support 92 rigidly coupled to the chassis 12. In various embodiments, linkage assembly 90 includes one or more support arms 94, one or more lift actuators 96, and one or more tilt actuators 98. In the illustrated embodiment, support arm 94 is generally shown as being an upper connection of link assembly 90 and tilt actuator 98 is shown to be a lower connection of link assembly 90. However, it will be appreciated that support arm 94 and tilt actuator 98 may instead be be arranged in any other suitable configuration that allows the boom adjustment system 52 to function as described herein.

[050] In the illustrated embodiments, the support arm 94 is pivotally coupled between the support 92 and the structure 46 of the boom assembly 44. More particularly, each support arm 94 can have a fixed length defined between a first portion of end 94A of support arm 94 and a second end portion 94B of support arm 94. First end portion 94A of support arm 94 is pivotally coupled to support 92, for example by means of a first pivot joint 100A and the second end portion 94B of the support arm 94 is pivotally coupled to the frame 46 of the boom assembly 44, for example, by means of a second pivot joint 100B. Support arm 94, along with lift actuator 96, can be configured to support the weight of boom assembly 44 relative to sprayer 10.

[051] As shown in Figures 5 and 6, the lift actuator 96 is pivotally coupled between a support arm 94 and the support 92. The lift actuator can be configured to have a selectively variable length. For example, in some embodiments, the lift actuator 96 can be configured as a fluid-actuated actuator, such as a hydraulic or pneumatic cylinder. However, in alternative embodiments, the lift actuator 96 can be configured as any other suitable type of actuator, such as an electric linear actuator. As such, the lift actuator 96 can be configured to extend or retract to pivot the respective support arm 94 about the second pivot joint 100B so that the boom assembly 44 as a whole is raised or lowered along the direction vertical 86 in relation to the chassis 12. Thus, the distance between the boom assembly 44 and the ground surface 20 can generally be varied by actuating the lift actuator 96.

[052] In addition, as shown in Figures 5 and 6, the tilt actuator 98 is pivotally coupled between the support 92 and the structure 46 of the boom assembly 44. Similar to the lift actuator 96, the tilt actuator 98 it can also be configured to have a selectively variable length. For example, in some embodiments, the tilt actuator 98 can be configured as a fluid-actuated actuator, such as a hydraulic or pneumatic cylinder. However, in alternative embodiments, the tilt actuator 98 can be configured as any other suitable type of actuator, such as an electric linear actuator. Regardless, the tilt actuator 98 can be configured to extend or retract to rotate or tilt the boom assembly 44 as a whole about a tilt axis 102 (Figure 4) to set or change a corresponding tilt angle 104 of the boom assembly 44. Tilt axis 102 may be at least partially defined by first pivot joint 100A coupling first end portion 94A of support arm 94 to support 92. In some embodiments, tilt axis 102 may be parallel to an axle of the agricultural sprayer 10 (for example, an axle that extends between the rear wheels 16 perpendicular to the direction of travel 18) and parallel to the lateral direction 54. The angle of inclination 104 of the boom assembly 44 can generally be set between one central reference plane 106A extending between opposite top and bottom end portions 106B, 106C of frame 46 and a vertical reference plane 58A extending in vertical direction 86.

[053] Additionally, as shown in Figures 5 and 6, each nozzle assembly 42 can be operatively coupled to the spear assembly 44 (for example, the frame 46) in a certain orientation with respect to the spear assembly 44. In some embodiments , the tilt actuator 98 can be configured to extend or retract to rotate or tilt the boom assembly 44 to adjust or change a corresponding application angle 108 of each nozzle assembly 42. The application angle 108 of the nozzle assembly 42 can generally be defined between a spray shaft 42A, the spray shaft 42A extending in the general direction of fluid spray from the nozzle assembly 42 and the ground surface 20.

