GB2260682A

GB2260682A - Crop spraying apparatus

Info

Publication number: GB2260682A
Application number: GB9208506A
Authority: GB
Inventors: Deeker James Blowers; Gary Peter Knights
Original assignee: Individual
Current assignee: Individual
Priority date: 1991-10-26
Filing date: 1992-04-16
Publication date: 1993-04-28
Anticipated expiration: 2012-04-16
Also published as: GB2260682B; DE4236062A1; GB9208506D0; GB9122776D0; FR2683429A1; FR2683429B1

Abstract

So that hazardous chemicals are not unnecessarily wasted the crop sprayer having multiple spray heads is controlled by the operator either from within the cab or externally using a radio transmitter or similar device for independently selecting one or more of the spray heads for a short burst of operation. The operator (13) uses a portable transmitter (10) to communicate with a receiver (14) mounted on the vehicle and controlling spray heads (11) mounted on booms (4) and (5) mounted on an agricultural vehicle. The operator may also control the equipment from within the vehicle by either using the remote transmitter (10) or by manual operation of switches on a control box (not shown) which forms a second transmitter mounted in the vehicle. <IMAGE>

Description

2 M0632 - 1 CroiD S-oraver Controller The invention relates to a

controller f or the remote control of vehicle mounted equipment such as crop sprayers as used for agricultural or horticultural purposes in which the sprayer is generally mounted on a tractor driven by a single operator. The term "vehicle mounted" includes equipment mounted on trailers or free standing equipment.

Backqround to the Invention It is known to use crop sprayers including spray heads carried on laterally extending booms mounted behind tractors or on aircraft to disperse pesticides, herbicides, fertilize rs or water over a field or crop. It is also known to provide specialist vehicles which are towed by tractors or self powered as crop sprayers. Generally such crop sprayers are designed to be operated by a single operator. However, even the specialist vehicles provide a restricted view of the spray heads through which the liquid is delivered so the operator needs to leave the vehicle to check that all the spray heads are functioning correctly.

Generally it is possible for the operator to be able to see that the spray heads at the remote ends of the booms are operating correctly but it is very difficult and often impossible for the operator to see from within the cab that the spray heads close to the vehicle are also performing correctly.

The liquid delivery from the spray heads is generally controlled by electro-magnetically operated ball valves, or motor driven valves, connected by wires to a control box located in the cab of the vehicle. Alternatively, the valves may be operated under pneumatic or hydraulic power 7 - 2 for switching the spray head on or off.

In most circumstances if the operator wishes to check the correct functioning of the all the spray heads he has to stop the progress of the vehicle and walk round to the rear of the vehicle whilst the spray heads are still operating so that a visual inspection of the spray heads can be made.

This operation has many disadvantages. If the spray heads 10 are working there will be a waste of chemicals and contamination of the land and crop through over-dosage. It has been found that with some chemicals the overdosed land may remain barren for several years and that crops grown on such land may contain excessive proportions of harmful chemicals, which may be higher than is permitted by food regulations. If the vehicle is driven off the land then the chemicals can pollute water courses.

There is also an operational safety problem with such visual inspection of spray head operation. The operator may himself become contaminated. Health and safety regulations are intended to control operators in hazardous environments however gusting wind can unexpectedly and easily blow spray towards the operator. In order to avoid the possibility of operator contamination the operator will generally have to walk in a large arc around the spray head booms to avoid contamination. This is time consuming and may damage the crop through which the operator walks.

It has also been found that faulty operation of. the spray heads may be caused by the wiring between the control box and the spray head actuators becoming corroded or otherwise damaged and inoperative.

The present invention seeks to provide a system which the operator may use safely with a saving in time and chemical costs and which causes only minimum contamination through spray operation whilst the vehicle is stationary.

The invention also alleviates the need to provide control wiring between the vehicle operator location and the controlled actuator, for example a spray head valve.

Summary of the Invention

According to a first aspect of the invention there is provided a controller for the remote control of vehicle mounted crop sprayer equipment including a number of discrete actuators for controlling the equipment, a first transmitter having a number of switches and arranged to provide a coded output signal according to the operation of said switches, and a number of remote receivers arranged to decode the coded signal and to cause selected actuators to operate, and wherein the first coded output signal is arranged to be transmitted through the air between the first transmitter and each receiver.

