NOZZLE CONTROL SYSTEM AND METHOD

Abstract

A system for controlling (40, 60, 1300, 1400) a nozzle flow includes a master node (6, 42, 62, 1304) having an expected total flow module 1318 for generating an expected total flow of an agricultural product based on one or more sprayer characteristics and having an adjustment module (1320) configured to generate an error correction based on a difference between the expected total flow and an actual total flow of the agricultural product. A plurality of intelligent nozzles (1004, 1102, 1200, 1306) are connected to the master node (6, 42, 62, 1304), each of the intelligent nozzles (1004, 1102, 1200, 1306) having an electronic control unit (7, 72, 80, 90, 1310) connected to one or more control valves (920, 1008, 1210, 1312) and one or more nozzle assemblies (918, 1006, 1104, 1204, 1308).Each of the smart nozzles (1004, 1102, 1200, 1306) includes a smart nozzle target flow module (1314) configured to generate a smart nozzle target flow for the agricultural product based on the one or more sprayer characteristics. The smart nozzle target flow is adjusted according to the error correction.

Description

PRIORITY CLAIM

[0001] This application claims priority to U.S. Provisional Patent Application Serial No. 62 / 352,778, filed June 21, 2016, which application is incorporated herein by reference in its entirety. FIELD OF TECHNOLOGY

[0002] This document relates generally, but not limited to, a nozzle control system and method for applying products to a crop or field. BACKGROUND

[0003] Agricultural sprayers are used to distribute agricultural products such as fertilizers, insecticides, herbicides, and fungicides across a field or crops. Agricultural sprayers include one or more distribution booms long enough (e.g., 60 feet to 150 feet) to spray multiple rows of crops at once. Agricultural fields are often irregularly shaped and contain contour changes, tree lines, hills, ponds, and / or streams. Irregular shapes and contour changes can prove problematic for even distribution of agricultural products and can lead to wastage of the agricultural product. In addition, the design of the agricultural sprayer itself can cause unpredictable variation in the application of the agricultural product.

[0004] Agricultural sprayers include a reservoir for a carrier substance. The reservoir communicates via a distribution hose or pipe with multiple sections provided along one or more support beams (e.g., beam pipes along the beams). The distributor is the main line extending between the reservoir and the support beams. Each of the multiple sections includes multiple spray nozzles that distribute the carrier substance received by the section. The carrier substance includes the carrier substance, such as water, and, in one example, agricultural products dispersed in the carrier substance, for example, herbicides, pesticides, fertilizers, or the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] The drawings illustrate generally and by way of example, but not by way of limitation, various embodiments discussed in this document. Fig. 1 is a perspective view of an example of an agricultural sprayer. Fig. 2 is a plan view of an agricultural sprayer and an agricultural field. Fig. Figure 3 is an example of a field moisture map showing crop moisture values associated with corresponding field locations. Fig. 4 is an exemplary schematic view of an overall nozzle control system. Fig. Figure 5 is a detailed schematic view of an example nozzle control system. Fig. 6 is an exemplary schematic view of a nozzle ECU. Fig. 7 is an alternative example schematic view of a nozzle ECU. Fig. 8 is a block diagram showing an example of a method for controlling a nozzle flow of an agricultural sprayer. Fig. Figure 9A is a schematic sketch of an example of an agricultural sprayer. Fig. Figure 9B is a schematic sketch of an example of a smart nozzle. Fig. Figure 10A is a schematic sketch of another example of an agricultural sprayer. Fig. Figure 10B is a schematic sketch of an example of a portion of a smart nozzle. Fig. Figure 11A is a schematic sketch of yet another example of an agricultural sprayer. Fig. Figure 11B is a schematic sketch of another example of a portion of a smart nozzle. Fig. Figure 12 is a schematic sketch of an example of a stacked nozzle assembly. Fig. 13 shows a general overview of a nozzle control system according to an example of the subject matter of the present invention. Fig. 14 shows an overall view of a nozzle control system configured to operate in a pressure variation (VP) mode of operation according to an example of the subject matter of the present invention. DETAILED DESCRIPTION

[0006] As in Fig. 1, an agricultural sprayer 10 comprises a storage tank 2, one or more spray booms 4 including one or more nozzles 5, one or more electronic control units (ECUs) 7 (e.g., a microprocessor-based system), and a master node 6 (e.g., a microprocessor-based system). In one example, the agricultural sprayer 10 comprises an integrated storage tank 2 or a trailing storage tank. In one example, the storage tank 2 contains the agricultural product mixed with a carrier fluid, such as water, or the carrier fluid and the agricultural product are mixed in-line before or at the spray boom 4. The nozzles 5 are positioned along the spray boom 4 to apply the agricultural product to a crop or agricultural area 8.Crops include, but are not limited to, any products grown on an agricultural field, such as row and non-row crops. Agricultural inputs include, but are not limited to, fertilizer, water, pesticides, fungicides, herbicides, or the like. As shown, the agricultural sprayer 10 includes a master node 6, as described herein. As discussed further herein, the master node 6 operates in conjunction with the at least one ECU 7 to control the delivery of the agricultural input from the storage tank 2 into the spray boom 4 and associated nozzles 5 for application to the agricultural field or crop.

[0007] As in Fig. 2, an agricultural sprayer 10 is deployed on an agricultural area 8 and applies an agricultural product. The agricultural sprayer 10 includes a trailing storage tank 2, one or more spray booms 4 (e.g., dual booms extending from the center of the sprayer 10), and the master node 6. As described herein, the controller 6 controls the application of the agricultural product to the agricultural area 8 or the crops.

[0008] Fig. 3 is an example illustrating a field map 30. Optionally, the yield map 30 includes, among other things, a visual representation of information about the application of an agricultural product, including, for example, information about soil properties, soil yield, agricultural products, or any combination thereof. An enlarged portion of the field map 30 is shown in the lower view of Fig. 3. As indicated by varying dot patterns, hatching, or the like, several zones 32 accordingly have corresponding application information (e.g., type or flow of the agricultural product used, etc.), comparison values, or information on the type of calibration. As shown in Fig. 3, for example, a plurality of zones 32 having varying information for the application of agricultural products are assigned to the at least one zone 32. Accordingly, in one example, each of the zones 32 has a set of information including the instructions for the application of agricultural products. The field map 30 accordingly provides an operator with a representation of the demand for agricultural products during an agricultural product application operation. Information provided by the field map 30 is optionally used, for example, to determine better agronomic practices, cultivation strategies, and the like for the field in the next season.

[0009] As also in Fig. 3, the plurality of zones 32 comprise subzones 34. As shown, each of the zones and subzones comprises different dot patterns, hatching, or the like associated with the actual crop yield metrics. Optionally, the subzones 34 (or any of the plurality of zones 32) comprise varying stippling, hatching, or coloring techniques, or any combination thereof, to provide indications of calibration information, comparative quantities, or both, accordingly. As shown in Fig. 3, the instructions for applying agricultural inputs vary between the individual zones 32 by means of stippling, hatching, coloring, or the like. For example, as shown, in each of the subzones 34, the stippling varies from zone to zone, indicating that instructions for applying agricultural inputs, such as the type of agricultural input, vary between them. Optionally, the field map 30 provides one or more interactive zones 32. For example, the user is able to zoom in on and review each of the zones 32, thereby enabling interaction with the field map 30, for example, via a graphical user interface, to accordingly determine the instructions for applying agricultural inputs for one or more of the zones 32.

[0010] Fig. Figure 4 illustrates a diagram of an example of an overall nozzle control system 40, wherein one or more nozzles 52 arranged on a beam 50 are capable of controlling a respective nozzle flow of an agricultural product discharged from the nozzle 52. As shown in Fig. 4, a master node 42 is further communicatively coupled to one or more valves of the boom 51 so that a system pressure within the boom 50 can be controlled by the master node 42. However, unlike prior systems, the master node 42 of the present system is not configured to control flow within the system 40, the boom 50, or at the smart nozzles 52. The master node 42 includes inputs from a master flow meter 44, a master pressure transducer 46, and a master pulse width modulation (PWM) valve 48. The master node 42 controls the master PWM valve 48 to maintain the targeted system pressure to obtain a desired droplet size of the agricultural product from the nozzles 52.For example, environmental conditions such as wind, humidity, rain, or temperature, field characteristics, or user preferences determine whether a smaller or larger droplet size is preferred for the agricultural product being applied. By maintaining a constant system pressure, the system can obtain and maintain the preferred droplet size.

[0011] In the exemplary embodiment, each of the nozzles 52 is a smart nozzle having an electronic control unit (ECU) that determines and / or controls the nozzle flow of the agricultural product dispensed from the nozzle 52, as described with reference to Fig. 5. In other embodiments, a group of nozzles 52 is associated with a common ECU, and a group is considered a single smart nozzle. The smart nozzles 52 are connected to a beam 50 and communicatively coupled to a controller area network 49 (e.g., an ISO CAN bus) of the overall control system 40. As discussed herein, the CAN bus 49 is configured to provide overall system information from the master node 42 (e.g., master node). The ECU at each of the smart nozzles 52 uses data from the overall system information to regulate, determine, and / or control the nozzle flow of each corresponding smart nozzle 52.

[0012] The master node 42 controls a system pressure, for example, using the master PSI sensor 46 and the master pulse width modulation (PWM) valve 48 instead of controlling a system flow. Even if Fig. 4 illustrates a PWM valve as the master valve 48, embodiments are not so limited. For example, the master valve 48 includes any valve capable of controlling the pressure of a system, such as a ball valve, a PWM valve, or a butterfly valve. For example, the master node 42 maintains the system pressure at a desired system value as opposed to affirmatively controlling the flow of the agricultural input, and the flow is controlled at each smart nozzle 52. In another example, the master node controls the system pressure to one or more desired values, and the smart nozzles 52 control the flow at each of the smart nozzles 52 and thus the total flow of the agricultural input in the system.

[0013] In one example, the target system pressure is provided by a user, such as at the user interface 56 (UI) connected to the master node 42 via the ISOCAN bus 53. In another example, the user also provides the target system flow (e.g., volume / area) at the UI. In one example, the master node 42 communicates the target system flow to the one or each of the plurality of smart nozzles 52 so that each smart nozzle 52 (or each ECU, as discussed herein) determines an individual flow of the agricultural product at the smart nozzle 52. For example, the target system flow is divided by the number of nozzles to provide a target flow for an agricultural product for the one or each of the plurality of nozzles 52. In one example, the master node measures the flow (e.g.,The master node 42 measures the measured system flow rate (volume per time) with a master flow meter 44 and compares it to the desired total flow (e.g., specified by a user, crop type, soil characteristics, type of agricultural product, and / or previously acquired data, or the like). The master node 42 is configured to determine a difference or error, if any, between the measured system flow and the desired system flow. In such an example, the master node 42 provides the determined difference to the individual nozzles 52 (or ECUs, as discussed herein) via the ISOCAN bus 53. The one or more nozzles 52 receive the difference on the CAN bus 53 and adjust their pressure / flow / duty cycle curve using the difference (e.g., to compensate for errors in the system) to reduce the error between the measured and desired system flow.

[0014] Additionally, in at least some examples, the master node 42 reports the actual pressure measured by the master PSI sensor 46, as well as information about the beam 50, including, but not limited to, a yaw rate, a speed, a number of smart nozzles on the beam, a distance between smart nozzles on the beam, to the smart nozzles 52 (or ECUs, as described herein) for individual flow control of each of the smart nozzles 52. For example, the information provided by the master node 42, in addition to nozzle characteristics, is used to control the individual flow control for each smart nozzle 52.Nozzle characteristics include, among other things, a nozzle position on a boom, a boom length, a nozzle spacing, a desired flow rate for the system, a yaw rate of the agricultural sprayer, a speed of the agricultural sprayer, the total system pressure, and characteristics of the agricultural product being applied. System 40 is designed to be installed on an agricultural sprayer, and because the sprayer moves (translates and rotates) during operation, one or more nozzle characteristics in an example are dynamic and therefore change the individual flow rate.

[0015] Fig. 5 illustrates a detailed schematic view of an example nozzle control system 60. The control system 60 includes a master node 62 communicatively coupled to one or more valves of the beam 70 such that a system pressure within the beam can be controlled by the master node 62. The master node 62 further includes inputs from a master flowmeter 64, a master pressure transducer 66, and a master pulse width modulation (PWM) valve 68. Further, as described herein, the master node is coupled to a UI 76, and in one example, to a battery 78, to provide power to the master node 62 and / or the UI 76.

