GB2025665A - Improvements in or relating to spraying equipment - Google Patents
Improvements in or relating to spraying equipment Download PDFInfo
- Publication number
- GB2025665A GB2025665A GB7922218A GB7922218A GB2025665A GB 2025665 A GB2025665 A GB 2025665A GB 7922218 A GB7922218 A GB 7922218A GB 7922218 A GB7922218 A GB 7922218A GB 2025665 A GB2025665 A GB 2025665A
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- GB
- United Kingdom
- Prior art keywords
- transmitter
- boom
- ground
- receiver means
- radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
-
- 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
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
- B60G2300/083—Boom carrying vehicles, e.g. for crop spraying
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
Agricultural or horticultural spraying equipment in which spraying is effected by means of a series of spraying nozzles mounted on a spraying boom which extends outwardly of a main body of the equipment. To maintain the boom parallel with the ground two transmitters and receivers are provided at locations spaced in a direction lengthwise of the boom. One transmitter and receiver is mounted on the boom and the other on the boom or on the body of the equipment. Each transmitter and receiver transmits sonic radiation downwardly towards the ground and receives radiation reflected back from the ground or from a crop growing in the ground. The difference between the times taken for radiation to travel to and from each transmitter and receiver represents the amount by which the boom has moved from parallelism with the ground. This difference is determined and used to generate a signal for actuating means which pivot the boom back towards parallelism. <IMAGE>
Description
SPECIFICATION
Improvements in or relating to spraying equipment
This invention relates to agricultural or horticultural spraying equipment.
Known agricultural or spraying equipment includes a series of spraying nozzles mounted on a spraying boom which extends outwardly from each side of a tractor or tractor-drawn trailer, perpendiculay to the direction in which the equipment traverses the ground. One of the problems encountered in spraying with such equipment is that of ensuring that the boom is always parallel to and at the correct height above the ground. This is desirable so that the fan-shaped spray of liquid from each nozzle just meets the spray from the or each adjacent nozzle, but does not overlap. The height of the boom is therefore set to give optimum coverage of the ground, typically 18 inches above the ground.
Parallelism with the ground is lost if the tractor or trailer upon which the boom is mounted tilts from side to side. This occurs when the vehicle is travelling over rough ground and bounces rapidly from side to side. The problem is then reduced by providing a spring suspension between the equipment and the tractor or trailer upon which it is mounted. Such a suspension does not, however, reduce the problem which arises when the wheels on one side of the tractor or trailer are travelling along a depression so that the equipment is tilted to one side for a relatively long period.
With the larger span booms now in use, 39 feet or even larger, and a tractor or trailer track of 6 feet, the tilt caused by a wheel sinking into a 3 inch depression in the earth is sufficient for one tip of the boom to move down to within 6 or 7 inches of the ground.
Moreover, when the equipment moves over ground which is sloping from one side of the equipment to the other, there is a transfer of weight to the lower wheels. A difference of only 2 inches in level between the wheels on one side of the equipment and those on the other causes a change of about 8 inches (45%) in height at the boom tip.
For equipment with a 6 foot track, the effect of a 3 inch depression or equivalent slope in the ground is that approximately one-third of the ground on the downwardly moving side of the boom receives no spraying liquid at all, whereas the remaining areas are overdosed, in some cases by more than 100%.
On the side of the boom which moves upwardly there is a similar, though not so marked, unevenness
in spraying. This is undesirable in that spraying
liquid is wasted and crop yields are reduced owing to under- or over-spraying.
The present invention consists in agricultural or
horticulutral spraying equipment wherein spraying
is effected via a series of spraying nozzles mounted on a spraying boom which extends outwardly from
one side of a main body of the equipment, generally
parallel with the surface of the ground, the boom is
pivotally mounted on the main body for movement
about a generally horizontal axis, means are provided for pivoting the boom about the said axis, thereby to vary the height of an outer end of the boom above the ground, first transmitter and receiver means are mounted on the boom or on the main body, second transmitter and receiver means are mounted on the boom at a horizontal location spaced in a direction lengthwise of the boom from the first transmitter and receiver means, each transmitter and receiver means being arranged to transmit radiation downwardly towards the ground and to receive radiation reflected back from the ground or from crop growing in the ground, means are provided for generating an output signal which represents a difference between the time taken for radiation from the first transmitter and receiver means to travel to and return from the ground or the crop and the time taken for radiation from the second transmitter and receiver means to travel to and return from the ground or the crop, the arrangement of the first and second transmitter and receiver means being such that the said output signal represents a change in the relative vertical location of the first and second transmitter and receiver means from a relative location wherein the boom is parallel or substantially parallel with the surface of the ground, and means are provided for applying the output signal to the boom pivoting means, whereby the boom pivoting means pivot the boom towards a position wherein the said boom is parallel or substantially parallel with the ground.
