GB2347368A - Sprayer/spreader boom switching means - Google Patents

Abstract

A means of determining the angle of intersection of the projected track of an agricultural fertiliser spreader or sprayer having outlets or nozzles located on a transverse boom means with a target line, for example a footpath or headland, lying ahead of the same, by means of a GPS receiver installed on the said vehicle, and a pre-loaded digital field map having the said same footpath(s) and headlands delineated upon it in a differentiated manner, and utilising the said angle of intersection to trigger the sequential switching on or off of the said nozzle/outlet means at the correct moment for that portion of the said boom in operational use at the time in being.

Description

Sprayer/Spreader Boom Switching means This application relates primarily to the field of agriculture, and the control of agro-chemical sprayer distribution nozzles and fertiliser spreader outlets located on transverse booms and refers to GB 982764.1 by the same applicant.

The present invention is applicable to the device described therein, without prejudice to the incorporation of parts thereof, for example of the headland switching means alone, i. e., without the said footpath switching means, to other control systems for use in circumstances where no footpaths arise.

To avoid needless repetition the preamble to the cited claim is ommitted, and a description of the operating means thereof appended below, it being relevant to the present application.

Figure 1 of the said application is reproduced as Figure 1 of the present application, and is a schematic plan, showing at XY the track of the vehicle carrying the said sprayer or applicator, the said boom means horizontally located normal to the said axis, symetrically, either side thereof as b, the left side intersecting the headland c at an angle A. The distance covered before the right hand end of the boom crosses line c is shown as a, and may be expressed as: a = b x tan A, where the angle C, as here, is a rightangle, which same formula may be employed to describe any sub-division of the said boom, since the time required to cover the distance a, be it that of the entire boom, as depicted in Figure 1 or any sub-division thereof, is a function of the said working width and forward speed or distance over time. This may be inputted by a variety of means, for example micro-wave radar, Hall effect sensors quantifying the rotational speed of a wheel of a known rolling radius, or a satellite operated Geographical Positioning System, hereafter referred to as GPS, with which an increasing number of agricultural machines are fitted for a variety of purposes. In the present invention the input angle, or angle of intersection, of the machine's projected track with the headland may be manually set, or electronically inputted from and by a preloaded digital map employed in the said machine's control system operated in conjunction with a GPS giving the machine's real time position on the said map, which same may also be employed for operating the said switching means, both as a footpath switch, or as a bout stop/start switch. Where the said angle is manually set the operator is presented with a circular control knob, across whose diameter an easily visible line is marked, as may be seen in Figure 2 at K. In the preferred embodiment thereof the said knob means is mounted beside the operator in such a manner that the said line is at rightangles to the vehicle's fore and aft axis when the angle of intersection, A, is at zero, i. e., the said vehicle's same axis lies at ninety degrees to the said headland, the said line lying between pointers indicating the same. Where the said angle is at other than ninety degrees the operator turns the said knob in the required dirction, to align, by eye, the said diametrical line t reon parallel with the said headland c, as perceived, so presetting an analogue value for the angle A and thus, given the boom width or that of any sub-division thereof, the distance a appropriate to the same. When the appropriate end of the boom reaches the said headland the said nozzle or outlet means are started or stopped by actuating the appropriate switch,"stop" or"start"as desired, as shown, by way of example, in Figure 2, whereafter each sub-division is sequentially switched, the first immediately, and the remainder as the delay computed appropriate to the said angle, A, measured vehicle speed and sub-division of width expires, until the full working width, or such subdivision of the whole as may be engaged with the said switching means has been fully switched on or off, as the case in hand requires.

Where the said switching means is employed in footpath mode a nominal value for the footpath width, w, in Figure 1, is manually pre-entered as at W in Figure 2. Where the said switching means is to be manually activated a further switching means as at P in Figure 2 is engaged to set the said device in footpath mode. In the preferred embodiment of the manual means clear indication of such engagement is given, by, for example, employing a press button switching means at P in which same the said button is illuminated until the footpath has been crossed, and the operation is completed, after which the the said switch P is automatically disengaged until re-set.

The said angle setting switch K may be turned to align the said bar thereon fore and aft, to align the same with a second set of markers, in which position the above GPS switching system is engaged to automate all switching operations, which same means are further described below.

In Figure 1 now let the line c represent the near side of a footpath to be crossed, and the line p-p represent the far side thereof. In the triangle e f w, the angle E is rightangle, the angle W = (90 degrees less angle A) and the distance to run, e, from which, given the machine's groundspeed, the switching delay, d, between switching off and on may be computed.

Thus d = w Sin W Having pre-set the width w, as above described, and, where the operation is manually controlled, the angle W, using the knob K, as above described for the headland, but in this case aligning the said bar with the said footpath, the operator switches the boom off by employing the stop switch when the appropriate end of the boom intersects the desired stop line, whereafter the sequential switching off proceeds as above described, the delay d for the distance to run to clear the footpath commencing it's countdown as the stop switch is used. At the completion of the delay d the said first of the said sub-division of the nozzles/outlets switched off is switched on again electronically, with the sequential switching on of the remaining sub-divisions deployed occurring successively in the same manner as that at which they first switched off when the footpath was encountered. Where a GPS is used in conjunction with a pre-loaded digital map means the said angle W, and the v lue of w may be electronically determined as above outlined a. below described, and the device activated by the same means.