[0016] In the embodiment of Fig. 5, a smart nozzle has an ECU 72 coupled to a PWM valve 73. That is, Fig. 5 illustrates 36 ECUs directly related to the 36 nozzles of the nozzle control system 60, but embodiments are not so limited. A master node 62 is communicatively coupled to an ECU-18 and an ECU-19 through an ISOCAN bus 69, with the ECU-18 and the ECU-19 defining a center region of the beam. From the center region of the beam, the ECUs 72 are communicatively coupled to the ECU 72 closest toward the respective terminal end 74 of the beam. That is, the ECU-18 is communicatively coupled to the ECU-17, which is communicatively coupled to the ECU-16, and so on, until the terminal after the ECU-1 is reached. The same pattern applies to the other half of the beam. Although 36 ECUs 72 are illustrated, the embodiments are not so limited. As shown in Fig. 5, each ECU 72 is further coupled to a PWM valve 73, however, embodiments are not so limited. For example, a single ECU 72 is communicatively coupled to more than one PWM valve 73. Stated another way, in one example, a single ECU 72 is communicatively coupled to more than one nozzle, such as every other nozzle. In one example, 12 ECUs share control of the 36 nozzles of the boom. In one example, a plurality of nozzles are divided into nozzle groups such that each nozzle group includes an ECU 72 configured to control a nozzle group flow of the agricultural input dispensed from the individual nozzles of the nozzle group based on the nozzle characteristics, as described herein, of the respective nozzles. Advantages of such embodiments include reduced costs.Thus, a smart nozzle is a single nozzle and an associated ECU or a group of nozzles assigned to a common ECU.

[0017] In yet another example, the system 60 includes one or more control points associated with the system 60, wherein the one or more control points are configured to mark the location of one or more nozzles (or ECUs) of the plurality of nozzles on a field map (e.g., indexed to product flow rates, moisture content, crop type, type of agricultural input, or the like). Optionally, each of the nozzles, nozzle groups, or ECUs 72 of the system is configured to control the agricultural input at individual rates according to the location of the one or more nozzles (or ECUs 72) of the plurality of nozzles on the field map (and optionally also according to the nozzle characteristics described herein). Further, each of the plurality of nozzles (or ECUs 72) may be subjected to a switching cycle, such as on / off, according to the location of the nozzle (or nozzle group or ECU 72) in the field.This contrasts with previous approaches that required all nozzles in a section of the beam to be turned off or on simultaneously.

[0018] In one example, each nozzle ECU 72 is programmable to receive, track, or manipulate predetermined nozzle control factors. For example, each ECU 72 is configured for nozzle pitch, target flow for the system, and agricultural sprayer speed, while ignoring yaw rate, nozzle location in the field, etc. Such examples offer the advantages of simplifying the system to user specifications, allowing greater system programmability, and providing cost-effective nozzle-specific flow solutions. In yet another example, the ECUs 72 associated with individual nozzles are instead combined into one or more centralized nodes that determine the individual flow rates of the respective nozzles in a manner similar to the previously described ECUs 72 associated with individual nozzles.

[0019] Fig. 6 is an exemplary schematic view of an ECU 80. The ECU 80 includes two terminals, including a 4-pin thermistor and a 12-pin terminal 82-A, and an LED 86. The LED 86, in one example, indicates the ready state of the smart nozzle. In one example, the LED 86 is a multi-color LED, wherein a particular color, along with a rate at which the LED 86 flashes, indicates whether the smart nozzle is in a fault mode, including the type of fault, in a warning state, a ready state, an active control state, or the like. The 4-pin thermistor 84, in one example, includes a number of control aspects, including a valve and a thermistor. The 12-pin terminal 82-A, in one example, includes a number of control aspects, such as, among others, a particular configuration, power, ground, nozzle start, location detection.Such pole indexing is applicable, in one example, to a smart nozzle or the ISOCAN bus. The lines with arrows indicate 88 a line to a daisy-chain ECU 82-A to a 12-pin connector having pins 83-B, but embodiments are not so limited. The ECU 80 controls nozzle flow based on a number of parameters, including: speed of the sprayer or boom, yaw rate, target system flow (e.g., volume / area), and runtime on / off command. Such parameters enable the ECU 80 to calibrate the duty cycle curve (e.g., the duty cycle curve provided by a nozzle manufacturer) of each smart nozzle necessary to achieve the target nozzle flow of the individual smart nozzles. Each smart nozzle is further sized according to nozzle pitch on the boom, beam location, and nozzle type.Furthermore, each smart nozzle can regulate or control the nozzle flow based on the location of the nozzle in the field (as described above).

[0020] In one example, the ECU 80 further includes the thermistor 84 to provide temperature-sensitive control of the nozzle. For example, when power is supplied to the thermistor 84, the thermistor 84 heats up, and as a result, the resistance of the thermistor 84 changes. The agricultural product flows over the thermistor 84, reducing the heat of the thermistor 84 and changing the resistance of the thermistor 84. In one example, the changes in the resistance of the thermistor 84 are used to indicate or determine that a nozzle is dirty, clogged, or the like. In another example, a pressure sensor or transducer is configured to measure the pressure behind each of the PWM valves (e.g., 73, Fig. 5). In one example, the pressure transducer is attached to each smart nozzle or connected as an extension feature.

[0021] In another example, the overall system data (e.g., actual flow versus target flow, maintained pressure versus target pressure, etc.) is used to calibrate one or more thermistors. The calibrated thermistor 84 of the smart nozzle is then used to calibrate the duty cycle curve of the corresponding smart nozzle. Advantages of such examples provide a more precise, configurable, and efficient smart nozzle for applying an agricultural product.

[0022] Fig. Figure 7 illustrates an exemplary alternative view of an ECU 90. The ECU 90 includes a connector 92 with 6 pins 93 and an LED 94 on the circuit board. In such an example, all of the ECUs 90 are wired together or wired to a centrally located hub. Although nozzle control systems and methods described herein and in Fig. 1 and Fig. 2 depict a PWM master valve communicatively coupled to the master node, embodiments are not so limited. For example, other valves are contemplated. Furthermore, the examples herein are described with respect to an agricultural sprayer, but other embodiments are also contemplated, such as, but not limited to, planting equipment or toolbars.

[0023] Fig. 8 is a block diagram illustrating an example of a method 100 for controlling nozzle flow on an agricultural sprayer having a boom with multiple nozzles. In describing the method 100, reference will be made to features and elements described above herein, but without numbering. At 102, the method 100 includes determining a speed of an agricultural sprayer, a total flow of multiple nozzles, and a yaw rate of the agricultural sprayer. In one example, the speed of the agricultural sprayer is determined by a GPS module, an accelerometer, a speedometer, a tachometer, or the like. In one example, the total flow of the multiple nozzles is determined by a sum of the individual flow rates of each of the multiple nozzles or is measured by a flowmeter.In one example, the yaw rate is determined by a yaw rate sensor coupled to the boom, the master node, or the agricultural sprayer to detect yaw of the hull and provide a yaw signal. At 104, a pressure of an agricultural product is controlled by a pressure valve communicating with the master node. At 106, the method 100 includes calculating a desired nozzle flow rate of at least a portion of the plurality of nozzles using the velocity, the total flow rate, and / or the yaw rate. As described herein, at 108, the method 100 includes controlling the nozzle flow rate of the portion of the plurality of nozzles.

[0024] In one example, the method includes determining a boom section flow rate, including a portion of the plurality of nozzles, based on speed, total flow rate, and / or yaw rate, and controlling the flow rate of the boom section. For example, the boom section corresponds to a nozzle group as described herein, such as multiple nozzles controlled by a common ECU. As described herein, controlling includes controlling each individual nozzle of the plurality of nozzles to deliver the agricultural input at individual rates according to the location of the one or more nozzles on a field map. Further, the present method 100 includes controlling the pressure of the boom independently of controlling the nozzle flow rate of the portion of the plurality of nozzles.

[0025] A further embodiment will now be described. In this embodiment, the master node performs several functions in the system. It communicates with the pump and a pressure sensor to regulate pressure in the system to a desired setpoint pressure. It also communicates with a flow meter to determine an actual total flow. The master node also receives vehicle speed data from a GPS system, a yaw rate from a yaw sensor, and a target volume-to-area ratio of an agricultural product (typically input by a user).

[0026] The master node also provides error correction for the system by looping through each smart nozzle and calculating the flow rate of each smart nozzle. The master node determines this flow rate based on vehicle speed, the nozzle's location on the beam, and the target volume-to-area ratio. The master node then sums the flow rates and compares this total to the actual total system flow rate to determine a percentage error. The percentage error is then provided on the CAN bus to the smart nozzles to modify their flow rates.

[0027] The master node also checks for saturation points in the flow range for the smart nozzles to make their percentage error more accurate. For example, if the master node calculates a flow for a smart nozzle that exceeds the nozzle's maximum flow, the master node uses the maximum nozzle flow instead of the calculated nozzle flow when summing the rates to determine the total flow. The master node in this embodiment does not control the smart nozzle flows per se.

[0028] Each smart nozzle independently calculates and controls its own flow based on CAN bus data from the master node. In one example, each nozzle performs its own flow calculation independently of the other nozzles. Specifically, the master node sends a vehicle speed, yaw rate, beam width, location of each nozzle on the beam, a target volume-to-area ratio for the applied product, and the error correction. Using this data provided on the CAN bus, each smart nozzle determines its own flow, adjusted for the error correction determined by the master node.

[0029] The flow rate for a smart nozzle is determined by multiplying various inputs together (e.g., velocity, yaw rate, volume / area). The system (e.g., the master node) can also apply logic (such as if-then statements) to determine whether a smart nozzle should be on or off. For example, if there is a fault or the main power switch is off, the target flow rate might not be applied to the smart nozzle, and the smart nozzle might be turned off.

[0030] Fig. 9A shows an example of a sprayer 900 designed for use with nozzle control systems described herein. Fig. The sprayer 900 shown in Figure 9A comprises a consolidated system with a product injection reservoir 906 and the injection pump 908, which feeds an injection port 910 of a manifold 912 of the sprayer 900. For example, the carrier fluid of the agricultural product is pumped by a carrier pump 904 from a carrier reservoir 902 and supplemented with the injection product (e.g., one or more additives, including fertilizers, pesticides, herbicides, or the like) at the injection port 910 (e.g., by the injection pump 908). In one example, a mixer 911 is downstream of the injection port 910 to mix the injection product with the carrier fluid (e.g., to form the mixed agricultural product) before it is delivered through the manifold 912 to the boom tubes 914. As also shown in Fig. 9A, a flow meter 924 and a pressure sensor 926 (e.g., a pressure transducer or the like) are coupled along the manifold 912 and configured to measure an actual total flow and an actual pressure (e.g., a system pressure) of the agricultural product.

[0031] In other examples, the sprayer 900 includes a system that includes additives premixed with the carrier solution and thus stored in the carrier reservoir 902. The injection reservoir 906, pump 908, and mixer are accordingly omitted in this example. Optionally, the injection reservoir 906, pump 908, and mixer are retained to facilitate the addition of other additives for injection into a premixed solution of the carrier fluid and base additives. Accordingly, the concentration of additives for injection into a premixed solution is regulated with the injection reservoir 906 and the injection pump 908.

[0032] Examples of intelligent nozzles 916 are in Fig. 9A. In the example shown, the smart nozzles 916 include one or more nozzle assemblies 918 (in this example, multiple) and control valves 920 associated with the one or more nozzle assemblies 918. As shown in Fig. 9A, a beam portion 922 distributes the agricultural product from the control valve 920 to each of the nozzle assemblies 918. As described herein, an electronic control unit (ECU) of the smart nozzle 916 is coupled to the control valve 920 (or valves) of the smart nozzle 916 to accordingly control the flow of the agricultural product through the nozzle assemblies 918 (e.g., according to a smart nozzle target flow rate, a duty cycle, an adjusted duty cycle, or the like).

[0033] Fig. 9B is a detailed view of one of the Fig. 9A. The smart nozzle 916 shown includes a plurality of nozzle assemblies 918 (multiple in this example). Each of the nozzle assemblies includes a nozzle body 930 that includes a nozzle housing, a nozzle tip, and / or a nozzle cylinder including a plurality of nozzle tips or the like. The nozzle body optionally includes a check valve 928 to prevent contaminants, air, or the like from entering the smart nozzle 916.

[0034] The control valve 920 is coupled (e.g., communicatively coupled) to an ECU. The ECU, as described herein, controls the operation of the control valve 920 and accordingly regulates the flow of the agricultural product to the nozzle assemblies 918 associated with the smart nozzle 916. Optionally, the control valve 920 is associated with fewer nozzle assemblies 918, such as one, two, three nozzle assemblies 918, and so on, to provide improved resolution and correspondingly finer control of the application of the agricultural product.