The spraying boom may be pivoted at or near a central location on the boom so as to extend outwardly from each of a pair of opposite sides of the main body of the equipment.
Alternatively, the boom may be formed of two sections, each pivoted at or near one end thereof on the main body and each extending outwardly from a respective one of a pair of opposite sides of the main body, means being provided for pivoting each section independently of the other.
In this case a second transmitter and receiver means may be provided on each section, the first transmitter and receiver means is mounted on the main body, one of the said generating means is provided for each section, each generating means is adapted to generate an output signal representing a difference between the time taken for radiation from the first transmitter and receiver means to travel to and return from the ground or crop and the time taken for radiation from the associated second transmitter and receiver means to travel to and return from the ground or crop, and means are provided for applying the output signals from the generating means to respective pivoting means.
Alternatively, a first and a second transmitter and receiver means are provided on each section, and one of the said generating means is provided for each section.
Suitably, the transmitter and receiver means are each adapted to transmit and to receive ultrasonic, visible electromagnetic or radar radiation.
Suitably, each transmitter and receiver means is adapted to generate pulses of radiation, the duration of each pulse being less than the minimum time taken for radiation to travel to and from the ground or crop and the time between the end of one pulse and the beginning of the next succeeding pulse being greater than the maximum time taken for radiation to travel to and from the ground or crop, operation of the first transmitter and receiver means is synchronised with operation of the or each associated second transmitter and receiver means so that each pulse transmitted from the first transmitter and receiver means begins at the same instant in time as a pulse from the or each second transmitter means, and upon receiving a reflected pulse the or each second transmitter and receiver means and the associated first transmitter and receiver means generates an electrical signal which is applied to the or each associated generating means.
Alternatively, each transmitter and receiver means is adapted to generate radiation whose amplitude varies sinusoidally, operation of the first transmitter and receiver means is synchronised with operation of the or each associated second transmitter and receiver means, each transmitter and receiver means is adapted, upon receiving radiation reflected from the ground or the crop, to generate an electrical signal whose amplitude varies sinusoidally and has a phase representing the phase of the reflected radiation received thereby, and the or each generating means comprises a phase comparator adapted to generate an output signal whose amplitude represents a difference in phase between the electrical signals generated by the associated first and second transmitter and receiver means.
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
Figure 1 shows schematically the manner in which ground is unevenly sprayed as a result of a spraying boom tilting;
Figure 2 is a schematic view from the rear of a first equipment according to the invention.
Figure 3 is an electrical circuit in the equipment of
Figure 2;
Figure 4 shows the waveforms of voltages generated in the circuit of Figure 3;
Figures 5A and 5B are schematic views from the rear of respective second and third equipments according to the invention; and
Figure 6 shows waveforms of voltages generated in a fourth equipment according to the invention.
Referring to Figure 2, first embodiment of the invention is an agricultural or horticultural spraying equipment wherein a series of spraying nozzles 1 is provided on an elongated boom 3. The boom 3 is pivoted on a body 5 of a tractor for rotation about an axis 7 which extends from front to rear of the tractor.
The pivotal axis 7 passes through a central location on the boom 3 to that the boom extends outwardly on each side of the tractor.
Ultrasonic transmitter and receiver means are provided for sensing a departure of the boom 3 from parallelism with the ground, due to a change in the inclination of the tractor. Included in the transmitter and receiver means is a first or tip transducer 9 which is mounted at or near one end ofthe boom 3.
A second or reference transducer 11 is mounted on the body 5 of the tractor, adjacent to the pivotal axis 7 for the boom 3. Each of the transducers 5,9 and 11 is arranged, in use, to transmit ultrasonic radiation vertically downwardly towards the ground and to receive radiation reflected upwardly by the ground.
