CN115023295A - Spray system, kit, vehicle and method of use - Google Patents
Spray system, kit, vehicle and method of use Download PDFInfo
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- CN115023295A CN115023295A CN202180011183.5A CN202180011183A CN115023295A CN 115023295 A CN115023295 A CN 115023295A CN 202180011183 A CN202180011183 A CN 202180011183A CN 115023295 A CN115023295 A CN 115023295A
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- nozzle assemblies
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- mobile device
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Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
- B05B1/08—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape of pulsating nature, e.g. delivering liquid in successive separate quantities ; Fluidic oscillators
- B05B1/083—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape of pulsating nature, e.g. delivering liquid in successive separate quantities ; Fluidic oscillators the pulsating mechanism comprising movable parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
- B05B1/20—Arrangements of several outlets along elongated bodies, e.g. perforated pipes or troughs, e.g. spray booms; Outlet elements therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
- B05B1/3033—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head
- B05B1/304—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve
- B05B1/3046—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice
- B05B1/3053—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice the actuating means being a solenoid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
- B05B12/04—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Abstract
The kit for a vehicle may include pulse width modulation solenoids configured to selectively open and close each nozzle assembly and vary its flow rate when installed in fluid communication with the nozzle assembly; one or more wirelessly controllable solenoid controllers; a wire harness for electrically connecting the pulse width modulation solenoids to the control s); a GPS antenna system for wireless communication; a lidar sensing system that may communicate wirelessly; associated wiring and brackets for connecting the kit with the vehicle; and a mobile device configured to wirelessly cause the one or more controllers to open and close and vary the flow rate of each nozzle assembly based on sensed data and/or recorded data in view of user-selected criteria.
Description
Cross Reference to Related Applications
This application claims priority to U.S. patent application serial No. 16/274,833, filed by inventors Steven r. book, Gary a. vandenbak and Mike hilligos on 13.2.2019 and entitled Kits, Systems, and Methods for sprinklers [ Kits, Systems and Methods for sprinklers ], which is incorporated herein by reference and is a continuation-in-part of this U.S. patent application, published as US-2019-0246557-a1 on 15.8.2019 (herein referred to as the "' 833 application"). The present application also claims priority from U.S. provisional patent application serial No. 62/630,139 (referred to herein as the "'139 application") filed by inventors r.book, Gary a.vandenbark, and Mike hilligos on day 13 of 2018 and entitled Kits, Systems, and Methods for sprinklers and U.S. provisional patent application serial No. 62/713,457 (referred to herein as the "' 457 application") filed by inventors Gary a.vandenbark on day 1 of 2018 and entitled sprinkler Systems, Kits, and Methods of Use and Methods for Use and is incorporated herein by reference.
Federally sponsored research or development
None.
Technical Field
The present disclosure relates generally to spraying, and in particular to agricultural spraying using an on-board spraying device, and kits, systems, and methods related thereto. Such sprays include, for example, but are not limited to, gardening and ground maintenance sprays.
Background
Sprinkler vehicles or vehicles fitted with sprinkler devices are known and details of their typical components and function are not repeated here unless incorporated by reference.
U.S. patent No. 5,334,987 to Teach ("Teach"), which is incorporated herein by reference, discusses an aircraft control system for applying chemicals to agricultural fields in conjunction with certain predetermined flight patterns. A global positioning system receiver receives radio frequency signals from the satellites and determines the position of the aircraft based on information contained in the received signals. The aircraft computer stores the surface coordinates of the field to be sprayed. The aircraft pilot inputs the desired orientation of the flight pattern, the swath width, and the track width into the computer. The computer then generates a flight pattern having a desired orientation and generates an audible signal during flight that is representative of the amount and direction of deviation from the desired flight pattern. The computer also automatically activates and deactivates the chemical spray when entering and exiting, respectively, the airspace above the field. The system discussed in Teach involves hardware and software specific to the aircraft and integrated into the aircraft, and among other drawbacks, does not independently open and close individual sprinkler nozzles, nor does it close any of its sprinkler mechanisms when the pilot overlaps with the previously sprayed area.
U.S. patent No. 5,704,546 to Henderson et al ("Henderson") incorporated by reference herein discusses a complex integrated position responsive control system and method for sprinklers that aims to provide droplet size control, drift reduction, spray transport modeling, and application rate gradients to avoid drift (e.g., column 3, lines 35-39). A position responsive control system monitors the position of the spray vehicle and changes the spray system operating conditions in response to the sprinkler vehicle position. The control system includes a set point switching subroutine for independently controlling flow rate and volume median droplet size set points. The control system also includes performance envelopes for the various nozzle tips. Independent flow rate and droplet size control methods are provided for use with the control system. The position-responsive control system receives information related to the boundaries of the spray area and the spray conditions, such as the application rate and the volume median droplet diameter associated with the spray area. The Henderson system is complex and expensive to implement, especially on existing sprinkler vehicles that do not yet include the specialized equipment required by Henderson.
U.S. patent No. 9,939,417B2 to McPeek ("McPeek"), incorporated herein by reference, discusses systems and methods for monitoring fruit production, plant growth, and plant vigor. McPeek discusses a system for detecting and geo-locating objects such as trees or other plants using a combination of three-dimensional laser scanning (lidar), Global Positioning System (GPS), and wide-angle high-definition video and/or thermal video, and transmitting, recording, classifying, and processing the resulting data to determine trunk diameter, tree height, tree volume, leaf density of the trees, leaf color of the trees, GPS location of the trees, and other data. McPeek suggests the possibility of using analytical data to guide fruit tree sprinklers (e.g., determine when, how long, and what chemicals to spray). The system of McPeek includes the laborious step of applying a unique radio frequency identification tag (RFID tag) to each tree separately and then pairing the data with the corresponding RFID tag.
U.S. patent No. 10,395,115B2 to Kumar et al ("Kumar"), incorporated herein by reference, discusses lidar and thermal imaging systems and deployment patterns for close-range sensing of key characteristics such as crown volume, leaf area, moisture stress, and crop yield for the purposes of yield estimation and disease monitoring and for more accurate fertilization, spraying, and pruning of special crops such as apples, oranges, strawberries, peaches, and pecans.
Shen, Yue & Zhu, heing & Liu, Hui & Chen, Yu & Ozkan, Erdal (2017.) Development of a Laser-Guided, Embedded-Computer-Controlled, Air-Assisted Precision Sprayer [ Laser guidance, Embedded Computer control, Development of Air-Assisted Precision Sprayer ]. Transactions of the ASABE. [ american society of agricultural engineers' colleagues ]60.1827-1838.10.13031/trans.12455 (available online https:// doi.org/10.13031/trans.12455) ("Shen et al") discusses an Air-Assisted Precision system with Embedded Computer and other built-in hardware that uses Laser radar and travel speed sensors to sense and calculate in real time whether an object (such as a portion of a crown of a tree) is within a predetermined distance and if the object is sprayed within a predetermined distance, the nozzle is opened and the object is sprayed and if it is determined in real time that no object is within a predetermined distance from the spray nozzle, the nozzle is closed and no spraying takes place, a copy of which is filed in the information disclosure statement along with the present application. The flow rate may be adjusted, for example, based on leaf density. However, like the McPeek system, the system of Shen et al "becomes dumb" if there are no RFID tags on the tree, because it does not know its geographic location nor its orientation when spraying. Thus, the data obtained from each pass of the system of Shen et al is independent of the location and orientation at which the spray actually occurred, and therefore, the data of Shen et al cannot be used to accurately reproduce the same spray on the same object in the future, nor directly compare the trends of repeatedly spraying the same object over time.
There remains a need for an advanced functioning "intelligent" sprinkler control system that is inexpensive and easy to implement with few component modifications, including kits that are easily adaptable to numerous existing sprinkler vehicles.
Disclosure of Invention
The present invention elegantly overcomes the various disadvantages and limitations of past systems and provides a number of additional benefits, as will be apparent to those skilled in the art. For example, in various exemplary embodiments there is provided a kit configured to be added to a vehicle having a power source and an air-assisted agricultural spray system including a tank for containing a liquid to be sprayed and a plurality of spaced apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a check valve removably mounted in a port in each respective nozzle assembly. In various exemplary embodiments, the kit may include: a plurality of pulse width modulation solenoids configured to be installed in the ports when the check valves are removed and to selectively open and close the nozzle assemblies and vary the flow rate of liquid through the nozzle assemblies when the plurality of pulse width modulation solenoids are installed in the ports; one or more controllers configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the plurality of pulse width modulation solenoids when the solenoids are installed in the ports to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies; a first bracket configured to attach the one or more controllers with the vehicle; a first wiring harness configured to attach to the vehicle and electrically connect the one or more controllers with the plurality of pulse width modulated solenoids; a second wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the power source; a GPS antenna system; a second bracket configured to attach the GPS antenna system with the vehicle; a third wire harness configured to attach to the vehicle and electrically connect the GPS antenna system with the power source; a laser radar sensing system; a third bracket configured to attach the lidar sensing system to the vehicle; a fourth wire harness configured to attach to the vehicle and electrically connect the lidar sensing system with the power source; and a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system. In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas, and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas, and vehicle data defining the location of each of the nozzle assemblies relative to the location of the GPS antenna system and the lidar sensing system when mounted on the vehicle, and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
In various exemplary embodiments, the lidar sensing system may include a WiFi router configured to be in wireless communication with the mobile device. In various exemplary embodiments of the kit, the lidar sensing system may include a fan configured to blow debris away from at least a sensing portion of the lidar sensing system.