[0035] Fig. 10A shows a detailed example of a spray device 1000, including a local product injection system 1002, designed for use with nozzle control systems described herein. In the Fig. 10A, the local product injection system 1002 is in a beam section format, which is designed to inject one or more injection products (e.g., additives for an agricultural product) into the carrier fluid immediately upstream of the nozzle assemblies. The smart nozzles 1004 of the sprayer 1000 (each having at least one control valve 1008 and one or more nozzle assemblies 1006) are arranged along the sprayer beams and beam tubes 1005, which are shown in Fig. 10A are shown.

[0036] A carrier system 1010 is in Fig. 10A and includes the carrier reservoir 1012. As shown in Fig. 10A, the carrier reservoir 1012 communicates with the product pump 1014, which pressurizes and delivers the carrier fluid to the manifold 1016. In one example, the carrier system 1010 includes a carrier flow control valve 1018 and a flow meter 1020. The flow meter 1020 is coupled to a control device, such as the master node described herein, and measures the actual total flow of the agricultural product (e.g., the carrier fluid) from the carrier reservoir 1012. Optionally, a pressure sensor 1021, such as a pressure transducer, is provided with the carrier system, for example, along the manifold 1016. The pressure sensor 1021 is configured to measure the pressure of the carrier fluid (e.g., the actual pressure of the agricultural product). As further shown in Fig. 10A, the manifold 1016 extends to the beam tubes 1005 that extend to the left and right of the manifold 1016. Each of the beam tubes 1005, in turn, feeds a plurality of smart nozzles 1004. The control valves 1108 of the respective smart nozzles 1004 control the flow of carrier fluid to the individual associated nozzle assemblies 1006. In other examples, the smart nozzles 1004 include complementary control valves 1008 associated with the injection system 1002 that similarly control the flow of injection product to the carrier fluid passing through the individual smart nozzles 1004. In such an example, the smart nozzles 1004 are configured to control the flow of the agricultural input (e.g., the carrier fluid and injection products) as well as the concentration of the injection product in the agricultural input.

[0037] As also in Fig. 10A, the local product injection system 1002 includes an injection product reservoir 1024 and an injection pump 1026. The injection pump 1026 delivers the injection fluid (e.g., an agricultural product having one or more additives for the carrier fluid) from the reservoir 1024 into an injection manifold 1028. The injection manifold 1028 delivers the injection product to one or more injection boom tubes 1030 extending left and right, as shown in Fig. 10A. The injection beam tubes 1030 distribute the injection product to the intelligent nozzles 1004. As already described, the intelligent nozzles 1004 deliver Fig. 10A, the injection product is delivered directly to each of the nozzle assemblies 1006 associated with a particular smart nozzle 1004 (e.g., to one or more nozzle assemblies supplied by the corresponding control valve 1008).

[0038] As in Fig. 10A, the local product injection system 1002 is isolated from the carrier system 1010 until a local injection of the injection product is made at the smart nozzles 1004 (e.g., adjacent to the nozzle assemblies 1006). Accordingly, the local product injection system 1002 is capable of maintaining an elevated pressure environment for the injection product up to the smart nozzles 1004 (e.g., with the injection pump 1026). At the smart nozzles, the pressurized injection product is delivered to each of the nozzle assemblies 1006, as determined, for example, by a control module configured to inject a fixed amount of the injection product into the carrier fluid. Even in low-flow situations with a low flow of carrier fluid, the injection product is provided pressurized and therefore ready for immediate delivery to one or more of the nozzle assemblies 1006.Accordingly, individual and immediate control of the injection product (e.g., the concentration of the injection product) is achieved for each of the intelligent nozzles 1004. The injection product is provided at the intelligent nozzles 1004 (e.g., locally) and away from the upstream carrier reservoir 1012.

[0039] Fig. 10B is a detailed view of one of the Fig. 10A. In this example, the smart nozzle 1004 optionally includes local injection of an injection product into a flow of carrier fluid. The smart nozzle 1004 extends from left to right on the sheet in this example and includes a plurality of nozzle assemblies 1006. In one example, the nozzle assemblies 1006 each include a nozzle body 1034 and a nozzle check valve 1032 (optionally as part of the nozzle body). The nozzle body 1034 includes a nozzle housing, a nozzle tip, and / or a nozzle cylinder including a plurality of nozzle tips or the like. As with other examples herein, the nozzle body 1034 includes one or more nozzle tips, including, but not limited to, an atomizing nozzle, a jet nozzle, or the like. In the Fig. 10B, nine nozzle assemblies 1006 are provided in a spaced configuration along a beam portion 1036 of the smart nozzle 1004. Carrier lines 1038 introduce carrier fluid (e.g., an agricultural product) into each end 1038, 1040 of a beam portion 1036. In one example, each of the carrier lines 1038 includes a check valve 1042 and a mixer 1044, such as a static mixer. The control valve 1008 of the smart nozzle 1004 (in Fig. 10A) is provided upstream along the carrier lines 1038 with respect to the check valves 1042.

[0040] The Fig. 10B, the local product injection system 1002 includes the smart nozzle 1004 (e.g., one or more smart nozzles, such as the smart nozzle shown). Fig. In the example shown in Figure 10B, the injection interfaces 1046 are associated with each of the support lines 1038 (the support lines extending from the beam tube 1030 of the support system 1010 to the beam section 1036). Each of the injection interfaces 1046 delivers injection product to the associated support line 1038, which communicates with the first and second ends 1038, 1040 of the beam section.

[0041] In one example, the injection interfaces 1046 include interface valves 1048 in series with check valves 1050. In one example, the interface valves 1048 include pulse width modulation valves or other control valves configured to provide a metered flow of the pressurized injection product through the injection interfaces 1046 to injection ports 1052 communicating with the individual carrier lines 1038. In one example, actuation of the interface valves 1048, e.g., for a desired flow rate, delivers the appropriate amount of injection product to each of the corresponding carrier lines 1038 at the injection ports 1052 to achieve an appropriate concentration of the injection product in the carrier fluid. The solution of the carrier fluid and the injection product (e.g.,of the agricultural input) is delivered by the mixers 1044 and mixed prior to delivery to the boom section 1036. The mixed solution of carrier fluid and the injection product (of the agricultural input) is then delivered from the first and second ends 1038, 1040 of the boom section, through the boom section 1036, and to each of the nozzle assemblies 1006 of the smart nozzle 1004. Accordingly, each of the nozzle assemblies 1006 associated with a particular smart nozzle 1004, in this example, dispenses substantially the same agricultural input having the same injection product concentration. The injection interfaces 1046 associated with the boom section 1036 are independently operated with respect to other injection interfaces 1046 associated with other boom sections 1036 and smart nozzles 1004 of the sprayer 1000.Accordingly, in this example, individual control and immediate dispensing of the injection product at each of the beam sections 1036 is achieved for each of the beam sections 1036. This precise and individual control, in conjunction with the other features of the smart nozzle 1004, enables high-resolution control of both the injection product and the carrier fluid (e.g., according to the nozzle control systems described herein) based on one or more sprayer characteristics, including, but not limited to, a beam width; a desired product coverage per unit area; a sprayer speed; a sprayer yaw rate; nozzle characteristics such as a nozzle location along the beam, a nozzle pitch, a nozzle flow coefficient, or the like.The local injection interfaces 1046 cooperate with a controller of the nozzles to enhance the controlled distribution of the agricultural product by enabling instantaneous (including near-instant) control of the concentration of one or more injection products (additives) of the agricultural product along with the controlled flow of the agricultural product (e.g., at a target flow of the smart nozzle adapted for error correction as described herein).

[0042] Fig. 11A shows another example of the 1000 sprayer. The Fig. The example shown in Figure 11A is at least in some respects similar to the one shown previously in Fig. 10A and Fig. 10B is similar to the sprayer 1000 shown and described. For example, the sprayer shown in Fig. 11A and Fig. 11B, the sprayer 1000 includes a local product injection system 1100 that is separate from the corresponding support system 1010. As previously described herein, the local product injection system 1100 delivers an injection product from the injection product reservoir 1024 to a plurality of beam sections 1036. As shown in Fig. 11A and further in Fig. 11B, the injection interfaces 1106 are each connected to corresponding intelligent nozzles 1102, each of which is associated with a nozzle assembly 1104 and a control valve 1008. In other words, the Fig. 11A and Fig. 11B, each of the intelligent nozzles 1102 is assigned a single nozzle assembly 1104 and associated injection interface 1106 (as shown in Fig. 11B). Each intelligent nozzle 1102 optionally uses a single control valve 1008 (as previously described with the Fig. 10A, B) or optionally assigns a separate control valve 1008 to each of the nozzle assemblies 1104. Fig. For ease of illustration, Figure 11A shows a separate control valve 1008 associated with an array of nozzle assemblies 1104. In the Fig. 11A, in some examples, there are multiple control valves 1008, each associated with one or more nozzle assemblies 1104 to provide increased resolution control of the carrier fluid (the agricultural product).

[0043] Each of the injection interfaces 1106, for example along the length of the sprayer beams 4 (see Fig. 1), is independently controlled according to predetermined concentrations of the injection product within the carrier fluid. The agricultural product dispensed from the individual nozzle assemblies 1104 of the smart nozzles 1102 thereby has a varying concentration of the injection product based on the independent concentration control provided by the injection interfaces 1106. The injection concentration control, as previously discussed herein, in conjunction with the nozzle flow control systems, provides concentration control of one or more additives (injection products) along with high resolution nozzle flow control (e.g., determining a target flow of a smart nozzle based on one or more sprayer characteristics and adjusting it for error correction).

[0044] In Fig. 11B, another example of the injection interface 1106 is shown in detail. As in Fig. 11B, an injection interface 1106 includes, for example, an interface valve 1108 and a check valve 1110, which is similar to the interface valve and the check valve described previously and in Fig. 10B, at least in some respects. In contrast to the previously described example, the injection interface 1106 includes an injection port 1112 provided on the nozzle assembly 1104 and downstream of a carrier line 1114 communicating with the beam section 1036 or the beam tube 1005. The control valve 1008 of the smart nozzle 1102 is located upstream of the injection port 1112. The nozzle assembly 1104 includes a check valve 1116 and an in-line mixer 1118 (e.g., a static mixer). The nozzle assembly 1104 further includes a nozzle body 1120 having a nozzle housing, one or more nozzle tips or the like (such as an atomizer or jet nozzle) communicating with the mixer 1118. As shown in Fig. As shown in Figure 11B, the injection port 1112 is coupled to the nozzle assembly 1104. The injection port 1112 is located, for example, between the check valve 1116 and the mixer 1118.

[0045] In operation, the carrier fluid is metered by the smart nozzle 1102 at a target flow rate of the smart nozzle as described herein, for example, according to one or more static or variable characteristics of a sprayer, which may vary for each smart nozzle, and error correction based on a comparison of the expected total flow and an actual total flow of the agricultural product. The injection product is then delivered through the injection boom tubes 1030 to each of the injection interfaces 1106. The interface valve 1108 meters the amount of injection product delivered to the corresponding nozzle assembly 1104. For example, the injection product is metered independently for each of the injection interfaces 1106 according to control signals from a control device associated with the individual injection interfaces 1106. The control device (e.g.The control module (the master node described herein or another control module) is configured to control each of the injection interfaces 1106 independently or in one or more groups or arrangements. The injection product is delivered from the interface valve 1108, through the check valve 1110, and through the injection orifice 1112 into the nozzle assembly 1104. Prior to delivery through the nozzle body 1120, including a nozzle tip, the injection product, in combination with the carrier fluid, is optionally mixed within the mixer 1118 and thereafter dispensed as the agricultural product having the specified concentration of the injection product, and according to a duty cycle based on the determined target flow of a smart nozzle and error correction by the nozzle body 1120.

[0046] In a similar way to the Fig. 10A and Fig. 10B is the local product injection system 1100 shown in the Fig. 11A and Fig. The local product injection system 1100 shown in Figure 11B is configured to provide for instantaneous addition of an injection product to a carrier fluid jet provided at the desired flow rate of a smart nozzle immediately prior to its discharge through the nozzle body 1120 (e.g., locally at the nozzle assembly 1104). Accordingly, instantaneous changes in the concentration of the injection product in an agricultural product, for example, for different areas of a field, are achieved instantly (including almost instantly with respect to upstream mixing) and on demand as the sprayer 1000 moves across the field.