Associated with the two transducers 9 and 11 is a pulse generator PG, shown in Figure 3, for generating pulses of electrical signals at an ultrasonic frequency. An output of the pulse generator PG is connected to each of the transducers 9 and 11 so that each pulse of ultrasonic radiation from one transduc er begins at the same time and has the same duration as a pulse from the other transducer.
Associated with the tip transducer 9 is a first latch
L1 which has a set-input connected to the pulse generator PG and a reset-input connected to an output of the transducer 9. A second latch L2 has a set-input connected to the pulse generator PG and a reset-input connected to the reference transducer 11.
The outputs of the first and second latches L1 and
L2, respectively, are connected to respectives 'up' and 'down' inputs of an integrator I, which has a reset-input connected to the pulse generator PG.
An amplifier (not shown) for amplifying output signals from the integrator I has an output connected via a relay (not shown) to an actuating valve 13 in a hydraulic system which is used for pivoting the boom 3 and which is shown in Figure 2. Included in the hydraulic system is an actuator 15 made up of a piston 17 slidable within a cylinder 19 and coupled to the boom 3 via a series of levers 21. At each end of the cylinder 19 is a liquid inlet 23 which is connected to a respective one of a pair of inlets 25 to the actuating valve 13. The inlets 25 are spaced apart lengthwise of a generally cylindrical valve body 27 of the actuating valve 13. Within the valve body 27 is a valve memberformed of two axially spaced pistons 29 which are mounted on a piston rod 31 connected, outside the cylinder, to the abovementioned relay.
At a central location on the valve body 27 is a further inlet 33 for liquid under pressure, this inlet being intermediate the two pistons 29 throughout operation of the valve. An exhaust outlet 35 is provided at each end of the valve body 27. The pistons 29 are so arranged that in a null position of the valve member each inlet 25 from the actuator 15 is blocked off by a piston. Movement of the valve member in one direction from the null position results in the inlet 33 for liquid under pressure being connected via the valve body 27 to one inlet 23 to the actuator 15, the other inlet 23 being connected via the valve body 27 to exhaust. Movement of the valve member in the actuating valve 13 in the opposite direction causes the connections of the inlets 23 to the actuator 15 to be reversed.
The spraying boom 3 in the present equipment has a span of 39 feet and is mounted on the tractor's body at a nominal height of 18 inches above the ground. This means that each end of the boom 3 can move to a maximum height of 3 feet. The driver circuit of Figure 3 has a pulse repetition frequency of 50 to 60 Hz, and a nominal pulse duration of 5001l secs. There is therefore sufficient time for radiation in one pulse of ultrasonic radiation to travel to and from the ground before the next succeeding pulse is transmitted, even when the end of the boom 3 is 3 feet above the ground. Moreover, each pulse has ended before radiation in that pulse has travelled to and from the ground as long as the end of the boom 3 is more than 4 inches above the ground.If this is a limiting factor, the first transducer 9 is moved from the tip to a location closer to the body 5 of the tractor.
In using the present equipment the tractor is driven over the ground with the boom 3 arranged parallel with the ground. Pulses from the pulse generator PG trigger the tip and reference transducers 9 and 11, respectively, which transmit pulses of ultrasonic radiation downwardly towards the ground.
As mentioned above, each pulse of radiation from one transducer begins at the same time and has the same duration T1 as a pulse from the other transducer. The pulses are shown at Figure 4(a). Each pulse from the pulse generator also sets the first and second latches L1 and L2, respectively, and resets the integrator i, whose output then becomes zero.
If there is a change in the inclination of the tractor, due to the ground sloping from one side to the other or to the wheels on one side sinking into the ground, the boom 3 is tilted. If the tilt is such that the tip transducer 9 is closer to the ground than the reference transducer 11 the spray pattern is as shown in Figure 1(a), some areas ofthe ground being oversprayed and others receiving no spraying liquid. A pulse of ultrasonic radiation from the tip transducer 9 is then reflected by the ground and returns to the transducer 9, as shown at Figure 4(b), before a reflected pulse is received by the reference transducer 11, Figure 4(c). When the pulse of radiation is received by the tip transducer 9 a resetting signal is applied to the first latch L1.An output signal, shown at Figure 4(d), is then applied from the first latch L1 to the 'up' input to the integrator I, which generates a positive output voltage which increases linearly with time, as shown at Figure 4(f). The output voltage from the integrator
I is applied via the amplifier to the relay, which operates to cause movement of the valve member in the actuating valve 13. Liquid under pressure is then applied to one end of the actuator 15, the piston 17 in the actuator cylinder 19 is moved, and the boom 3 begins to rotate back towards parallelism with the ground.
