Systems, methods, and apparatus for calculating and managing the flow rate of irrigation corner components.

Abstract

This invention provides a system and method for calculating the water flow rate applied by a corner arm sprayer. According to a first embodiment, the invention provides a system and method for controlling and balancing the flow rate of a corner arm sprayer to provide targeted, discrete, controlled uniform and non-uniform water distribution rates on a given field.

Description

[0001] Related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 213,345, filed June 22, 2021.

[0003] Background and Technical Field of the Invention Technical Field

[0004] The present invention generally relates to systems and methods for irrigation management, and more specifically, to systems, methods and apparatus for calculating and managing the flow rate of sprayers within irrigation corner assemblies. Background Technology

[0005] Exemplary central pivot irrigation systems known in the prior art include Figure 1 As shown, the irrigation machine 100 typically includes a main section assembly 104, which may include any number of interconnecting jumpers supported by one or more intermediate drive towers 108 and a final conventional drive unit (“LRDU”) 110. The LRDU 110 is typically a motorized drive tower that rotates the main section assembly 104 about a central pivot 102.

[0006] To cover the additional area, corner jumpers 106 are typically attached to connection point 112, allowing corner jumpers 106 to rotate laterally about connection point 112. As shown, corner jumpers 106 are supported and moved by a corner / steering drive unit 114 (SDU). Corner jumpers 106 may include booms 116 and end guns (not shown) and / or other sprayers. Additionally, position sensors between the jumpers can provide position and angular orientation data to the system, as discussed further below. Furthermore, one or more control panels 120 are typically provided to encapsulate onboard computer components.

[0007] In operation, the corner machine 106 must be able to extend faster than the main irrigation machine 104, thus increasing the effective length of the irrigation machine, and then be able to retract slower than the main irrigation machine, thus shortening the effective length of the irrigation machine. The SDU 114 adjusts the steering angle and ground speed to facilitate this movement.

[0008] Currently, modern irrigation systems are limited in their ability to apply a set target flow rate uniformly across a given field. For this, the flow rate must be proportional to the speed of each bridging unit (flow rate / sprinkler speed = constant). In other words, when one sprinkler moves faster than another, it must deliver more water (assuming a common sprinkler type is used). Using this relationship, the flow rate of the sprinklers on the main bridging unit 104 can be calculated and balanced. However, the same calculation cannot be used to accurately calculate the flow rate of the corner sprinklers. This is due to the complex interaction of the motion between the irrigation machine 104 and the corner machine 106. For this reason, calculating and controlling the uniform distribution of water via the corner machine 106 is generally difficult and imprecise. Furthermore, and for the same reason, known systems also cannot calculate and apply targeted, non-uniform water distribution to a given area, or implement controlled variable-rate schemes, resulting in limited, non-uniform application depth.

[0009] To overcome the limitations of existing technology, a system capable of accurately calculating the flow rate of corner arm sprayers is needed. Additionally, a system capable of controlling and balancing the flow rate of corner arm sprayers is needed to provide discrete, controlled uniform and non-uniform water distribution rates in a given field area irrigated by corner machine 106. Summary of the Invention

[0010] This invention provides a system and method for calculating the water flow rate applied by a corner arm sprayer. According to a first embodiment, the invention provides a system and method for controlling and balancing the flow rate of a corner arm sprayer to provide a controlled uniform and non-uniform water distribution rate in a given field.

[0011] The accompanying drawings, which are incorporated in and form part of this specification, illustrate various embodiments of the invention and, together with the specification, serve to explain the principles of the invention. Attached Figure Description

[0012] Figure 1 An exemplary irrigation system known in the prior art is shown.

[0013] Figure 2 A block diagram illustrating an exemplary processing architecture of a control device according to a first preferred embodiment of the present invention is shown.

[0014] Figure 3 This is a block diagram illustrating exemplary steps of a method according to a first preferred embodiment of the present invention.

[0015] Figure 4 It is shown Figure 3 A block diagram illustrating additional exemplary steps of the method of the present invention.

[0016] Figure 5 This is a block diagram illustrating an exemplary method for performing step 218 of the first exemplary method.

[0017] Figure 6 In order to explain Figure 7 The exemplary steps 702 to 708 shown in the illustration are provided in the diagram.

[0018] Figure 7 This is a block diagram illustrating an exemplary method for performing step 222 of the first exemplary method.

[0019] Figure 8 This is a block diagram illustrating exemplary steps of a method for calculating water flow rate in a corner arm sprinkler.

[0020] Figure 9 This is a diagram illustrating the angle of the SDU velocity vector.

[0021] Figure 10 In order to explain Figure 8 The exemplary steps shown are illustrated in the diagram.

[0022] Figure 11 This is an illustrative diagram showing exemplary variables used for calculating the norm of the SDU velocity vector according to the present invention.

[0023] Figure 12A This is a diagram showing a corner sprayer that operates in parallel and does not overlap between watering sections.

[0024] Figure 12B This is a diagram showing a corner sprayer operating at an angle with overlapping sections.

[0025] Figure 13 This is an illustrative diagram showing exemplary variables for calculating the overlap factor according to the present invention.

[0026] Figure 14 This is an illustrative diagram showing an aspect of calculating the overlap factor according to the present invention.

[0027] Figure 15 This is a block diagram illustrating exemplary method steps for calculating SLFM according to the present invention.

[0028] Figure 16 It is shown Figure 15 A block diagram of the additional method steps of the method shown.

[0029] Figure 17 This is a first illustrative diagram of a calculation example for SLFM according to the present invention.

[0030] Figure 18This is a second illustrative diagram of a calculation example for SLFM according to the present invention.