A second transmitter switch device may be a control box mounted in the operator compartment of the vehicle and the first transmitter switch device arranged to be portable to operate in tandem with the second transmitter to enable the operator to control the equipment either from within the vehicle or from a location in the vicinity of, but remote from, the vehicle.

Preferably the first transmitter transmits the first coded signal in the form of ultrasonic transmission, or electromagnetic transmission, such as infra-red transmission or radio transmission. Alternatively a discrete path may be provided in the form of an optical fibre, electrical - 4 conductor or even a mechanical linkage.

According to a second aspect of the invention there is provided a controller for a vehicle driven crop sprayer having a plurality of spray heads, supply means for supplying liquid under pressure to the spray heads, valve means for controlling the supply of liquid to the spray heads, and, actuating means for opening and closing the valve means, said controller including control means which is operable from within the vehicle to control the supply of liquid to the spray head and a first transmitter controlled by a switch device which is operable outside the vehicle to remotely control the supply of liquid to the spray heads.

Preferably the first transmitter and switch device is a hand held transmitter through which the operator may selectively and independently control individual spray heads or sets of spray heads. The remote control signal may be infra-red transmission, radio transmission, or other form of electro- magnetic transmission, or ultrasonic transmission. Alternatively the signal path may be a discrete path such as an optical fibre, electrical conductor or even a mechanical linkage.

Preferably the switch device is arranged so that positive action is required by the operator to maintain the liquid supply to the spray heads. This enables the liquid to be supplied to a spray head or set of spray heads in short bursts only when a push-button selection means on the switch device is held in an "on" condition.

Generally the switch device controls the spray heads by communicating with a receiver mounted in or on the vehicle and arranged to provide the control signal for the actuating means, such as a solenoid or DC motor for each liquid supply valve. However each spray head may have an individual receiver which directly controls the actuation of that spray head. Alternatively a single receiver may be mounted with the control means in the vehicle and arranged to operate the control means to selectively control the operation of the spray heads.

If the communication channel between the first transmitter and the receiver is in the visible or infra-red spectrum it may be necessary to provide lenses or parabolic reflectors to extend the range of the remote controller and also to provide screens, hoods, reflectors, lenses or other form of directional alignment on the receiver to eliminate false operation or reduced sensitivity through sunlight falling on the receiver. Alternatively the signal from the transmitter may be additionally coded to include a security code to confirm a valid signal. If necessary, the receiver can be arranged to respond only to two successive identical signals.

The use of ultrasonics as the transmission medium has the added advantage that it is virtually un-affected by spray which may obscure the receiver and prevent the use of optical signalling.

Although it is possible for the receiver to be powered by an independent power source it is preferably powered from the vehicle power supply. Whereas the transmitter and switch device may be independently powered from a dry cell or re- chargeable battery. It is generally preferable to encase the transmitter and receiver in ruggedised waterproof enclosures to prevent the liquid spray from effecting their operation.

The receiver may include manual switches which may be latched in the "on" or "off" position to control the actuator means. The operator will generally control the supply of liquid to the spray heads or sets of spray heads by means of these latched switches from the driving position within the vehicle. When the operator wishes to ensure that the spray heads are operating correctly he will stop the vehicle, switch the latched switches to the "off" position and get out of the vehicle with the remote transmitter switch device. He will then move directly to the rear of the vehicle at a sufficient distance to avoid contamination when the spray heads are operated. The operator will then operate the switch device by pressing one or more of the relevant buttons in turn to create short bursts of spray from the selected spray heads. From visual inspection the operator will then identify any blocked nozzles and be able to provide the necessary remedial action to remove the blockage. The spray head may then be retested from a distance. Once the spray heads are all in an operable condition the operator may return directly to the vehicle and proceed using the switches on the receiver unit to control the supply of liquid to the spray heads.

It is planned to introduce pollution laws in the United Kingdom and Europe stating that the spray nozzle must operate within defined tolerance limits of its specified original operation parameters. The present invention is particulary useful in the testing and calibration of individual nozzles to ensure continued legal operation. In order to calibrate a nozzle the operator would hold a calibrated flask over each nozzle in turn and operate the specific nozzle for a predetermined period so that the flow rate could be checked and corrective action taken for each nozzle in turn.

Therefore according to a further aspect of the invention 7 there is provided a method of remotely controlling agricultural equipment by transmitting an ultrasonic or electro -magnetic signal from the first transmitter to a receiver which is arranged upon receipt of a selectively coded signal to control a selected actuator for controlling the equipment.

Brief Description of the Drawings

The invention will now be described by of example with reference to the accompanying diagrammatic drawings in which:- Figure 1 shows a side view of a tractor vehicle on which a crop sprayer is mounted; Figure 2 shows a rear view of the tractor and crop sprayer arrangement of figure 1; Figure 3 shows a specialised crop sprayer vehicle and operator remotely controlling the crop sprayer; Figure 4 shows a perspective front view of a receiver; Figure 5 shows a perspective rear view of the receiver; Figure 6 shows a perspective view of a transmitter for use with the receiver; Figure 7 shows a transmitter unit; circuit diagram for an infra-red Figure 8 shows a circuit diagram of an infra-red receiver 35 unit; 8 Figure 9 shows a circuit diagram for adapting existing crop sprayers to operate according to the invention; Figure 10 shows the circuit diagram for a receiver unit adapted for use with a specialist crop sprayer incorporating the invention; Figure 11 shows a circuit diagram of a radio transmitter unit; Figure 12 shows a radio receiver unit for use with the radio transmitter of figure 11; and Figure 13 illustrates a power supply switching arrangement 15 for a motor driven actuator used with the radio transmission system illustrated in figures 11 and 12.

S1:)ecific DescrilDtion With reference now to the drawings, figure 1 shows a tractor 1 having a cab 2 and a crop sprayer mounted on the rear of the tractor. The crop sprayer consists basically of a liquid reservoir 3 and two laterally extending spray booms 4 and 5. The booms 4 and 5 support spray heads which are connected to the reservoir 3 via a number of control valves which control the supply of liquid under pressure to the spray heads. The valves for controlling the supply of liquid to the spray heads are operated from within the cab 2 with the aid of a control box 6. The control box 6 is arranged to transmit signals to control actuator control valves associated with the spray heads. The control box 6 may incorporate a receiver or may be coupled to a receiver mounted within the rear window or on the roof of the cab in the positions 7 and 8 respectively as shown in figure 1.

1 - 9 Referring now also to figure 2 the receiver may be mounted on the crop sprayer adjacent to the booms 4 and 5. If the receiver is mounted outside the cab or in a position where it may be ef f ected by the spray f rom the crop sprayer it should be waterproofed and ruggedised. A hand held transmitter 10 (as shown in figure 6) is arranged to communicate with the receiver from a remote position behind the vehicle by means of ultrasonic transmission or by means of electro -magnetic radiation such as infra-red or radio transmission. Ultrasonic transmission is particularly useful if the spray conditions obscure infra-red transmission. Alternatively, in such poor transmission conditions the transmitter may communicate with the receiver by means of a cable which may be a fibre optic cable, electrical cable or even a mechanical linkage. In most sprayer conditions the preferable transmission is infra-red as this allows the greatest flexibility of operator usage and avoids potential false operation if the signal is in a crowded part of the radio frequency spectrum.

The booms 4 and 5 support a number of spray heads 11 which are controllable in five sets. Two sets of spray heads are contained on the boom 4 and a further two sets of spray heads are contained on the boom 5, with the f if th set of spray heads being mounted directly behind the vehicle on the section 12.

Figure 3 shows a specialist crop sprayer vehicle with articulated booms 4 and 5 and operator 13 standing in a remote location to the rear of the vehicle. The operator 13 has the hand held transmitter 10 containing a number of buttons each of which may be operated to generate a coded signal to a receiver 14 mounted at the top of the rear window of the cab 2 of the vehicle. The form of coding may be by frequency or by digital coding on a single frequency.

