Cable and tackle system for irrigating straddle assembly

Abstract

A sensor and spray cable system for providing irrigation and crop treatment to a target area below and around an irrigation machine. In accordance with a first preferred embodiment, the invention includes one or more irrigation pulleys that are propelled through and / or along one or more transport cables. The irrigation carriage includes a controller, a sensor, and an irrigation sprayer that cooperate to apply the applicator to discrete areas of a designated field.

Description

[0001] Cross-reference

[0002] This application claims the priority of U.S. Provisional Application 63 / 489,008, filed on March 8, 2023. Technical Field

[0004] The present invention generally relates to an irrigation sprinkler system. More specifically, the present invention provides a sensor and sprinkler cable system for an irrigation span assembly. Background Art

[0006] Modern irrigation systems include interconnected irrigation spans and drive towers that support and move the interconnected irrigation spans. The spans in turn support a sprinkler system that sprays water (or other applications) in a desired manner.

[0007] A single span typically extends to 100 - 200 feet, and the overall length of an irrigation machine extends to 2500 - 3000 feet. Due to the large machine length, it is difficult for modern irrigation machines to effectively irrigate the crops over the entire length of the irrigation machine. To properly irrigate these lengths, irrigation machines typically include a large number of nozzles and sprinklers. An important limitation of such irrigation machines is that the irrigation machine needs to irrigate the entire crop in the same manner. This arrangement limits the ability to perform personalized treatment or apply a specific amount of an application to any particular plant or group.

[0008] To overcome the limitations of the prior art, a reliable and effective system is needed to allow for specific spraying and treatment of precise areas of a designated field. Summary of the Invention

[0010] To minimize the limitations found in the prior art and other limitations that will be apparent upon reading the specification, the preferred embodiments of the present invention include systems and devices for providing irrigation and crop treatment to target areas below and around an irrigation machine.

[0011] According to a first preferred embodiment, the present invention includes one or more irrigation trolleys that are propelled by and / or along one or more transport cables. Preferably, the irrigation trolley includes a controller, sensors, and irrigation sprinklers that work together to apply an application to discrete areas of a designated field. Such discrete areas can be identified in a variable irrigation rate model. However, further, the trolleys of the present invention can (independently or in cooperation with a system controller) scan, analyze, and apply a designated application to a given area based on detected environmental or crop - related characteristics.

[0012] According to a further preferred embodiment, the system of the present invention preferably includes a first fixing element for connecting to a first drive tower, the first drive tower including a first central fixing element, a first top pulley, and a first bottom pulley. The preferred system preferably further includes a first drive element for driving a fixed trolley to move laterally along one or more transmission cables.

[0013] According to a further preferred embodiment, at least one of the transmission cables may preferably be a braided cable formed by a group of cables. Among them, the group of cables are braided to form a single braided cable. The braided cable may preferably further include a central hollow tube configured to allow the applicator to be transported downward to the sprayers of one or more fixed trolleys.

[0014] These and other advantages and features of the present invention will be specifically described so that those of ordinary skill in the art can understand the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings, which are part of the specification, illustrate various embodiments of the present invention and the description is used to explain the principles of the present invention.

[0017] Figure 1 A schematic diagram of an exemplary irrigation system according to a first preferred embodiment of the present invention is shown.

[0018] Figure 2 A top view of an exemplary irrigation system according to a preferred embodiment of the present invention is shown.

[0019] Figure 3 A top-down plan view of an exemplary irrigation system according to another preferred embodiment of the present invention is shown.

[0020] Figure 4 A schematic diagram of an exemplary irrigation system according to a second preferred embodiment of the present invention is shown.

[0021] Figure 5 A schematic diagram of an exemplary coaxial cable design according to a further aspect of the present invention is shown.

[0022] Figure 6 Shows Figure 5 A cross-sectional view of the exemplary coaxial cable design shown. DETAILED DESCRIPTION

[0024] To facilitate understanding of the principles of the present invention, reference will now be made to the embodiments shown in the drawings, and the same embodiments will be described using specific language. However, it should be understood that the scope of the present invention is not limited thereto, and such changes and further modifications of the devices shown are commonly contemplated by those skilled in the art.