[0031] Figure 19 This is an illustrative diagram showing an exemplary corner path.

[0032] Figure 20 This is an illustrative diagram showing the calculation of the sprayer flow rate between the pivot point and the LRDU.

[0033] Figure 21 This is a block diagram illustrating an exemplary method for calculating the width of the spray area of ​​a sprayer.

[0034] Figure 22 This is a diagram showing the defined irrigation area of ​​a sprayer.

[0035] Figure 23 This is an illustrative diagram showing the calculation of duty cycle adjustment.

[0036] Figure 24 This is an illustrative diagram showing the movement of LRDU and SDU over time. Detailed Implementation

[0037] This invention provides a system and method for controlling and balancing the flow rate of a corner arm sprayer. To facilitate an understanding of the principles of the invention, reference will now be made to the embodiments shown in the accompanying drawings, and they will be described using specific language. However, it should be understood that this is not intended to limit the scope of the invention, and such changes and further modifications to the illustrated apparatus are to be expected by those skilled in the art. The descriptions, embodiments, and drawings used should not be construed as limiting the scope of the claims.

[0038] Where the description of the advantages of the embodiments or other limitations of the prior art are present, the applicant does not intend to waive or deny any potential embodiments covered by the appended claims, unless the applicant expressly states that it "hereby waives or denies" any potential claim scope. Furthermore, the terms "embodiments of the invention," "embodiments," or "invention" do not require that all embodiments of the invention include the discussed features, advantages, or modes of operation, nor do they require that they not incorporate suboptimal or disadvantageous aspects of the prior art.

[0039] As used herein, the word "exemplary" means "serving as an example, instance, or illustration." The embodiments described herein are not restrictive but merely exemplary. It should be understood that the described embodiments are not necessarily to be construed as preferred or advantageous over other embodiments. Furthermore, any examples or illustrations given herein should not be regarded in any way as a constraint, limitation, or explicit definition of any or more terms used therein. Rather, these examples or illustrations should be regarded as illustrative only.

[0040] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Additionally, the word “may” is used in a permissible sense (i.e., meaning “possibly”) rather than a mandatory sense (i.e., meaning “must”). Furthermore, it should be understood that throughout this disclosure, unless logically required otherwise, the steps of a process or method shown or described may be performed in any order (i.e., repeatedly, iteratively, or synchronously), and selected steps may be omitted. It will also be understood that the terms “comprising,” “including,” “containing,” and / or “comprising”, when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0041] Furthermore, many of the embodiments described herein are described as sequences of actions to be performed by elements, such as a computing device. Those skilled in the art will recognize that the various sequences of actions described herein can be executed by specific circuitry (e.g., an application-specific integrated circuit (ASIC)) and / or by program instructions executed by at least one processor, enabling at least one processor to perform the functions described herein. Moreover, the sequences of actions described herein can be embodied in a combination of hardware and software. Therefore, various aspects of the invention can be embodied in a variety of different forms, all of which are considered to be within the scope of the claimed subject matter.

[0042] As used herein, the terms “program,” “computer program,” “software application,” “module,” etc., are defined as sequences of instructions designed to be executed on a computer system. Furthermore, for each embodiment described herein, the corresponding form of any such embodiment may be described herein as, for example, a computer “configured” to perform the described actions. Any such computer, program, computer program, module, or software application may include subroutines, functions, procedures, object implementations, executable applications, applets, service applets, source code, object code, shared libraries, dynamically loaded libraries, and / or other sequences of instructions designed to be executed on a computer system. As defined herein, memory or data storage devices include many different types of computer-readable media, including volatile storage devices such as RAM, buffers, cache memory, and network circuitry.

[0043] Now refer to Figure 2The exemplary control device 138 will now be discussed, representing a functional device for controlling one or more operational aspects of the irrigation system 100. As shown, the exemplary control device 138 preferably includes a processor 140, a memory 142, one or more processing modules 150, 151, and a network interface 144. The processor 140 preferably provides processing functionality for the control device 138 and may include any number of processors, microcontrollers, or other processing systems.

[0044] Processor 140 may also execute one or more software programs that implement the techniques described herein. Memory 142 may be an example of a tangible computer-readable medium that provides storage functionality to store various data associated with the operation of the aforementioned software programs and code segments, or other data for instructing processor 140 and other elements of control device 138 to perform the steps described herein. Network interface 144 preferably provides functionality to enable control device 138 to communicate with one or more networks 146 via various components such as wireless access points, transceivers, etc., and any associated software employed by these components (e.g., drivers, configuration software, etc.).

[0045] In one implementation, the irrigation location determination module 148 may include a Global Positioning System (GPS) receiver or similar device to calculate the location of the irrigation system 100. Furthermore, the control device 138 may be coupled to a guidance device or similar system 152 (e.g., a steering assembly or steering mechanism) of the irrigation system 100 to control the movement of the irrigation system 100. The control device 138 may also include a sensor system / input 154 to receive data from one or more sensors, including alignment sensors between bridges. Additionally, the control device 138 may preferably include a power control and communication system 156 for sending and receiving data and control signals from elements throughout the irrigation system 100, as discussed further below.

[0046] According to another preferred embodiment, the flow rate module 150 and the duty cycle module 151 can calculate and adjust the flow rate and duty cycle of individual and / or groups of sprinklers to selectively apply water (or other application) to areas of a given field at variable application depths when executing a dynamically adjusted irrigation plan, as explained in detail below. The variable rate scheme calculated and executed by the present invention can provide discrete, controlled uniform and non-uniform distribution rates / application depths on single or multiple areas of a given field.