As soon as a reflected pulse is received by the reference transducer lithe second latch L2 is reset and an output signal, shown at Figure 4(e), is applied fiom the latch to the 'down' input of the integrator I.
This cause the output voltage from the integrator I to remain steady at the positive value which it had reached immediately prior to receiving the output signal from the second latch L1.
As soon as the next pulse is generated by the pulse generator PG the two latches L1 and L2 are set and the integrator I is reset. The output voltage from the integrator I is then reduced to zero. When the next pulse of reflected radiation is received the tip transducer 9 the output voltage from the integrator I again begins to increase linearly with time and continues to do so until a corresponding reflected pulse arrives at the reference transducer 11.
In the result, the output voltage from the integrator
I is made up of positive pulses each of which commences when a pulse of reflected radiation is received by the tip transducer 9, increases in amplitude linearly with time until a pulse of reflected radiation is received by the reference transducer 11, remains at a constant amplitude, and falls to zero when the next pulses of radiation are generated by the transducers 9 and 11. The maximum amplitude of each pulse is proportional to the period of time between receipt of a pulse of radiation by the tip and reference transducers 9 and 11, respectively. Pulses from the integrator I are applied to the relay, which serves as an integrating device and produces a movement of the valve member in the actuating valve 15 proportional to the average amplitude of the pulses over a short interval of time.
As the boom 3 is rotated back towards parallelism with the ground the amplitude of the positive pulses from the integrator I decreases. When the boom 3 is parallel with the ground, pulses of reflected radiation are received by the tip and reference transducers 9 and 11, respectively, at the same instant in time.
There is then no output from the integrator I, the relay is not operated, the valve member in the actuating member 15 remains in its null position, and the boom 3 remains in its parallel position.
If the boom 3 is tilted so that the tip transducer 9 is further away from the ground than the reference transducer 11 there is a spray pattern as shown in
Figure 1(b). A pulse of reflected radiation is first received by the reference transducer 11. The second latch L2 is then reset and an output signal is applied to the 'down' input to the integrator I. This causes the integrator I to produce a negative output voltage which increases linearly with time until a pulse of reflected radiation is received by the tip transducer 9 and the first latch L1 is reset, remains steady until the next pulse is generated by the pulse generator PG, and then falls to zero.In the result, the integrator output consists of negative pulses which are applied to the relay and result in a movement of the valve member in the actuating valve 15 and a rotation of the boom 3 in the opposite direction from that described above.
It will be appreciated that the pistons 29 in the actuating valve 13 are so designed that their null position is maintained until the height of the transducer 9 above the ground has changed by 1 inch of 11/2 inches from the position wherein the boom 3 is parallel with the ground.
Referring to Figure 5A, a second embodiment of the invention has a spraying boom formed in two sections 41 and 43 which extend outwardly on respective opposite sides of a body 43 of a tractor.
Each section 41 and 43 is pivoted at or near an inner end thereof for movement about a generally horizontal common axis 47. Associated with each section 41 and 43 is a hydraulic system for pivoting the section, and included in each of the hydraulic systems is a respective actuator 49,51 which is coupled to the associated section via levers and an actuating valve, not shown. Both of the actuators and actuating valves are of the form described above in connection with Figures 2 and 3. Each actuating valve is operated by an associated relay, not shown, which is controlled by an amplified output signal from an integrator in a driver circuit corresponding to that shown in Figure 3. One input to each integrator is connected to a latch associated with a first ultrasonic transducer 53 mounted on the body 45 of the tractor, adjacent to the common axis 47 for the boom sections 41 and 43.A second input to each timer is connected to a latch associated with a second transducer 55 or 57 mounted at an outer end of the associated section 41 or 43 of the boom. As in the first embodiment, a pulse generator is provided for energising the first and second transducers in synchronism.