[054] In some embodiments, by extending/retracting the tilt actuator 98, the tilt angle 104 of the boom assembly 44 can be adjusted so that the boom assembly 44 is driven between a substantially vertical orientation (for example, as shown in Figure 5) and a substantially non-vertical orientation (e.g. as shown in Figure 6). For example, as shown in Figure 5, when in its substantially vertical orientation, the boom assembly 44 can define a substantially vertical operational tilt angle 104A that is equal to or substantially equal to zero, such as a tilt angle 104A that is greater or equal to zero degrees and less than 5 degrees, or greater than or equal to zero degrees and less than 2.5 degrees and/or any other defined subranges between them. When the lance assembly 44 is in its substantially vertical orientation, the nozzle assembly 42 may be oriented generally perpendicular to the ground surface 20, such as at an application angle 108 that is substantially equal to 90 degrees.

[055] On the contrary, as shown in Figure 6, when in its substantially non-vertical orientation, the boom assembly 44 can define a substantially non-vertical operating tilt angle 104B. In some cases, the substantially non-vertical orientation may allow the boom assembly bending actuators 44 to be used to individually adjust the vertical position of the various sections of the boom arm relative to the ground surface 20. For example, in the substantially vertical orientation non-vertical, the various pivot axes 74A, 76A, 78A are oriented with respect to the vertical direction 86 at an angle generally corresponding to the non-vertical operational tilt angle 104B, thereby allowing the boom arm sections to be actuated by means of the actuators bending 80, 82, 84 in one direction with a vertical component of movement. Furthermore, when the boom assembly 44 is in its non-vertical orientation, the nozzle assembly 42 may be oriented generally non-perpendicularly with respect to the ground surface 20, such as at an application angle 108 that is substantially less than or greater than ninety degrees. (90 degrees.

[056] With further reference to Figures 4 to 7, during the operation of the agricultural sprayer 10, the various boom arm sections of the boom assembly 44 can be maintained at a given vertical distance from the soil surface 20 to maintain the index of spray quality within a defined range. In general, as the distance between the boom assembly 44 and the ground surface 20 increases, the ground surface 20 that the nozzle assembly 42 can cover with spray increases, as well as drift. Thus, the distance 110 can be chosen based on the desired coverage of the nozzle assembly 42. In general, the boom assembly 44 can be raised or lowered by the lift actuator 96 to adjust the vertical distance between the boom assembly 44 and the ground surface 20 to the desired distance. However, in some cases, as the boom assembly 44 traverses a ground surface 20, the ground surface 20 may not be level so that one or more sections 62, 64, 66, 68, 70, 72 of the boom assembly boom 44 are closer to or farther from the ground surface 20 than desired. In such cases, controlling the operation of the lift actuator 96 alone may be insufficient to maintain the desired spacing between the various boom arm sections and the ground surface 20.

[057] For example, referring, for example, to Figure 7, an example is illustrated in which the ground surface 20 over which a portion of the boom assembly 44 extends is not level. For purposes of discussion, only left side sections 64, 68, 72 of boom assembly 44 are shown. However, it will be appreciated that the same or similar control actions as described herein with reference to the left side sections 64, 68, 72 can also be taken for the right side sections 62, 66, 70 of the boom assembly 44.

[058] As shown in Figure 7, the first floor section 60A is generally flat, with the second and third floor sections 60B, 60C being sloped upwards relative to a first floor section 60A with progressively increasing slopes. In that case, without adjusting the orientation of the boom assembly 44 in the manner described herein, the spacing or vertical clearance between the boom assembly 44 and the ground surface 20 would generally decrease as the boom assembly 44 extends outward from the structure. 46 for the outer boom arm section 72. To accommodate the non-flat ground surface 20, the orientation or tilt angle 104 of the boom assembly 44 can be varied to allow the relative vertical positioning of the boom arm sections be adjusted to accommodate such terrain contour variation.

[059] With reference now to Figure 8, a schematic view of a system 150 for operating the sprayer 10 is illustrated in accordance with aspects of the present subject matter. In general, the system 150 will be described with reference to the sprayer 10 described above with reference to Figures 1 to 7. However, it should be appreciated by those skilled in the art that the disclosed system 150 can generally be used with agricultural machines having any other configuration of suitable machine. Furthermore, it should be appreciated that, for purposes of illustration, communicative links or electrical couplings of the system 150 shown in Figure 8 are indicated by dashed lines.