[0047] Now refer to Figures 3 to 23This invention teaches a system and method for controlling and calculating the flow rate of a diagonal arm sprayer (i.e., a sprayer located between the LRDU and SDU) to achieve defined / discrete uniform and non-uniform distribution rates. The following aspects of the invention can be controlled and executed by the exemplary control device 138 discussed above. Alternatively, aspects of the invention can be executed by other additional or remote processors.

[0048] Now refer to Figure 3 The exemplary system of the present invention may preferably include user input devices, sensors, and / or stored data to provide a set of data to allow for later calculations. For example, the present invention may receive, store, and / or include data such as: SDU GPS location data 202, pivot point GPS data 204, irrigation system dimensions and SDU orientation 206 (e.g., pivot length, corner length, etc.), SDU / corner path data 208, pivot direction data 210, sprinkler estimated distance data 212, drive tower speed 214 (e.g., LRDU speed and SDU speed), and other factors, such as convergence factor 216, as further discussed below.

[0049] According to a preferred embodiment, the system can pre-calculate initial SDU and / or LRDU paths and generate SDU / LRDU path data for the system to execute a given irrigation scheme / program. Preferably, the system can pre-calculate the initial SDU and / or LRDU paths based on stored and / or detected factors within the area irrigated by the corner. According to a preferred embodiment, these factors may include factors such as: field boundary shape, keep-out areas (e.g., obstacles, boundaries), areas that must be crossed (e.g., bridges), safety margins, and the geometry of the irrigation machine (e.g., distance from the LRDU, corner arm crossover length, corner overhang length, speed ratio between the LRDU and SDU) and other factors. As further discussed below, according to a preferred method, the system of the present invention can execute pre-calculated SDU and / or LRDU paths based on the location of the irrigation machine (or the location of the individual components). According to a preferred embodiment, when the machine moves across the field, the system of the present invention can base its calculations on the following references. Figure 3 The various detected factors discussed are used to further dynamically recalculate and update SDU paths and / or LRDU paths, and / or adjust pre-calculated SDU paths and / or LRDU paths.

[0050] Now refer to Figure 3 Exemplary systems and methods for dynamically adjusting the initial SDU path will now be discussed. Although in Figure 3While not directly discussed in the examples, it's understandable that the system can also adjust individual initial LRDU paths in a similar manner, either independently or in conjunction with updates to the initial SDU paths. For example... Figure 3 As shown, the system implementing the present invention can receive and / or calculate the SDU location (X, Y) at the initial step 218. According to a preferred embodiment, the SDU location can preferably be calculated as the X and Y distances of the SDU from the pivot point, in meters. Preferably, GPS data can be used to calculate the SDU (X, Y) location, as explained below. At the next step 220, the SDU location is preferably fixed as the shortest path point for a given path of the SDU, which is also discussed in more detail below. At the next step 222, the LRDU (X, Y) location can preferably be calculated based on the SDU location, as further explained below.

[0051] Once the relative positions of the LRDU and SDU are determined, the system can determine the target / desired SDU position in the next step 224. For this purpose, the system preferably first determines the SDU path point closest to the SDU. Then, the system preferably establishes the target position (SDU') by estimating the position of the SDU after traveling the expected time / distance along the pivot direction on the path.

[0052] In the next step 226, the system preferably then determines the target / desired LRDU position that matches the target / desired SDU position (SDU'). Step 226 may preferably use the same steps required to determine the current LRDU position based on the current SDU position (i.e., the cosine law), as referred to below. Figure 6 And as discussed in step 220.

[0053] Refer again Figure 3In the next step 228, the system preferably determines the "travel time" required for the LRDU to travel from its current LRDU position to the target / desired LRDU position (LRDU'). Additionally, the system may also calculate the angular velocity of the SDU (i.e., the angular velocity required for the SDU to travel to its target position within the determined "travel time") based on the determined "travel time" in step 228. According to a preferred embodiment, the "travel time" may preferably be calculated as the minimum time allowed for the SDU to move from its current position to the target / desired SDU position. If the "travel time" is below a minimum time threshold or if the distance from the SDU to the target / desired SDU position exceeds a threshold distance, the system may preferably assume that the SDU will move at its maximum speed. Alternatively, the system may assume that the SDU will move to the desired SDU position at a modified speed, which may be based on the relative speeds of the SDU and URDU and / or the relative distance between the current position and the target / desired position.

[0054] In the next step 240, the flow rate 247 of the corner arm sprayers (i.e., the sprayers located between the LRDU and SDU) is calculated. Preferably, the flow rate of each corner sprayer is calculated in two parts: the flow rate caused by rotation about the pivot point and the flow rate caused by rotation about the LRDU. These calculation results are then added together to obtain the total flow rate of each corner sprayer. In step 250, the sprayer flow rate of each sprayer relative to the LRDU flow rate is determined. An exemplary method for determining the LRDU sprayer flow rate is provided below. Subsequently, in step 252, the system preferably controls the duty cycle rate of each corner sprayer to produce discrete, controlled uniform and non-uniform distribution rates, as discussed in further detail below.

[0055] I. Calculate the sprayer flow rate – Step 240

[0056] Now refer to Figure 8 Exemplary steps / sub-steps for calculating the sprayer flow rate (step 240 above) will now be discussed. According to a preferred embodiment, Equation 1 below can preferably be used to calculate the sprayer flow rate for each corner sprayer.

[0057] Equation 1

[0058] Flow rate = constant * sprayer speed * overlap factor * SLFM

[0059] This constant is preferably determined by the sprayer type. The preferred steps for determining the sprayer speed (step 800), overlap factor (step 810), and sprayer position flow multiplier (SLFM) (step 812) are discussed in detail below. Once calculated, the system preferably applies these values ​​to Equation 1 to determine the sprayer flow rate (step 814).