In various exemplary embodiments, the user-selectable spray criteria may include a vertical boundary in which the controller is configured to shut off liquid flow through nozzle assemblies that are oriented to direct spray beyond the vertical boundary when installed on the vehicle. In various exemplary embodiments, the vertical boundary may be selectable as a function of plant data corresponding to plant height. In various exemplary embodiments, the user-selectable spray criteria may include one or more adjustments to the flow rate of liquid through the nozzle assemblies based on plant data corresponding to plant density. In various exemplary embodiments, the user-selectable spray criteria may include one or more adjustments to the flow rate of liquid through the nozzle assemblies as a function of plant data for a given plant over time.
In various exemplary embodiments, the kit may further include a fourth bracket configured to attach the mobile device with the vehicle in proximity to a location of a driver on the vehicle. In various exemplary embodiments, the kit may further include a fifth wire harness configured to attach to the vehicle and electrically connect the mobile device with the power source when the mobile device is attached with the vehicle near a location of a driver on the vehicle.
There is also provided in various exemplary embodiments a method of installing a kit as described herein on a vehicle as described herein, the method comprising the steps of: providing such a vehicle and kit as described herein; removing the check valves from the ports in the nozzle assemblies; installing the plurality of pulse width modulated solenoids in the ports; attaching the one or more controllers with the vehicle with the first bracket; connecting the one or more controllers with the plurality of pulse width modulated solenoids with the first wiring harness; attaching the first harness to the vehicle; connecting the one or more controllers to the power source with the second wiring harness; attaching the second harness to the vehicle; attaching the GPS antenna system with the vehicle with the second bracket; connecting the GPS antenna system with the power supply by using the third wire harness; attaching the third harness to the vehicle; attaching the lidar sensing system to the vehicle with the third bracket; connecting the lidar sensing system to the power supply with the fourth wire harness; attaching the fourth wire harness to the vehicle; and inputting vehicle data into one or more databases, the vehicle data defining the position of each of the nozzle assemblies relative to the positions of the GPS antenna system and the lidar sensing system when mounted on the vehicle.
In various exemplary embodiments, the method may further comprise inputting map data into the one or more databases, the map data defining a spray area and a non-spray area. In various exemplary embodiments, the step of inputting map data defining the spray area and the non-spray area into the one or more databases may include the steps of: the vehicle is driven along one or more edges of one or more spray or non-spray areas and the travel path data transmitted from the GPS antenna system to the mobile device is recorded. In various exemplary embodiments, the step of inputting map data defining the spray area and the non-spray area into the one or more databases may include the steps of: a different vehicle having a second GPS antenna system is guided along one or more edges of one or more spray or non-spray areas and travel path data transmitted from the second GPS antenna system to the mobile device is recorded.
In various exemplary embodiments, the step of inputting map data defining the spray area and the non-spray area into the one or more databases may comprise the steps of: one or more edges of one or more spray or non-spray areas are depicted on a GUI overlay of a digital image of the map. In various exemplary embodiments, the step of inputting map data defining the spray area and the non-spray area into the one or more databases may comprise the steps of: at least a portion of the map data is wirelessly downloaded from the cloud to the mobile device.
In various exemplary embodiments, the method may further comprise the steps of: inputting user-selectable spray criteria into the mobile device; and inputting plant data into the one or more databases, the plant data corresponding to one or more of a position, height, width, shape and density of plants located within the spray zones. In various exemplary embodiments, the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray areas may comprise the steps of: the vehicle is driven proximate to a plant in one of the spray areas and the travel path data transmitted from the GPS antenna system to the mobile device is recorded, while also recording plant data transmitted from the lidar sensing system to the mobile device. In various exemplary embodiments, the step of inputting plant data into the one or more databases corresponding to one or more of the location, height, width, shape and density of plants located within the spray zones may comprise the steps of: directing a different vehicle having a second GPS antenna system and a second lidar sensing system proximate to vegetation in one of the spray areas and recording travel path data transmitted from the second GPS antenna system to the mobile device while also recording vegetation data transmitted from the second lidar sensing system to the mobile device. In various exemplary embodiments, the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray areas may comprise the steps of: plant data within the spray area is depicted on a GUI overlay of the digital image of the map. In various exemplary embodiments, the step of inputting plant data into the one or more databases corresponding to one or more of the location, height, width, shape and density of plants located within the spray zones may comprise the steps of: at least a portion of the plant data is wirelessly downloaded from the cloud to the mobile device.
In various exemplary embodiments, the step of inputting the user-selectable spray criteria to the mobile device may comprise the steps of: the vertical boundary is selected such that the controller is configured to shut off liquid flow through a nozzle assembly oriented to direct spray beyond the vertical boundary. In various exemplary embodiments, the vertical boundary may be selected as a function of plant data corresponding to plant height.
In various exemplary embodiments, the step of inputting the user-selectable spray criteria to the mobile device may comprise the steps of: one or more adjustments to the flow rate of liquid through the nozzle assemblies are selected based on plant data corresponding to plant density. In various exemplary embodiments, the step of inputting the user-selectable spray criteria to the mobile device may comprise the steps of: one or more adjustments to the flow rate of liquid through the nozzle assemblies are selected based on changes in plant data over time for a given plant.
In various exemplary embodiments, there is also provided a vehicle having a power supply and an air-assisted agricultural spray system, the vehicle comprising: a tank for containing a liquid to be sprayed; a plurality of spaced apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a pulse width modulation solenoid configured to selectively open and close the nozzle assembly and vary a flow rate of liquid through the nozzle assembly; one or more controllers in electrical communication with the plurality of pulse width modulation solenoids and configured to electrically actuate the solenoids to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies; a first bracket attaching the one or more controllers with the vehicle; a first wire harness attached to the vehicle and electrically connecting the one or more controllers with the plurality of pulse width modulated solenoids; a second wire harness attached to the vehicle and electrically connecting the one or more controllers with the power source; a GPS antenna system; a second bracket attaching the GPS antenna system with the vehicle; a third wire harness attached to the vehicle and electrically connecting the GPS antenna system with the power source; a laser radar sensing system; a third bracket attaching the lidar sensing system to the vehicle; a fourth wire harness attached to the vehicle and electrically connecting the lidar sensing system with the power source; and a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system. In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas, and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas, and vehicle data defining the location of each of the nozzle assemblies relative to the location of the GPS antenna system and the lidar sensing system when mounted on the vehicle, and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
In various exemplary embodiments, the mobile device may be configured to update the vegetation data in real-time during use of the vehicle to update one or more of the location, height, width, shape, and density of vegetation located within the spray zones as they are sprayed by the vehicle.
In various exemplary embodiments, the vehicle may include a fourth bracket that attaches the mobile device with the vehicle near the location of the driver on the vehicle; and a fifth wire harness attached to the vehicle and electrically connecting the mobile device with the power source. In various exemplary embodiments of the vehicle, the lidar sensing system may include a WiFi router configured to be in wireless communication with the mobile device. In various exemplary embodiments of the vehicle, the lidar sensing system may include a fan configured to blow debris away from at least a sensing portion of the lidar sensing system.
Further, there is provided in various exemplary embodiments a kit configured to be added to a vehicle having a power source and an air-assisted agricultural spray system including a tank for containing a liquid to be sprayed and a plurality of spaced apart nozzle assemblies in liquid communication with the tank, the kit comprising: a plurality of pulse width modulation solenoids configured to be mounted in fluid communication with the nozzle assemblies and to selectively open and close the nozzle assemblies and vary a flow rate of liquid through the nozzle assemblies when the plurality of pulse width modulation solenoids are mounted in fluid communication with the nozzle assemblies; one or more controllers configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the plurality of pulse width modulation solenoids when the solenoids are installed in the ports to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies; a first bracket configured to attach the one or more controllers with the vehicle; a first wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the plurality of pulse width modulated solenoids; a second wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the power source; a GPS antenna system; a second bracket configured to attach the GPS antenna system with the vehicle; a third wire harness configured to attach to the vehicle and electrically connect the GPS antenna system with the power source; a laser radar sensing system; a third bracket configured to attach the lidar sensing system to the vehicle; a fourth wire harness configured to attach to the vehicle and electrically connect the lidar sensing system with the power source; and a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system. In various exemplary embodiments, the mobile device may be further configured to receive one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas and vehicle data defining the location of each of the nozzle assemblies relative to the position of the GPS antenna system and the lidar sensing system when mounted on the vehicle and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
There is also provided a method of installing a kit as described herein on a vehicle as described herein, the method comprising the steps of: providing such a vehicle and kit as described herein; mounting the plurality of pulse width modulation solenoids in fluid communication with the nozzle assemblies; attaching the one or more controllers with the vehicle with the first bracket; connecting the one or more controllers with the plurality of pulse width modulated solenoids with the first wiring harness; attaching the first harness to the vehicle; connecting the one or more controllers to the power source with the second wiring harness; attaching the second harness to the vehicle; attaching the GPS antenna system with the vehicle with the second bracket; connecting the GPS antenna system with the power supply by using the third wire harness; attaching the third wire harness to the vehicle; attaching the lidar sensing system to the vehicle with the third bracket; connecting the lidar sensing system to the power source with the fourth wire harness; attaching the fourth wire harness to the vehicle; and inputting vehicle data into one or more databases, the vehicle data defining the position of each of the nozzle assemblies relative to the positions of the GPS antenna system and the lidar sensing system when mounted on the vehicle.