[060] As shown in Figure 8, the system 150 can include a computing system 152 operably coupled to the agricultural product application system 38 that can be configured to dispense an agricultural product through one or more sets of nozzles 42 that can be positioned at least partially along the spear assembly 44 44 (Figure 1). In various embodiments, the nozzle assemblies 42 can include a nozzle and a valve for activating the respective nozzle to perform a spraying operation. The valves may include restrictive orifices, regulators, and/or the like for regulating the flow of agricultural product from the application system 38 that is emitted from each nozzle assembly 42. In various embodiments, the valves may be configured as electronically controlled valves that are controlled by a Pulse Width Modulation (PWM) signal to change the application rate of the agricultural product.

[061] In general, the computing system 152 may comprise any suitable processor-based device, such as a computing device or any suitable combination of computing devices. Thus, in various embodiments, computing system 152 may include one or more processors 154 and associated memory 156 configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application-specific integrated circuit and other programmable circuits. In addition, memory 156 of computing system 152 may generally comprise memory elements including, but not limited to, a computer-readable medium (e.g., random access memory (RAM)), a non-volatile computer-readable medium ( for example, a flash memory), a floppy disk, a read-only compact disk (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory 156 can generally be configured to store information accessible to processor 154, including data 158 that can be retrieved, manipulated, created and/or stored by processor 154 and instructions 160 that can be executed by processor 154, when implemented by processor 154, configuring computing system 152 to perform various computer-implemented functions, such as one or more aspects of the image processing algorithms and/or related methods described herein. In addition, computing system 152 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control input, and/or the like.

[062] In various embodiments, the computing system 152 can correspond to an existing controller of the agricultural sprayer 10, or the computing system 152 can correspond to a separate processing device. For example, in some embodiments, the computing system 152 may form all or part of a separate plug-in module or computing device that is installed relative to the sprayer 10 or lance assembly 44 to allow the disclosed system 150 and method are implemented without requiring additional software to be loaded onto existing sprayer control devices 10 or boom assembly 44.

[063] In various embodiments, the data 158 may be stored in one or more databases. For example, memory 156 may include an application variable database 162 for storing application variable data received from detection system 56 and/or any other device. Furthermore, in addition to initial or raw sensor data and/or meteorological data received from detection system 56, final or post-processing application variable data (as well as any intermediate application variable data created during data processing) also may be stored within application variable database 162.

[064] In various embodiments, the detection system 56 may include one or more spray sensors, orientation sensors, flow sensors, pressure sensors, direction sensors, a weather station 60 and/or any other detection assembly. Each detection set may be capable of capturing data which may be stored with application variable database 162. For example, spray sensors (e.g., an image sensor, a LIDAR, a RADAR, or any other suitable type sensors) can be configured to capture data related to one or more spray fans. The orientation sensor (for example, an image sensor, a LIDAR, a RADAR sensor, a Hall effect sensor, a gyro sensor, a magnetometer sensor, an accelerometer sensor, a yaw rate sensor, a piezoelectric sensor, a position sensor, a complementary metal oxide semiconductor (CMOS) sensor, a pressure sensor, a capacitive sensor, an ultrasonic sensor, or any other suitable type of sensor) can be configured to capture data related to a position, angle , displacement, distance, velocity, acceleration of any component of the boom assembly 44 and/or the nozzle assemblies 42. One or more flow sensors (for example, a diaphragm pressure sensor, a piston flow sensor, a strain gauge-based pressure sensor, an electromagnetic pressure sensor, a flow meter sensor, and/or any other practical sensor) 66 can be configured to capture data indicative of a flow condition, such as a flow pressure or flow velocity, within the flow paths of the product application system 38. The pressure sensor (for example, a diaphragm pressure sensor or, a piston pressure sensor, a strain gauge based pressure sensor, an electromagnetic pressure sensor or any other suitable type of sensor) can be configured to capture data indicative of the pressure of the agricultural product being supplied to or through the nozzle assemblies 42. The steering sensor (eg, a torque sensor, a steering angle sensor or any other suitable type of sensor) may be within a steering system 164 and configured to capture data relating to an instantaneous steering direction of the sprayer 10 and/or data relating to a torque on a steering wheel indicating a user's intention to manipulate the steering system 164. Additionally, a powertrain control system sensor may be configured to capture data related to a component of the powertrain control system 22.