[0060] Refer again Figure 4 Once the flow rates of all corner arm sprayers have been determined, in the next step 250, the sprayer flow rate of each corner arm sprayer is determined relative to the LDRU flow rate. The LRDU flow rate is preferably calculated based on the individual sprayer rating / type (which is a constant) and the LRDU speed (i.e., flow rate = constant * sprayer speed).

[0061] The water flow rate of each sprayer must be proportional to its ground velocity to achieve targeted, discrete, and controlled uniform and non-uniform water distribution. The faster the sprayer, the greater its water flow rate. All flow rates are calculated relative to the LRDU flow rate, which has a relative value of 1. For sprayers between the pivot point and the LRDU, the flow rate must be proportional to the distance from the pivot point divided by the distance from the pivot point to the LRDU. For example, a sprayer located between the pivot point and the LRDU must have a relative flow rate of 0.5 to maintain constant angular motion because its ground / linear velocity is half that of the LRDU.

[0062] A. Calculate the sprayer speed

[0063] Now refer to Figure 8 An exemplary step (step 800) for obtaining the sprayer speed is provided and discussed below. At step 802, the system preferably determines the angle of the SDU's velocity vector. This angle can preferably be determined by the orientation of its wheel-like component. Alternatively, the angle of the SDU's velocity vector can be calculated as the tangent of the corner path at the SDU reporting position (e.g., ...). Figure 9 (As shown).

[0064] In the next step 804, the SDU velocity vector is calculated. According to a preferred embodiment, the movement of the SDU and the movement of each sprayer are preferably divided into two movements: rotation about the pivot point (RAPP) (step 806) and rotation about the LRDU (RAL) (step 808). As a result, the sprayer velocity vector of the present invention is preferably calculated as the sum of the following two vectors: rotation about the pivot point (RAPP) and rotation about the LRDU (RAL). These vectors are as follows... Figure 10 As shown.

[0065] After the sprayer velocity is calculated in steps 800 to 808, the remaining terms can be calculated, including the overlap factor (step 810) and the sprayer position flow rate multiplier (step 812), as explained further below.

[0066] 1. Calculate the velocity of rotation about the pivot point (RAPP) – Step 806

[0067] Reference Figure 10 A distance PP-sprayer (d) can be used S ) and distance PP-LRDU(d L The flow rate caused by rotation about the pivot point is calculated using the ratio of the rotational speed (RAPP) to the PP-sprayer axis (DS). The amplitude and angle of the rotational speed (RAPP) about the pivot point are fixed settings. Therefore, the angle of RAPP is always perpendicular to the PP-sprayer axis (DS), and its amplitude is always determined by the amplitude of the LRDU velocity vector. A preferred equation summarizing this relationship is provided in Equation 2 below.

[0068] Equation 2

[0069]

[0070] in:

[0071] -DS is the distance between PP and the sprayer.

[0072] -DL is the distance between PP and LRDU.

[0073] 2. Calculate the rotational velocity (RAL) around the LRDU – Step 808

[0074] The flow rate caused by rotation around the LRDU can preferably be calculated as the ratio of the linear velocity around the LRDU (angular velocity around the LRDU * sprayer distance at the corner) to the linear velocity of the LRDU. Therefore, the flow rate caused by rotation around the LRDU is positive when the pivot extends. The flow rate is negative when the pivot retracts (i.e., the SDU is closer to the pivot point).

[0075] The magnitude of rotation around the LRDU is preferably determined based on the corner path. In addition to rotating around the pivot point with the LRDU, the SDU must also follow a path. This path is used to determine the RAL vector of the SDU, and the RAL vector of each sprayer (as a side effect). According to a first exemplary embodiment, the magnitude of the RAL can be determined by first looking X meters ahead along the path to determine the location of the SDU (SDU'). Figure 24 The diagram illustrates the motion schematically. The system can then calculate how much time is required to travel X meters (based on LRDU speed and distance (f)) and the degree of angle change within the same time period.

[0076] According to a preferred embodiment, the magnitude / norm (b≡|b|) of the SDU velocity vector can be obtained by applying the following equation (Equation 3) to the variables listed below, which... Figure 11 The text is presented and explained.

[0077] Equation 3

[0078]

[0079] in:

[0080] -DS is the distance between the pivot point (PP) and SDU.

[0081] -DL is the distance between the pivot point (PP) and LRDU.

[0082] -P, S, L, and Y are as follows Figure 10 The various angles shown.

[0083] -B is the angle of the velocity vector.

[0084] - This is the LRDU velocity. This vector is perpendicular to DL to produce rotation.

[0085] - SDU speed:

[0086] ο It is the part of the speed at which the SDU rotates around the pivot point.

[0087] ο It is the part of the speed at which the SDU rotates around the LRDU.

[0088] B. Calculate the overlap factor

[0089] Now refer to Figure 12A , Figure 12B and Figure 13 An exemplary method for calculating the overlap factor between corner sprayers will now be discussed. Figure 12A A first illustration shows a group of sprayers 1200 on a corner arm 1202 moving in a direction perpendicular to the main axis of the corner arm 1202. Traveling in this direction, the overlap between the sprayers due to the movement of the corner arm 1202 is virtually zero. Figure 12B An illustration is provided of the creation of an overlap band 1204 that occurs when the corner sprayer moves not perpendicular to the corner arm. These overlap bands 1204 must be calculated and accounted for in order to produce targeted, discrete, and controlled uniform and non-uniform water distribution rates, as detailed below.