The equipment shown in Figure 5A operates in similar manner to the equipment of Figures 7 to 4, except that the height of each section 41 and 43 of the boom is detected and the section is maintained substantially parallel with the ground independently of the other section.
In a third embodiment, shown in Figure 5B, a boom is again formed of two sections 61 and 63 pivoted on the body 65 of a tractor. In this case, however, each of the sections 61 and 63 pivots about a respective axis 67 and 69 which is located adjacent the side of the tractor from which that section extends. An ultrasonic transducer 71 is again provided on the body 65 of the tractor, in this case intermediate the pivotal axes 67 and 69 of the boom sections 61 and 63, and transducers 73 and 75 are provided at the outer ends of respective sections 61 and 63.
The embodiments of Figures 5A and 5B enable concave or convex ground surfaces to be sprayed more uniformly.
In a fourth embodiment of the invention there is again an ultrasonic transducer at an outer end of a boom and a second transducer on the body of the tractor. In this case, however, each transducer is energised by a sinusoidal voltage, shown in Figure 6(a), from a pulse generator and transmits ultrasonic radiation whose amplitude varies sinusoidally.
Some of the radiation is reflected back from the ground to the associated transducer, which produce sinusoidal output voltages see Figures 6(b) and 6(c).
One of these voltages is delayed by a time T1 and the other is delayed by a time T2 relative to the voltage of Figure 6(a). One of the voltages is inverted and then added to the other. The amplitude of the resuitant voltage, shown in Figure 6(d), is proportional to the difference between the heights above the ground of the tip and reference transducers. The phase of the resultant voltage of Figure 6(d) relative to the voltage of Figure 6(a) is measured by a phase comparator. The comparator gives a d.c. output voltage whose amplitude is representative of the phase difference between the voltages of Figures 6(a) and 6(d), and hence of the amount by which the boom is tilted. The polarity of the voltage of
Figure 6(d) represents the direction in which the boom is tilted. The voltage is applied to a relay which operates an actuating valve, as described above.
It will be appreciated that the hydraulic systems in the above embodiments provide a correcting action which returns the boom or boom section to the position of parallelism at a speed which is greater the greater the deviation from the position of parallelism. An electromechanical or pneumatic system can be substituted for the hydraulic system, however.
As an alternative to detecting a change in the height of the boom or boom sections by means of ultrasonic radiation, it is possible to use electromagnetic radiation i.e. visible light or radar. In the case of visible light, the radiation may be pulsed and the difference between the times of arrival of reflected radiation at the first and second receivers can be determined as described with reference to
Figures 3 and 4. Alternatively, the light can be modulated sinusoidally so that the equipment operates as described with reference to Figure 6. In the case of radar, the radiation can be pulsed or the radiation may be emitted continuously, in which case the wavelength of the radiation is sufficiently long forthe sinusoidal variations in amplitude of the radiation itself to be used in the manner of Figure 6.
In the equipments described above, one transducer is always mounted on the body of the tractor and one on the boom. As an alternative, two transducers can be mounted at spaced locations on a boom or a section of a boom. The difference between the time taken for radiation from one transducer to travel to and from the ground and the time taken for radiation from the other transducer is then measured in the manner described above and is likewise representative of the amount by which the boom or section has moved from parallelism with the ground.
In equipment which employs pulsed radiation it is found that the equipment operates with the first reflected signals received by the receiver transducers, which are signals reflected from the top of a crop growing in the ground, rather than signals reflected from the ground. With equipment which employs sinusoidal radiation the equipment operates with the reflected signals of greatest amplitude, which are signals reflected from the aground.
Claims (10)
1. Agricultural or horticultural spraying equipment wherein spraying is effected via a series of spraying nozzles mounted on a spraying boom which extends outwardly from one side of a main body of the equipment, generally parallel with the surface of the ground, the boom is pivotally mounted on the main body for movement about a generally horizontal axis, means are provided for pivoting the boom about the said axis, thereby t-o vary the height of an outer end of the boom above the ground, first transmitter and receiver means are mounted on the boom or on the main body, second transmitter and receiver means are mounted on the boom at a horizontal location spaced in a direction lengthwise of the boom from the first transmitter and receiver means, each transmitter and receiver means being arranged to transmit radiation downwardly towards the ground and to receive radiation reflected back from the ground or from crop growing in the ground, means are provided for generating an output signal which represents a difference between the time taken for radiation from the first transmitter and receiver means to travel to and return from the ground or the crop and the time taken for radiation from the second transmitter and receiver means to travel to and from return from the ground or the crop, the arrangement of the first and second transmitter and receiver means being such that the said output signal represents a change in the relative vertical location of the first and second transmitter and receiver means from a relative location wherein the boom is parallel or substantially parallel with the surface of the ground, and means are provided for applying the output signal to the boom pivoting means, whereby the boom pivoting means pivot the boom towards a position wherein the said boom is parallel or substantially parallel with the ground.