[0025] According to a preferred embodiment of the present invention, it should be understood that the term "drive unit" preferably may include several sub-components, which include a motor, a controller, and a communication device (such as a PLC, etc.). Although the present invention is discussed below in connection with a specific exemplary tower, the number of towers used can be expanded or reduced (e.g., 2 - 100 towers) as needed without departing from the spirit of the present invention. Further, the term "motor" as used herein may refer to any suitable motor for providing torque. Accordingly, the term "motor" as used herein preferably includes various motors, such as switched reluctance motors, induction motors, transducers, etc.

[0026] If the specification describes the advantages of other prior art embodiments or limitations, the applicant does not intend to waive or disclaim any potential embodiments covered by the appended claims, unless the applicant clearly states that it "hereby waives or disclaims" the potential claim scope. In addition, the terms "embodiments of the present invention", "embodiments", or "invention" do not require that all embodiments of the present invention include the features, advantages, or modes of operation discussed, nor do they require that they do not include the undesirable or adverse aspects of the prior art.

[0027] As used herein, "exemplary" means "serving as an example, instance, or illustration". The embodiments described herein are not limited thereto, but are only exemplary embodiments. It should be understood that the embodiments described are not necessarily understood to be superior to or better than other embodiments. In addition, any examples or illustrations given herein should not be construed as a limitation, restriction, or express definition of any term or terms used with them. Instead, these examples or illustrations are only considered illustrative.

[0028] As used herein, the singular form is also intended to include the plural form, unless the context clearly indicates otherwise. In addition, the word "may" is used in the permissive sense (i.e., "has the potential"), rather than the mandatory sense (i.e., "must"). Further, it should also be understood that throughout the present invention, unless logically required otherwise, for a process or method as shown or described, the steps of the method can be performed in any order (i.e., repeated, iterated, or simultaneously), and selected steps can be omitted. It will also be understood that the terms "comprising" and / or "including" are used herein to specify the presence of features, integers (quantities), steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers (quantities), steps, operations, elements, components, and / or groups thereof.

[0029] Further, many of the embodiments described herein are described in terms of action sequences that elements such as a controller are to perform. Those skilled in the art will recognize that the various action sequences described herein can be performed by specific circuitry (e.g., an application specific integrated circuit (ASIC for short)) and / or program instructions executed by at least one processor, so that at least one processor can perform the functions described herein. In addition, the action sequences described herein can be embodied in a combination of hardware and software. Accordingly, various aspects of the present invention can be embodied in many different forms, all of which are considered to be within the scope of the claimed subject matter.

[0030] Aspects of the systems and methods described herein can be implemented as the functionality of any circuit programmed into various circuits, including: programmable logic controllers (PLCs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), programmable array logic (PAL) devices, electrically programmable logic and memory devices, and cell-based standard devices, as well as application specific integrated circuits (ASICs). Some other possibilities for implementing aspects of the systems and methods include microcontrollers having memory, an embedded microprocessor, firmware, software, etc.

[0031] Now refer Figures 1-6 to discuss an exemplary cable and trolley design for a mechanized irrigation system. The present invention is discussed in connection with an exemplary irrigation system. It should be understood that the intention of the exemplary irrigation system discussed is purely illustrative, and the features of the present invention can be implemented using any one of a variety of irrigation system types. Accordingly, any number of different irrigation machine designs (i.e., fixed, center pivot, linear, corner, boom) and components (i.e., steerable drive units, corner drive units, linear drive systems) can be used for the present invention without limitation.