[0090] Now refer to Figure 13 According to a preferred embodiment, the overlap amount is preferably calculated as an overlap factor, which depends on the angle between the pivot point and the corner arm (denoted as L) and the angle between the pivot point and each sprayer of interest (denoted as P). Knowing these factors, the overlap factor for each sprayer of interest is preferably calculated according to the following equation:

[0091] Equation 4

[0092] Overlap factor = cos(LP)

[0093] in:

[0094] -L is the angle between the pivot point and the corner arm, and

[0095] -P is the angle between the pivot point and the single sprayer of interest.

[0096] The overlap factor only affects rotation about the pivot point (RAPP). Furthermore, the RAL vector shown is always parallel to the non-overlapping direction. According to another preferred embodiment, the first and last sprayers on the corner arm overlap with a smaller number of sprayers, and further adjusted calculations are required to provide the correct overlap factor for each sprayer.

[0097] Reference Figure 14 When the angle LP is 90 degrees or greater, cos(LP) becomes 0 or negative, indicating that the corner sprayer completely overlaps with other internal corner sprayers. In this case, the overlap factor is preferably set to 0. Furthermore, it is important to note that the variation in the P-angle between corner sprayers is smaller for the first sprayer in the corner and larger for the last sprayer on the overhang. Therefore, it is best to evaluate the maximum overlap angle for each sprayer.

[0098] For the first corner sprayer (closest to the LRDU) and the last corner sprayer, the overlap factor of the present invention can be calculated alternatively by using the following equation.

[0099] Equation 5

[0100]

[0101] Equation 6

[0102] The overlap factor of the last corner sprayer = (1-x) + cos(LP)*x

[0103] C. Sprayer position flow multiplier (SLFM).

[0104] Now refer to Figure 15Now, an exemplary method for calculating SLFM according to the present invention will be discussed. In the first step 1502, the corner arm is first divided into N regions (i.e., one region below each sprayer, where N is the number of sprayers). Thus, there is a region below each sprayer, the boundary of which is located at the midpoint of the distance between the sprayers.

[0105] In the next step 1504, the overexpansion factor is then calculated based on the sprayer type / size and also on the geometry. In the next step 1506, the system determines the contribution of each sprayer to the total water flow in each area. In the next step 1508, the system calculates the normalized contribution (totaling 100%) of each sprayer to the total flow in each area. The normalized contribution is a measure of the relative importance of the sprayer to each area. In the next step 1510, the system preferably initializes the SLFM of all sprayers to 1.

[0106] Now refer to Figure 16 In the next step 1512, the system then calculates the water flow rate for each zone based on the current SLFM (assuming all sprayers have the same flow rate). In the next step 1514, the system calculates the water flow rate error for each zone compared to the reference. This is the ratio of "[zone water flow rate] / [reference water flow rate]" for each zone. In the next step 1516, a new SLFM for each sprayer "i" is preferably calculated based on the water flow rate error, normalized contribution, and previous SLFM as shown in Equation 7 below:

[0107] Equation 7

[0108]

[0109] In the next step 1518, the system preferably calculates the variance of the flow in each region. In step 1520, if the variance of the flow in each region has decreased, the system returns to step 1512 using a new SLFM to continue iterating the SLFM calculation. In step 1522, if the variance has not decreased, the SLFM is set.

[0110] Now refer to Figure 17 and Figure 18 Below is an example SLFM calculation. This example is provided for illustrative purposes only.

[0111] Example:

[0112] Assume the system has 103 sprayers (where sprayer 103 is the last sprayer on the overhang), and all sprayers have a flow rate of 100 GPM * SLFM. Also assume the system must provide 120 GPM to each area. SLFM will be calculated as follows:

[0113] 1- Create 103 zones, with one zone below each sprayer.

[0114] 2. Determine the amount of water the sprinkler will overspread in other areas based on the sprinkler's spray radius and flow rate profile. For the purposes of this example, if the sprinkler provides 100 GPM, we assume 20 GPM is overspread to each adjacent area and 60 GPM is overspread to the area below the sprinkler, as shown below. Figure 17 As shown.

[0115] 3-The contribution of sprayer 102 to the total water flow in each area is:

[0116] a. 20% of area 101

[0117] b. 60% of the area in region 102

[0118] c. 25% of the area

[0119] 4-The normalized contribution of sprayer 102 to the total water flow in each area is:

[0120] a. 20% / 105% in area 101

[0121] b. 60% / 105% of the area in region 102

[0122] c. 25% / 105% in region 103

[0123] 5. Initialize the SLFM of all sprayers to 1. For illustrative purposes, we assume that SLFM 1 means 100 GPM per sprayer.

[0124] 6. Calculate the water flow rate for each area:

[0125] a. Water flow rate in area 101 = 20*1 + 60*1 + 20*1 GPM

[0126] Water flow rate in area b.102 = 20*1 + 60*1 + 20*1 GPM

[0127] c.103 Water flow rate in area = 20*1 + 60*1 GPM

[0128] 7. Calculate the water flow error for each zone. For illustrative purposes, we assume the target / objective for each zone is 120 GPM. Preferably, the "120-GPM" reference can be calculated based on the reference section of the pivot.

[0129] The error in region a.101 is 100 / 120.

[0130] The error in region b.102 is 100 / 120.

[0131] The error in region c.103 is 80 / 120.

[0132] The new SLFM for the 8-sprayer 102 will be:

[0133] a. SLFM changes due to region 101 + changes due to region 102 + changes due to region 103.

[0134] b.(120 / 100*20% / 105%+120 / 100*60% / 105%+120 / 80*25% / 105%)

[0135] *Previous SLFM

[0136] 9-Iterative SLFM calculation. This yields... Figure 16 The table shown (SLFM*100GPM is the sprayer flow rate) is shown.