[065] In addition, the weather station 60 can be configured to capture data indicative of wind speed and direction at a defined position on the sprayer 10. The mobile weather station 60 can contain any sensor that can be found in a stationary weather station 60 that monitors one or more weather criteria such as temperature, wind speed, wind direction, relative humidity, barometric pressure, cloud cover and their trends.

[066] In some embodiments, the memory 156 may also include an agricultural product database 166 that stores agricultural product information. The agricultural product information may include various information about the conditions and application rates of an individual product that will be applied to the soil surface 20. In some cases, the product information may be preloaded or sent to the sprayer 10 via communication wired or wireless with them. Additionally or alternatively, product information can be manually entered into the database. In some embodiments, based on selected product information, a different spray quality index and/or acceptable range may be selected.

[067] Additionally, in various embodiments, the memory 156 may also include a location database 168 storing location information for the sprayer 10 and/or the boom assembly 44. For example, in some embodiments, the positioning system 170 may be configured to determine the location of the sprayer 10 and/or boom assembly 44 using a satellite navigation positioning system 170 (e.g., a GPS system, a Galileo positioning system, the global navigation satellite system ( GLONASS), the BeiDou satellite navigation and positioning system, a dead reckoning device, and/or the like). In such embodiments, the location determined by the positioning system 170 can be transmitted to the computing system 152 (e.g., in the form of location coordinates) and then stored in the location database 168 for subsequent processing and/or analysis.

[068] In various embodiments, the location data stored in the location database 168 can also be correlated with the application variable data stored in the application variable database 162. For example, in some embodiments, the location coordinates derived from the positioning system 170 and the variable application data captured by the detection system 56 can both be time-stamped. In such embodiments, the timestamped data can allow the data captured by the detection system 56 to be matched or correlated to a corresponding set of location coordinates received from the positioning system 170, thereby allowing the location of the surface portion. soil 20 associated with a given set of application variable data to be known (or at least capable of calculation) by the computing system 152.

[069] Additionally, in some embodiments, the one shown in Figure 8, the memory 156 may include a field database 172 for storing information related to a field formed from a delimited ground surface 20, such as field map data field. In such embodiments, by matching each set of application variable data captured by detection system 56 to a corresponding set of location coordinates, computing system 152 can be configured to generate or update a corresponding field map associated with the field, which can then be stored in the field database 172 for subsequent processing and/or analysis. For example, application variable data captured by detection system 56 and/or positioning system 170 may be mapped or otherwise correlated with corresponding locations within the field map. Alternatively, based on the location data and associated detection system data, computing system 152 can be configured to generate a field map that includes the geolocated application variable associated therewith.

[070] With further reference to Figure 8, in various embodiments, the instructions 160 stored in the memory 156 of the computing system 152 can be executed by the processor 154 to implement a data analysis module 174 and/or a control module 176. In general, the data analysis module 174 may be configured to analyze the initial or raw sensor data captured by the detection system 56 and/or positioning system 170 to allow the computing system 152 to calculate the spray quality index. . For example, data analysis module 174 can be configured to perform one or more suitable data processing techniques or algorithms that allow computing system 152 to analyze sensor data, such as applying corrections or adjustments to the data based on the sensor type, sensor resolution and/or other variables associated with the detection system 56 and/or the positioning system 170 filtering the data to remove outliers, implementing subroutines or intermediate calculations to estimate the spray quality index with based on one or more application variables, and/or performing any other techniques or algorithms related to desired data processing. In some embodiments, computer system 152 can be configured to analyze the data to determine a spray quality index for the analyzed section of the field and/or whether the spray quality index falls within predefined ranges. In some embodiments, computing system 152 can be configured to analyze data to monitor each variable. In some cases, the computer system 152 can be configured to determine which variables cause variations in the spray quality index during operation of the sprayer 10 if a deviation exists.