2. Equipment as claimed in claim 1,wherein the spraying boom is pivoted at or near a central location on the boom so as to extend outwardly from each of a pair of opposite sides of the main body of the equipment.
3. Equipment as claimed in claim 1, wherein the boom is formed of two sections, each pivoted at or near one end thereof on the main body and each extending outwardly from a respective one of a pair of opposite sides of the main body, means being provided for pivoting each section independently of the other.
4. Equipment as claimed in claim 3, wherein a second transmitter and receiver means is provided on each section, the first transmitter and receiver means is mounted on the main body, one of the said generating means is provided for each section, each generating means is adapted to generate an output signal representing a difference between the time taken for radiation from the first transmitter and receiver means to travel to and return from the ground or crop and the time taken for radiation from the associated second transmitter and receiver means to travel to and return from the ground or crop, and means are provided for applying the output signals from the generating means to respective pivoting means.
5. Equipment as claimed in claim 3, wherein a first and a second transmitter and receiver means are provided on each section, and one of the said generating means is provided for each section.
6. Equipment as claimed in any one of claims 1 to 5, wherein the transmitter and receiver means are each adapted to transmit and to receive ultrasonic, visible electromagnetic or radar radiation.
7. Equipment as claimed in claim 6, wherein each transmitter and receiver means is adapted to generate pulses of radiation, the duration of each pulse being less than the minimum time taken for radiation to travel to and from the ground or crop and the time between the end of one pulse and the beginning of the next succeeding pulse being greates than the maximum time taken for radiation to travel to and from the ground or crop, operation of the first transmitter and receiver means is synchronised with operation of the or each associated second transmitter and receiver means so that each pulse transmitted from the first transmitter and receiver means begins at the same instant in time as a pulse from the or each second transmitter means, and upon receiving a reflected pulse the or each second transmitter and receiver means and the associated first transmitter and receiver means generates an electrical signal which is applied to the or each associated generating means.
8. Equipment as claimed in claim 7, wherein the or each generating means includes an integrator having first and second inputs, and means for applying the electical signals from the associated first and second transmitter and receiver means to respective first and second inputs to the integrator, whereby the integrator generates an output signal comprising a series of pulses, each pulse having a maximum amplitude representing the time between the receipt of associated pulses of radiation by respective first and second transmitter and receiver means and each pulse having a polarity representing the sequence in which associated pulses are received by respective first and second transmitter and receiver means.
9. Equipment as claimed in claim 6, wherein each transmitter and receiver means is adapted to generate radiation whose amplitude varies sinusoidally, operation of the first transmitter and receiver means is synchronised with operation of the or each associated second transmitter and receiver means, each transmitter and receiver means is adapted, upon receiving radiation reflected from the ground or the crop, to generate an electrical signal whose amplitude varies sinusoidally and has a phase representing the phase of the relected radiation received thereby, and the or each generating means comprises a phase comparator adapted to generate an output signal whose amplitude represents a difference in phase between the electrical signals generated by the associated first and second transmitter and receiver means.