[0137] according to Figure 18 The results table shows that the water flow rate in this area gradually converges to the reference, and the standard variation of the water flow rate decreases: the water flow rate becomes more uniform. However, the standard deviation of SLFM increases: as the number of iterations increases, the last sprayer in the corner becomes much larger than the other sprayers. This leads to larger variations in the flow rate within region 102 and an increase in the variance of the flow rate within this region.

[0138] II. Calculate the sprayer flow rate

[0139] As detailed above, the flow rate of each corner sprayer in the corner sprayers (i.e., the sprayers between the LRDU and SDU) can preferably be calculated using Equation 1 below.

[0140] Equation 1

[0141] Flow rate = constant * sprayer speed * overlap factor * SLFM

[0142] Substituting each of Equations 2 through 4 above, the sprayer flow rate can preferably be determined using Equation 8 below:

[0143] Equation 8

[0144]

[0145] Among them, such as Figure 10 As shown:

[0146] -L, S, and P are the angles at LRDU, SDU, and pivot point.

[0147] -d S It is the distance between the sprayer and the pivot point.

[0148] -d X It is the distance between the sprayer and the LDRU.

[0149] -dL is the distance between LRDU and the pivot point.

[0150] -a is the linear velocity of LRDU, a=α*dL.

[0151] -α is the angular velocity of the pivot, and β is the angular velocity of the SDU around the LRDU.

[0152] - Taking into account the distance between sprayers, SLFM[i] is a constant for each sprayer.

[0153] When performing equation 8 above, it is important to note that this term It is the flow rate caused solely by the rotation of the sprayer around the LRDU, where β*d X This is the linear velocity of the sprayer rotating around the LRDU. Therefore, this component of the flow rate is positive when the corner pivot extends. However, this component is negative when the corner pivot retracts. As a result, the total flow rate may be zero or even negative, which can lead to small flow rate errors. According to a preferred embodiment, the system can set the flow rate to 0 in these cases.

[0154] III. Desired Duty Cycle Adjustment

[0155] Refer again Figure 4In the final step 252, the flow rate of each sprayer is preferably adjusted by regulating the duty cycle of each sprayer to produce discrete application rates (e.g., uniform and / or non-uniform application rates) for different areas within a given area requiring irrigation. For example, for a sprayer whose orifice diameter is twice that of a reference sprayer at the LRDU (i.e., the sprayer's flow coefficient is 2), and the target is to achieve a relative flow rate of 1.2, the system will adjust the duty cycle to 1.2 / 2 or 60%. Preferably, the system also considers the sprayer density calculated based on the reference distance between the sprayers. Therefore, if two identical sprayers are located in the same position, their relative flow rates must be halved. Furthermore, the system preferably considers the scheme for each sprayer and applies a duty cycle adjustment between 0 and 4 to each desired flow rate.

[0156] According to another preferred embodiment, the duty cycle can be calculated as follows:

[0157] Equation 9

[0158]

[0159] in:

[0160] - The desired relative flow rate is the desired flow rate of the sprayer divided by the flow rate at the LRDU.

[0161] - The flow coefficient is the ratio of the sprayer size to the sprayer size at the LRDU.

[0162] Alternatively, the [desired relative flow] can also be calculated as follows:

[0163] Equation 10

[0164]

[0165] in:

[0166] - The sprayer speed is the sum of the velocity vector of the rotation about the pivot and the velocity vector of the rotation about the LRDU.

[0167] -LRDU speed is the speed of the motor at LRDU.

[0168] - The overlap factor is the reduction in sprayer flow caused by the overlap of the sprayer with other sprayers on the corner arm. This value is between 0 (complete overlap, pivot retracted) and 1 (pivot fully extended).

[0169] - [SLFM] is the sprayer position flow multiplier, as discussed further in this article.

[0170] - [Scheme] is a user input used to reduce / increase water flow at a specific location in the field.

[0171] According to another alternative preferred embodiment, the system can use the desired relative flow rate according to the following equation.

[0172] Equation 11

[0173]

[0174] in:

[0175] -[Rotation about PP] is the velocity vector of the rotation about the pivot point.

[0176] -[Rotation around LRDU] is the velocity vector of the rotation around LRDU.

[0177] Now refer to Figure 23 Below is an example of duty cycle calculation. This example is provided for illustrative purposes only.

[0178] Example:

[0179] For this example, a system is shown where the sprayers at the corner are sized to output 20 GPM of water. In this system, the sprayer speed required to follow the corner path when rotating around the LRDU is 1.2 times the LRDU speed. The pivot point is... Figure 23 300m to the left. Based on these system parameters, the duty cycle of the 20GPM sprayer is calculated as follows.

[0180] - The reference sprayer speed is LRDU speed * (300m - 5m) / 300m. Therefore, the sprayer speed is 1.2 * 300 / (300 - 5) times the reference sprayer speed. This is covered by the flow coefficient.

[0181] - Corner sprinklers must cover a 3m section, while reference sprinklers must cover only a 2.7m section. The flow rate of the corner sprinkler should be 3m / 2.7m times the flow rate of the reference sprinkler. This is the sprinkler location flow rate multiplier.

[0182] Substituting these elements into the equation above, the duty cycle according to the present invention is calculated as follows:

[0183]

[0184] IV. Exemplary methods of steps 218 to 222 of the present invention

[0185] Steps 218 to 222 (above) will now be discussed. Figure 3 Further explanation (as shown in the image).

[0186] 1. Convert the SDU GPS signal into XY distance from the pivot point – Step 218

[0187] Now refer to Figure 5 Now, an exemplary method for performing step 218 will be discussed. Figure 5 As shown, steps / substeps 502 to 512 can be used to convert the received SDU GPS signal (GGA message) into a (X, Y) position indicating the distance from the pivot point (understood as at the origin (0,0)).