[071] The active control module 176 can generate one or more outputs for various components communicatively coupled with the computing system 152 based on the results of the data analysis module 174. For example, the control module 176 can generate an output for changing a position of the boom assembly 44 through the boom adjustment system 52 based at least in part on the calculated spray quality index deviating from a defined range and/or one or more application variables deviating from a defined range. In some cases, altering the position of the boom assembly 44 may include changing a height of the boom assembly 44 relative to the ground surface 20. Additionally or alternatively, altering the position of the boom assembly 44 may include changing of an inclination of the boom assembly 44 with respect to the ground surface 20. Additionally or alternatively, changing the position of the boom assembly 44 may include altering the height of a first boom arm section 62, 64, 66, 68 , 70, 72 of the boom assembly 44 relative to a second boom arm section 62, 64, 66, 68, 70, 72 of the boom assembly 44. Additionally or alternatively, the change in position of the boom assembly 44 can including changing an incline of a first boom arm section 62, 64, 66, 68, 70, 72 of boom assembly 44 relative to a second boom arm section 62, 64, 66, 68, 70, 72 of assembly of spear 44.

[072] In some cases, a first set of data can be used to calculate a first spray quality index, with the first set of data being collected by the detection system 56 before or during a spraying operation. If the first spray quality index and/or one or more application variables deviate from a defined range, the lance assembly 44 can be adjusted. Once boom assembly 44 is adjusted, a second set of data can be captured by detection system 56 and used to calculate a second spray quality index. The second spray quality index can be compared to the defined range and the lance assembly 44 can be adjusted if the second spray quality index deviates from the defined range. Furthermore, the second spray quality index and/or the application variables during the spraying operation while the second spray quality index was calculated can be compared with the first spray quality index and/or the application variables. during the spraying operation while the first spraying quality index was calculated to determine what effect the adjustment to boom assembly 44 had on the spraying quality index. The computing system 152 can use the comparison to determine the future movement of the boom assembly 44 based on the spray quality index deviating from the defined range. Additionally or alternatively, computing system 152 may use the comparison to adjust one or more application variables. As such, the system 150 can form a closed-loop system for monitoring and altering the spray operating parameters of the spray operation to maintain a spray quality index within the defined range.

[073] In various examples, the system 150 may implement machine learning engine methods and algorithms that utilize one or more machine learning techniques including, for example, decision tree learning, including, for example, random forest or conditional inference tree methods, neural networks, support vector machines, clustering and Bayesian networks. These algorithms may include computer-executable code that may be retrieved by computer system 152 and may be used to generate a predictive evaluation of changes to boom assembly 44. For example, control module 176 may alter boom adjustment system 52. In turn, system 150 can monitor any changes in the spray quality index and/or any of the application variables. Each change can be fed back into data analysis module 174 and control module 176 for further changes to boom assembly 44.

[074] In addition, various other components can be adjusted by the active control module 176 in response to the spray quality index and/or one or more application variables deviating from a defined range or limit. For example, the active control module 176 may also adjust or change the power train control system 22, the steering system 164 and/or the application package when the spray quality index and/or one or more variables of application deviate from a defined range or limit.

[075] In several examples, the detection data can provide data before the start of the spraying operation. Based on the detection data, the boom assembly 44 can be positioned in a home position with the home position being an estimate of a position at which the spraying operation will be conducted within the range defined for the spray quality index and/or or one or more application variables. In various examples, the data provided by the steering system 164 prior to the spraying operation may include data from the weather station 60. The data from the weather station 60 includes a weather forecast. If, for example, the weather forecast calls for winds to pick up or change direction later on, the position of boom assembly 44 can be changed accordingly and/or the user can be advised to spray sensitive areas first or wait until the wind changes to a different direction

[076] Additionally or alternatively, the output of the control module 176 can be a suggested path for spray application. In certain situations, it may be more advantageous to apply chemicals to a soil surface 20 in a specific direction based on the spray quality index and/or one or more application variables. In such situations, the control module 176 can advise the user in which direction the sprayer 10 can apply chemicals. Inputs that the computer system 152 may consider include the agricultural product being applied, crops being grown in adjacent fields, proximity to sensitive areas such as streams, wildlife habitat, etc.