[0047] Fig. Figure 12 shows an example of several intelligent nozzles 1200, which can be connected to one or more sprayers such as those shown in the Fig. 9A-11B, as described hereinbefore. In the sprayer shown in Fig. 12, the smart nozzle 1200 includes a stacked or composite nozzle assembly 1204, for example, including component nozzles that provide a variation of flow configurations with the smart nozzle 1200 in one or more high and low flow modes. In one example, the plurality of smart nozzles 1200 are shown coupled along a beam portion 1206, for example, along a beam portion of one or more of the sprayers 900, 1000. In this example, six smart nozzles 1200 are provided along the beam portion 1206. In other examples, the beam portion 1206 includes one or more smart nozzles 1200 arranged therealong. As further shown in Fig. 12, an optional boom control valve 1202, for example, another control valve similar to the control valve 1210 used in the smart nozzles 1200, is provided upstream of the boom section 1206 to control the flow of the carrier fluid or the mixture of carrier fluid and additive (e.g., both considered an agricultural product) into the boom section 1206 and to the smart nozzles 1200.

[0048] As also in Fig. 12, the smart nozzle 1200 in this example includes a stacked nozzle assembly 1204 that includes component nozzles. In another example, the stacked nozzle assembly 1204 includes a unit nozzle fed from multiple valves (in Fig. 12). In the example shown, the smart nozzle 1200 includes a variable flow control valve 1210 that is controlled, for example, to operate at a range of flows (on, off, and open with corresponding flows in between) according to a variation in the nozzle orifice size, the duty cycle of a valve actuator, or the like. In one example, the variable flow control valve includes an oscillating valve actuator configured to oscillate between open and closed configurations according to a variable duty cycle. The variable duty cycle corresponds to varying timing of the open and closed configurations (e.g., 70 percent on and 30 percent off during a 10-second period). The smart nozzle 1200 further includes a bimodal control valve 1212 that operates in parallel with the variable flow control valve 1210.The bimodal control valve has on and off configurations corresponding to fully closed and fully open.

[0049] In the example shown, the stacked nozzle assembly 1204 includes a composite nozzle body 1208 having first and second nozzle tips that communicate with a corresponding one of the bimodal control valve 1212 or the variable flow control valve 1210. In other examples, the stacked nozzle assembly 1204 includes a nozzle body with first and second component nozzle bodies that correspond to the valves 1210, 1212 and their respective nozzle tips.

[0050] In another example, and as previously described herein, both the variable flow control valve 1210 and the bimodal control valve 1212 communicate with a single nozzle tip, for example, a unitary nozzle tip, that communicates with both valves.

[0051] The stacked nozzle assembly 1204 and the corresponding smart nozzle 1200 including the stacked nozzle assembly are operable in a number of configurations according to the operation of the sprayer (e.g., at high or low ground speeds, high or low flow rates, a fixed droplet size, continuous coverage, or the like). For example, both the bimodal and variable rate control valves 1212, 1210 are operated in a fully open mode (e.g., a first bypass mode) to enable the delivery of the carrier fluid or the carrier fluid mixed with the injection product (both of which are, for example, agricultural products) through each of the valves 1210, 1212, for example, according to operation of another valve, such as the beam control valve 1202.In one example, the beam control valve 1202 is actuated in a variably manner, for example, over a range of flow rates, for example, according to control from a master node or other electronic control unit (associated with a smart valve as described herein), to thereby deliver a fixed flow rate through both the variable flow control valve 1210 and the bimodal control valve 1212 of the smart nozzle 1200. Optionally, control of the flow of the agricultural product is provided by one or more product dispensing features, such as a pump, a control valve coupled along a manifold, or the like.

[0052] In another example, either the variable flow control valve 1210 or the bimodal control valve 1212 is closed while the other remains open (e.g., in a second bypass mode). In this example, the beam control valve 1202, a pump, or an upstream control valve controls the variable flow of the carrier fluid or the carrier fluid in combination with an additive such as an injection product into the open one of the valves 1210, 1212. In this example, the total flow through the stacked nozzle assembly 1204 is lower than otherwise provided in the previously described (first) bypass mode when both the variable flow control valve and the bimodal 1210, 1212 have an open configuration.In this example (when one of the valves 1210, 1212 is closed), for example, compared to the fully open (first) bypass mode previously described where both valves 1210, 1212 are open, a lower flow is provided into the beam section 1206, for example, by means of the control valve 1202, while the sprayer, such as the sprayer 900, 1000, is moved at a lower speed, for example.

[0053] Optionally, in the first or second bypass mode described herein, the beam control valve 1202 is actuated according to a desired flow of a smart nozzle in a manner consistent, for example, with the systems and methods described in the Fig. 13 and Fig. 14 and described herein. For example, the target smart nozzle flow is provided by an associated electronic control unit (ECU) on the beam control valve 1202 to actuate the valve actuator and provide the target smart nozzle flow through each of the stacked nozzle assemblies 1204. In such a configuration, the beam control valve 1202 and each of the stacked nozzle assemblies 1204 along the associated beam section 1206 are a composite smart nozzle.

[0054] As also in Fig. 12, in other examples, the stacked nozzle assemblies 1204 as part of the smart nozzles 1200 are actuated according to a variable flow control configuration, where each of the variable flow control valves 1210 of the associated smart nozzles 1200 is actuated, for example, according to target smart nozzle flows determined by electronic control units (ECUs) associated with the individual smart nozzles 1200. For example, in one example where the target flow of a smart nozzle is below a maximum flow of the variable flow control valve 1210, the variable flow control valve 1210 is actuated alone, with the bimodal control valve 1212 having a closed configuration.The electronic control unit actuates the variable-flow control valve 1210 with a duty cycle (e.g., with oscillating open and closed configurations, each varying between 0 and 100 percent based on the duty cycle). The duty cycle generated by the ECU is used by the variable-flow control valve 1210 to achieve a flow of the agricultural product through the smart nozzle on the stacked nozzle assembly 1204 (e.g., a spray of the product through the nozzle tip associated with the smart nozzle 1200).

[0055] For example, as described herein, in one example, the smart nozzle 1200 is operated in a low-flow configuration (in at least one low-flow mode) with the variable-flow control valve 1210 selectively opened according to the smart nozzle target flow and the bimodal valve 1212 closed. The variable-flow control valve 1210 of the smart nozzle 1200 implements flow control of the input crop according to the smart nozzle target flow for the smart nozzle 1200, which is determined by the associated ECU. The entire input crop is directed through the variable-flow control valve 1210 while the bimodal valve 1212 is closed.

[0056] In another example, the stacked nozzle assembly 1204 is operated as part of one or more smart nozzles 1200 in a high-flow configuration (in at least one high-flow mode). In a high-flow configuration, for example, with a smart nozzle target flow higher than the maximum flow of the variable-flow control valve 1210, the bimodal control valve 1212 is open, for example, in an on or open configuration, to allow delivery of the agricultural input through both the bimodal control valve 1212 (at a baseline flow) and the variable-flow control valve 1210 (at a controlled variable flow).In contrast to the baseline flow of the bimodal control valve 1212, the variable-flow control valve 1210 provides varying flows of the agricultural input through the smart nozzle 1200. The resulting spray of agricultural input from the smart nozzle (in the high-flow configuration) is composed of the baseline flow from the bimodal control valve 1212 and a variable flow from the variable-flow control valve 1210. In sum, the component flows equal the target flow of a smart nozzle determined by the ECU.When a smart nozzle target flow is greater than the maximum flow of the variable flow control valve 1210 and its associated nozzle tip, the bimodal control valve 1212 provides a static base flow of the agricultural product, and the variable flow control valve 1210 operates below its maximum flow to control the composite flow according to the determined smart nozzle target flow, which is otherwise greater than the maximum flow of the variable flow control valve 1210.

[0057] The smart nozzle 1200 (as well as the other smart nozzle configurations herein) is configured to provide a desired smart nozzle flow for the agricultural product through the smart nozzle 1200 according to one or more sprayer characteristics, including, but not limited to, sprayer speed, sprayer yaw rate, a nozzle index identifier (nozzle number and location along a bar), bar width, nozzle pitch, one or more nozzle characteristics, including flow coefficients of each of the associated nozzles of the stacked nozzle assembly 1204 (or unit nozzles), flow coefficients through the various valves, tubes, or the like.Additionally, the smart nozzle 1200, which includes a bimodal and variable flow control valve 1212, 1210 as described herein, is configurable in a number of configurations or modes, including bypass modes (e.g., with the stacked nozzle assembly 1204), high and low flow modes, and, as described hereinafter, other operating modes of the sprayer 900, 1000, including static and variable pressure configurations.

[0058] Fig. Figure 13 shows a general overview of a nozzle control system according to an example of the subject matter of the present invention. In certain examples, the nozzle control system can control the application of agricultural products—such as liquid fertilizer—along the length of a boom.

[0059] In certain examples, the nozzle control system may include a pump (and / or valve) coupled to a storage tank or reservoir, and a number of independent "smart" nozzles 1306 spaced apart along the beam for dispensing the liquid product. Each of the smart nozzles includes one or more control valves operated under the control of an electronic control unit, or ECU. In certain examples, the ECUs may be chained together and connected to a main controller, or master node, via an ISOCAN bus. The master node 1304 is further connected to a user interface or field computer, such as the input interface 1302.

[0060] The master node 1304 may perform a number of functions in the system, including, but not limited to, communicating with the pump and a pressure sensor to regulate a pressure in the system to a desired set pressure (including pressure ranges as in Fig. 14), communicating with a flow sensor to determine an actual total flow, calculating an expected total flow, comparing the expected total flow with the actual flow from the flow sensor to generate an error correction for the smart nozzles, as described below, or combinations thereof.

[0061] To calculate the expected total flow, the master node can first calculate a flow for each smart nozzle (e.g., based on vehicle speed, yaw rate, the nozzle's location on the beam, and the target volume-to-area ratio). The master node can then sum the flows and compare this sum to the actual total system flow to determine an error correction. The error correction can then be provided on the CAN bus to the smart nozzles to change their flow. In certain examples, the master node does not use flows or other data from the smart nozzles to perform the percentage error calculation; instead, the master node 1304 independently generates the expected total flow based on one or more sprayer characteristics, including the specified product area coverage (e.g.,in units of volume per unit area), machine speed, yaw rate, or the like.

[0062] The error correction can be a single value or a percentage error that is communicated globally to all ECUs 1310 of smart nozzles. In some examples, the error correction is not individual for each smart nozzle; instead, all ECUs of the smart nozzles receive the same percentage error value. If the flow meter registers an actual flow that is higher than the expected total flow, then a negative percentage error is output as a result, reducing the self-calculated output of each smart nozzle (e.g., the target flow of a smart nozzle) by the same percentage. Conversely, if the flow meter registers a flow that is lower than the expected total flow, then a positive percentage error is output, causing the self-calculated output of each smart nozzle (e.g.,the target flow of an intelligent nozzle) is increased by the same percentage.

[0063] In certain examples, the master node can also check for saturation points in the flow range for the nozzles to make their percentage error more accurate. For example, if the master node calculates a flow rate for a nozzle that exceeds the maximum flow rate of the nozzles, the master node can use the maximum nozzle flow rate instead of the calculated nozzle flow rate when summing the rates to determine a total flow rate. The master node does not control the nozzle flows themselves.

[0064] In certain examples, each smart nozzle 1306 calculates and controls its own flow with the associated ECU 1310. Each smart nozzle can calculate its own flow based on a target flow (a specified product area coverage), a vehicle speed, a yaw rate, and the location of the nozzle on the beam (determined by nozzle pitch and nozzle index). Each smart nozzle can perform its own flow calculation independently of the other nozzles. In particular, the CAN bus can send a vehicle speed, a yaw rate, a beam width, a location of each nozzle on the beam, a target volume-to-area ratio for the applied product, and / or the error correction to the ECU 1310 of each smart nozzle 1306. Using this data provided on the CAN bus, each smart nozzle 1306 can determine its own flow, adjusted for the error correction determined by the master node 1304.

[0065] When determining nozzle flow, each of the smart nozzles can receive as inputs a velocity, a yaw rate, a desired flow (volume / area), a nozzle pitch, and a nozzle index, and can use these inputs to determine a desired flow specific to the individual nozzle. All of these inputs—except for the nozzle index input—can be dimensional inputs rather than unitless values that are proportional to each other for a given condition. Furthermore, the nozzle indices—while unitless—can provide coefficients for nozzle pitch and do not need to be proportional to each other for a given condition.

[0066] In certain examples, the nozzle control system may apply logic (such as if-then statements) to determine whether a nozzle should be on or off. For example, if there is a fault or the main switch is off, the setpoint rate cannot be applied to the nozzle, and the nozzle could be turned off. Insofar as if-then logic could be thought of as multiplying by one or zero, the ones or zeros do not represent unitless values proportional to each other for a particular condition, such as a setpoint flow.

[0067] In certain examples, the nozzle control system may not divide a flow rate for an individual nozzle by an average of the flows for all nozzles. In such examples, the nozzle control system may sum the flows and compare the sum to an actual measured flow rate to determine a percentage error. The percentage error is then used by individual nozzles to adjust their flows.

[0068] In addition to the operating modes listed above, in certain examples, the nozzle control system may employ a variable pressure (VP) operating mode. The VP operating mode may be particularly useful in applications where it is desired to avoid gaps in coverage. As discussed above, a nozzle duty cycle may be the adjustment parameter used by the nozzle ECU assembly to provide a desired nozzle flow or droplet size. For some materials that do not migrate after deposition, a lower duty cycle may result in gaps in coverage. In VP mode, the nozzle duty cycle operates at a target duty cycle, and the user does not enter a target pressure; instead, a pressure range may be entered. The target pressure is automatically calculated in the background and is based on the target duty cycle for the nozzle control valve.In one example, the target duty cycle for the nozzle control valve may be set to approximately 70% (although this could be different) and may not be user-adjustable. In certain examples, each nozzle continues to execute its given control algorithm to achieve the desired flow even after the target duty cycle has been set, so the actual duty cycle may differ from the target duty cycle. However, in this mode, the pressure control algorithm attempts to calculate and provide a system pressure that can provide flow to the nozzles using the target duty cycle. In certain situations, such as planting equipment and fertilizer applications, a VP mode of operation can reduce or eliminate gaps in coverage due to duty cycling. In general, a VP mode of operation can allow for a wider range of operating speeds.A wider speed range can be beneficial in applications where maximum speed during use is a priority.

[0069] In certain applications, each nozzle location on a boom (each nozzle assembly) may include a stacked nozzle assembly, which may include multiple nozzle bodies. Generally, only one of the nozzle bodies is used with a nozzle control valve operable as discussed above. Such applications can provide a very wide speed range, including from low speeds where only one of the nozzle bodies provides a material application, to high speeds where each of the other nozzle characteristics is fully "on," and the nozzle control valve provides fine control of the material application. Fertilizer spraying applications are examples where this mode can provide a benefit.

[0070] Fig. 13 shows an example of a nozzle flow control system 1300 (herein, the control system 1300 or the system 1300) configured to operate in a pinpoint pressure mode. The system 1300 pressurizes and maintains the agricultural product at a pinpoint or setpoint pressure. Maintaining the setpoint pressure enables the production of jets of the agricultural product (even at varying flow rates) with an appropriate droplet size (e.g., large droplets, small droplets, diffused spray, concentrated spray or jet, or the like).

[0071] As shown, the nozzle flow control system 1300 includes a number of components designed to provide individual flows for multiple smart nozzles, such as those shown in Fig. 13 shown intelligent nozzle 1306. The Fig. 13 schematically shown smart nozzle 1306 includes, for example, one or more smart nozzles 1306 coupled to one or more features of the control system 1300, including, but not limited to, the input interface 1302, the master node 1304, and one or more components of the system 1300 (e.g., a pressure sensor 1324, a flow meter 1322, or the like). When the smart nozzle 1306, for example, shown in Fig. 13, as well as the Fig. 14, reference is made to one or more of the previously described intelligent nozzles described herein and in the Fig. 9A-12. The intelligent nozzle 1306 comprises, for example, a nozzle assembly such as the one shown schematically in Fig. 13, which comprises at least one variable flow control valve 1312 and at least one nozzle body, as well as an electronic control unit 1310 (ECU) communicating with the control valve 1312. The control valve 1312 and the nozzle assembly 1308 described herein correspond to one or more of the associated control valves or nozzle assemblies described in the description and shown in the figures, for example, the corresponding control valves and nozzle assemblies shown in the Fig. 9A-12 are shown.

[0072] The nozzle flow control system 1300 as described herein uses the smart nozzle electronic control units (ECUs) 1310 to generate target smart nozzle flows at each of the smart nozzles 1306, which are used to actuate variable flow control valves 1312 of the smart nozzles 1306 and produce a corresponding spray of the agricultural product at the target smart nozzle flow. The master node 1304 is used in combination with the smart nozzle ECUs 1306 to provide error correction used by the ECUs to adjust the target smart nozzle flow (e.g., according to an adjusted duty cycle). In one example, the smart nozzle 1306 includes multiple nozzle assemblies 1308, for example, distributed along the sprayer boom, and associated with a single ECU 1310.In another example, the smart nozzle 1306 includes a single nozzle assembly 1308 associated with a single ECU 1310.

[0073] As described herein, the EC 1310 of each smart nozzle 1306 generates a smart nozzle flow for the respective smart nozzle. The smart nozzle flow is converted, for example, into a voltage, current, duty cycle, or the like, and used by the control valve 1312 to selectively open, close, or actuate the valve actuator between open and closed configurations (e.g., between zero flow and the maximum flow of the valve). In one example, the control valve 1312 includes an oscillating valve actuator that is moved between on and off (open and closed) configurations according to a duty cycle that corresponds to the target smart nozzle flow.

[0074] In parallel with each of the smart nozzles 1306, the master node 1304 detects the actual flow of the agricultural product within the sprayer, for example, in one or more of the sprayers 900, 1000 described herein, and compares the actual flow to an expected total flow of the agricultural product (generated with the master node 1304). The comparison of these values is used to determine an adjustment or error correction used by the smart nozzles 1306, for example, the ECUs 1310, to adjust the duty cycle (e.g., to an adjusted duty cycle) to compensate for a detected difference between the expected total flow of the sprayer (e.g., a target total flow) and the actual flow of the agricultural product of the sprayer.

[0075] As also in Fig. 13, the components of the nozzle flow control system 1300 include an input interface 1302. The input interface 1302 comprises an input device, such as, but not limited to, a keyboard, a keypad, a data interface, configured for connection to a field computer, a network, a wireless network, one or more sensors of the sprayer and / or an associated vehicle, or the like. The input interface 1302 is used, in one example, to provide one or more inputs to the nozzle flow control system 1300 to enable control of the system 1300 to achieve one or more of an expected area coverage by the agricultural product in a precise and reliable manner, controlled based on one or more characteristics of the sprayer. As shown in Fig. 13, the input interface 1302 provides several example inputs, including a target pressure (including a pressure range as described with reference to the system 1400), a beam width, a target area coverage by the product (e.g., in units of volume per unit area), a machine speed (the speed of the sprayer, a tractor, or the like), a yaw rate (corresponding to the rotation of the sprayer and sprayer beams), a nozzle index (an identifier that indicates the location or number of a nozzle along a beam), a nozzle pitch, one or more flow coefficients of the nozzle assemblies 1308 and / or control valves 1312, or the like.

[0076] As also in Fig. 13, the master node 1304 communicates with the input interface 1302, one or more components of the sprayer 900 (or 1000), as well as with the ECUs 1310 of each of the smart nozzles 1306. As shown, the master node 1304 includes an expected total flow module 1318 in communication with the input interface 1302 and an adjustment module 1320 (which, in one example, is also associated with the master node 1304), or the like. As shown, the expected total flow module 1318 receives a number of inputs from the input interface 1302, such as one or more sprayer characteristics, including statistical characteristics (e.g., bar width, target pressure as a pinpoint pressure, nozzle pitch, or the like) and dynamic characteristics that optionally change over time (e.g., machine speed, yaw rate, target product coverage, or the like).The expected total flow module 1318 uses the input values to determine an expected total flow based on these characteristics. The expected total flow is optionally generated continuously, for example, when one or more of the input values deviate from a previous value, or according to a specified generation frequency.

[0077] As further stated in Fig. 13, the master node 1304 includes an adjustment module 1320 in communication with the expected total flow module 1318 and a flow meter 1322, such as the flow meter provided along a manifold (e.g., a manifold) of the sprayer, at a pump or control valve outlet near the input reservoir, or the like. The flow meter 1322 measures the actual total flow of the input product dispensed by the sprayer, for example, for each of the nozzle assemblies 1308. The actual total flow is compared at the adjustment module 1320 to the expected total flow (generated at the module 1318) to determine an error correction accordingly. The error correction is determined, for example, using a comparison, a difference function, or the like.The error correction is optionally conditioned (e.g., integrated and passed through a gain module) to provide an error gain or other numerical multiplier or product for use with the ECUs 1310 of each of the smart nozzles 1306. As described herein, the ECUs 1310 generate desired smart nozzle flow rates for the associated smart nozzles. The error correction is used by the ECUs to modify the generated desired smart nozzle flow rates (including associated duty cycles) and accordingly alter the performance of the nozzle assemblies 1308 to minimize the difference determined by the adjustment module 1320 and to bias the summed desired smart nozzle flow rates (determined by the ECUs 1310) toward the expected total flow rate (determined by the master node 1304).

[0078] As also in Fig. 13, the master node 1304 further includes a feedback control module 1330 configured to control the system pressure of the agricultural product in the sprayer 900 (or 1000), for example, to maintain a specified droplet size in the sprayed agricultural product. The feedback module 1330 communicates with an agricultural product dispensing system 1326, including, for example, a flow valve, a pump, or the like, provided with the sprayer to control the pressure of the agricultural product (e.g., a carrier fluid and / or an additive, or a combination of the carrier fluid and an additive, such as the injection product) and delivery to the smart nozzles 1306.The feedback control module 1330 communicates with the agricultural product dispensing system 1326, for example, with an agricultural product dispensing system interface 1328 disposed between the master node 1304 and the dispensing system 1326. The agricultural product dispensing system interface 1328 includes a wired connection, a wireless connection, and / or a CAN bus interface, or the like.

[0079] The feedback control module 1330 is, in one example, a proportional-integral-derivative (PID) controller that controls the agricultural product dispensing system 1326 to maintain a system pressure, such as a total system pressure of the agricultural product in the sprayer, at a desired precisely set pressure or within a pressure range (e.g., target pressures). As shown in Fig. 13, in one example, input interface 1302 includes a target pressure input in communication with feedback control module 1330. In combination with pressure sensor 1324 (e.g., corresponding to pressure transducers 926, 1021), feedback control module 1330 uses the sensed pressure from pressure sensor 1324 for comparison to the pinpoint set pressure to control agricultural product application system 1326. Accordingly, application system 1326 controls (including raising, lowering, or holding) the system's pressure to the established pinpoint setpoint (e.g., the target pressure).

[0080] As described herein, in another example, the nozzle flow control system 1300 uses a set pressure, a range of pressures, to control the pressure of the agricultural product in the system in combination with a set duty cycle for one or more of the smart nozzles 1306. Such an example of this system is shown in Fig. 14. Optionally, the System 1400 from Fig. 14 is reconfigurable (e.g., by user input, such as toggling a mode switch) between system 1300 using a precisely adjusted setpoint pressure and system 1400 using a range of pressures as the setpoint pressure and a specified duty cycle. In one example, the operation of system 1400 with a system pressure within the setpoint pressure range and with corresponding smart nozzle flow rates is empirically determined to provide a corresponding smart nozzle control valve 1312 duty cycle near the specified duty cycle.

[0081] As further stated in Fig. 13 and as previously described, each of the smart nozzles 1306 includes an electronic control unit (ECU) 1310 associated with one or more control valves 1312 and one or more nozzle assemblies 1308, each including a nozzle body. Smart nozzles, such as the smart nozzles 1306 schematically illustrated in the figure, include the smart nozzles previously described and in the Fig. 9A-12. The electronic control unit 1310 of the nozzle flow control system 1300 operates in parallel with the master node 1304. For example, as shown, the ECU 1310 includes a smart nozzle desired flow module 1314 configured to generate a smart nozzle desired flow in a continuous manner, and in this example, a duty cycle module 1316 configured to convert the smart nozzle desired flow into a duty cycle for one or more of the control valves 1312 operable on a duty cycle (having a valve position configured to move between off and on positions according to the duty cycle provided by the ECU 1310). In the Fig. 13, the smart nozzle target flow module 1314 receives several inputs from the input interface 1302 (optionally via the master node 1304), including a target product coverage per unit area, the machine speed (e.g., that of the sprayer 900, 1000), the sprayer yaw rate, a nozzle index (corresponding to a nozzle identifier or the like used in a mapping table or other database to determine the nozzle's position for the ECU 1310), and a nozzle spacing relative to other nozzles or a reference point or the like. The inputs are received at the smart nozzle target flow module 1314 and used to generate a smart nozzle target flow.In one example, the target smart nozzle flow generated by module 1314 is updated in a continuous or ongoing manner, such as when the established target product coverage (e.g., in units of volume per unit area), machine speed, and / or yaw rate, or the like, changes. The target smart nozzle flow module 1314 provides an updated target smart nozzle flow for use by the smart nozzle 1306 to actuate the control valve 1312 and accordingly control the flow of the agricultural product through the nozzle assembly 1308.

[0082] As further stated in Fig. 13, in this example, nozzle flow control system 1300 includes a duty cycle module 1316 configured for use with control valve 1312 having a valve actuator configured for sliding movement between a closed and an open position, for example, at a frequency of 1 Hertz, 5 Hertz, 10 Hertz, or more. The desired smart nozzle flow generated by module 1314 is received at duty cycle module 1316 and, in one example, is used along with the sensed (actual) agricultural product pressure along with one or more flow coefficients to determine a corresponding duty cycle.When the duty cycle is implemented at the control valve 1312, it provides an appropriate flow through the nozzle assembly 1308 that matches or nearly matches the target flow of a smart nozzle determined by the module 1314.

[0083] In the example shown in Figure 1300, the duty cycle module 1316 includes a gain-based feature, comparator, or the like, that communicates with the adjustment module 1320. The error correction determined by the adjustment module 1320 of the master node 1304 is provided to each of the smart nozzles 1306. The error correction, corresponding to, for example, a gain, a multiplier, or other correction factor, is used to adjust the duty cycle to an adjusted duty cycle, which is then further sent to the control valve 1312. When the control valve 1312 operates according to the adjusted duty cycle, it delivers the agricultural product to the one or more nozzle bodies of the one or more nozzle assemblies 1308 at the desired smart nozzle flow rate adjusted according to the error correction provided by the adjustment module 1320.The summed flows through one or more control valves 1312 and one or more nozzle assemblies 1308 across the smart nozzles 1306 thereby equal or approach the expected total flow determined using the expected total flow module 1318. In other words, the difference determined using the adjustment module 1320 and the corresponding inputs to the adjustment module 1320, including the expected total flow and the actual flow, is used by the ECU 1310 of each of the smart nozzles 1306 to accordingly provide an adjusted duty cycle that delivers an agricultural product at flows that are close to or equal to the expected total flow (when summed), thereby providing the specified target area coverage by the product per unit area.

[0084] As already described, the Fig. The nozzle flow control system 1300 shown in Figure 13 includes a feedback control module 1330 configured to maintain a target or precisely adjusted pressure of the agricultural product within the sprayer, such as the sprayer 900, 1000. In one example, the target flow of a smart nozzle may vary by maintaining the set pressure or target pressure of the target flow of a smart nozzle while otherwise maintaining the target pressure with the agricultural product. In one example, maintaining the pressure enables spraying of the agricultural product, for example, from the nozzle assembly 1308, with a fixed droplet size corresponding to the target pressure maintained in the system.Variations in the target flow rate of a smart nozzle (generated by module 1314), and further conditioned by the duty cycle module 1316 as well as the adjustment module 1320 of the master node 1304, produce different flow rates at the nozzle assemblies 1308 of the smart nozzles 1306. With the system 1300, the target pressure of the agricultural product is maintained within the system. For example, the feedback control module 1330 maintains the target pressure or the precisely adjusted pressure despite collective or individual changes in the flow rates of smart nozzles (e.g., along a bar according to different rotational speeds based on yaw rate, machine speed, or the like), and accordingly, the droplet size of the spray of the agricultural product from the nozzle assemblies 1308 is maintained.Maintaining droplet size in some examples enhances the effectiveness of application of an agricultural product, for example by widely dispersing the product with small droplets or by providing large droplets that are resistant to wind-induced dispersion.

[0085] By maintaining a target pressure in the sprayer, as in sprayers 900, 1000, the sprayer is used in some examples at a limited range of speeds to achieve the target product coverage combined with the specified droplet size. Moving the sprayer, for example, at lower or higher speeds, may result in a discontinuous spray of the agricultural product from the nozzle assemblies 1308 of the smart nozzles 1306.That is, because the target pressure is maintained to provide a specified droplet size, the target flow rates of smart nozzles and the corresponding duty cycles may, in some examples, result in the control valves 1312 being closed for extended periods of time, correspondingly creating one or more gaps in an otherwise continuous spray of the agricultural product from the nozzle assemblies 1308.

[0086] In Fig. 14, an example of a nozzle flow control system 1400 is shown that provides increased flexibility for the sprayer 900 (or 1000) that counteracts potential discontinuity in the spray of an agricultural product, while simultaneously allowing operation of the sprayer at higher flows (with higher pressures) and lower flows (with lower pressures). In this example, the nozzle flow control system 1400 includes many components of the Fig. 13. In some examples, systems 1300 and 1400 are the same system and are switched between a set pressure mode (system 1300) and a pressure variation mode (system 1400). In this example, master node 1304 includes a pressure adjustment module 1402 configured to maintain the system pressure of the agricultural product and the spray within a specified set pressure range (e.g., a set pressure for the purpose of description includes pinpoint set pressures as well as pressure ranges), provided, for example, at input interface 1302.

[0087] As in Fig. 14, the nozzle flow control system 1400 has similar components to the system 1300 previously described in Fig. 13. For example, the system 1400 includes an input interface 1302 configured to provide one or more inputs to the system, such as, but not limited to, a beam width, a specified area coverage by the product (in units of volume per unit area), a machine speed, a yaw rate of the machine, a nozzle index (which in some examples corresponds to a location identifier related to a total number of nozzles), a nozzle pitch, and one or more flow characteristics, such as flow coefficients, of one or more of the nozzle assemblies 1308 and the control valves 1312 of each of the smart nozzles 1306. In contrast to an input of a precisely set pressure (an example of a set pressure), the system 1400 includes Fig. 14, the input interface 1302 includes a pressure range input (another example of a target pressure).

[0088] The system 1400 further includes a master node 1304 and a plurality of smart nozzles 1306. Each of the smart nozzles 1306 and the master node 1304 are coupled to the input interface 1302. As previously described, the ECU 1310 of each of the smart nozzles 1306 is configured to generate one or more smart nozzle target flow rates, for example, with the smart nozzle target flow rate module 1314 and a duty cycle module 1316, where the control valve 1312 includes a valve actuator configured to oscillate between an off and an on position, for example, with the duty cycle or the adjusted duty cycle as described herein.

[0089] The master node 1304 includes an expected total flow module 1318 and an adjustment module 1320. The adjustment module 1320 communicates with both the expected total flow module 1318 and the flow meter 1322 to determine a difference (an error correction) between the expected total flow generated by the module 1318 and the actual flow measured by the flow meter 1322. The adjustment module 1320 optionally conditions the difference (another refined example of error correction) and inputs it to the ECU 1310 of the smart nozzle 1306 (including multiple smart nozzles 1306) to accordingly condition the smart nozzle's target flow, which in this example is provided as a duty cycle to account for the difference between the expected total flow and the actual flow.The adjusted duty cycle is sent to one or more control valves 1312, where the control valves accordingly actuate valve actuators or the like to provide a flow of the agricultural product through one or more nozzle assemblies 1308 at the target flow rate of a smart nozzle adjusted for the error correction. The total flow rates of each of the smart nozzles 1306 adjusted with the error correction are consistent with (e.g., consistent with, close to, moving toward, or the like) the expected total flow generated by the expected total flow module 1318 due to the error correction used by each of the ECUs 1310 of the smart nozzles 1306.

[0090] In the Fig. In the example shown in Figure 14, the nozzle flow control system 1400 further includes a pressure adjustment module 1402. As shown, the pressure adjustment module 1402 is in communication with the total expected flow module 1318 and is configured to generate a target pressure for use with the feedback control module 1330 using an expected flow generated by the module 1318.

[0091] As in Fig. 14, in one example, the master node 1304 includes a database, memory, index, or other feature configured to provide an optimal duty cycle, such as for the one or more control valves 1312 provided with the smart nozzles 1306. The provided optimal duty cycle is different from the adjusted duty cycle or the duty cycle provided by the duty cycle module 1316. Rather, the optimal duty cycle provided by the master node 1304 for the pressure adjustment module 1402 is a duty cycle configured to provide a continuous spray of the agricultural product while operating the sprayer 900 (or 1000) at either a high or low speed or at low or high target flow rates of the agricultural product.

[0092] The pressure adjustment module 1402 uses the optimal duty cycle input along with the expected total flow (generated by the expected total flow module 1318) and one or more flow characteristics, such as flow coefficients of the nozzle assemblies 1308, to generate a target pressure. In one example, the target pressure is generated continuously and sent to the feedback control module 1330. As shown in Fig. As shown in Figure 14, the nozzle flow control system 1400 inputs a pressure range (as opposed to a precisely set pressure) to the feedback control module 1330. If the set pressure (generated by the pressure module 1402) is outside the pressure range, the master node 1304 adjusts it to either the upper or lower end of the pressure range (whichever is closer to the set pressure). The feedback control module 1330 compares the adjusted target pressure (after completing the comparison with the pressure range) to the system pressure (optionally measured with the pressure sensor 1324) and issues instructions to the agricultural product application system 1326 (e.g., through the interface 1328 of an agricultural dispensing system) to accordingly increase or decrease the system pressure of the sprayer 900 (or 1000) to accordingly change the actual system pressure to a value corresponding to the adjusted target pressure.The pressure adjustment module 1402 continues to generate desired pressures to accordingly trigger operation of the feedback control module 1330 according to the operation of the agricultural product dispensing system 1326 to increase or decrease the system pressure and thereby adjust the flow of the agricultural product to the smart nozzles 1306 upward or downward.

[0093] As described herein, the pressure adjustment module 1402 is configured to generate target pressures, for example, as a function of the optimal duty cycle, flow characteristics of the nozzle assemblies 1308, as well as the expected total flow generated by the module 1318 for an expected total flow. The target pressure is used (within the specified pressure range) to increase and decrease the flow of the agricultural product in a number of different scenarios. For example, in a low-flow scenario, where, for example, the sprayer 900 (or 1000) is moving at a relatively low speed across the field, the expected total flow 1318 decreases compared to flows used at moderate or higher speeds.When the (lower) expected total flow is sent to the pressure adjustment module 1402, it is used by the module to generate a corresponding lower setpoint pressure. The setpoint pressure is compared to the pressure range, provided, for example, at the input interface 1302. If the setpoint pressure is outside the pressure range (e.g., below it), it is increased to the minimum value of the pressure range and passed to the feedback control module 1330. If the setpoint pressure is within the pressure range, it is passed to the feedback control module 1330. The feedback control module 1330 uses the setpoint pressure and the sensed actual pressure to adjust the system pressure of the agricultural product toward the setpoint pressure within the pressure range.The ECUs 1310 generate target smart nozzle flow rates (adjusted downward by machine speed, lower target product coverage, or the like) and corresponding adjusted duty cycles (determined in part by system pressure at the target pressure and error correction). Implementing the target smart nozzle flow rate using the adjusted duty cycle on the control valves 1312 provides a continuous spray of the agricultural product and, accordingly, prevents gaps in spray coverage. In other words, the lower pressure enables operation of the control valves 1312 at higher duty cycles (optionally approaching or matching the optimal duty cycle) without over-applying the agricultural product.In contrast, when higher flows of the agricultural product are needed to achieve a desired area coverage by the product (for example, when the sprayer is moving at high speed), the setpoint pressure is generated by the pressure adjustment module at a higher value and implemented with the feedback control module 1330 to provide additional flow to the smart nozzle 1306.

[0094] As also in Fig. 14, the sprayer 900 (or 1000) incorporating the nozzle flow control system 1400 is optionally operated at a number of different speeds, including relatively low and high speeds, in operation within a field, while maintaining a continuous spray of the agricultural product through each of the smart nozzles 1306, including, for example, their nozzle assemblies 1308.In one example, when the sprayer is operating at a relatively high speed and correspondingly producing increased target smart nozzle flows from the ECUs 1310 (or the smart nozzles 1306) to meet an inputted specified coverage of the product per unit area (gallons per acre, liters per square meter, or the like), the feedback control module 1330 of the master node 1304, in conjunction with the pressure adjustment module 1402, is configured to adjust the system pressure of the agricultural product toward a specific target pressure. The higher system pressure (based on the increased target pressure determined with the module 1402) delivers more of the agricultural product to the smart nozzles to achieve the increased target smart nozzle flows.