10. Agricultural or horticultural spraying equipment constructed, arranged and adapted to operate substantially as hereinbefore described with reference to, and as illustrated in, the accompanying drawings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB7922218A GB2025665A (en) | 1978-03-28 | 1979-06-26 | Improvements in or relating to spraying equipment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1203478 | 1978-03-28 | ||
| GB7922218A GB2025665A (en) | 1978-03-28 | 1979-06-26 | Improvements in or relating to spraying equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| GB2025665A true GB2025665A (en) | 1980-01-23 |
Family
ID=26248691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB7922218A Withdrawn GB2025665A (en) | 1978-03-28 | 1979-06-26 | Improvements in or relating to spraying equipment |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2025665A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2514525A1 (en) * | 1981-10-09 | 1983-04-15 | Cemagref | METHOD FOR STABILIZING A SUSPENDED MOBILE WITH AT LEAST ONE FREEDOM OF MOVEMENT IN RELATION TO A SEARCHED TRACK AND ITS APPLICATION TO THE STABILIZATION OF A PULVERIZING RAMP |
| FR2517567A1 (en) * | 1981-12-05 | 1983-06-10 | Paragerm France | DEVICE FOR CONTROLLING THE DISTANCE BETWEEN A SPRAY DEVICE, IN PARTICULAR A SPRAY GUN, AND AN OBJECT FOR RECEIVING THE PULVERIZED PRODUCT, IN PARTICULAR A WALL. |
| FR2529477A1 (en) * | 1982-07-05 | 1984-01-06 | Evrard Ets | Device for suspending under its own weight an agricultural spray boom. |
| US4501223A (en) * | 1983-11-30 | 1985-02-26 | Hitachi Zosen Corporation | Coating apparatus |
| US4510804A (en) * | 1982-09-30 | 1985-04-16 | The Marconi Co. Ltd. | Distance measuring |
| GB2156193A (en) * | 1984-03-27 | 1985-10-09 | Nat Res Dev | Boom assemblies |
| FR2590380A1 (en) * | 1985-11-20 | 1987-05-22 | Lignones Hubert | Device for height control of the position of a working arm which is vertically movable with respect to the ground |
| WO1990001265A1 (en) * | 1988-08-11 | 1990-02-22 | Alois Assfalg | Device for treating crops with at least one vertically mobile support above the crops and the ground |
| US5031705A (en) * | 1989-05-24 | 1991-07-16 | Clemens Und Co. Kommanditgesellschaft | Crop-sensing cultivator |
| FR2701774A1 (en) * | 1993-02-17 | 1994-08-26 | Agrotronix | Process for automatic adjustment of the position of at least one straight functional element of a structure, means for implementing the process and installations equipped with these means |
| US5410479A (en) * | 1992-08-17 | 1995-04-25 | Coker; William B. | Ultrasonic furrow or crop row following sensor |
| EP1167095A1 (en) * | 2000-06-26 | 2002-01-02 | K.U. Leuven Research & Development | Method and device for controlling and stabilising movement |
| DE102008009753B3 (en) * | 2008-02-18 | 2009-09-10 | Yara International Asa | Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source |
| DE10054285B4 (en) * | 2000-11-02 | 2014-12-24 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | distributing |
| DK201400331A1 (en) * | 2014-06-24 | 2016-01-11 | Harry Højvang Sørensen | Spreading boom with tiltable wing and slurry trailer or trailer with such a spreading boom. |
| WO2016120181A1 (en) * | 2015-01-26 | 2016-08-04 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Agricultural machine and control method |
| DE102016116809A1 (en) | 2016-09-08 | 2018-03-08 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Control system, agricultural utility vehicle, use of a radar sensor for a control system, method for controlling and / or regulating an agricultural utility vehicle |
| DE102016116808A1 (en) | 2016-09-08 | 2018-03-08 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Control system, agricultural utility vehicle, use of a radar sensor for a control system, method for controlling and / or regulating an agricultural utility vehicle |
| CN108835079A (en) * | 2018-06-21 | 2018-11-20 | 山东理工大学 | A kind of novel highly automated regulating device of spray boom pesticide applicator spray boom |
-
1979
- 1979-06-26 GB GB7922218A patent/GB2025665A/en not_active Withdrawn
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2514525A1 (en) * | 1981-10-09 | 1983-04-15 | Cemagref | METHOD FOR STABILIZING A SUSPENDED MOBILE WITH AT LEAST ONE FREEDOM OF MOVEMENT IN RELATION TO A SEARCHED TRACK AND ITS APPLICATION TO THE STABILIZATION OF A PULVERIZING RAMP |