- Referring now also to figures 4, 5 and 6 the receiver unit, as shown in figures 4 and 5 is housed in a waterproof enclosure 15 having five switches 16 mounted on the front wall, facing into the cab, and an infrared receiver element 17 mounted in the rear wall which may be positioned against the rear window of the cab by suckers or mounting feet 18. The receiver unit is powered by way of a cable and jack plug 19.

The infra-red receiving element 17 receives signals from an infra-red transmitter element mounted in the end wall of the transmitter unit 10 shown in figure 6. The upper face of the transmitter unit 10 is provide with six push button switches 20 grouped in three rows containing three, two and one switches respectively. The switches are numbered to identify the spray head section which they control. Switch 6 controls all of the spray heads simultaneously. It will be appreciated that additional buttons may be provided and other sets of spray heads may be simultaneously controlled.

However the switches are grouped in this formation according to the preferred embodiment of the invention because crop sprayers generally have either three or five sets of spray heads.

The circuit arrangement for the transmitter unit 10 is shown in figure 7. Referring now also to figure 7 the circuit is driven by a dry cell battery 21 coupled to the transmitter circuit by way of an ONIOFF switch 22. An integrated circuit remote control transmitter 23 is coupled to the six switches 20. The integrated circuit transmitter 23 is sold under the reference SL490 and provides a basic multi-channel system using a pulseposition code to provide up to sixteen discrete communication channels. The coding and modulation methods provides good noise immunity and a range up to ten metres if a greater or selectivity is required, parabolic reflectors may be filtered to the transmitter and/or receiver elements. The transmitter 23 is actuated whilst one of the switches 20 is operated, and provides a coded signal which is modulated onto the infra-red output frequency derived from transmitter diodes 24. The transmitter diodes 24 are driven by an emitter follow circuit 25 which modulates the coded output signal from the transmitter 23 onto the infrared frequency emitted from the diodes 24. The pulse per minute (PPM) rate of the transmitter unit should be selected to avoid harmonics or fundamental frequencies in the operating environment eg the National grid transmission frequency from local pylons. To avoid unintentional operation, or operation from external sources other than the transmitter 10 the receiver is designed to react only to two successive signals which it recognises as legitimate signals for system operation.

Referring now to figure 8 the receiver unit comprises the infra-red receiver element 17 coupled to an integrated circuit infra-red pre-amplifier 26, (sold under the reference SL486). The coded signal from the transmitter 10 which is received by the element 17 is amplified by the high gain integrated circuit 26 and coupled directly to a demodulating and decoding integrated circuit 27, (sold under the reference ML926). The output from the integrated circuit 27 is in the form of a number of four-bit binary signals which are decoded by an array of AND gates 28 to drive a selected one of the output leads 29 each of which controls one of the five actuator relays 30. The contacts of the relays 30 are shown by the contacts 31 which supply the power to the actuating means for opening and controlling the valves permitting liquid to flow to the spray heads.

It will be appreciated that any one or more of the relays 35 may be actuated to open and close a selected spray head or - 12 set of spray heads. It will also be appreciated that the described embodiment may be adapted for other vehicles such as aircraft. The type of vehicle may operate on land, water or in the air and the type of equipment controlled may need be other than spraying equipment.

Figure 9 illustrates schematically the switching arrangement for crop sprayers which are built to accommodate the present invention. The relays 30 shown in figure 8 may also be operated by the switches 16 shown on figure 4. As shown on figure 9 the switches 16 are represented by switches (Sl) to (S5). Switches (Sl) to (S5) operate the solenoids which control the supply of liquid to the spray heads. The switches (Sl) to (S5) are connected to the existing wiring by way of a multi-core cable 32 to the solenoids which operate the valves controlling the liquid supply to the spray heads. The contacts 31 of the relays 30 are shown on figure 9 by the relay contact (RL1A) to (RL5A). Closure of one or more of the relay contact (RLIA) to (RL5A) couples the vehicle battery source 33 to the selected solenoid for the selected spray head section.

Referring now to figure 10 the wiring diagram is similar to figure 9 and comparable components have been given the same ref erence numerals. However in the embodiment shown in figure 10 the switches and relays may be contained within the enclosure for the receiver unit so that by selecting one or more of the switches (S1) to (S5) manually from within the cab, or by operating one or more of the relays remotely using the transmitter 10, power is supplied by the vehicle battery 33 to solenoids 34 which operate the control valves for supplying liquid to the spray heads.