[0032] Now will refer Figure 1 to discuss a schematic diagram of an exemplary irrigation system according to a first preferred embodiment. As Figure 1 shown, the exemplary irrigation machine 100 of the present invention preferably may include a plurality of irrigation spans 102, 108 supported by a truss system 104 and connected at one or more connection points 106. The exemplary irrigation machine 100 may also include a number of drive towers, which may include conventional drive units / towers 105 and steerable drive units / towers 112. The system may also include a boom 116 and end guns (not shown) and / or other sprinklers. In addition, one or more position sensors 121 may provide position and angle orientation data for the system.

[0033] As Figure 1As shown, the present invention preferably includes a cable and trolley system connected to components of an irrigation machine. According to a first preferred embodiment, the cable and trolley system of the present invention preferably includes one or more trolleys 128, 130, 132, which are designed to run along one or more transmission cables 126 connected between the span body and / or drive tower 105, 112 of the present invention. The elements of the present invention can also be connected between various other irrigation machine elements such as a central pivot structure, a truss, a span, etc., without being limited thereto.

[0034] As described below, the cable system 126 can include a set of cables, and the set of cables can enable the independent lateral movement of each trolley through a winch / drive mechanism connected to the cables 126. Alternatively, a set of trolleys can be attached to a common cable, and the common cable can enable the set of trolleys to move together. According to an alternative preferred embodiment, additional winches / drive mechanisms can be connected to one or both ends of the cable 126. Further, one end can be spring-loaded by a spring such as a torsion spring, and the second end can be driven by a winch / drive mechanism. Alternatively, each trolley can be moved by using power such as an internal piezoelectric motor.

[0035] According to a preferred embodiment, the trolleys 128, 130, 132 of the present invention preferably can include sprayers 131 to allow each trolley 128, 130, 132 to apply the application material to a target area of a given crop / field. To perform this function, each trolley can include an internal reservoir 133, which can include a concentrated application material that can be directly sprayed from the trolley and / or a concentrated application material mixed with water or other application materials provided to the trolley through a pipeline in the cable 126 (discussed below) or another pipeline system independent of the cable 126. According to a further preferred embodiment, each trolley of the present invention can include a trolley controller 97 and one or more sensing devices 117, and the sensing devices 117 can be cameras and / or thermal infrared imagers / sensors for detecting crop status, health conditions, temperature, etc. Each trolley can also include other sensors such as proximity sensors 96, etc., to determine the distance between a given trolley and the ground, crop height, and / or other trolleys or drive towers. According to another preferred embodiment, each trolley can independently use such sensors to locate and selectively apply the application material to selected crops or individual plants based on the detected conditions. During the spraying operation, the trolleys can move together, and individual trolleys can be activated separately to spray a given target area.

[0036] In the example shown, preferably, the cable / trolley system 100 of the present invention can be driven by one or more motor assemblies 90, 91, which preferably include motor / drive / winch systems 107, 109 under the control of one or more motor controllers 92, 93. According to a preferred embodiment, such drive systems 107, 109 can be built into or attached to the accessory / winding structures 118, 120 for storing and / or securing the cable 126 to the structure of the irrigation machinery. In the example shown, the first winding structure 118 is shown attached to the first drive tower 105, and the second winding structure 120 is shown attached to the second drive tower 112. As shown, the first side arm 122 can be used to support and position the drive cable 126 to allow the positioning input provided by the motor / drive / winch systems 107, 109 of the present invention. As described below, preferably, the first side arm 122 can include one or more pulleys that are used to obtain a mechanical advantage when the drive systems 107 retract and extend the cable 126. On the other hand, the second side arm 124 can be used to support and position the drive cable 126 of the present invention to allow the positioning input provided by the drive systems 107, 109 of the present invention. Similar to the first side arm 122, the second side arm 124 preferably can include one or more pulleys that are used to obtain a mechanical advantage when the drive system 109 retracts and extends the cable 126.