| EP0077270A2 (en) * | 1981-10-09 | 1983-04-20 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Stabilizing process in relation to a selected trajectory of an element which is movable with at least one moving component, and application to spraying boom |
| EP0077270A3 (en) * | 1981-10-09 | 1983-08-03 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Stabilizing process in relation to a selected trajectory of an element which is movable with at least one moving component, and application to spraying boom |
| US4522841A (en) * | 1981-10-09 | 1985-06-11 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Process for the stabilization with respect to a desired path of a member which is movably mounted according to at least one component of movement and its application to the stabilization of a spray manifold |
| FR2517567A1 (en) * | 1981-12-05 | 1983-06-10 | Paragerm France | DEVICE FOR CONTROLLING THE DISTANCE BETWEEN A SPRAY DEVICE, IN PARTICULAR A SPRAY GUN, AND AN OBJECT FOR RECEIVING THE PULVERIZED PRODUCT, IN PARTICULAR A WALL. |
| EP0115710A1 (en) * | 1981-12-05 | 1984-08-15 | PARAGERM-FRANCE S.A. Société dite: | Device to control the distance between a pulveriser, in particular a pulveriser pistol, and an object which receives the pulverised product, in particular a wall |
| FR2529477A1 (en) * | 1982-07-05 | 1984-01-06 | Evrard Ets | Device for suspending under its own weight an agricultural spray boom. |
| US4510804A (en) * | 1982-09-30 | 1985-04-16 | The Marconi Co. Ltd. | Distance measuring |
| US4501223A (en) * | 1983-11-30 | 1985-02-26 | Hitachi Zosen Corporation | Coating apparatus |
| EP0157592A3 (en) * | 1984-03-27 | 1987-10-21 | National Research Development Corporation | Boom assemblies |
| GB2156193A (en) * | 1984-03-27 | 1985-10-09 | Nat Res Dev | Boom assemblies |
| EP0157592A2 (en) * | 1984-03-27 | 1985-10-09 | Btg International Limited | Boom assemblies |
| FR2590380A1 (en) * | 1985-11-20 | 1987-05-22 | Lignones Hubert | Device for height control of the position of a working arm which is vertically movable with respect to the ground |
| WO1990001265A1 (en) * | 1988-08-11 | 1990-02-22 | Alois Assfalg | Device for treating crops with at least one vertically mobile support above the crops and the ground |
| US5031705A (en) * | 1989-05-24 | 1991-07-16 | Clemens Und Co. Kommanditgesellschaft | Crop-sensing cultivator |
| US5410479A (en) * | 1992-08-17 | 1995-04-25 | Coker; William B. | Ultrasonic furrow or crop row following sensor |
| FR2701774A1 (en) * | 1993-02-17 | 1994-08-26 | Agrotronix | Process for automatic adjustment of the position of at least one straight functional element of a structure, means for implementing the process and installations equipped with these means |
| EP1167095A1 (en) * | 2000-06-26 | 2002-01-02 | K.U. Leuven Research & Development | Method and device for controlling and stabilising movement |
| DE10054285B4 (en) * | 2000-11-02 | 2014-12-24 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | distributing |
| DE102008009753B3 (en) * | 2008-02-18 | 2009-09-10 | Yara International Asa | Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source |
| DK201400331A1 (en) * | 2014-06-24 | 2016-01-11 | Harry Højvang Sørensen | Spreading boom with tiltable wing and slurry trailer or trailer with such a spreading boom. |
| WO2016120181A1 (en) * | 2015-01-26 | 2016-08-04 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Agricultural machine and control method |
| US20180110213A1 (en) * | 2015-01-26 | 2018-04-26 | Amazonen Werke H Dreyer Gmbh & Co. | Agricultural machine and control method |
| US10750734B2 (en) | 2015-01-26 | 2020-08-25 | Amazonen Werke H. Dreyer Gmbh & Co. Kg | Agricultural machine and control method |
| DE102016116809A1 (en) | 2016-09-08 | 2018-03-08 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Control system, agricultural utility vehicle, use of a radar sensor for a control system, method for controlling and / or regulating an agricultural utility vehicle |
| DE102016116808A1 (en) | 2016-09-08 | 2018-03-08 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Control system, agricultural utility vehicle, use of a radar sensor for a control system, method for controlling and / or regulating an agricultural utility vehicle |
| CN108835079A (en) * | 2018-06-21 | 2018-11-20 | 山东理工大学 | A kind of novel highly automated regulating device of spray boom pesticide applicator spray boom |
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| Date | Code | Title | Description |
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| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |