AGRICULTURE DEVICE FOR DISPENSING A LIQUID

Abstract

An agricultural device includes a boom having a supply line for transporting liquid product and nozzles along the boom, each nozzle operatively connected to the supply line. A liquid product supply is connected to the supply line for supplying the liquid product to be sprayed. A pressure regulation unit includes a nozzle controller for controlling opening and closing of a nozzle. A speed detector measures speed of the device. The pressure regulation unit and/or the nozzle controller calculate nozzle timing data for each nozzle including a spraying frequency and a maximum closing time. The speed is provided to the pressure regulation unit and/or the nozzle controller for calculation of nozzle operation data. The nozzle controller operates each of the nozzles based on the calculated nozzle timing data and the maximum closing time is not exceeded to obtain a homogeneous spraying of the liquid product over a surface of a field.

Claims

1-22. (canceled)

23. An agricultural device for dispensing a liquid product over a surface to be sprayed, such as an agricultural field, the device comprising: at least one boom comprising a longitudinal supply line for transporting the liquid product and a plurality of nozzles that are positioned along the boom, wherein each nozzle is operatively connected to the longitudinal supply line; a liquid product supply that is connected to the longitudinal supply line for supplying to the longitudinal supply line the liquid product to be sprayed; at least one pressure regulation unit including at least one nozzle controller that is configured for controlling the opening and closing of one or more associated nozzles; a speed detector that is configured to measure movement speed of the agricultural device; and, wherein the at least one pressure regulation unit and/or the at least one nozzle controller is configured to calculate nozzle timing data for each associated nozzle, the nozzle timing data at least containing a spraying frequency (Sfreq) and a maximum closing time (Tmax), wherein the movement speed is provided to the at least one pressure regulation unit and/or the nozzle controller to be included as calculation input for calculation of the nozzle timing data, and wherein the nozzle controller is further configured to operate each of the plurality of associated nozzles based on the calculated nozzle timing data and wherein the maximum closing time is not exceeded to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed.

24. The agricultural device according to claim 23, wherein the at least one pressure regulation unit and/or the nozzle controller are configured to determine the spraying frequency (Sfreq) and/or the maximum closing time (Tmax) at least partly based on the movement speed of the agricultural device when calculating the nozzle timing data for each associated nozzle.

25. The agricultural device according to claim 23, wherein the detection of the movement speed of the agricultural device further comprises detecting a nozzle movement speed of each of the plurality of nozzles and wherein the at least one pressure regulation unit and/or the nozzle controller are configured to determine the spraying frequency (Sfreq) and/or maximum closing time (Tmax) of each of the plurality of nozzles further based on their respective associated nozzle movement speed.

26. The agricultural device according to claim 24, wherein determining the maximum closing time (Tmax) comprises decreasing the maximum closing time in correspondence with an increase in the moving speed and increasing the maximum closing time in correspondence with a decrease in the movement speed.

27. The agricultural device according to claim 23, wherein the at least one pressure regulation unit and/or the nozzle controller are configured to adapt the nozzle timing data for each associated nozzle such that each nozzle pulses asynchronously.

28. The agricultural device according to claim 27, wherein the at least one pressure regulation unit and/or the nozzle controller are configured to add a random delay to the nozzle timing data of each of the plurality of nozzles.

29. The agricultural device according to claim 27, wherein the nozzle timing data of each of the plurality of nozzles is out of phase compared to the other nozzles.

30. The agricultural device according to claim 23, wherein the plurality of nozzles is divided into nozzle groups, wherein for each of the nozzle groups the nozzle timing data is equal for all nozzles in said nozzle group.

31. The agricultural device according to claim 23, wherein the at least one pressure regulation unit and/or the nozzle controller are configured to temporarily disable one or more of the plurality of nozzles in accordance with an amount of liquid to be sprayed.

32. The agricultural device according to claim 23, wherein the plurality of nozzles comprises duo fan nozzles that comprises a first nozzle head that is configured to spray in a first direction and a second nozzle head that is configured to spray in a second direction, and wherein the first direction is approximately in a forward moving direction of the agricultural device and wherein the second direction is approximately in a backward moving direction of the agricultural device.

33. The agricultural device according to claim 32, wherein the calculation of the nozzle timing data for each associated nozzle further comprises adapting the nozzle timing data to minimize an overlap between a spraying target of the first nozzle head and a spraying target of the second nozzle head.

34. The agricultural device according to claim 23, wherein each of the plurality of nozzles are configured to spray with a non-homogeneous droplet size and wherein the maximum closing time is further determined according to a size of a spraying area corresponding to each of the plurality of nozzles.

35. The agricultural device according to claim 23, wherein the maximum closing time is further determined in accordance to a wind speed and a wind direction.

36. The agricultural device according to claim 23, wherein the nozzle controller comprises a number of electro-valves, wherein each electro-valve is associated with one or a number of nozzles, where each electro-valve is configured for receiving the nozzle timing data for setting the opening and the closing of the associated nozzles.