[0188] like Figure 5 As shown, according to the first exemplary step 502, the system can receive GPS data, which can be received from the GPS device as a GGA message field. In the next step 504, the system can apply the Haversine formula to first calculate the Y distance ([PP latitude, PP longitude], [SDU latitude, PP longitude]). Subsequently, the Haversine formula can be used again to calculate the X distance of the SDU location ([PP latitude, PP longitude], [PP latitude, SDU longitude]). In the next step 506, the determined (X, Y) positions of the SDU can be further filtered to adjust for different message transmission rates between the irrigation component and the GPS signal. In the next step 508, the SDU positions can be further corrected so that the position of the SDU wheel can be determined using an inclinometer. In the next step 510, the determined SDU positions on the assigned path can be reported. Finally, in the next step 512, the SDU positions can preferably be finalized and provided to the flow module 150 for further processing.

[0189] Calculate the diagonal path – Step 220

[0190] Now refer to Figure 19 Now we will discuss the steps for performing step 220. Figure 3 The exemplary method shown is illustrated below. For sprayers on corner arms (e.g., sprayers between LRDU and SDU), the path of the SDU must first be determined (also known as the "corner path" or "corner") in order to calculate the linear velocity and flow rate. Figure 19 As shown, the SDU path is preferably calculated by the system as a sequence of points linked together by arcs, where each arc is defined by two points and curvature. Within the algorithm of this invention, it is assumed that the SDU location is known based on GPS and can be calculated as the X, Y position of the SDU wheel relative to the pivot point (assuming it is located at coordinates 0,0) within a given time window.

[0191] Calculate LRDU location based on SDU location – Step 222

[0192] Now refer to Figure 6 and Figure 7 Now we will discuss the steps for performing step 222. Figure 3 The exemplary method shown in the figure. Figure 6 Provided for illustrative purposes, to discuss exemplary steps 702 to 708 for calculating the LRDU position (X, Y) based on the determined SDU (X, Y) position. Figure 7 (As shown in the image). Now refer to Figure 7 The LRDU location (X, Y) position can be calculated based on the first set of data, which includes:

[0193] - Known GPS coordinates of SDU 602;

[0194] - Known GPS coordinates of LRDU 604;

[0195] The distance between LRDU 604 and pivot point 600 (labeled K1 605) is known and always constant;

[0196] The distance between LRDU 604 and SDU 602 (labeled K2 612) is known and always constant; and

[0197] - The relative position of LRDU 604 and SDU 602 (i.e., leading or trailing).

[0198] Using this first set of known data, the system of the present invention can use, for example... Figure 7 Steps 702 to 708 shown are used to perform the LRDU 604 position calculation (step 220). At the first step 702, the system uses the GPS coordinates of SDU 602 and pivot point 600 to calculate the distance L between SDU 602 and pivot point 600. At the next step 704, the system uses the difference in latitude and longitude between pivot point 600 and SDU 602 to calculate the angle between pivot point 600 and the system's east-west axis (i.e., ∠θPP-SDU). At the next step 706, the system uses the law of cosines to calculate the angle between segment L (607) and segment K1 (605) (i.e., ∠θL-K1). At the next step 708, the system uses the difference between the angles ∠θPP-SDU and ∠θL-K1 to determine the position of LRDU 604 from pivot point 600.

[0199] An exemplary method for calculating the sprayer flow rate between the pivot point and the LRDU.

[0200] Now refer to Figure 20 and Figure 21 An exemplary method for calculating the sprayer flow rate between the pivot point and the LRDU (i.e., the LRDU sprayer) will now be discussed. (Refer to...) Figure 20 The relationship between speeds is the same as the relationship between distances from the pivot:

[0201]

[0202] in:

[0203] -b represents the sprayer speed (linear velocity).

[0204] -a represents the LRDU velocity (linear velocity).

[0205] -d X It is the distance between the pivot point and the sprayer.

[0206] -d L It is the distance between the pivot point and the sprayer at the LRDU.

[0207] Therefore, in order to achieve uniform water distribution, the flow rate (F) of the LRDU... L ) and the flow rate (F) of a given LRDU sprayer x The relationship between ) is:

[0208]

[0209] In addition, the distance d from the pivot point X The water flow rate of the sprinkler at that location must be a portion of the LRDU flow rate.

[0210] Equation 12

[0211]

[0212] In addition to calculating the sprayer flow rate according to Equation 12, the width of the coverage area of ​​each sprayer also needs to be considered. Now refer to... Figure 21 The width of the coverage area can be calculated using the following exemplary steps. In the first step 1202, an annular area is assigned to each sprayer. In the next step 1204, the annular area is defined (see...). Figure 22 Its inner boundary is located at 1 / 2 the distance from the previous sprayer, and its outer boundary is located at 1 / 2 the distance from the next sprayer. In the next step 1206, the sprayer flow rate is calculated as the ratio of the sprayer ring area to the total pivot area multiplied by the total pivot bridging flow rate (input flow rate minus end gun flow rate).

[0213] According to an alternative implementation, if all sprayers are at the same distance from each other, calculating the sprayer flow rate using the annular area is equivalent to using its velocity: the flow rate at the LRDU is 2π*dL*w, where w is the distance between the sprayer and its adjacent sprayers or the width of the sprayer's coverage area. From this equation, it can be determined that the ratio of velocities is the same as the ratio of annular areas:

[0214] Equation 13

[0215]

[0216] While the above description of the invention includes many specific details, these should not be construed as limiting the scope, but rather as examples. Many other variations are possible. For instance, although this system is discussed with respect to a self-propelled irrigation system, other irrigation systems may be incorporated into the invention without limitation. Furthermore, the method of the invention can be used to control any number of sprinklers individually or in groups. Therefore, the scope of the invention should not be determined by the illustrated embodiments, but rather by the appended claims and their legal equivalents.