Additional aspects, alternatives, and variations apparent to those skilled in the art are also disclosed herein and are specifically contemplated as being included as part of the present invention. The present invention is set forth only in the claims as permitted by the patent office in this or a related application, and the following brief description of certain examples does not limit, define or otherwise establish the scope of legal protection in any way.
Drawings
Examples of the invention may be better understood with reference to the following drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon clearly illustrating the exemplary aspects of the present invention. In the drawings, like reference numerals designate corresponding parts throughout the different views, and these reference numerals may or may not correspond to corresponding or similar parts in the' 833 application. It should be understood that certain features and details may not be shown in the drawings to help describe the invention more clearly.
Fig. 1A is a top plan view of an exemplary vehicle for use with various exemplary embodiments of the present invention, showing its sprinklers open.
FIG. 1B is a top plan view of the exemplary vehicle of FIG. 1A, showing its sprinklers closed.
Fig. 2 is a top plan view of the example vehicle of fig. 1A, illustrating removal of a check valve from a port in a nozzle assembly, in accordance with certain example embodiments.
FIG. 3 is a diagram listing exemplary content of an exemplary kit for a vehicle such as that shown in FIG. 2, according to various exemplary embodiments, it being understood that kits according to the present disclosure may include less and/or additional content.
FIG. 4 is a top plan view of the exemplary vehicle of FIG. 2, illustrating the installation of a pulse width modulation solenoid in fluid communication with a nozzle assembly, which may include installation of the solenoid into ports of the nozzle assembly from which check valves are removed in certain exemplary embodiments.
FIG. 5 is a top plan view of the exemplary vehicle of FIG. 4, illustrating the pulse width modulation solenoid installed in fluid communication with the nozzle assembly, which may include installing the solenoid into ports of the nozzle assembly from which check valves are removed in certain exemplary embodiments.
Fig. 6A is a top plan view of the example vehicle of fig. 5, illustrating the addition of an example first and second bracket (which may be the same bracket) to a rear portion of the vehicle and a third bracket to a front portion of the vehicle.
Fig. 6B is a top plan view of the example vehicle of fig. 6A, illustrating the addition of the example lidar sensing system to a third bracket on the front portion of the vehicle.
Fig. 7 is a top plan view, partially in section, of the example vehicle of fig. 6A, illustrating the further addition of one or more example controllers to the first bracket.
Fig. 8 is a top plan view, partially in section, of the exemplary vehicle of fig. 7, illustrating the addition of an exemplary GPS antenna system to a second bracket, which may be the same or different from the first bracket in various exemplary embodiments.
Fig. 9 is a top plan view of the example vehicle of fig. 8, illustrating the addition of an example first wiring harness to connect one or more controllers to the pulse width modulated solenoid.
Fig. 10 is a top plan view of the exemplary vehicle of fig. 9, illustrating attachment of a first wire harness to the vehicle.
FIG. 11 is a top plan view of the exemplary vehicle of FIG. 10, illustrating the addition of an exemplary second wire harness to connect the exemplary one or more controllers to the exemplary power source, and illustrating the addition of an exemplary third wire harness, which may be the same as or different from the second wire harness, to connect the exemplary GPS antenna system to the exemplary power source, in various exemplary embodiments, and further illustrating the addition of an exemplary third wire harness to connect the exemplary lidar sensing system to the exemplary power source.
Fig. 12 is a top plan view of the exemplary vehicle of fig. 11, illustrating the attachment of a second, third, and fourth wire harness to the vehicle.
FIG. 13 is a top plan view of the exemplary vehicle of FIG. 12 illustrating the step of measuring and recording vehicle data regarding the relative position of the nozzle assembly with respect to the exemplary GPS antenna system and with respect to the exemplary lidar sensing system.
FIG. 14 is a top plan view of the exemplary vehicle of FIG. 13, illustrating the addition of an exemplary fourth bracket to the driver's seat area of the vehicle.
Fig. 15 is a top plan view, partially in section, of the example vehicle of fig. 14, illustrating the addition of an example fifth wire harness to connect an example fourth bracket to an example power source.
Fig. 16 is a top, partially cut-away plan view of the example vehicle of fig. 15, illustrating the example mobile device being removably connected to an example fourth cradle such that the mobile device may receive electrical power from a fifth harness.
FIG. 17 is a top plan view of the exemplary vehicle of FIG. 16, illustrating the exemplary vehicle of FIG. 1A with the exemplary kit installed and operating thereon in accordance with various exemplary embodiments.
FIG. 18 is a top plan view of the exemplary vehicle of FIG. 17, illustrating the vehicle positioned in a spray area and moving toward a non-spray area, wherein all of the nozzle assemblies are spraying.
Fig. 19 is a top plan view of the exemplary vehicle of fig. 18, illustrating the vehicle moving from a spray area across a boundary to a non-spray area, with the nozzle assemblies still in the spray area spraying and the nozzle assemblies in the non-spray area closed.
Fig. 20 is a top plan view of the exemplary vehicle of fig. 19, illustrating the vehicle moving further across the boundary from the spray area to the non-spray area, with the nozzle assemblies still in the spray area spraying and the nozzle assemblies in the non-spray area being closed.
FIG. 21 is a top plan view of the exemplary vehicle of FIG. 20, illustrating that the vehicle has moved from the spray area across the boundary to the non-spray area with all nozzle assemblies closed, as they are now in the non-spray area.
Fig. 22 is a top plan view of the exemplary vehicle of fig. 21, showing the vehicle traversing a non-spraying area toward trees or other vegetation, the vehicle will sense, interpret and record its position as a spraying area having vertical and horizontal components according to user-defined criteria, and then spray with a spray nozzle sufficiently close to the spraying area as the vehicle passes over trees or other vegetation in real time or during subsequent passes, in accordance with various exemplary embodiments.
Fig. 23A is a top plan view of the exemplary vehicle of fig. 22 illustrating an exemplary lidar system of the vehicle moving proximate to a tree or other vegetation, the vehicle being sensing, interpreting, and recording its position as a spray area having vertical and horizontal components according to user-defined criteria, in accordance with various exemplary embodiments.
FIG. 23B is a front elevational view of the exemplary vehicle of FIG. 23A taken in the direction indicated by arrow B-B.
Fig. 24A is a top plan view of the exemplary vehicle of fig. 23A, demonstrating that certain exemplary spray nozzles of the vehicle have sensed, interpreted and recorded their positions as trees or other vegetation having vertical and horizontal components moving in proximity to the vehicle and opening and spraying the trees or other vegetation in real time or during a previous pass according to user-defined criteria, in accordance with various exemplary embodiments.
FIG. 24B is a rear elevational view of the exemplary vehicle of FIG. 24A, taken in the direction indicated by arrow B-B.
Further, the figures, drawings and photographs in the' 139 application, which are incorporated herein by reference in their entirety (including by reference in itself), illustrate certain aspects of exemplary embodiments of the invention, wherein: page 14 is a diagram illustrating various exemplary components of an exemplary embodiment; pages 000015 and 000016 provide exemplary details of certain components according to the first exemplary embodiment; pages 000017 and 000018 provide exemplary details of certain components according to the second exemplary embodiment; pages 000019 to 000031 provide information regarding exemplary installation of certain exemplary components according to exemplary embodiments; pages 000032 through 000098 provide exemplary views and information about one or more screen interfaces viewable by users of the exemplary system; pages 000099 to 000147 provide exemplary views and information about exemplary web portals for use in connection with exemplary system embodiments; and pages 000148 through 000182 provide exemplary information about software that may be used in connection with the exemplary embodiments.
The invention is not limited to what is shown in the exemplary figures. The present invention is broader than the examples shown in the figures and covers anything that falls within any claims.