37. The agricultural device according to claim 36, wherein the electro-valves are controlled with a PWM signal according to a Duty Cycle (DC) formula, wherein the Duty Cycle formula is defined as DC=T1/(T2+T1), and/or wherein each of the plurality of nozzles comprises a coil structure and wherein the nozzle controller is configured to control the opening and closing of the nozzle by switching a direction of electric current through the coil in accordance with the nozzle timing data and wherein each of the plurality of nozzles may further comprise a spring that is configured to assist the closing of said nozzle, and/or wherein each of the plurality of nozzles comprises an opening coil and a closing coil and wherein the nozzle controller is configured to control the opening and closing of the nozzle by alternating between activating the opening coil and activating the closing coil in accordance with the nozzle timing data.

38. The agricultural device according to claim 36, wherein the at least one pressure regulator and/or nozzle controller are further configured to observe a current, an electrical resistance and/or the voltage needed to open and/or close the electro-valves and wherein a maintenance signal is presented to a user of the agricultural device when the current, electrical resistance and/or the voltage is outside a predefined range.

39. The agricultural device according to claim 23, wherein the device is a self-propelled vehicle, and wherein the device comprises: a number of wheels; at least one angle sensor that is operatively connected to a steerable wheel of the number of wheels; and, wherein the at least one angle sensor is configured to measure a wheel angle of the associated wheel with respect to a central axis that extends from a rear end to a front end of the vehicle substantially parallel to a moving direction, and wherein the angle data is transmitted to the nozzle controller to be included as calculation input for calculation of the nozzle timing data.

40. The agricultural device according to claim 23, wherein the device is a vehicle to be towed by another vehicle.

41. A method for spraying a field, comprising of providing the agricultural device according to claim 23, and controlling the agricultural device to spray the field.

42. computer implemented method for controlling an agricultural device according to claim 23, the method comprising the steps of: observing an amount of liquid to be sprayed; observing a movement speed of the agricultural device; calculating nozzle timing data at least comprising a spraying frequency and a maximum closing time in accordance with the observed amount of liquid to be sprayed and the observed movement speed; and controlling the opening and closing of the plurality of nozzles in accordance with the nozzle timing data using the at least one pressure regulator and/or nozzle controller.

Description

[0090] FIG. 1 shows a schematic overview of different components of the device.

[0091] FIG. 2a shows a perspective view of an example of an agricultural device according to the invention;

[0092] FIG. 2b shows the device of FIG. 1 in which the booms are extended;

[0093] FIGS. 3a-3b show a schematic overview of the device of FIG. 2 during operation.

[0094] Agricultural device 2 according to an example of the invention (see FIGS. 2a, 2b) shows self-propelled device 2 that is provided with wheels 4a, 4b, 4c, 4d that are connected to a drive assembly (not shown) and with driver cabin 6 from which an operator can control agricultural device 2. Agricultural device 2 further comprises liquid product supply 8 in the form of storage tank 8 in which liquid product that is to be dispensed over a surface S is provided. In this example, agricultural device 2 comprises two booms 10, 12. Boom 10 is provided with longitudinal supply line 14 and a plurality of nozzles 18a-18x which are distributed along boom 10. Each of the nozzles 18a-18x is fluidly connected with longitudinal supply line 14 of boom 10, which longitudinal supply line 14 has end portion 22 that is fluidly connected with liquid product supply 8.

[0095] Boom 12 is provided with longitudinal supply line 16 and a plurality of nozzles 20a-20x which are distributed along boom 12. Each of the nozzles 20a-20x is fluidly connected with longitudinal supply line 16 of boom 12, which longitudinal supply line 16 has end portion 24 that is fluidly connected with liquid product supply 8.

[0096] Agricultural device 2 further comprises pressure regulation means 54 (see FIG. 1), which include at least one nozzle control unit 56 to control the opening and closing of one or more of associated nozzles 18a-18x, 20a-20x on respective booms 10, 12.

[0097] Agricultural device 2 further comprises speed detector 58 which is configured for detecting the movement speed of the agricultural device 2.

[0098] In this example agricultural device 2 also comprises positioning system 30 that is configured to provide real-time position data to the device, most notably to pressure regulation unit 54 and/or nozzle control unit 56, that is used in calculating which of nozzles 18a-18x, 20a-20x needs to be operated at a specific time to dispense liquid on the field.