In operation, and referring particularly to figure 3, an operator may check the effective operation of the spray heads of the crop sprayer by carrying out the following steps. Firstly switching of f the crop sprayer when the vehicle is stationary by operating the switches on the receiver control unit. Secondly the operator then gets down from the cab of the vehicle and goes directly to the rear of the vehicle as shown in figure 3, if necessary by stepping over or under the boom. Thirdly, by using the buttons on the transmitter 10 and sequentially operating each of the button switches numbered 1 to 5 in turn, visual inspection of each spray head may be made to check whether or not the spray heads are clogged or operating satisfactorily. The spray heads will operate only whilst the relevant switch button is depressed. It will be appreciated that this allows the operator to actuate the spray heads f or a minimum time sufficient to check their operation but without excessive discharge of dangerous chemicals which might otherwise contaminate the local soil. Having checked the operation of the spray heads and f reed any blockage as necessary. Finally, the operator may return directly to the cab of the vehicle and continue crop spraying using the switches associated with the control box in the cab to select the operating spray head sections.

The invention also enables an operator to check the correct calibration of the spray heads. This will generally be done before the crop sprayer is taken into the field. In this calibration operation each spray head which is to be tested is coupled to a container, which may be calibrated, to collect all the liquid from the spray head over a predetermined period. If the container is calibrated it will give an immediate measure of the f low rate, however, if the container is not calibrated the collected liquid may be subsequently poured into a calibrated flask. The calibration may be conducted on individual nozzles or simultaneously on groups of nozzles. The nozzles may be switched on and off from the control box within the vehicle or from a remote controller.

It will be appreciated that although the principal use for 5 the invention will be to control hazardous chemicals, f or example, pesticides, herbicides, fertilizers and similar liquids used in agriculture and horticulture the invention may be adapted to other uses applied to other f luid delivery systems. It will also be appreciated that although the vehicle will generally be a tractor or crop spraying vehicle driven by wheels or tracks, the invention may be adapted for use with crop spraying winged aircraft or helicopters.

As previously stated the remote signalling is preferably is ultrasoni.c or electro -magnetic, such as light, infra-red, and any other suitable transmission media and signal coding may be employed providing it allows the operator to selectively actuate remote equipment such as spray heads from a position in the vicinity thereof. For test purposes the position should be in visual line-of -sight although for general operation the signalling may be from within the operator compartment of the vehicle.

The embodiment illustrated in figures 11 to 13 shows a radio transmission system for driving a motor driven actuator, for example, a motor-driven ball valve which switches the spray heads on and of f. Figure 11 shows the radio transmitter equivalent in operation to the transmitter of figure 7. The radio transmitter consists of a UHF signal transmission board 35 the output of which is transmitted from an aerial 36. The coded output from the aerial 36 is determined by the push button selector switches 37 and the logic array 38.

The radio receiver shown in figure 12 includes a UHF radio 35 receiver board 39 fed with signals from the aerial 40. The - 1 n - output from the receiver 39 is fed via a logic array 41 to relays 42 having contact sets 43 associated therewith.

Figure 13 shows in more detail the arrangement of a relay set 44 which is driven by the radio receiver and a change over switch 45 which is mounted in the cab of the vehicle. A 12 volt DC power supply is applied to the terminals 46. The output from the change over switch 45 is applied to the terminals 47 and 48 respectively of the contact set 44.

According to the position of the relay switch the output terminals 49 and 50 will be supplied with the positive or negative-12 volt supply. With the relay set 44 in a given position the polarity at the terminals 49 and 50 may be reversed by operating the change over switch 45.

The terminals 49 and 50 are connected to a DC motor driven valve which controls the liquid to the spray heads.

Although in the embodiments described the actuators have been powered from an electrical source it is possible to power the actuator from a pneumatic or hydraulic line available from the vehicle or from the pressure of the sprayer liquid supply. In such circumstances the wiring may be eliminated and the radio receiver and transmitter may be solar powered from a rechargeable battery.