Detailed Description
Reference is made herein to some specific examples of the invention, including any best mode contemplated by the inventors for carrying out the invention. Examples of these specific embodiments are illustrated in the accompanying drawings. While the invention will be described in conjunction with these specific embodiments, it will be understood that it is not intended to limit the invention to the described or illustrated embodiments. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. Certain exemplary embodiments of the invention may be practiced without some or all of these specific details. In other instances, process operations well known to those skilled in the art have not been described in detail in order not to unnecessarily obscure the present invention. For clarity, various techniques and mechanisms of the invention will sometimes be described in the singular. It should be noted, however, that some embodiments include multiple iterations of a technique or various mechanisms, unless otherwise specified. Similarly, the various steps of the methods shown and described herein need not be performed in the order indicated, or in some embodiments, performed at all. Accordingly, some implementations of the methods discussed herein may include more or fewer steps than those shown and described. Further, the techniques and mechanisms of the present invention will sometimes describe a connection, relationship, or communication between two or more entities. It should be noted that a connection or relationship between entities does not necessarily refer to a direct, unimpeded connection, as a wide variety of other entities or processes may exist or occur between any of the entities. Thus, the indicated connections do not necessarily refer to direct, unimpeded connections unless otherwise noted.
Turning first to fig. 1A and 1B, a top plan view of an exemplary embodiment of a conventional vehicle 2000 is depicted, with sprinklers shown open (fig. 1A) and closed (fig. 1B). It should be understood that the nature, size, type, layout, orientation, number of wheels or tracks, and other details about the vehicle 2000 are generally not important to the present invention, other than as recited in the claims. Thus, a single general exemplary vehicle 2000 is used throughout the drawings as background to illustrate possible embodiments of the present invention, and details of the exemplary vehicle 2000 should in no way be used to limit the scope of the present invention, except as specifically recited in the claims. For example, vehicle 2000 includes nine (9) nozzle assemblies 2230; this is entirely arbitrary and not limiting, as any suitable number of nozzle assemblies 2230 may be used.
With continued reference to fig. 1A and 1B, this particular exemplary vehicle 2000 is shown having a front end 2010, a rear end 2020, a left side 2011 and a right side 2012, a power source 2100 (such as a battery, a charging system, and wiring connected thereto, any of which may be located anywhere on the vehicle), a driver's position 2300 (which may include a seat as shown), and including a front steerable wheel 2005 proximate the front end 2010 and a rear driven wheel 2015 proximate the rear end 2020. It should be understood that while the wheels 2005 and 2015 appear generally rectangular from this top view, they will appear circular in a left or side view (not shown). The example sprinkler 2000 is an air delivery or blast sprinkler and includes a sprinkler system 2200 that includes a tank 2210 (although generally rectangular in top view, they may appear circular in front or rear view (not shown)) for containing a liquid 2220 (in the form of a mist or mist) such as water containing a chemical such as fertilizer that is sprayed by the vehicle 2000 (the vehicle 2000 may include a tractor or other vehicle to which the sprinkler attachment is affixed) with the aid of fan-driven air pressure. The spray system 2200 also includes a laterally elongated nozzle positioning structure 2030 attached to the rear end 2020 of the example vehicle 2000 with a mounting structure 2025, the nozzle positioning structure 2030 extending laterally beyond the left side 2011 and beyond the right side 2012. Attached to the nozzle positioning structure 2030 are a plurality (in this case nine (9)) of spaced apart nozzle assemblies 2230 in liquid communication with a tank 2210 and in pressurized air communication with one or more fans (not shown). Fig. 1A depicts the nozzle assembly 2230 spraying a liquid 2220 (in the form of a mist or fog) toward the ground, for example, when the liquid 2220 (in the form of a fog or mist) is pumped by a pump (not shown) from a tank 2210 through the nozzle assembly 2230 with the assistance of air pressure (not shown). In contrast, fig. 1B depicts the same nozzle assembly 2230 not spraying liquid 2220 (in the form of a mist or mist) onto the ground, e.g., when liquid 2220 (in the form of a mist or mist) is not being pumped from the tank 2210 through the nozzle assembly 2230 by a pump (not shown). In this type of embodiment, a check valve 2240 may be removably seated in each nozzle assembly, for example, to close the nozzle assembly 2230 and prevent backflow into the spray system 2200 when the liquid 2220 (in the form of a mist or mist) is not forced through the nozzle assembly 2230.
Fig. 2 illustrates the removal of the check valve 2240 from the port 2250 in each respective nozzle assembly 2230. Each port 2250 allows liquid 2220 (in the form of a mist or fog) to enter the flow channel as liquid 2220 (in the form of a fog or fog) flows through the nozzle assembly 2230. The vehicle 2000 is now ready for installation of the kit 1000.
Alternatively, a separate port (not shown) adapted to receive the pulse width modulation solenoid 1010 of the present invention may be plumbed into fluid communication with the nozzle assembly 2230, for example using a T-fitting, and for purposes of this disclosure, the separate port may also or alternatively be referred to as port 2250. In various exemplary embodiments, such T-fittings or other components required to accomplish such plumbing changes may be provided as part of kit 1000.
FIG. 3 illustrates potential contents of an exemplary kit 1000 in accordance with various exemplary embodiments. Such kits 1000 need not be sold together in a single package to make up the kit 1000. Rather, the kit 1000 of the present invention is constructed whenever the various contents of the kit 1000 are brought together in any manner for manufacture, use, sale, or import. Various aspects of the components identified in fig. 3, as well as additional and alternative components of the kit 1000, are further described herein. Additional details regarding exemplary components of the kit 1000 are provided in the' 139 application, which is incorporated herein by reference.
Fig. 4 and 5 illustrate the installation of multiple pulse width modulated solenoids 1010 in port 2250, with the arrows in fig. 4 depicting the installation direction and fig. 5 showing the assembly after installation. In various exemplary embodiments, the pulse width modulation solenoid 1010 may be configured to accommodate the position of the check valve 2240 in the port 2250 and attach with or into the port 2250 in the same or similar manner as the check valve 2240 attaches into the port 2250 (e.g., by threaded connection or any other suitable attachment means). When so mounted, the pulse width modulated solenoids 1010 can selectively open and close each nozzle assembly 2230, or change their flow rate by retracting and extending the retractable member into the flow path of the liquid 2220 (in the form of a mist or mist) in the nozzle assembly 2230, respectively.
Fig. 6A, 6B, 7 and 8 illustrate the attachment of one or more wirelessly controllable solenoid controllers 1020, a GPS antenna system 1040 that wirelessly communicates information identifying its location, and a lidar sensing system 7000 that wirelessly or wiredly communicates data about sensed objects to a vehicle 2000 with brackets 1050, 1051, 1052 (any or all of which may be the same or separate brackets). Additional details regarding exemplary components, structures of the brackets 1050, 1051, 1052 and exemplary mounting structures 2025 assembled to the rear region 2020 of the exemplary vehicle 200 are provided in Shen et al and in the incorporated' 139 application. Details regarding an exemplary wirelessly controllable solenoid controller 1020 (including versions having one and two such controllers 1020) and an exemplary GPS antenna system 1040 that wirelessly communicates information identifying its location are also provided in the incorporated' 139 application. Shen et al provide details regarding an exemplary lidar system 7000. In certain exemplary embodiments of the kit 1000, the one or more wirelessly controllable solenoid controllers 1020 and the off-the-air GPS antenna system 1040 are pre-assembled to the brackets 1050, 1051 and then must be attached to any suitable location on the vehicle 2000 using only the hardware provided, such as a plurality of brackets and fasteners. In certain exemplary embodiments of the kit 1000, the brackets 1050, 1051, 1052 may be provided with an adjustment means, such as an optional plurality of mounting holes, for adjusting the height of the components attached thereto, for example as shown in the incorporated' 139 application. The brackets 1050, 1051, 1052 may include any suitable number of separate and varying brackets, fasteners, and related components, for example, to facilitate mounting the kit 1000 to a variety of different vehicles 2000, and any suitable material may be used for the brackets 1050, 1051, 1052, such as steel, for example. It should be appreciated that in an alternative embodiment (not shown), one or more of the wirelessly controllable solenoid controller 1020, the GPS antenna system 1040, and the lidar sensing system 7000 may all be attached to the vehicle 2000 using the same bracket (e.g., 1050 or 1052) in substantially the same location.
Fig. 9 illustrates the connection of one or more controllers 1020 with a plurality of pulse width modulated solenoids 1010 with a first harness 1030, while fig. 10 illustrates the attachment of the first harness 1030 to the vehicle 2000, including to a nozzle positioning structure 2030, such as with a plurality of harness straps 1032 or other similar connection devices that may be provided as part of the kit 1000. First harness 1030 may include a plurality of individual, separate leads or other suitable wiring members, or may include wiring members that are at least partially joined together, or both. The wire members of the first wire bundle 1030 may be individually tailored in length to suit a given installation for a laterally extending nozzle positioning structure 2030 along a known range of lengths. First harness 1030 may include a suitable plug on an end of the wiring member to facilitate easy insertion and extraction of first harness 1030 into and out of vehicle 2000.