In such spreaders and sprayers it is often useful to be able to be able to switch off individual nozzles, or grouped pluralities thereof, to prevent waste, for example, through applying fertiliser to uncropped areas, as occur in the vehicle's tracks. These, for ease of operation, are usually unsown strips, known from their appearance in growing crops as "tramlines", which are created when sowing the crop by leaving strips unsown at spacings appropriate to the wheel track setting in use, at intervals across the field matching the working width of following machinery needing passage through the growing crop, as for example, the said sprayer/spreader means. Such "tramlines"are pre-set by the operator of the sowing machinery which usually covers a smaller working width than the said sprayer/spreader means. Thus for example, on every fourth"bout" of the said seed drill a set of tramlines may be created, so leaving them every four seed drill widths apart across the field. Thus, where the working width of the said seed drill is four metres, the tramlines will be at sixteen metres to match a sixteen metre boom width.

It likewise frequently useful to be able to switch parts of the said boom means off, and to this purpose a switching means is employed in the present invention, whereby the said nozzle means may be switched off in two manners, from the fore and aft centreline of the said boom means outwards to the end of the boom, or vice versa. In the preferred embodiment individual nozzles are inividually switched, but where expense debars the same from being done grouped pluralities thereof may be switched. It is additionally useful to be able to isolate individual nozzles across the working width, so, for example, confining he application of the product being applied to particular sections of the working width, as for example may be desirable when working a field sown in"beds".

Thus in the present invention a switching means and displaying means are employed to allow the operator to pre-set the machine by, for example, isolating the above described tramline covering nozzles if so required, and any individual nozzles, or any length of the said boom means desired. In Figure 3 a display means, for example a liquid crystal screen, may be seen at D, upon which, by way of example, an elevation of the sprayer boom as seen from behind may be seen, as an aid to the setting process, the said nozzle means being schematically shown, and numbered from those adjacent to the centre of the said boom centre as left 1-n and right r-n.

To the left of the said"display D is shown by way of example, a switch S to put the device into a programmable mode. In the preferred embodiment a menu M is displayed on the said screen D, accessed, and cycled through, by the said selecting switch S.

The said switch may, for example, be turned to the right, or depressed, to select the mode required, by cycling through the menu, which, for example, might read"set tramlines""set working width","set manual control"or"set GPS auto". When the setting has been completed, switch S is returned to the left, or cycled, to the"run"position. The said"run"switch may be utilised to lock the system inoperable unless set to run, and a ck be fitted to the same to effect such measure, which same n. dy be mechanical or electronic, and require a security code input.

Beneath the switch S may be seen, by way of example, two further switches, LI and L2, controlling the switching of nozzles on the left of the machine's centre line from the same outwards to the outermost, the second switching in the opposite direction, i. e. from the outermost to the centre. At R1 and R2 may be seen those controlling the right hand side, in a similar manner. Above the said R1 and R2 may be seen the setting switch T. In the preferred embodiment the said switches R1/R2, L1/L2, cycle each nozzle discretely in succession, the said display indicating whether the mode selected is for setting tramlines by isolating appropriately located single nozzles, or for example, for"bedwork", a plurality of spaced single nozzles, or utilising a specific width of the said boom. Thus that portion, or those portions of the said boom selected for operational use may be located anywhere along it's length.

When the appropriate menu bar has been selected by switch S, and the appropriate nozzles and operating mode selected the setting switch T is actuated. Where the operator needs to reduce the working width of the machine to avoid overspraying, as frequently is desirable on the last bout of a field, where for example the tramlines may mismatch, by say one third, he can easily adjust the working width of the working part of the boom, which may be located anywhere along it's length, by selecting and presetting"adjust working width"on the menu, and setting the same by using the switches L1/L2, R1/R2. Where it is desirable to leave tramlines unsprayed the operator may select set tramlines and input which nozzles are to be isolated by utilising the said display, selecting with the aid of the display and, for example, switches L1, and R1, and setting the same with switch T. On completion of any setting operation the operator re-sets the menu to operating mode, and the selecting switch S to"run".

Where the GPS system is employed in conjunction with a preloaded digital map to calculate angles A and so also W as above described and to trigger the system a number of variables must be considered: the longitudinal, or fore and aft displacement of the said spray or spreader boom means from the aerial means of the said GPS unit, and the lateral or thwartships displacement of the same from the vehicles fore and aft centreline, which same are constants for any vehicle configuration, e. g. front boom or rear boom, and may be entered as such, means being prpvided for the installer to effect such adjustments.