It will be appreciated that the invention may be adapted to control other forms of agricultural machinery, and the like, for example, a potato grading conveyor line in which the operator may wish to carry a remote control device for controlling the line when remote from the main control box.

The invention enables environmental pollution resulting from excessive doses of toxic chemicals to be virtually eliminated firstly because the spray head nozzles may be tested for clogging using only a minimum burst of spray 16 - whilst controlling each spray head individually. Secondly by facilitating the calibration process the crop sprayer operator will be able to regularly calibrate each nozzle to ensure the sprayers are working within legal limits.

The invention provides operator safety as it allows the operator to stand well out of range of the spray and to be in a control of the sprayer so as to cut off the supply if the wind should start to gust in his direction. The operator may instantly cut off the supply by lifting his finger from the button. The operator can then reposition himself into a safer location from which he may still signal between the transmitter and receiver and be in line- of-sight with the spray heads.

By adapting the invention for use on existing crop sprayers or by using the invention on a specifically designed crop sprayer or other vehicle mounted equipment the advantages will be a considerable time saving in the testing operation and a financial saving in lost chemicals from a crop sprayer, and for general equipment control there is also a saving in breakdown and failure from control wiring failure.

As the operator is always in control of the spraying operation, although he may be out of the cab, there is an improved safety factor provided by the invention. By limiting the time a spray head is operated under test conditions there is also a reduced risk of operator and crop contamination.

A

Claims

1. A controller for the remote control of vehicle mounted crop sprayer equipment including a number of discrete actuators f or controlling the equipment, a f irst transmitter having a number of switches and arranged to provide a coded output signal according to the operation of said switches, and a number of remote receivers arranged to decode the coded signal and to cause selected actuators to operate, and wherein the first coded output signal is arranged to be transmitted through the air between the first transmitter and each receiver.

2. A controller as claimed in claim 1 in which each actuator has an associated receiver.

3. A controller as claimed in claim 1 in which a second transmitter mounted on the vehicle is provided to control the actuators by way of the remote receiver.

4. A controller as claimed in claim 3 in which said second coded output signal is arranged to be transmitted through the air between the second transmitter and each receiver.

5. A controller as claimed in any preceding claim in which the first coded output signal is an electro-magnetic transmission.

6. A controller as claimed in any of claims 1 to 4 in which the first coded output signal is an ultrasonic transmission.

7. A controller as claimed in claim 3 in which the second transmitter is directly connected by a discrete electrical path to the actuators.

8. A controller for a vehicle driven crop sprayer having a plurality of spray heads, supply means for supplying liquid under pressure to the spray heads, valve means for controlling the supply of liquid to the spray heads, and, actuating means for opening and closing the valve means, said controller including control means which is operable from within the vehicle to control the supply of liquid to the spray head and a first transmitter controlled by a device which is operable outside the vehicle to remotely 10 control the supply of liquid to the spray heads.

9. A controller as claimed in claim 8 in which the remote transmitter switch device provides a coded signal to select and independently control the actuator means.

is

10. A controller as claimed in claim 9 in which the coded signal is an electro-magnetic transmission.

11. A controller as claimed in claim 10 in which the 20 electro-magnetic transmission is a radio transmission.

12. A controller as claimed in claim 10 in which the electro-magnetic transmission is an optical transmission.

13. A controller as claimed in claim 10 in which the electro -magnetic transmission is an infra-red transmission.

14. A controller as claimed in claim 9 in which the coded signal is an ultrasonic transmission.

15. A controller as claimed in any preceding claim in which the first transmitter is operated by a number of switches having a positive operation requiring manual pressure to maintain operation so that release of a switch releases an actuator from operation.

19

16. A controller as claimed in claim 15 in which the switches are pushbutton switches.

17. A controller as claimed in any preceding claim in which the coded signal arranged to selectively control the actuators includes a security code to confirm a valid signal transmission.

18. A controller as claimed in any preceding claim in which 10 the first transmitter has a directional transmission means.

19. A controller as claimed in any preceding claim in which a waterproof housing encases the controller.

20. A method of remotely controlling agricultural equipment by transmitting an ultrasonic or electro -magnetic signal from a first transmitter to a receiver which is arranged upon receipt of a selectively coded signal to control a selected actuator for controlling the equipment.