[077] Additionally, or alternatively, in some examples, the output of the control module 176 can change the spray operation of the application system 38 to pause or change the application of the agricultural product in response to the determination that the interval defined for the spray quality index is unattainable, even with adjustments to one or more sprayer components 10.

[078] Additionally or alternatively, the output of the control module 176 can provide notifications and/or instructions to the user interface 32, a notification system 178 and/or a remote electronic device 180. In some examples, the display 34 of the user interface 32 may be capable of displaying information relating to spray quality index and/or one or more application variables.

[079] In some embodiments, the notification system 178 may request visual, auditory and tactile notifications and/or warnings when one or more airflow vectors exceed a defined range of magnitudes or directions, the spray quality index deviates of a predefined range and/or one or more functions of the sprayer 10 or boom assembly 44 is changed by the computer system 152. For example, brake lights and/or hazard warning lights can provide a visual alert. A horn and/or speaker can provide an audible alert. A haptic device integrated in cabin 30 and/or elsewhere can provide haptic alerting. Furthermore, the computing system 152 and/or the notification system 178 can communicate with the user interface 32 of the sprayer 10. In addition to providing the user with notification, the computing system 152 can additionally store the location of the sprayer 10 at the time of notification, which can be determined by means of a positioning system 170.

[080] In addition, the computing system 152 can communicate via wired and/or wireless communication with one or more remote electronic devices 180 via a transceiver 182. The network can be one or more of several mechanisms wired or wireless communication devices, including any combination of wired (e.g., cable and fiber) and/or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms, and any desired network (or topologies when multiple communication mechanisms are used). Examples of wireless communication networks include a wireless transceiver (e.g., a BLUETOOTH module, a ZIGBEE transceiver, a Wi-Fi transceiver, an IrDA transceiver, an RFID transceiver, etc.), local area networks (LAN) and/or wide area networks (WAN), including the Internet, providing data communication services.

[081] Electronic device 180 may also include a display for displaying information to a user. For example, electronic device 180 may display one or more user interfaces and may be capable of taking remote user input to set a predefined threshold for any of the application variables and/or enter any other information, such as the agricultural product to be used. be used in a spraying operation. Additionally, the electronic device 180 can provide feedback information such as visual, audible, and haptic alerts and/or allow the user to change or adjust one or more components of the sprayer 10 or boom assembly 44 through the use of the electronic device. remote 180. It will be appreciated that electronic device 180 can be any of a variety of computing devices and can include a processor and memory. For example, electronic device 180 can be a cell phone, mobile communication device, keychain, wearable device (e.g., fitness bracelet, watch, eyewear, jewelry, wallet), apparel (e.g., a T-shirt, gloves, shoes or other accessories), personal digital assistant, headphones and/or other devices that include wireless capabilities and/or any wired communication protocols.

[082] While the various control functions and/or actions are generally described herein as being performed by the computer system 152, one or more of these control functions/actions (or parts thereof) may be performed by a separate computer system 152 or may be distributed across two or more computing systems (including, for example, computing system 152 and a separate computing system). For example, in some embodiments, computing system 152 may be configured to acquire data from detection system 56 for subsequent processing and/or analysis by a separate computing system (e.g., a computing system associated with a remote server). . In other embodiments, computer system 152 may be configured to perform data analysis module 174, while a separate computer system (e.g., a sprayer computer system associated with agricultural sprayer 10) may be configured to perform the control module 176 for controlling the spray operation of the agricultural sprayer 10 based on data and/or instructions transmitted from the computer system 152 that are associated with the spray quality index and/or one or more application variables.

[083] With reference now to Figure 9, a flow diagram of some embodiments of a method 200 for operating an agricultural applicator is illustrated in accordance with aspects of the present subject matter. In general, method 200 will be described here with reference to sprayer 10 and system 150 described above with reference to Figures 1 to 8. However, disclosed method 200 generally can be used with any suitable agricultural sprayer 10 and/or can be used in connection with a system having any other suitable system configuration. Furthermore, although Figure 9 depicts steps performed in a specific order for purposes of illustration and discussion, the methods discussed here are not limited to any specific order or arrangement. A person skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined and/or adapted in various ways without departing from the scope of the present disclosure.