FIG. 11 illustrates a power supply 2100 connected to one or more controllers 1020 with a second wire harness 1060, to a GPS antenna system 1040 with a third wire harness 1061, and to a lidar sensing system 7000 with a fourth wire harness 1062. Where components are to be mounted close to each other, one or more of harnesses 1060, 1061, and 1062 may be part of the same harness. The power supply 2100 may be located at or electrically accessible at any location on the vehicle 2000.
Fig. 12 illustrates the attachment of the second, third, and fourth harnesses 1060, 1061, 1062 to the vehicle 2000, such as with a plurality of harness straps 1032 or other similar connection devices that may be provided as part of the kit 1000. The second, third, and fourth wire harnesses 1060, 1061, 1062 may each include a plurality of individual, separate wires, or may include routing members that are at least partially joined together, or both. The wire members of the second and third wire bundles 1060, 1061 may each be individually customized in length so as to be suitable for mounting the GPS antenna system 1040 at various adjustable heights above the one or more controllers 1020. The second, third and fourth wire harnesses 1060, 1061, 1062 may each include suitable plugs or other attachment devices on or for the ends of the wire members to facilitate easy attachment and removal of the wire harnesses to and from the vehicle 2000.
Fig. 13 illustrates that the user 6000 uses the screen or display 1071 of the mobile device 1070 to enter vehicle data 1042 into one or more databases (not shown) that may be partially or fully located in the mobile device 1070 or partially or fully remotely located, such as in the cloud 5000 (i.e., on the internet that is wirelessly accessible 1074 from the mobile device 1070). Vehicle data 1042 may include, for example, measurements (such as fore-aft distance, left-right distance) that individually define the dimensional position of each nozzle assembly 1010 when mounted on vehicle 2000 relative to the position of GPS antenna system 1040 and relative to the position of lidar system 7000. At this stage or another time, the user 6000 may enter user-defined criteria into the mobile device 1070 to provide various parameters to software in the mobile device 1070, such as, for example, recall a previous spray map or record a new spray map or both, provide information about where to spray a border or path, what type of object to spray in the spray area (e.g., by identifying a vertical height range or upper or lower limit, by plant density, by identifying individual plants by, for example, finding and identifying a trunk, and by a maximum sensing horizontal distance from the spray nozzles 2230), how the flow rate of the spray is, and the overlap of spray distances before and after the sensed object. The mobile device 1070 may be any suitable electronic device that has the ability to receive data input, store data, process data, and wirelessly transmit data (including by way of example and not limitation, smartphones, tablet computers, laptop computers, and any other suitable wireless electronics), by itself or in combination with other devices. Among other things, with respect to entering certain user-defined criteria, examples are provided in U.S. patent No. 9,851,718B2, entitled Intelligent Control Apparatus, System, and Method of Use, issued to Booher at 26.12.2017 and in provisional patent application claiming priority hereto (i.e., provisional application No. 62/056,470 filed 26.9.26.2014), both of which are incorporated herein by reference in their entirety.
Fig. 14, 15, and 16 illustrate the mobile device 1070 being installed near a driver's seat position 2300 in the vehicle 2000 and routed so that a user 6000 may view the mobile device 1070 or interact with the mobile device or both while seated in the seat position 2300. A fourth mount 1080 may be provided and attached to vehicle 2000, configured to attach mobile device 1070 to vehicle 2000 near driver location 2300 on vehicle 2000. Fourth support 1080 may facilitate removal and replacement of mobile device 1070 from support 1080 or may provide a lock or other mechanism to removably secure or secure mobile device 1070 or both. When mobile device 1070 is attached to vehicle 2000 near driver location 2300 on vehicle 2000, fifth wire bundle 1090 may be configured to attach to vehicle 2000 and electrically connect mobile device 1070 to a power source 2100, which may be located anywhere on vehicle 2000 or may be electrically accessible anywhere on the vehicle. Fig. 15 best illustrates attachment of the fifth wire harness 1090 to the vehicle 2000, such as with a plurality of harness straps 1032 or other similar connection means that may be provided as part of the kit 1000. The fifth wire bundle 1090 may include a plurality of separate, distinct wires, or may include wiring members that are at least partially joined together, or both. The fifth wire harness 1090 may include a suitable plug or other attachment means on or for the ends of the wire members to facilitate easy attachment and removal of the fifth wire harness 1090 from the vehicle 2000.
Fig. 17 illustrates various exemplary aspects of wireless and other communications that may occur on the vehicle 2000 once the exemplary kit 1000 has been installed and is in use. Lidar sensing system 7000 typically emits a laser beam 7070 radially outward from lidar sensing system 7000 in a vertical plane that is perpendicular to the direction of travel of vehicle 2000, for example, as shown in fig. 17 and 23B. The lidar system 7000 detects reflections of the laser beam 7070 which correspond to the presence, location (vertical and horizontal distances from the lidar sensing system 7000) and density of certain objects, such as trees or other vegetation, to be sprayed according to user-defined criteria. This lidar-sensed information 7078 is then communicated to mobile device 1070 wirelessly (e.g., where lidar sensing system 7000 includes a WiFi router (not separately shown)) or alternatively through a wire (not shown) such as a USB cable (not shown). McPeek and Shen et al provide additional information regarding exemplary lidar system 7000.
With continued reference to fig. 17, the GPS antenna system 1040 receives GPS satellite position signals 1079, typically from satellites in space. Optionally and in some embodiments not present, the GPS antenna system 1040 may also receive the corrected radio frequency signal 1105 from a fixed differential ground station 1100, which may already be nearly present, or may be provided as part of the kit 1000 in some exemplary embodiments. The fixed differential ground station 1100 typically receives GPS satellite position signals 1079 from satellites in space and transmits correction signals 1105 from fixed locations that the GPS antenna system 1040 can use to correct their position readings. Additional details regarding the exemplary GPS antenna system 1040 are provided in the incorporated' 139 application. Additional information regarding these types of GPS systems is provided in the Teach patent, which is incorporated herein by reference.
With further reference to fig. 17, the mobile device 1070 may wirelessly communicate 1076 with the GPS antenna system 1040 and may wirelessly receive geographic location information 1078 from the GPS antenna system 1040. Based on real-time comparison of geographic location information 1078 received from GPS antenna system 1040 and lidar sensed information 7078 received from lidar sensing system 7000 with user-selected criteria and boundary-mapping information that mobile device 1070 may have obtained in a variety of ways (including direct input by user 6000 and wireless 1074 input from internet 5000) or in real-time, and based on vehicle data 1042 indicating where each nozzle assembly 2230 is located relative to the GPS antenna system 1040 and relative to the lidar sensing system 7000, the mobile device 1070 may determine whether each nozzle assembly 2230 is currently located sufficiently close to the spray area 3000 or the non-spray area 4000, and if sufficiently close to the spray area 3000, whether and to what extent to vary the spray output based also on the sensed plant density, spray distance, or any other user-selected criteria. Based on the results of this determination, the mobile device 1070 may wirelessly transmit the on, off and flow rate signals 1072 to one or more controllers 1020, which then send signals to the corresponding pulse width modulated solenoids 1010 via the first wiring harness 1030 to open, close, or vary the flow rate of the liquid 2220 (in the form of a mist or mist) through each individual nozzle assembly 2230. In various exemplary embodiments, a user 6000, which may be a driver of the vehicle 2000, may be able to view on a display or screen 1071 a dynamic map image depicting the real-time travel path and spray coverage area of the vehicle 2000, including a spray area 3000, a non-spray area 4000, a two-dimensional or even three-dimensional "heat map" showing how much is sprayed throughout the spray area 3000, a boundary 3500 between these areas, and a spray area 3000 that has been sprayed and thus becomes the non-spray area 4000 for the remainder of the project or work day (or other time period) for purposes of controlling the pulse width modulation solenoid 1010 (but not necessarily for purposes of map display). The figures, drawings, photographs, and detailed written description of the incorporated' 139 application, including its own incorporation by reference, illustrate certain exemplary aspects of the mobile device 1070 and its software and interfaces, where pages 000032 through 000098 provide exemplary views and information about one or more screen interfaces viewable by users of the exemplary system, pages 000099 through 000147 provide exemplary views and information about exemplary web portals for use in connection with exemplary system embodiments, and pages 000148 through 000182 provide exemplary information about software that may be used in connection with exemplary embodiments of various components.
Fig. 18-21 depict the vehicle 2000 with the kit 1000 installed and in use, as described with respect to fig. 17. Fig. 18 shows the vehicle 2000 positioned in the spray area 3000 (represented by the shaded indicia extending longitudinally up and down the page) and traveling in the direction of arrow 3100 (forward) towards the non-spray area 4000 (represented by the shaded indicia extending laterally left and right across the page) and towards the digitally defined boundary 3500 between the spray area 3000 and the non-spray area 4000. Since all of the nozzle assemblies 2230 on the vehicle 2000 in fig. 18 are located within the spray area 3000, all of the pulse width modulation solenoids 1010 are turned on (or otherwise actuated) to allow liquid 2220 (in the form of a mist or fog) to flow through each nozzle assembly 2230.