[0095] For example, in one example, if the expected total flow module 1318 generates a correspondingly higher expected total flow due to the increased machine speed, the higher expected total flow is provided to the pressure adjustment module 1402. In combination with the optimal duty cycle of, for example, the control valves 1312 used in the smart nozzles 1306 and the flow characteristics such as flow coefficients or the like, the pressure adjustment module 1402 generates a corresponding target pressure configured to achieve the higher expected total flow. The feedback control module 1330 uses the target pressure in combination with the actual sensed pressure from the pressure sensor 1324 to increase the system pressure to the target pressure.The system pressure is increased accordingly, e.g., toward the target pressure, thereby enabling increased flow of agricultural product through the sprayer 900 (or 1000), e.g., to each of the smart nozzles 1306 and nozzle assemblies 1308. At the ECU 1310, the increased velocity, as well as the specified product coverage (in units of volume per unit area), as well as other sprayer characteristics described herein, are used by the smart nozzle target flow module 1314 to generate a corresponding smart nozzle target flow for each of the smart nozzles 1306 (optionally varying according to a position, yaw rate, and / or location of the nozzle on the boom, or the like) and communicated to the duty cycle module 1316.The duty cycle module 1316 uses the sensed system pressure (increased to the target pressure in this example) in combination with the target flow of a smart nozzle and the error correction from the adjustment module 1320 to generate an adjusted duty cycle. The adjusted duty cycle is implemented at the control valves 1312, and the control valves 1312 deliver agricultural input to the nozzles of the one or more nozzle assemblies 1308. The nozzle assemblies, in turn, produce a continuous stream of agricultural input that achieves the high target flow of a smart nozzle (due to the increased sprayer speed) as a function of the increased target pressure (and the correspondingly increased system pressure) of the agricultural input.

[0096] In contrast, in a low-speed scenario, the nozzle flow control system 1400 generates an expected flow at module 1318 for an expected total flow of the master node 1304 based in part on the relatively lower speed of the sprayer 900 (or 1000). The corresponding expected total flow is used by the pressure adjustment module 1402 in combination with the optimal duty cycle for the control valves 1312 and one or more nozzle characteristics to generate a target pressure, for example, a lower target pressure relative to the previous example. The (lower) target pressure is passed to the feedback control module 1330.As previously described, the setpoint pressure is adjusted to the lower end of the specified pressure range if it is outside the range and then used by the feedback control module 1330 in combination with the sensed pressure to change the system pressure to a value corresponding to the setpoint pressure (including the setpoint pressure when adjusted to the pressure range). The smart nozzle setpoint flow modules 1314 of each of the smart nozzle ECUs 1310 generate smart nozzle setpoint flows, for example, relatively low flows. The low flows are used by the smart nozzle duty cycle modules 1316 of the smart nozzles 1306 in combination with the reduced system pressure (controlled to the setpoint pressure using the feedback control module 1330) to generate an appropriate duty cycle (for example, an adjusted duty cycle with error correction).The control valve 1312 implements the adjusted duty cycle and provides a relatively low flow rate of the agricultural input. The agricultural input is sprayed from the nozzle assemblies 1308 at the relatively low flow rate in a continuous manner (e.g., without gaps that would otherwise be created with duty cycles that are off or closed for a significant portion of the operating cycle). In other words, by reducing the system pressure as described herein, the control valves 1312 provide a low flow rate of the agricultural input while operating at relatively higher duty cycles (e.g., approaching the optimal duty cycle) to maintain spray continuity.In one example, in a system using consistent (static) pressure, if the smart nozzles were operated at higher duty cycles to maintain spray continuity, the product flow to the smart nozzles would exceed the target flow rates of the smart nozzles, thus over-applying (and wasting) the product. Otherwise, if the duty cycle were decreased (relative to the optimal duty cycle) to reduce over-application, spray continuity would be negatively impacted, and gaps in the spray would occur.

[0097] The pressure ranges used with system 1400 are determined, in examples, by the agricultural product being applied with the sprayer. For example, for agricultural products that rely on fixed droplet sizes, the pressure range is relatively small, such as in a range of 10 psi or less (such as 30 to 40 psi), to ensure that the target pressure determined with pressure adjustment module 1402 results in controlled system pressures that are increased or decreased (within the range) to provide droplets of the specified size. Agricultural products with fixed droplet sizes include, but are not limited to, herbicides, pesticides, liquids applied with large droplets to avoid dispersion caused by air currents, or the like.

[0098] In other examples, agricultural products are applied that do not specify a droplet size or that are usable over a range of droplet sizes. In these examples, a larger setpoint pressure range is entered, for example, greater than 10 psi, to allow higher system pressures and corresponding operation of the sprayer at higher speeds with a larger specified area coverage by the product (gallons per acre, liters per square meter, or the like). The setpoint pressures generated by the pressure adjustment module 1402 are passed to the feedback control module, with adjustment only being performed when the setpoint pressures fall outside the larger specified range. Accordingly, the system pressure is increased or decreased to the setpoint pressure within the larger specified range to accommodate higher and lower flow rates.The sprayer is thereby operable at higher speeds, with greater product coverage, or the like, by increasing the system pressure to deliver more agricultural product to the smart nozzles for use with corresponding (higher) target smart nozzle flows generated by the ECUs 1310. Each of the nozzle flow control systems 1300, 1400 described herein will be described with reference to the schematic smart nozzles 1306. As shown, the smart nozzles 1306 include nozzle assemblies 1308. In examples, the nozzle assemblies 1308 include one or more nozzle assemblies, for example, one or more nozzle assemblies coupled to a single control valve 1312 or to fewer control valves 1312 than the number of nozzle assemblies 1308.In other examples, the nozzle assemblies 1308 are coupled to individual control valves 1312, and each smart nozzle 1306 accordingly includes a control valve 1312 and its own nozzle assembly 1308 associated with that control valve 1312. In yet other examples, the nozzle assemblies 1308 described herein associated with the individual control valves 1312 of the smart nozzles 1306 are, in one example, compound or stacked nozzle assemblies. For example, in one example, the nozzle assembly 1308 includes a bimodal control valve having both off and on bimodal positions to accordingly provide a base flow of the agricultural product as a spray from that nozzle assembly.Additionally, in a stacked configuration, the nozzle assembly 1308 includes a variable flow valve having an off position, an on operating position, and a plurality of intermediate operating positions therebetween, controlled by the duty cycle input from the ECU 1310 of the respective smart nozzle 1306. In a high flow example previously described with reference to FIG. Fig. 14, the bimodal control valve (1212 in Fig. 12) the bimodal operation on position, while the variable flow control valve (1210) varies the flow through the nozzle assembly 1308. That is, the variable flow control valve 1210, together with its corresponding nozzle, provides a variable spray of the agricultural product in addition to a base flow of the agricultural product provided by the bimodal control valve 1212 and its associated nozzle. Systems 1300, 1400 described herein are both configured to operate in high and low flow modes (as well as static and variable modes). In one example where the systems 1300, 1400 have stacked nozzle assemblies, the bimodal control valve 1212 is actuated in a high flow mode (in the bimodal operation on position).In contrast, in a low flow mode, the bimodal control valve 1212 assumes a closed bimodal position, and the variable flow control valve 1210 is operated alone to control the total flow and spray pattern of the agricultural product from the respective nozzle assembly 1308 (which corresponds to the nozzle assembly 1204 in . Fig. 12).

[0099] Fig. Figure 14 (described above) shows an overall view of a nozzle control system designed to operate in a pressure variation mode of operation according to an example of the subject matter of the present invention. In contrast to the mode of operation described in Fig. 13, the master node 1304 may receive or be programmed with a target duty cycle, and the pinpoint pressure setting may be modified to maintain the target duty cycle. In the illustrated example of Fig. 14, a nozzle model circuit of the master node 1304 may receive a number of inputs, including the desired duty cycle and the desired flow rate, and may provide a pinpoint pressure setting. In certain examples, the user may enter a pressure range, which may be used to indicate whether the system is capable of delivering the desired performance relative to a nozzle duty cycle. In some examples, the pressure range parameters may be used to control additional nozzle bodies in a stacked nozzle (e.g., in Fig.12). For example, when the pressure reaches an upper pressure limit, a second nozzle body can be turned "on," and the nozzle body with the nozzle control valve can then be controlled to supplement the area coverage provided by the second nozzle body. Likewise, when the pressure reaches a lower pressure limit, a second nozzle body can be turned "off," and the nozzle body with the nozzle control valve can then be controlled to provide the portion of material previously provided by the second nozzle body. Note that the illustrated control technique is only one of several control strategies that can be used to provide variable pressure control as discussed above, and other control strategies that vary the pinpoint pressure setting based on a desired duty cycle are possible without departing from the scope of the subject invention.For example, feedforward gain, look-ahead strategies, and predictive system modeling can also be used to increase the dynamic behavior and responsiveness of the pressure control system. NOTES AND EXAMPLES

[0100] Example 1 may include an article such as a system for controlling nozzle flow, comprising: an input interface configured to receive one or more sprayer characteristics of an agricultural sprayer, wherein the one or more sprayer characteristics include a sprayer bar width, a desired coverage per unit area, a sprayer speed, a sprayer yaw rate, and / or nozzle characteristics;a master node in communication with the input interface, the master node comprising: an expected total flow module configured to generate an expected total flow of an agricultural product based on the one or more sprayer characteristics, and an adjustment module configured to generate an error correction based on a difference between the expected total flow and an actual total flow of the agricultural product;and a plurality of smart nozzles in communication with the master node, each of the smart nozzles having an electronic control unit (ECU) in communication with one or more control valves and one or more nozzle assemblies, each of the smart nozzles comprising: a smart nozzle target flow module configured to generate a smart nozzle target flow of the agricultural product based on the one or more sprayer characteristics, and a duty cycle module in communication with the adjustment module, the duty cycle module configured to generate an adjusted duty cycle for the one or more control valves based on the smart nozzle target flow and the error correction;

[0101] Example 2 may include, or may optionally be combined with, the subject matter of Example 1, such that it optionally includes the master node communicating with a flow meter, wherein the flow meter is configured to measure the actual total flow.

[0102] Example 3 may include, or may optionally be combined with, the subject matter of any one or more of Examples 1 and 2 to optionally include the smart nozzle target flow module configured to generate ongoing smart nozzle target flow values based on changes to the one or more sprayer characteristics.

[0103] Example 4 may include, or may optionally be combined with, the subject matter of any one or more of Examples 1-3 to optionally include the expected total flow module configured to generate running values of the expected total flow based on changes to the one or more sprayer characteristics.

[0104] Example 5 may include, or may optionally be combined with, the subject matter of any one or more of Examples 1-4, such that it optionally includes the adjustment module being configured to generate running values of the error correction based on running values of the expected total flow and the actual total flow measured with a flow meter,

[0105] Example 6 may include the subject matter of Examples 1-5, or may optionally be combined therewith, to optionally include the one or more sprayer characteristics including a target pressure, and the master node comprising: an agricultural product dispensing interface configured to couple to an agricultural product dispensing system, and a feedback control module in communication with a pressure sensor, wherein the pressure sensor is configured to measure actual agricultural product pressure, and wherein the feedback control module is configured to control the agricultural product dispensing interface according to the difference between the actual pressure and a target pressure.

[0106] Example 7 may include, or may optionally be combined with, the subject matter of Examples 1-6 to optionally include where the target pressure is a pinpoint pressure value corresponding to a specified agricultural product droplet size for the one or more nozzle assemblies, and the feedback control module is configured to maintain the actual agricultural product pressure at the pinpoint pressure value and produce the specified droplet size regardless of changes to the expected total flow, the actual total flow, the target flow of a smart nozzle, and the adjusted duty cycle.

[0107] Example 8 may include, or may optionally be combined with, the subject matter of Examples 1-7 to optionally include the target pressure including a target pressure range and the master node having a pressure adjustment module in communication with the expected total flow module, the pressure adjustment module configured to generate an updated target pressure based on: nozzle characteristics of the one or more nozzle assemblies, a specified duty cycle for the control valves of the one or more nozzle assemblies, and the expected total flow generated by the expected total flow module.

[0108] Example 9 may include, or may optionally be combined with, the subject matter of Examples 1-8 to optionally include wherein the specified duty cycle corresponds to an oscillating duty cycle of the control valve between an open and a closed position, wherein the nozzle body is configured to produce a continuous spray of the agricultural product based on the specified duty cycle.

[0109] Example 10 may include, or may optionally be combined with, the subject matter of Examples 1-9 to optionally include the feedback control module communicating with the pressure adjustment module, and the feedback control module configured to control the output interface for an agricultural product if the updated target pressure is outside the target pressure range.

[0110] Example 11 may include, or may optionally be combined with, the subject matter of Examples 1-10 to optionally include the one or more control valves each having an oscillating valve actuator configured to oscillate between the open and closed positions based on the adjusted duty cycle.