[084] As shown in Figure 9, at (202), method 200 may include receiving a first set of data indicative of one or more application variables through a detection system. According to the aspects of the present subject matter, the detection system may include one or more sensors, a weather station and/or any other assembly, which may be installed on the sprayer and/or on the boom assembly. In general, the detection system can be configured to capture data indicative of one or more application variables associated with the application of an agricultural product to a soil surface (eg soil and/or plants).

[085] At (204), the method 200 may include exhausting an agricultural product through one or more sets of nozzles. In various embodiments, the first set of data is received before, during, and/or after depleting the agricultural product.

[086] In (206), the method 200 may include calculating a first spray quality index based on the first set of data associated with one or more application variables with a computing system. As provided herein, the spray quality index represents a metric indicative of a spray operation's coverage of a portion of a soil surface.

[087] In (208), the method 200 may include changing a boom position position from a first position to a second position when the first spray quality index deviates from a predefined range through a boom adjustment system. The position adjustment assembly may include one or more actuators that are configured to change a position of the boom assembly relative to the ground surface and/or the sprayer chassis. In some cases, the boom assembly may be a first height above the ground surface in the first position and a second height above the ground surface in the second position. The first height can be offset from the second height. Additionally or alternatively, the boom assembly may be oriented at a first angle to the ground surface in the first position and a second angle to the ground surface in the second position. The first angle can be offset from the second angle.

[088] At (210), method 200 may include receiving a second set of data indicative of one or more application variables via the detection system. At 212, the method may include calculating a second spray quality index based on the second set of data associated with one or more application variables with the computing system. At (214), the method may include changing the lance assembly position from the second position to a third position when the second spray quality index is within a predefined range through the lance adjustment system. In some cases, the boom assembly may be a second height above the ground surface in the second position and a third height above the ground surface in the third position. The second height can be offset from the third height. Additionally or alternatively, the boom assembly may be oriented at a second angle to the ground surface in the second position and a third angle to the ground surface in the third position. The second angle can be offset from the third angle.

[089] At (216), the method 200 may include displaying the first spray quality index and/or the second spray quality index on a display. As provided in this document, the display can be positioned within a sprayer booth as well as within an in-cab user interface. Additionally or alternatively, the display can be implemented in a remote electronic device.

[090] In various examples, method 200 may implement machine learning methods and algorithms that utilize one or more machine learning techniques including, for example, decision tree learning, including, for example, random forest or random forest methods. conditional inference trees, neural networks, support for vector machines, clustering and bayesian networks. These algorithms may include computer-executable code that can be retrieved by the computing system and/or through a network/cloud and can be used to evaluate and update the barrier deflection model. In some cases, the machine learning engine can allow changes to the boom deflection model to be made without human intervention.

[091] It should be understood that the steps of any method disclosed in this document can be performed by a computing system when loading and executing software code or instructions that are stored in tangible form on a tangible computer-readable medium, such as on a medium magnetic, for example, a computer hard disk, optical media, for example, an optical disk, solid state memory, for example, flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system described herein, like any of the disclosed methods, may be implemented in software code or instructions that are tangibly stored on a tangible computer-readable medium. The computing system loads software code or instructions through a direct interface to the computer-readable medium or through a wired and/or wireless network. By loading and executing such software code or instructions by the controller, the computing system can perform any functionality of the computing system described herein, including any steps of the disclosed methods.

[092] The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They can exist in a computer-executable form, such as machine code, which is the set of instructions and data executed directly by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which it may be compiled for execution by a computer's central processing unit or controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, for example a script, which can be executed in real time with the help of an interpreter executed by computer's central processing unit or a controller.