Fig. 19 then shows the vehicle 2000 partially in the spray area 3000 (represented by the hatch marks extending longitudinally up and down the page) and still traveling in the direction of the arrow towards and now partially through the non-spray area 4000 (represented by the hatch marks extending laterally left and right across the page) and partially through the digitally defined boundary 3500 between the spray area 3000 and the non-spray area 4000. Since only seven of the nine nozzle assemblies 2230 on vehicle 2000 in fig. 18 are now located within spray area 3000 (while two of the nine nozzle assemblies 2230 are located within non-spray area 4000), only seven pulse width modulation solenoids 1010 located within spray area 3000 are turned on (or otherwise actuated) to allow liquid 2220 (in the form of a mist or fog) to flow through each of these seven nozzle assemblies 2230. Two pulse width modulation solenoids 1010 located within the non-spray zone 4000 are closed (or otherwise activated) to stop the flow of liquid 2220 (in the form of a mist or fog) through the two nozzle assemblies 2230.
Next, fig. 20 shows the vehicle 2000 leaving the spray area 3000 (represented by the shaded indicia extending longitudinally up and down the page) and still traveling in the direction of the arrow into the non-spray area 4000 (represented by the shaded indicia extending laterally left and right across the page) while crossing the digitally defined boundary 3500 between the spray area 3000 and the non-spray area 4000. Since only three of the nine nozzle assemblies 2230 on the vehicle 2000 in fig. 18 are now located within the spray area 3000 (while six of the nine nozzle assemblies 2230 are located within the non-spray area 4000), only three pulse width modulation solenoids 1010 located within the spray area 3000 are turned on (or otherwise actuated) to allow liquid 2220 (in the form of a mist or fog) to flow through each of the three nozzle assemblies 2230. Six pulse width modulated solenoids 1010 located within non-spray area 4000 are turned off (or otherwise activated) to stop the flow of liquid 2220 (in the form of a mist or fog) through the six nozzle assemblies 2230.
Then, fig. 21 shows that the vehicle 2000 has completely left the spray area 3000 (represented by the shaded markings extending longitudinally up and down the page) and still travels completely within the non-spray area 4000 in the direction of the arrow (represented by the shaded markings extending laterally left and right across the page). Since none of the nine nozzle assemblies 2230 on the vehicle 2000 in fig. 18 are now located within the spray area 3000 (while all of the nine nozzle assemblies 2230 are located within the non-spray area 4000), no pulse width modulation solenoid 1010 is located within the spray area 3000, such that no pulse width modulation solenoid is turned on (or otherwise actuated) to allow liquid 2220 (in the form of a mist or mist) to flow through its corresponding nozzle assembly 2230. All nine pulse width modulated solenoids 1010 are located within the non-spray area 4000 and are turned off (or otherwise actuated) to stop the flow of liquid 2220 (in the form of a mist or mist) through all nine nozzle assemblies 2230.
Fig. 22 shows the vehicle 2000 traversing a non-spraying area towards a spraying area 3000 comprising trees or other vegetation, the vehicle 2000 with the kit 1000 installed will sense, interpret and record its position as a spraying area 3000 having vertical and horizontal components according to user-defined criteria, and then spray with a spraying nozzle 2230 sufficiently close to the spraying area 3000 in real time or during a subsequent pass as the vehicle 2000 passes over the trees or other vegetation comprising the spraying area 3000.
Fig. 23A and 23B show that the vehicle 2000 has begun to reach a tree or other vegetation that constitutes a spray area 3000, demonstrating that the lidar sensing system 7000 emits a laser beam 7070 radially outward from the lidar sensing system 7000 in a vertical plane that is perpendicular to the direction of travel of the vehicle 2000. The lidar system 7000 detects reflections of the laser beam 7070 corresponding to the presence, location (vertical and horizontal distances from the lidar sensing system 7000) and density of trees or other vegetation comprising the spray area 3000, thereby defining the boundary 3500 of the spray area 3000 to be sprayed according to user-defined criteria. As the vehicle 2000 continues to advance 3100 such that the lidar sensing system 7000 moves past the trees or other vegetation comprising the spray area 3000, data is generated representing a three-dimensional outer contour or boundary 3500 of the spray area 3000, which may include vegetation data corresponding to one or more of the location, height, width, shape, and density of vegetation located within the spray area 3000. This lidar-sensed information 7078 is then communicated to mobile device 1070 wirelessly (e.g., where lidar sensing system 7000 includes a WiFi router (not separately shown)) or alternatively through a wire (not shown) such as a USB cable (not shown). In conjunction with the geographic location (including orientation) information 1078 and vehicle speed information wirelessly received from the GPS antenna system 1040, the mobile device 1070 may thereafter determine whether each nozzle assembly 2230 is currently located sufficiently close to the spray area 3000 as the vehicle 2000 continues to move, for example, in the forward direction 3100. The lidar sensed information 7078 may be simultaneously overlaid with vehicle speed information and geographic location information 1078 from the GPS antenna system 1040 and recorded for future evaluation and reuse. Alternatively, a determination of whether each nozzle assembly 2230 is currently located sufficiently close to the spray zone 3000 as the vehicle 2000 continues to move may be made by comparing the currently sensed vehicle speed, orientation, and geographic location information 1078 from the GPS antenna system 1040 to previously recorded lidar sensing information 7078 that overlaps with previously recorded vehicle speed, orientation, and geographic location information 1078 from the GPS antenna system 1040. In other words, the system may operate based at least in part on previously recorded data rather than based on real-time sensing of current conditions.
As depicted in fig. 24A and 24B, when each nozzle assembly 2230 is determined by the mobile device 1070 to have become sufficiently close to the spray area 3000, the mobile device 1070 may wirelessly transmit an on signal and a flow rate signal (collectively depicted as 1072 in fig. 17) to one or more controllers 1020, which then send a signal to the corresponding pulse width modulated solenoid 1010 via the first wire harness 1030 to, for example, open and change the flow rate of liquid 2220 (in the form of a fog or mist) through the corresponding individual nozzle assembly 2230 in view of sensed plant density, spray distance, and any user selected criteria. As best shown in fig. 24B, nozzles that are not close enough to the spray area 3000 as determined by the mobile device 1070 (whether by horizontal or vertical distance or nozzle orientation or any combination or function of the foregoing factors) are turned off by the one or more controllers 1020 to conserve the liquid 2220 being sprayed and optimize spray efficiency and efficacy.
In various exemplary embodiments, the method of using the vehicle 2000 as described herein may further include the step of inputting the vehicle data 1042 into one or more databases that define the location of each nozzle assembly 2230, when installed on the vehicle 2000, relative to the location of the GPS antenna system 1040. In various exemplary embodiments, the step of inputting vehicle data into one or more databases may include the step of inputting map data into one or more databases defining spray area 3000 and non-spray area 4000. In various exemplary embodiments, the step of entering vehicle data into one or more databases may include the steps of: driving the vehicle 2000 along one or more edges 3500 of one or more spray areas 3000 or non-spray areas 4000 and recording travel path data transmitted from the GPS antenna system 1040 to the mobile device 1070, e.g., as described in the' 718 patent, which is incorporated by reference, and overlaying the data with corresponding lidar-sensed information 7078. In various exemplary embodiments, the step of entering vehicle data into one or more databases may include the step of guiding a vehicle other than vehicle 2000 and having a second GPS antenna system (see the' 718 patent and references discussed therein) and a second lidar sensing system 7000 along one or more edges 3500 of one or more spray area 3000 or non-spray area 4000 and recording travel path data 1078 transmitted from the second GPS antenna system 1040 to the mobile device 1070. In various exemplary embodiments, the step of entering vehicle data into one or more databases may include the step of tracing one or more edges of one or more sprayed or non-sprayed areas on a GUI overlay of a digital image of a map, for example, as shown on pages 000063 through 000070 of the incorporated' 139 application. In various exemplary embodiments, the step of entering vehicle data into one or more databases may include the step of depicting one or more edges of one or more sprayed or non-sprayed regions on a GUI overlay of a digital image of a map appearing on screen 1071 of mobile device 1070. In various exemplary embodiments, the step of entering vehicle data into one or more databases may include the step of downloading at least a portion of the map data from the cloud 5000 wireless 1074 to the mobile device 1070.
In various exemplary embodiments, the method of using the vehicle 2000 as described herein may further comprise the steps of: the vehicle 2000 is driven proximate to one or more edges 3500 of the one or more spray areas 3000 or the non-spray area 4000 such that one or more of the plurality of spaced apart nozzle assemblies 2230 are positioned sufficiently proximate to the spray area 3000 while other nozzle assemblies of the plurality of spaced apart nozzle assemblies 2230 are not positioned sufficiently proximate to the spray area 3000, and thereby causing the mobile device 1070 to wirelessly transmit a signal 1072 to the one or more controllers 1020 to individually open or allow liquid 2220 (in the form of a mist or mist) to flow through each of the individual nozzle assemblies 2230 positioned proximate to the one or more spray areas 3000 and individually close or disallow liquid 2220 (in the form of a mist or mist) to flow through each of the individual nozzle assemblies 2230 not positioned sufficiently proximate to the one or more spray areas 3000.