[0037] Through the coordinated retraction and extension of the cable 126, the trolleys 128, 130, 132 of the present invention can preferably move back and forth to cover the area below the span 108. According to another preferred embodiment, the system can allow height adjustment by adjusting the cable tension. According to another preferred embodiment, one or more trolleys can include a controller 134 and a proximity / distance sensor 96, which can determine the distance between the trolley and a designated field or crop. When the irrigation system 100 passes through a designated field, such a proximity / distance sensor can transmit the sensed distance to trigger real-time height adjustment. As further discussed herein, the trolley can achieve lateral movement through the movement of a given transport cable and the trolley's own independent motor system. The system controller 94 and a given trolley controller 97 can coordinate the movement and target position of a given trolley, so that large movements can be made through the movement of the transport cable 126, while smaller movements can be made independently by the trolley.

[0038] Reference is now made to Figure 2 , which provides Figure 1 a top plan view of the exemplary preferred embodiment shown, which is provided with a trolley 132. As Figure 2As shown, the exemplary pulley 132 is supported / suspended between the first side arm 122 and the second side arm 124. In addition, a first motor / winch 107 is shown for paying out and retrieving the connected cables 142, 146. Specifically, the first motor / winch 107 is mechanically connected to the first support coaxial cable 146. In operation, the first motor / winch 107 preferably pays out and retrieves the coaxial cable 146 at the first end in response to control signals corresponding to one or more other motors / winches 109. As shown, the first support coaxial cable 146 preferably may extend from the first motor / winch 107 through one or more pulleys 138 to be attached to the suspended pulley 132. In addition, the first motor / winch 107 is mechanically attached to the second cable 142. In operation, the first motor / winch 107 may preferably pay out and retrieve the second cable 142 in response to control signals, the movement of the first support coaxial cable 146, and one or more other motors / winches 109, as further discussed below. As shown, the second cable 142 preferably may extend from the first motor / winch 107 through one or more pulleys 136 to be connected to the suspended pulley 132.

[0039] At the second side arm 124, the second motor / winch 109 may preferably be configured to pay out and retrieve the connected cables 144, 148, as shown. Specifically, the second motor / winch 109 is mechanically connected to the second support coaxial cable 148 and the second standard cable 144. In operation, the second motor / winch 109 preferably pays out and retrieves the coaxial cable 148 in response to control signals consistent with another motor / winch of the present invention. As shown, the second support coaxial cable 148 preferably may extend from the second motor / winch 109 through one or more pulleys 143 to be attached to the suspended pulley 132. In addition, preferably, the second motor / winch 109 is mechanically attached to the second standard cable 144. In operation, the second motor / winch 109 preferably may extend and retract the second standard cable 144 in response to control signals of the movement of the second support coaxial cable 148 and one or more other motors / winches further discussed herein. As shown, the second standard cable 144 preferably may extend from the second motor / winch 109 through one or more pulleys 140 to be connected to the suspended pulley 132.

[0040] Now referring to Figure 3 , there is provided Figure 1 a top plan view of the exemplary preferred embodiment shown, which is provided with a plurality of pulleys 168, 170, 172. As Figure 3 shown, the exemplary pulleys 168, 170, 172 are supported / suspended between the first side arm 152 and the second side arm 158. As described above in connection with Figure 2As discussed, a plurality of trolleys 168, 170, 172 supported by a first coaxial cable 176 and a standard cable 174 are shown. The first side arm 152 may preferably include pulleys 154, 156 to allow the suspension cables 174, 176 to be retracted and extended by the first motor / winch 164. Similarly, the second side arm 158 may preferably include pulleys 160, 162 to allow the suspension cables 174, 176 to be retracted and extended by the second motor / winch 165.

[0041] As shown, the first support coaxial cable 176 is preferably attached at a first end to the first motor / winch 164. Then, the coaxial cable 176 may continue to extend around the first pulley 154, through one or more alignment pulleys / grooved pulleys 145, and through the attached suspended trolleys 168, 170, 172. Then, the coaxial cable 176 may further pass through the second alignment pulley / grooved pulley 149 and extend around the second pulley 160 to the second motor / winch 165. The first motor / winch 164 and the second motor / winch 165 may preferably retract and extend the coaxial cable 176 in a cooperative and complementary manner to laterally move and position the trolleys 168, 170, 172 in response to control signals generated by the system.