In Figure 4 the rectangle V schematically represents a vehicle proceeding in the direction of the arrow v, having, for the sake of illustration, a boom in front at Q, and another at the rear R. The fore aft centreline is shown as X-Y. A front boom will reach the desired point before the said aerial, and the displacement between the said boom means and the said aerial receiving means is, for any vehicle and spraying or spreading outfit, a constant, shown at q, which, since Q precedes the -aid aerial is a negative value, the said boom means arriving the said target line before the said aerial means; a rear boom, being further by the distance u, will be endowed with a positive value. The lateral displacement, again a constant for any particular set-up, is shown as v, and must be programmed in since the machine is effectively set-up around its centre line X-Y.

The angle A may be calculated by running a"phantom" parallel centreline, seen in Figure 1 at phl and ph2, through each of the outermost nozzles being utilised, and, by projecting the same forwards to intersect the said target line, and computing the distance to run, from each said outermost nozzle or outlet means to the target line, be it a footpath or a headland, which same may electronically differentiated from eachother on the said digital map. Where the said target line is at an angle of other than ninety degrees one distance will be larger than then other, as seem in Figure 1 for illustration.

Subtracting phl from ph2 will produce a value for side a, from which angles A and W may be computed as above described, whilst that side having the shorter distance to run dictates at which side switching starts/stops. If the distance phl is assigned a negative value, and ph2 a positive value the mathematical outcome may be used to determine the relationship of the said angle to the said vehicle means: where the outcome is positive number the left hand side will be the first to reach the said switching point, and vice versa. The said value of a may the product of an average reading over a finite period of time or distance run.

In a further embodiment of the said GPS controlled switching system the distance to run from each outermost nozzle or outlet means is calculated by creating individual phantoms for eachsaid means, parallel to the centreline as for phl/ph2 above to determine the side from which switching is to commence, and separate individual phantoms for each intermediate nozzle or outlet means employed as above described. Upon the shortest distance being run to zero, and the triggering point reached, the first nozzle or outlet is switched. Thereafter each successive nozzle is switched by running it's own phantom distance a to zero, causing it to be switched. Such an arrangement may be seen in Figure 4 at phR. Where the said nozzles are sub-grouped, as seen at phL, the said sub group must be switched upon one side or the other counting down to zero, as seen here, requiring a separate phantom to be created for each end nozzle or oultlet means of each such sub-group, as may be sen in the solid and hatched lines from the left and right hand sides of each such sub-group, or the creation of a single such phantom line from the centre point of the said each such said group, as seen in Figure 4 at phc.

The number of nozzles/outlets in use at any time may be inputted to the said machines operating system whilst they are being used, for a variety of purposes, for example for computing and controlling direct injection of the active ingredients into the diluent employed, or for calculating the total volume utilised, and the area treated by the machine.

The system therefore reduces wastage, the accompanying oss, and potential damage, be it ecological, agricultural, or nancial, and may be employed in conjunction with further control systems for particular purposes, for example spot spraying weed patches under GPS control and weed map direction without prejudice to either.

Claims (4)

1. V T I CLAIM IS: 1. The employment, in a sequential nozzle or outlet switching means of the control system of an agrochemical sprayer or fertiliser spreader according to application No GB982764.1 and fitted with a GPS receiver and pre-loadable digital field mapping means whereon the real time position of the said machine is tracked, of a programmable setting means as described in the accompanying application, whereby the said nozzle or outlet means may be preset, to operate on command or remain inoperative at any point, or points, along the said boom means, either as individual units or as sub-groupings thereof, wherein the outermost of such nozzles or outlets as are operational are used as parallel reference points to calculate the angle of the vehicle's projected intersection with a desired pre-set target line, for example a footpath or headland, differentially delineated on the said digital mapping means, that the one may be distinguished from the other, and so of measuring the distance from each such said outermost means to run to the said target line, and on arriving at the same, triggering the said sequential switching means, by projecting"phantom"tracks parallel to the vehicle's ahead of, and from, each such outermost nozzle or outlet means to the said target line, and by measuring the distance to run from each, determine the angle of intersection by assigning, permanently, opposite values to each side, such that where the distances are dissimilar the product will be a positive or negative figure quantifying the value of a in the Figure 1, which same may be the product of an average over a finite period of time or distance run, and from which the size of the said angle A, as described in the accompanying application, and the relationship thereof to the said vehicle's track, may be determined and employed for operating the said sequential switching means when that side having lowest value, after suitable correction for the horizontal and lateral displacement, of the said boom means from the the aerial means of said GPS, reaches zero, on arriving at the target line or the trigger point for switching operations, be they on or off.
2. 2. A further embodiment of a device according to claim 1 above wherein each such nozzle or outlet means is assigned it's own "phantom"line for computing the distance to run from the same to a designated target line as described in the accompanying application, and Figure 1 and 4, the switching of each such said nozzle being triggered when the said distance peculiar to it has counted down to zero.
3. 3. A device according to claim 2 above wherein the said nozzle or outlet means are sub-grouped into discrete units, each being a plurality of such means, and assigned a separate phantom line means for both it's outermost nozzle or outlet means for the purpose of triggering the switching means particular to that said discrete sub-group, as describd in and shown at Figure 4 of the accompanying application.
4. 4. A device according to claim 3 above wherein in each such said discrete unit is assigned a single phantom line originating from it's mid-point, as described in and shown in Figure 4 of the accompanying application, and switched thereby.