[093] This written description uses examples to disclose the technology, including the best mode, and also to allow anyone skilled in the art to practice the technology, including making and using any devices or systems and executing any incorporated methods. The patentable scope of the technology is defined by the claims, which may include other examples that occur to those skilled in the art. These other examples must be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims (15)

Agricultural system (150) comprising a lance assembly (44) supporting one or more sets of nozzles (42) therealong; a boom adjustment system (52) operatively coupled to the boom assembly (44); a detection system (56) configured to capture data indicative of one or more application variables; and a computing system (152) communicatively coupled to the boom adjustment system (52) and the detection system (56), the system (150) CHARACTERIZED in that the computing system (152) is configured to: receiving, from the detection system (56), data associated with one or more application variables; calculating a spray quality index based on data associated with one or more application variables, the spray quality index representing a metric indicative of a spray operation coverage of a portion of a soil surface (20); and generating an output for changing a position of the boom assembly (44) through the boom adjustment system (52) based at least in part on the calculated spray quality index deviating from a defined range. System (150), according to claim 1, characterized by the fact that the change in the position of the boom assembly (44) includes changing a height of the boom assembly (44) in relation to the ground surface (20). System (150), according to any previous claim, CHARACTERIZED by the fact that changing the position of the boom assembly (44) includes changing an inclination of the boom assembly (44) in relation to the ground surface (20). System (150), according to any previous claim, CHARACTERIZED by the fact that changing the position of the boom assembly (44) includes changing a height of a first boom arm section (62, 64, 66, 68, 70 ) of the boom assembly (44) relative to a second boom arm section (62, 64, 66, 68, 70) of the boom assembly (44). System (150), according to any previous claim, CHARACTERIZED by the fact that changing the position of the boom assembly (44) includes changing an inclination of a first boom arm section (62, 64, 66, 68, 70 ) of the boom assembly (44) relative to a second boom arm section (62, 64, 66, 68, 70) of the boom assembly (44) System (150), according to any previous claim, CHARACTERIZED by the fact that the boom adjustment system (52) includes one or more actuators (80, 82, 84, 96, 98). System (150), according to any preceding claim, CHARACTERIZED by the fact that data associated with one or more application variables is received before one or more sets of nozzles (42) exhaust an agricultural product. System (150), according to any preceding claim, CHARACTERIZED by the fact that data associated with one or more application variables is received while one or more sets of nozzles (42) exhaust an agricultural product. System (150), according to any preceding claim, CHARACTERIZED in that the computing system (152) is further configured to: generate a second output in the form of one or more notifications that are presented on a display (34). Method (200) for an agricultural application operation, the method (200) comprising receiving (202), via a detection system (56), a first set of data indicative of one or more application variables, the method (200 ) CHARACTERIZED by the fact that: calculating (206), with a computing system (152), a first spray quality index based on the first set of data associated with one or more application variables, the spray quality index representing a metric indicative of a spray operation coverage of a portion of a soil surface (20); changing (208), through a boom adjustment system (52), a boom assembly position (44) from a first position to a second position when the first spray quality index deviates from a predefined range; and receiving (210), via the detection system (56), a second set of data indicative of one or more application variables. Method (200) according to claim 10, CHARACTERIZED by the fact that it further comprises: calculating (212), with the computing system (152), a second spray quality index based on the second set of data associated with one or more application variables; and changing (2140, through the lance adjustment system (52), the position of the lance assembly (44) from the second position to a third position when the second spray quality index is within a predefined range. Method (200), according to any preceding claim, CHARACTERIZED by the fact that it further comprises: displaying (216) the first spray quality index on a display (34). Method (200), according to any preceding claim, CHARACTERIZED by the fact that it further comprises: exhausting, through one or more sets of nozzles (42), an agricultural product, in which the first set of data is received before exhausting the agricultural product. Method (200), according to any preceding claim, CHARACTERIZED by the fact that the boom assembly (44) is at a first height above the ground surface (20) in the first position and a second height above the ground surface ( 20) in the second position, and in which the first height is offset from the second height. Method (200), according to any preceding claim, CHARACTERIZED by the fact that the spear assembly (44) is oriented at a first angle to the ground surface (20) in the first position and a second angle to the surface of the ground (20) in the second position, and in which the first angle is offset from the second angle.

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