Claims

1. A method for spraying an application over a given area with targeted, discrete water distribution rates via an irrigation system, wherein, The irrigation system includes a central pivot point, a final conventional drive unit, and corner connectors movable via steerable drive units; wherein the irrigation system includes a plurality of final conventional drive unit sprayers positioned between the pivot point and the final conventional drive unit; wherein the irrigation system includes a plurality of corner arm sprayers positioned between the final conventional drive unit and the steerable drive unit; the method includes: Receives GPS signals from the steerable drive unit that indicate the position of the steerable drive unit; The received GPS signal from the steerable drive unit is converted into an XY distance from the pivot point; Based on the position of the steerable drive unit, the position of the last conventional drive unit is determined; The desired position of the steerable drive unit is calculated; The desired position of the final conventional drive unit is calculated based on the desired position of the steerable drive unit. The flow rate of each corner arm sprayer in the corner arm sprayers is determined based on sprayer speed, overlap factor, and sprayer position flow rate multiplier. The sprayer speed is calculated as the sum of the vector of rotation about the pivot point and the vector of rotation about the last conventional drive unit. The overlap factor depends on the angle between the pivot point and the corner arm, and the angle between the pivot point and each corner arm sprayer of interest. The sprayer position flow rate multiplier takes into account the distance between the corner arm sprayers. Adjust the duty cycle of each corner arm sprayer.

2. The method according to claim 1, wherein, The steps for adjusting the duty cycle of each corner arm sprayer include: creating multiple sprayer groups.

3. The method according to claim 2, wherein, The steps for adjusting the duty cycle of each corner arm sprayer include: adjusting the duty cycle of each sprayer group.

4. The method according to claim 1, wherein, The method further includes the following steps: receiving data selected from a first set of data and storing the received data, the first set of data including: GPS location data of the steerable drive unit, GPS data of the pivot point, irrigation system dimensions, and orientation data of the steerable drive unit.

5. The method according to claim 4, wherein, The first set of data includes data selected from the following data sets: steering drive unit / corner path data, pivot direction data, sprayer estimated distance data, and drive tower speed.

6. The method according to claim 1, wherein, The method further includes the following steps: pre-calculating the path of the initial steerable drive unit and the path of the final conventional drive unit based on the detected field factors in the area irrigated by the corner arm sprayer.

7. The method according to claim 6, wherein, The method further includes the following steps: generating path data for the steerable drive unit / path data for the final conventional drive unit.

8. The method according to claim 6, wherein, The detected field factors include field factors selected from the following group of field factors: field boundary shape, obstacles, boundaries, and bridges.

9. The method according to claim 8, wherein, The field factor set includes: safety margin, distance from the last conventional drive unit, corner arm crossover length, corner overhang length, and speed ratio between the last conventional drive unit and the steerable drive unit.

10. The method according to claim 9, wherein, The method further includes the following steps: pre-calculating the path of the steerable drive unit and the path of the last conventional drive unit based on the location of the irrigation system.

11. The method according to claim 10, wherein, The method further includes the step of adjusting at least one of the pre-calculated path of the steerable drive unit and the path of the final conventional drive unit during the movement of the irrigation system.

12. The method according to claim 11, wherein, The step of calculating the position of the steerable drive unit includes: calculating the distance between the steerable drive unit and the pivot point.

13. The method according to claim 12, wherein, The method further includes the following step: calculating the position of the last conventional drive unit based on the position of the steerable drive unit.

14. The method according to claim 13, wherein, The method further includes the following step: determining the position of the target steerable drive unit by estimating the position of the target steerable drive unit after it has traveled an estimated time and distance along the pivot direction.

15. The method according to claim 14, wherein, The method further includes the following step: determining the position of the last conventional drive unit of the target corresponding to the position of the target steerable drive unit.

16. The method according to claim 15, wherein, The method further includes the following steps: calculating the travel time of the last conventional drive unit; wherein the travel time of the last conventional drive unit includes the time required for the last conventional drive unit to travel from the current last conventional drive unit position to the target last conventional drive unit position.

17. The method according to claim 16, wherein, The method further includes the following step: calculating the angular velocity of the steerable drive unit based on the determined travel time of the last conventional drive unit.

18. The method according to claim 16, wherein, The total flow rate of each corner sprayer is calculated using the flow rate caused by the rotation of each corner sprayer around the pivot point and the flow rate caused by the rotation of each corner sprayer around the last conventional drive unit.

19. The method according to claim 18, wherein, The total flow rate of each corner sprayer is calculated relative to the flow rate of the final conventional drive unit.

20. The method according to claim 19, wherein, The method further includes the following steps: controlling the duty cycle of each corner sprayer to create a targeted distribution rate.

21. The method according to claim 20, wherein, The steps for determining the flow rate of the corner arm sprayer include: The velocity vector of the steerable drive unit is determined; wherein, determining the velocity vector of the steerable drive unit includes: adding together the linear velocity of the steerable drive unit caused by the rotation of the steerable drive unit about the pivot point and the angular velocity of the steerable drive unit caused by the rotation of the steerable drive unit about the last conventional drive unit.

22. The method according to claim 21, wherein, The step of determining the flow rate of the corner arm sprayer further includes calculating the overlap factor.

23. The method according to claim 22, wherein, The step of determining the flow rate of the corner arm sprayer further includes: calculating the sprayer position flow rate multiplier.

Images