[0099] Pressure regulation unit 54 and/or nozzle control unit 56 are configured to calculate nozzle timing data for each associated nozzle 18a-18x, 20a-20x. The nozzle timing data at least contains a closing time (T1), an opening time (T2), and a maximum closing time Tmax and an opening/closing spraying frequency (Sfreq) for each of the associated nozzles 18a-18x, 20a-20x and is calculated based on a calculation input. The calculation input at least includes the movement speed detected by speed detector 58. Closing time T1 and opening time T2 related to the Duty Cycle (DC) formula, wherein the Duty Cycle formula is defined as DC=T1/(T1+T2). Here the DC corresponds with the amount of liquid to be sprayed relative to the maximum amount of liquid that agricultural device is capable of spraying during one duty cycle when opening time T2 is one and closing time T2 is zero. To ensure homogeneous coverage of surface S of field 40 pressure regulation unit 54 and/or nozzle control unit 56 are configured to calculate nozzle timing data including calculating maximum closing time Tmax, wherein maximum closing time Tmax relates to a time agricultural device can travel without spraying while maintaining the homogeneous spraying coverage given the movement speed of agricultural device 2. Pressure regulation unit 54 and/or nozzle control unit 56 are configured to calculate closing time T1 such that it does not exceed maximum closing time Tmax. In case T1 approached Tmax, spraying frequency Sfreq is increased and T1 is decreased.

[0100] Nozzle controller 56 is further configured to operate each of associated nozzles 18a-18x, 20a-20x based on the calculated nozzle timing data to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed.

[0101] Agricultural device 2 in this example also comprises detection system 32 that includes a plurality of cameras 34 and image processor 36 for processing the images captured with cameras 34. The processed images are subsequently sent from image processor 36 or detection system 32 to map generator 38 that generates raster-based representation 40 having plurality of raster elements 42. Each raster element 42 represents a part of surface S of the field (see FIGS. 3a-3b) to be sprayed which has an associated amount of liquid to be sprayed.

[0102] In this example (see FIG. 1) device 2 also comprises communication device 44 that is operatively connected to memory 46 and to pressure regulation unit 54 and, thus, nozzle control unit 56, and user interface 48 that is configured to enable a user or operator to provide input and control device 2. The operator may follow the operations on display 50, on which in this example the specific information on the operation of the different nozzles at different times is represented. Naturally, other information regarding the operation of agricultural device 2 may also be provided on display 50.

[0103] In this example, booms 10, 12 each are foldable between a storage position (see FIG. 2a) and a spray position (see FIG. 2b). In the active position, booms 10, 12 extend outwardly on opposite sides from the agricultural device 2 (see FIG. 2b). In this position, booms 10, 12 extend substantially perpendicular to a central axis A, which central axis A extends substantially parallel to moving direction D from rear end 26 to front end 28 of device 2. In the storage position, each of booms 10, 12 is rotated inwardly over an angle of about 90 and folded, such that each of booms 10, 12 extends at least partially parallel to central axis A of agricultural device 2 (see FIG. 2a).

[0104] In this example (see FIG. 1) device 2 also comprises communication device 44 that is operatively connected to memory 60 and to pressure regulation unit 54 and, thus, nozzle control unit 56, and user interface 48 that is configured to enable a user or operator to provide input and control device 2. The operator may follow the operations on display 50, on which in this example the specific information on the operation of the different nozzles at different times is represented. Naturally, other information regarding the operation of agricultural device 2 may also be provided on display 50.

[0105] In this example agricultural device further comprises wind detector 62 which is configured to detect a wind speed and wind direction and communicate these wind measurements to pressure regulation unit 54 and/or nozzle control unit 56. Pressure regulation unit 54 and/or nozzle control unit 56 are further configured to partly base the calculation of Tmax on the wind measurements.

[0106] In operation of device 2, of which an example is shown in FIGS. 2a-2b, device 2 moves in direction D along surface S of the field, meanwhile spraying with different nozzles 18a-18x, 20a-20x, on various raster elements 42 of raster based representation 40 that are in practice various sub-parts of field F. It is noted that for clarity the raster elements are visualized much larger as they are in practice.

[0107] In operation pressure regulation unit 54 and/or nozzle control unit 56 calculate opening time T2, closing time T1, maximum closing time Tmax and spraying frequency Sfreq based on movement speed of different nozzles 18a-18x, 20a-20x and their corresponding spraying area (not shown). As the agricultural device moves in a constant forward motion all nozzles have the same movement speed. Therefore pressure regulation unit 54 and/or nozzle control unit 56 adds a random value to the spraying frequency Sfreq of the different nozzles 18a-18x, 20a-20x. It is noted that a different random number is generate for each individual nozzle.

[0108] In operation the user of agricultural device 2 takes a turn (FIG. 3b) which causes nozzles 18a-18x, 20a-20x to have a different moving speed relative to each other. In response pressure regulation unit 54 and/or nozzle control unit 56 recalculates the nozzle timing data for each nozzle. Due to the difference in moving speed, spraying frequency Sfreq differs slightly for each nozzle. Therefore pressure regulation unit 54 and/or nozzle control unit 56 does not add a random value to the spraying frequency Sfreq of the different nozzles 18a-18x, 20a-20x.

[0109] The present invention is by no means limited to the above described preferred embodiments thereof. The rights sought are defined by the following claims within the scope of which many modifications can be envisaged.