In various exemplary embodiments, the method of using the vehicle 2000 as described herein may further comprise the steps of: at least a portion of the vehicle 2000 is driven across the boundary 3500 between the spray area 3000 and the non-spray area 4000 such that at a first time, the plurality of spaced apart nozzle assemblies 2230 are all located within the spray area 3000, and at a second time after the first time, the plurality of spaced apart nozzle assemblies 2230 are all located within the non-spray area 3000, resulting in the first time the mobile device 1070 wirelessly transmitting a signal 1072 to the one or more controllers 1020 to individually open or allow the flow of liquid 2220 (in the form of a mist or mist) through each individual nozzle assembly 2230, and resulting in the second time the mobile device 1070 wirelessly transmitting a signal 1072 to the one or more controllers 1020 to individually close or disallow the flow of liquid 2220 (in the form of a mist or mist) through each individual nozzle assembly 2230.
In various exemplary embodiments, the method of using the vehicle 2000 as described herein may further comprise the steps of: the map data is updated in real time during use of the vehicle 2000 and the spray area 3000 is redefined as the non-spray area 4000 when the spray area 3000 is sprayed with the liquid 2220 (in the form of mist or mist) by the vehicle 2000. In various exemplary embodiments, the method of using the vehicle 2000 as described herein may further comprise the steps of: a map of the area in which vehicle 2000 is located and digital images of one or more boundaries 3500 between one or more spray regions 3000 and one or more non-spray regions 4000 within the map area are viewed on a display (also referred to as a screen) 1071 on a mobile device 1070 and also dynamically depict in real time those portions of the map area that have been sprayed with liquid 2220 (in the form of mist or fog) by spray system 2200 and those portions of the map area that have not been sprayed with liquid 2220 (in the form of fog or mist) by spray system 2200, for example, as discussed and shown on pages 000088 through 000099 of the incorporated' 139 application.
Any suitable techniques, materials, and designs set forth and incorporated herein may be used to practice various exemplary aspects of the present invention, as will be apparent to those skilled in the art. Exemplary embodiments of the present invention may optionally be implemented in conjunction with one or more aspects of Intelligent Control Apparatus, System, and Method of Use discussed in US 9851718B 2 issued to Steven r. book and published 26.12.2017 ("the' 718 patent"), the entire contents of which are incorporated herein by reference. By way of example and not limitation, the boundary data entered by directing a GPS equipped vehicle around a desired boundary as described in the '718 patent and the description of exemplary electronic hardware in the' 718 patent may be applied to the present disclosure. Further, the features described in the incorporated '457 application may be incorporated into the vehicle 2000 described herein, and the corresponding components described in the' 457 application may be provided as part of the kit 1000.
While exemplary embodiments and applications of the invention have been described herein, including as described above and shown in the contained exemplary drawings, it is not intended that the invention be limited to these exemplary embodiments and applications or to the manner in which the exemplary embodiments and applications operate or are described herein. Indeed, many variations and modifications of the exemplary embodiments are possible, as will be apparent to those of ordinary skill in the art. The invention can include any device, structure, method, or function, so long as the resulting device, system, or method falls within the scope of one of the claims as permitted by the patent office based on the patent application or any related patent application.
Claims (31)
1. A kit configured to be added to a vehicle having a power source and an air-assisted agricultural spray system including a tank for containing a liquid to be sprayed and a plurality of spaced apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a check valve removably mounted in a port of each respective nozzle assembly, the kit comprising:
a plurality of pulse width modulation solenoids configured to be installed in the ports when the check valves are removed and to selectively open and close the nozzle assemblies and vary the flow rate of liquid through the nozzle assemblies when the plurality of pulse width modulation solenoids are installed in the ports;
one or more controllers configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the plurality of pulse width modulation solenoids when the solenoids are installed in the ports to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies;
a first bracket configured to attach the one or more controllers with the vehicle;
a first wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the plurality of pulse width modulated solenoids;
a second wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the power source;
a GPS antenna system;
a second bracket configured to attach the GPS antenna system with the vehicle;
a third wire harness configured to attach to the vehicle and electrically connect the GPS antenna system with the power source;
a laser radar sensing system;
a third bracket configured to attach the lidar sensing system to the vehicle;
a fourth wire harness configured to attach to the vehicle and electrically connect the lidar sensing system with the power supply; and
a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system, and further configured to:
receiving one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas, and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas, and vehicle data defining the location of each of the nozzle assemblies relative to the location of the GPS antenna system and the lidar sensing system when mounted on the vehicle, and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
2. The kit of claim 1, wherein the lidar sensing system comprises a WiFi router configured to be in wireless communication with the mobile device.
3. The kit of claim 1, wherein the lidar sensing system comprises a fan configured to blow debris away from at least a sensing portion of the lidar sensing system.
4. The kit of claim 1, wherein the user-selectable spray criteria includes a vertical boundary in which the controller is configured to shut off liquid flow through nozzle assemblies oriented to direct spray beyond the vertical boundary when installed on the vehicle.
5. The kit of claim 1, wherein the vertical boundary is selectable as a function of plant data corresponding to plant height.
6. The kit of claim 1, wherein the user-selectable spray criteria includes one or more adjustments to the flow rate of liquid through the nozzle assemblies according to plant data corresponding to plant density.
7. The kit of claim 1, wherein the user-selectable spray criteria comprises one or more adjustments to the flow rate of liquid through the nozzle assemblies as a function of plant data for a given plant over time.
8. The kit of claim 1, further comprising a fourth bracket configured to attach the mobile device with the vehicle near a location of a driver on the vehicle.
9. The kit of claim 8, further comprising a fifth wire harness configured to attach to the vehicle and electrically connect the mobile device with the power source when the mobile device is attached with the vehicle near a location of a driver on the vehicle.
10. A method of installing the kit of claim 1 on the vehicle of claim 1, comprising the steps of:
providing the vehicle of claim 1;
providing a kit according to claim 1;
removing the check valves from the ports in the nozzle assemblies;
installing the plurality of pulse width modulated solenoids in the ports;
attaching the one or more controllers with the vehicle with the first bracket;
connecting the one or more controllers with the plurality of pulse width modulated solenoids with the first wiring harness;
attaching the first harness to the vehicle;
connecting the one or more controllers to the power source with the second wiring harness;
attaching the second wire harness to the vehicle;
attaching the GPS antenna system with the vehicle with the second bracket;
connecting the GPS antenna system with the power supply by using the third wire harness;
attaching the third harness to the vehicle;
attaching the lidar sensing system to the vehicle with the third bracket;
connecting the lidar sensing system to the power source with the fourth wire harness;
attaching the fourth wire harness to the vehicle;
vehicle data defining the position of each of the nozzle assemblies relative to the positions of the GPS antenna system and the lidar sensing system when mounted on the vehicle is input into one or more databases.
11. The method of claim 10, further comprising the steps of:
map data is entered into the one or more databases, the map data defining a spray area and a non-spray area.
12. The method of claim 11, wherein the step of entering map data defining spray and non-spray areas into the one or more databases comprises the steps of:
the vehicle is driven along one or more edges of one or more sprayed or non-sprayed areas and the travel path data transmitted from the GPS antenna system to the mobile device is recorded.
13. The method of claim 11, wherein the step of entering map data defining spray and non-spray areas into the one or more databases comprises the steps of:
directing a vehicle other than the vehicle of claim 1 and having a second GPS antenna system along one or more edges of one or more sprayed or non-sprayed areas and recording travel path data transmitted from the second GPS antenna system to the mobile device.
14. The method of claim 11, wherein the step of entering map data defining spray and non-spray areas into the one or more databases comprises the steps of:
one or more edges of one or more sprayed or non-sprayed regions are depicted on a GUI overlay of a digital image of a map.
15. The method of claim 11, wherein the step of entering map data defining spray and non-spray areas into the one or more databases comprises the steps of:
at least a portion of the map data is wirelessly downloaded from the cloud to the mobile device.
16. The method of claim 11, further comprising the steps of:
inputting user-selectable spray criteria into the mobile device; and
inputting plant data into the one or more databases, the plant data corresponding to one or more of a position, height, width, shape and density of plants located within the spray areas.
17. The method of claim 16, wherein the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray zones comprises the steps of:
the vehicle is driven proximate to a plant in one of the spray areas and the travel path data transmitted from the GPS antenna system to the mobile device is recorded, while also recording plant data transmitted from the lidar sensing system to the mobile device.