[0042] Further, the standard cable 174 may preferably be attached at a first end to the first motor / winch 164 and then may continue to extend around the first pulley 156, through one or more alignment pulleys / grooved pulleys 147, and through the attached suspended trolleys 168, 170, 172. The standard cable 174 may preferably further pass through the second alignment pulley / grooved pulley 151 and continue to extend around the second pulley 162 to the second motor / winch 165. The first motor / winch 164 and the second motor / winch 165 preferably retract and extend the standard cable 174 in a cooperative and complementary manner to laterally move and position the trolleys 168, 170, 172 synchronously with the movement of the coaxial cable 176.

[0043] As described above, for the cooperative retraction and extension of the standard cable 174 and the coaxial cable 176, the central trolleys 168, 170, 172 may preferably be laterally moved. Preferably, the retraction and extension of the respective cables 174, 176 are carried out in a cooperative manner to move the central trolleys 168, 170, 172 over a given area to be monitored and / or irrigated. This movement may be guided by commands given by a specified irrigation model plan. The specified irrigation model plan is executed by the system controller 94. The system controller 94 may directly provide commands to the individual trolleys and other system elements. Alternatively, commands may be provided remotely through a remote server setup / cloud 95.

[0044] Independent of commands from the system controller 94, one or more central trolleys 168, 170, 172 can operate autonomously in response to sensed conditions. For example, sensors and control systems of one or more central trolleys 168, 170, 172 can monitor / detect given crop or field conditions. Once a specific crop and / or field condition is detected, the trolley controller can independently move the trolley to a given position and initiate sensor scanning and / or processing applications. Further, the trolley controller is preferably also used to instruct the system controller 94 (and / or the winch / drive mechanism 164, 165 directly) to move the trolleys 168, 170, 172 at least partially with the transmission cable to a given target position.

[0045] Now referring to Figure 4 , the system of the present invention can include rigid connection structures 202, 204, which can hold the cable 220 of the present invention under tension at a specific height. According to an optional preferred embodiment, the attachment structures 202, 204 can be formed by adjustable pipe segments, which can be raised or lowered according to crop height, etc. Such adjustment can be performed manually or automatically and can be initiated by the system controller 94 or the trolley controller 97.

[0046] As described above, the attached trolleys 214, 216, 218 can move together or independently to process a specific area below the boom 108. As Figure 4 shown, an exemplary cable 220 can extend from the motor / winch 210 and be connected to the irrigation pulleys 214, 216, 218 through the connected side arms 206. The cable 220 can preferably extend through the second side arm 208 to the second motor / winch 212. As described above, the exemplary cable 220 can represent a single cable or can be multiple cables for separately suspending and driving the suspended trolleys 214, 216, 218. Further, Figure 4 the system shown preferably can include the pulleys, trolleys, coaxial cables, and standard cable elements discussed above in connection with Figures 1-3 the discussion.

[0047] Now referring to Figure 5 , now an exemplary cable design 400 according to a further aspect of the present invention will be discussed. As Figure 5As shown, one or more cables 400 of the present invention can be formed as a braided cable having multiple individual cable braids 404, thereby forming a single braided cable 400. According to an exemplary preferred embodiment, the braided cable 400 of the present invention may preferably further include one or more central irrigation tubes 402. According to a first preferred embodiment, the central tube 402 of the present invention is preferably composed of PVC, nylon, etc. The central tube 402 is preferably hollow to allow fluid to flow through the central tube 402 while still allowing for the structural requirements of the cable 400. The one or more central tubes 402 can also be used to run specific wires / cables to operate electronic devices (i.e., valves, cameras, etc.). For example, the central tube 402 can be used to run coaxial cables, etc. According to a further alternative embodiment, multiple central tubes 402 can be provided within the cable to allow various control, power, sensor, and irrigation lines to run together. Figure 6 A cross-sectional view of an exemplary cable 400 is provided. As shown, the central irrigation tube 402 is surrounded by a group of braided cables 404, 406, 408, 410, 412, 414.