18. The method of claim 16, wherein the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray zones comprises the steps of:
directing a vehicle other than the vehicle of claim 1 and having a second GPS antenna system and a second lidar sensing system proximate to vegetation in one of the spray areas and recording travel path data transmitted from the second GPS antenna system to the mobile device while also recording vegetation data transmitted from the second lidar sensing system to the mobile device.
19. The method of claim 16, wherein the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray zones comprises the steps of:
plant data within the spray area is depicted on a GUI overlay of the digital image of the map.
20. The method of claim 16, wherein the step of inputting plant data into the one or more databases corresponding to one or more of the position, height, width, shape and density of plants located within the spray zones comprises the steps of:
at least a portion of the plant data is wirelessly downloaded from the cloud to the mobile device.
21. The method of claim 16, wherein the step of inputting user-selectable spray criteria to the mobile device comprises the steps of:
the vertical boundary is selected such that the controller is configured to close off liquid flow through a nozzle assembly oriented to direct spray beyond the vertical boundary.
22. The method of claim 21, wherein the vertical boundary is selected as a function of plant data corresponding to plant height.
23. The method of claim 16, wherein the step of inputting user-selectable spray criteria to the mobile device comprises the steps of:
one or more adjustments to the flow rate of liquid through the nozzle assemblies are selected based on plant data corresponding to plant density.
24. The method of claim 16, wherein the step of inputting user-selectable spray criteria to the mobile device comprises the steps of:
one or more adjustments to the flow rate of liquid through the nozzle assemblies are selected based on changes in plant data over time for a given plant.
25. A vehicle having a power supply and an air-assisted agricultural spray system, the vehicle comprising:
a tank for containing a liquid to be sprayed;
a plurality of spaced apart nozzle assemblies in liquid communication with the tank, each nozzle assembly including a pulse width modulation solenoid configured to selectively open and close the nozzle assembly and vary a flow rate of liquid through the nozzle assembly;
one or more controllers in electrical communication with the plurality of pulse width modulation solenoids and configured to electrically actuate the solenoids to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies;
a first bracket attaching the one or more controllers with the vehicle;
a first wire harness attached to the vehicle and electrically connecting the one or more controllers with the plurality of pulse width modulated solenoids;
a second wire harness attached to the vehicle and electrically connecting the one or more controllers with the power source;
a GPS antenna system;
a second bracket attaching the GPS antenna system with the vehicle;
a third wire harness attached to the vehicle and electrically connecting the GPS antenna system with the power source;
a laser radar sensing system;
a third bracket attaching the lidar sensing system to the vehicle;
a fourth wire harness attached to the vehicle and electrically connecting the lidar sensing system with the power source; and
a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system, and further configured to:
receiving one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas, and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas, and vehicle data defining the location of each of the nozzle assemblies relative to the location of the GPS antenna system and the lidar sensing system when mounted on the vehicle, and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
26. The vehicle of claim 25, wherein the mobile device is configured to update the vegetation data in real-time during use of the vehicle to update one or more of the location, height, width, shape, and density of vegetation located within the spray areas as they are sprayed by the vehicle.
27. The vehicle of claim 25, further comprising a fourth bracket that attaches the mobile device with the vehicle near a location of a driver on the vehicle; and a fifth wire harness attached to the vehicle and electrically connecting the mobile device with the power source.
28. The vehicle of claim 25, wherein the lidar sensing system comprises a WiFi router configured to be in wireless communication with the mobile device.
29. The vehicle of claim 25, wherein the lidar sensing system includes a fan configured to blow debris away from at least a sensing portion of the lidar sensing system.
30. A kit configured to be added to a vehicle having a power source and an air-assisted agricultural spray system including a tank for containing a liquid to be sprayed and a plurality of spaced apart nozzle assemblies in liquid communication with the tank, the kit comprising:
a plurality of pulse width modulation solenoids configured to be mounted in fluid communication with the nozzle assemblies and to selectively open and close the nozzle assemblies and vary the flow rate of liquid through the nozzle assemblies when the plurality of pulse width modulation solenoids are mounted in fluid communication with the nozzle assemblies;
one or more controllers configured to be in electrical communication with the plurality of pulse width modulation solenoids and to electrically actuate the plurality of pulse width modulation solenoids when the solenoids are installed in the ports to selectively open and close the nozzle assemblies and to vary the flow rate of liquid through the nozzle assemblies;
a first bracket configured to attach the one or more controllers with the vehicle;
a first wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the plurality of pulse width modulated solenoids;
a second wire harness configured to attach to the vehicle and electrically connect the one or more controllers with the power source;
a GPS antenna system;
a second bracket configured to attach the GPS antenna system with the vehicle;
a third wire harness configured to attach to the vehicle and electrically connect the GPS antenna system with the power source;
a laser radar sensing system;
a third bracket configured to attach the lidar sensing system to the vehicle;
a fourth wire harness configured to attach to the vehicle and electrically connect the lidar sensing system with the power supply; and
a mobile device configured to be in wireless communication with the GPS antenna system and the one or more controllers, and in data communication with the lidar sensing system, and further configured to:
receiving one or more inputs from a user defining user-selectable spray criteria; and receiving geographic position and velocity information from the GPS antenna system; and processing the geographical location and speed information in view of one or more information databases including map data defining spraying and non-spraying areas and vegetation data corresponding to one or more of the location, height, width, shape and density of vegetation located within the spraying areas and vehicle data defining the location of each of the nozzle assemblies relative to the position of the GPS antenna system and the lidar sensing system when mounted on the vehicle and based thereon wirelessly transmitting on, off and pulse width modulation signals to the one or more controllers to individually turn on and off the flow of liquid through each of the individual nozzle assemblies based on whether each nozzle assembly is within a spraying area or a non-spraying area; and turning each of the nozzle assemblies on or off or varying the flow rate of liquid through each of the nozzle assemblies based on the user-selectable criteria, speed information, and vegetation data corresponding to a portion of vegetation proximate each nozzle assembly when installed on the vehicle.
31. A method of installing the kit of claim 30 on the vehicle of claim 30, comprising the steps of:
providing a vehicle as claimed in claim 30;
providing a kit according to claim 30;
mounting the plurality of pulse width modulation solenoids in fluid communication with the nozzle assemblies;
attaching the one or more controllers with the vehicle with the first bracket;
connecting the one or more controllers with the plurality of pulse width modulated solenoids with the first wiring harness;
attaching the first harness to the vehicle;
connecting the one or more controllers to the power source with the second wiring harness;
attaching the second harness to the vehicle;
attaching the GPS antenna system with the vehicle with the second bracket;
connecting the GPS antenna system with the power supply by using the third wire harness;
attaching the third wire harness to the vehicle;
attaching the lidar sensing system to the vehicle with the third bracket;
connecting the lidar sensing system to the power supply with the fourth wire harness;
attaching the fourth wire harness to the vehicle;
vehicle data defining the position of each of the nozzle assemblies relative to the positions of the GPS antenna system and the lidar sensing system when mounted on the vehicle is input into one or more databases.
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| PCT/US2021/015000 WO2021154678A1 (en) | 2020-01-27 | 2021-01-26 | Spraying systems, kits, vehicies, and methods of use |
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| CN116171962A (en) * | 2023-03-23 | 2023-05-30 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
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| US5653389A (en) * | 1995-09-15 | 1997-08-05 | Henderson; Graeme W. | Independent flow rate and droplet size control system and method for sprayer |
| US6522948B1 (en) * | 2000-08-14 | 2003-02-18 | Flexi-Coil Ltd. | Agricultural product application tracking and control |
| WO2013025378A1 (en) * | 2011-08-12 | 2013-02-21 | Spraying Systems Co. | Spraying apparatus with spray nozzle flow sensing and monitoring system |
| US10058879B2 (en) * | 2015-10-29 | 2018-08-28 | Capstan Ag Systems, Inc. | System and methods for estimating fluid flow based on valve closure time |
| US9877470B2 (en) * | 2016-05-10 | 2018-01-30 | Crinklaw Farm Services, Inc. | Robotic agricultural system and method |
| US10255670B1 (en) * | 2017-01-08 | 2019-04-09 | Dolly Y. Wu PLLC | Image sensor and module for agricultural crop improvement |
| US11590522B2 (en) * | 2018-02-13 | 2023-02-28 | SmartApply, Inc. | Spraying systems, kits, vehicles, and methods of use |
| US10869423B2 (en) * | 2018-02-13 | 2020-12-22 | Steven R. Booher | Kits, systems, and methods for sprayers |
| US11510404B2 (en) * | 2018-05-24 | 2022-11-29 | Blue River Technology Inc. | Boom sprayer including machine feedback control |
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| CN116171962A (en) * | 2023-03-23 | 2023-05-30 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
| CN116171962B (en) * | 2023-03-23 | 2024-03-08 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
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| IL294497B2 (en) | 2023-11-01 |
| EP4096835A1 (en) | 2022-12-07 |
| WO2021154678A1 (en) | 2021-08-05 |
| BR112022013900A2 (en) | 2022-09-13 |
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