[0048] Although the above description of the present invention contains many specificities, these should not be construed as limitations on the scope, but rather as examples. Many other variations are possible. For example, the system of the present invention can be used with any arrangement of drive towers including linear and central pivot systems. Further, as described above, each cable of the present invention can be formed from a single cable or can include multiple cables for individually suspending and driving trolleys. Still further, each feature of the present invention can be remotely activated and accessed from a remote monitoring station. Accordingly, data can preferably be uploaded to and downloaded from the present invention as needed.

[0049] Accordingly, the scope of the present invention should not be limited by the embodiments shown, but rather by the appended claims and their legal equivalents.

Claims

1. A system for providing irrigation to a target area below an irrigation machine, characterized in that, The irrigation machine includes a first drive tower, a central cross member, and a second drive tower, and the system includes: A first motor assembly including a first motor, a first motor controller, and a first winding structure; A first side arm assembly including a first side arm portion, a first end pulley, and a second end pulley; A second motor assembly including a second motor housing, a second motor, a second motor controller, and a second winding structure; A second side arm assembly including a second side arm portion, a third end pulley, and a fourth end pulley; A first transmission cable connected to the first motor assembly at a first end and to the second motor assembly at a second end; A second transmission cable connected to the first motor assembly at a third end and to the second motor assembly at a fourth end; A first pulley connected to the first transmission cable and the second transmission cable; and A system controller configured to send control signals to the first motor controller and the second motor controller to laterally position the first pulley at a first target position between the first drive tower and the second drive tower.

2. The system according to claim 1, characterized in that, The first transmission cable includes a first braided cable.

3. The system according to claim 2, wherein The first braided cable includes a plurality of cables.

4. The system according to claim 3, characterized in that, The braided cable further includes a central tube.

5. The system according to claim 4, wherein The central tube includes a hollow PVC tube configured to transport an applicator.

6. The system according to claim 5, wherein The first motor assembly includes a first winch.

7. The system according to claim 6, wherein The second motor assembly includes a second winch.

8. The system according to claim 2, wherein The system controller is configured to transmit control signals to increase the length of one or more transmission cables to adjust the vertical distance between the first pulley and a first crop.

9. The system according to claim 8, wherein The vertical distance between the first pulley and the first crop is adjusted by the tension of one or more transmission cables.

10. The system according to claim 9, characterized in that The first pulley includes a proximity sensor configured to generate proximity data.

11. The system according to claim 10, wherein The system controller is configured to use the proximity data generated by the proximity sensor to adjust the vertical distance between the first pulley and the first crop.

12. The system according to claim 11, wherein The first pulley includes a first motor and is self-propelled.

13. The system according to claim 12, wherein The first pulley includes a first pulley controller.

14. The system according to claim 13, characterized in that, The first pulley controller communicates with the system controller.

15. The system according to claim 14, characterized in that, The system controller is configured to determine a second target position.

16. The system according to claim 15, wherein The first pulley includes an imager configured to generate image data.

17. The system according to claim 16, wherein The first pulley is configured to analyze the image data and determine an indication of the crop status.

18. The system according to claim 17, wherein The system controller is configured to at least partially determine the second target position on the image data detected by the imager of the first pulley.

19. The system according to claim 18, wherein The system controller is configured to transmit a first set of target instructions to the first motor controller and the first pulley controller.

20. The system according to claim 19, wherein The first pulley moves to the second target position at least in part based on the movement of the first cable and moves at least in part based on the independent movement of the first pulley.

21. The system according to claim 20, wherein The system includes a second carriage, wherein the first carriage and the second carriage are configured to move together and be spaced apart by a set distance.

22. The system according to claim 20, wherein The first carriage and the second carriage are configured to independently spray the applicator onto a plurality of target positions.

23. The system according to claim 20, wherein The first carriage and the second carriage are configured to independently adjust the distance between the first carriage and the second carriage.

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