[0111] Example 12 may include, or may optionally be combined with, the subject matter of Examples 1-10 to optionally include the one or more nozzle assemblies including a plurality of nozzle assemblies, and the adjusted duty cycle includes different adjusted duty cycles for each control valve of the one or more control valves, and the different adjusted duty cycles vary with respect to one another according to sprayer characteristics, including beam width, sprayer yaw rate, and / or the location where the nozzle is disposed on the beam, of each of the plurality of nozzle assemblies along a sprayer beam.

[0112] Example 13 may include, or may optionally be combined with, the subject matter of Examples 1-12 to optionally include: a storage container for an agricultural input; at least one sprayer boom in communication with the storage container for an agricultural input; a flow meter configured to measure the actual total flow of the agricultural input from the storage container for an agricultural input to the at least one sprayer boom; and a pressure sensor configured to measure an actual pressure of the agricultural input delivered to the at least one sprayer boom.

[0113] Example 14 may include the subject matter of Examples 1-13, or may optionally be combined therewith, to include a system for controlling a nozzle flow in an agricultural sprayer, comprising: a flowmeter configured to measure an actual total flow of the agricultural sprayer; a pressure sensor configured to measure an actual pressure of an agriculturally applied product;a master node in communication with the flow meter and the pressure sensor, the master node configured to receive one or more sprayer characteristics of the agricultural sprayer, the master node comprising: an expected total flow module configured to generate an expected total flow based on the one or more sprayer characteristics, an adjustment module configured to generate an error correction based on a difference between the expected total flow and an actual total flow of the agricultural product, and a feedback control module configured to control an output interface for an agricultural product according to the difference between the actual pressure and a target pressure;and a plurality of smart nozzles in communication with the master node, each of the smart nozzles having an electronic control unit (ECU) in communication with one or more control valves and one or more nozzle assemblies, the ECU of each smart nozzle comprising: a smart nozzle target flow module configured to generate a smart nozzle target flow of the agricultural product based on the one or more sprayer characteristics, and a duty cycle module in communication with the adjustment module, the duty cycle module configured to generate an adjusted duty cycle for the one or more control valves based on the smart nozzle target flow and the error correction;

[0114] Example 15 may include, or may optionally be combined with, the subject matter of Examples 1-14 to optionally include the master node having an input interface configured to receive one or more sprayer characteristics of the agricultural sprayer, wherein the one or more sprayer characteristics include a sprayer bar width, a desired product coverage per unit area, a sprayer speed, a sprayer yaw rate, and / or nozzle characteristics.

[0115] Example 16 may include, or may optionally be combined with, the subject matter of Examples 1-15 to optionally include the smart nozzle target flow module configured to generate running smart nozzle target flow values based on changes to the one or more sprayer characteristics,

[0116] Example 17 may include, or may optionally be combined with, the subject matter of Examples 1-16 to optionally include the expected total flow module configured to generate running values of the expected total flow based on changes to the one or more sprayer characteristics,

[0117] Example 18 may include, or may optionally be combined with, the subject matter of Examples 1-17, such that it optionally includes the adjustment module being configured to generate running values of the error correction based on running values of the expected total flow and the actual total flow,

[0118] Example 19 may include, or may optionally be combined with, the subject matter of Examples 1-18 to optionally include where the target pressure is a precisely set pressure value corresponding to a specified droplet size of the agricultural product delivered from a nozzle body of the one or more nozzle assemblies, and the feedback control module is configured to maintain the actual pressure of the agricultural product at the precisely set pressure value and produce the specified droplet size regardless of changes in the expected total flow, the actual total flow, the target flow of a smart nozzle, and the adjusted duty cycle.

[0119] Example 20 may include, or may optionally be combined with, the subject matter of Examples 1-19 to optionally include the target pressure including a target pressure range, and the master node having a pressure adjustment module in communication with the expected total flow module, the pressure adjustment module configured to generate an updated target pressure based on: nozzle characteristics of the one or more nozzle assemblies, a specified duty cycle for the one or more control valves, and the expected total flow generated by the expected total flow module.

[0120] Example 21 may include, or may optionally be combined with, the subject matter of Examples 1-20 to optionally include wherein the specified duty cycle corresponds to an oscillating duty cycle of the control valves between an open and a closed position, wherein the nozzle body is configured to produce a continuous spray of the agricultural product based on the specified duty cycle.

[0121] Example 22 may include, or may optionally be combined with, the subject matter of Examples 1-21 to optionally include the feedback control module communicating with the pressure adjustment module, and the feedback control module configured to control the output interface for an agricultural product if the updated target pressure is outside the target pressure range.

[0122] Example 23 may include, or may optionally be combined with, the subject matter of Examples 1-22 to optionally include wherein the one or more nozzle assemblies each include a stacked nozzle assembly including at least one of the control valves of the one or more control valves, the stacked nozzle assembly including: a variable flow control valve having an off position, an on operating position, and a plurality of intermediate operating positions therebetween, a bimodal control valve having a bimodal off position and a bimodal on operating position, and wherein the agricultural product is delivered through the variable flow control valve and / or the bimodal control valve based on the desired flow of a smart nozzle.

[0123] Example 24 may include, or may optionally be combined with, the subject matter of Examples 1-23 to optionally include the one or more nozzle assemblies each having a first nozzle body coupled to the variable flow control valve and a second nozzle body coupled to the bimodal control valve.

[0124] Example 25 may include, or may optionally be combined with, the subject matter of Examples 1-24 to optionally include the one or more nozzle assemblies including a plurality of nozzle assemblies, and the adjusted duty cycle includes different adjusted duty cycles for each control valve of the one or more control valves, and the different adjusted duty cycles vary with respect to one another according to sprayer characteristics, including beam width, sprayer yaw rate, and / or location where the nozzle is disposed on the beam, of each of the plurality of nozzle assemblies along a sprayer beam.

[0125] Example 26 may include, or may optionally be combined with, the subject matter of Examples 1-25 to optionally include the agricultural product output interface being coupled to a product pump and / or a manifold control valve.

[0126] Example 27 may include the subject matter of Examples 1-26, or may optionally be combined therewith to optionally include a method for controlling nozzle flow in an agricultural sprayer, comprising: inputting a desired area coverage by a product per unit area for an agricultural product at a master node and a plurality of smart nozzles, each of the smart nozzles having an electronic control unit (ECU) and one or more nozzle assemblies;Generating an error correction for the plurality of smart nozzles, including: determining an expected total flow of the agricultural product based on the desired coverage of the product per unit area and one or more sprayer characteristics, measuring an actual total flow of the agricultural product, and determining the error correction based on the difference between the expected total flow and the actual total flow;and determining an adjusted duty cycle for one or more control valves each coupled to one or more nozzle assemblies included in each smart nozzle, wherein determining the adjusted duty cycle includes: generating a target smart nozzle flow rate for the agricultural product based on the target product coverage per unit area and the one or more sprayer characteristics, and determining an adjusted duty cycle based on the target smart nozzle flow rate and the error correction;

[0127] Example 28 may include the subject matter of Examples 1-27, or may optionally be combined therewith to optionally include dispersing an agricultural product from the nozzle assemblies, and including: actuating the one or more control valves according to the adjusted duty cycle received at the associated smart nozzle from the plurality of smart nozzles, and dispensing the agricultural product through nozzle bodies of the one or more nozzle assemblies at the target smart nozzle flow rate adjusted according to the error correction.

[0128] Example 29 may include, or may optionally be combined with, the subject matter of Examples 1-28 to optionally include generating the desired flow rate of a smart nozzle based on the desired area coverage by the product per unit area and the one or more sprayer characteristics including sprayer beam width, sprayer speed, sprayer yaw rate, and / or nozzle characteristics.

[0129] Example 30 may include the subject matter of Examples 1-29, or may optionally be combined therewith to optionally include controlling an actual pressure of the agricultural input, wherein controlling includes: sensing the actual pressure of the agricultural input, determining a difference between the actual pressure and a target pressure, and adjusting the actual pressure of the agricultural input according to the determined difference.

[0130] Example 31 may include, or may optionally be combined with, the subject matter of Examples 1-30 to optionally include the target pressure including a pinpoint pressure value corresponding to a specified droplet size of the agricultural product for nozzle bodies of the one or more nozzle assemblies, comprising: generating droplets from the nozzle bodies of the one or more nozzle assemblies having the specified droplet size according to the target pressure, the determined difference, and independent of the adjusted duty cycle and changes to the adjusted duty cycle.

[0131] Example 32 may include, or may optionally be combined with, the subject matter of Examples 1-31 to optionally include the target pressure including a target pressure range, and controlling the actual pressure of the agricultural product includes updating a target pressure, wherein updating the target pressure includes determining the updated target pressure based on one or more nozzle characteristics of the one or more nozzle assemblies, the expected total flow, and a specified duty cycle for the one or more control valves independent of the adjusted duty cycle, comparing the updated target pressure to the target pressure range, and adjusting the actual pressure of the agricultural product if the updated target pressure is outside the target pressure range.

[0132] Example 33 may include the subject matter of Examples 1-32, or may optionally be combined therewith to optionally include comprising dispersing an agricultural product from the nozzle assemblies including actuating the one or more control valves according to the adjusted duty cycle received at the associated smart nozzle from the plurality of smart nozzles, maintaining the actual pressure within the target pressure range based on the update of the target pressure, and continuously spraying the agricultural product through the nozzle bodies of the one or more nozzle assemblies based on maintaining the actual pressure within the target pressure range, wherein the agricultural product is continuously sprayed at the target flow rate of a smart nozzle that has been adjusted for the error correction.

[0133] Each of these non-limiting examples may stand alone or may be combined in any interchange or combination with any of the other examples.

[0134] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of example, specific embodiments in which the invention may be practiced. These embodiments are also referred to herein as "examples." Such examples may include elements in addition to those shown or described. However, the inventors also contemplate examples in which only the elements shown or described are provided. Furthermore, the inventors also contemplate examples that use any combination or any permutation of the elements shown and described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof) or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0135] In the event of any inconsistency between this document and any documents incorporated by reference, the language in this document shall prevail.

[0136] Throughout this document, the terms "a" or "an" are used, as is customary in patent documents, to include one or more than one, regardless of any other instances or uses of "at least one" or "one or more." Throughout this document, the term "or" is used to denote a non-exclusive or, such that "A or B" includes "A but not B," "B but not A," and "A and B," unless otherwise indicated. Throughout this document, the terms "comprising" and "in which" are used as common-sense equivalents of the terms "comprising" and "wherein." Likewise, in the following claims, the terms "including" and "comprising" are not exhaustive; that is, systems, devices, articles, compositions, formulations, or processes that include elements in addition to those enumerated after such a term in a claim are still intended to be within the scope of the claim.Furthermore, in the following claims, the terms “first,” “second,” and “third,” etc., are used for distinction only and are not intended to impose any numerical requirements on their objects.

[0137] Method examples described herein may be at least partially machine- or computer-implemented. Some examples may include a computer-readable medium or a machine-readable medium encoded with instructions for configuring an electronic device to perform methods as described in the above examples. Implementation of such methods may include code, such as microcode, assembly language code, high-level language code, or the like. Such code may include computer-readable instructions for performing various methods. The code may form portions of computer program products. Further, in one example, the code may be tangibly stored on one or more volatile, buffer, or non-volatile tangible, computer-readable storage media, for example, during execution or at other times.Examples of these tangible computer-readable storage media may include, but are not limited to, hard disks, removable magnetic disks, removable optical disks (e.g., compact disks and digital versatile disks), magnetic cassettes, memory cards or sticks, random access memories (RAMs), read-only memories (ROMs), and the like.

[0138] The above description is intended to be illustrative, not restrictive. For example, the examples described above (or one or more aspects thereof) may be used in combination with one another. Other embodiments may also be used, for example, by one of ordinary skill in the art who has read the above description. The abstract is provided to enable the reader to quickly ascertain the nature of the technical disclosure. It is presented with the understanding that it will not be used to interpret or limit the scope or spirit of the claims. Likewise, various features may be grouped together in the above detailed description to streamline the disclosure. This should not be construed as interpreting any unclaimed disclosed feature as essential to any claim.Rather, inventive elements may reside in fewer than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, each claim standing on its own as a separate embodiment, and it is intended that such embodiments may be combined with one another in various combinations or permutations. The scope of the invention should be determined by reference to the appended claims, along with the full scope of equivalents to which such claim is entitled.

Claims

[1] System for controlling (40, 60, 1300, 1400) a nozzle flow, comprising: an input interface (1302) configured to receive one or more sprayer characteristics of the agricultural sprayer (10, 900, 1000), wherein the one or more sprayer characteristics include a sprayer bar width, a desired product coverage per unit area, a sprayer speed, a sprayer yaw rate, and / or nozzle characteristics; a master node (6, 42, 62, 1304) connected to the input interface (1302), the master node (6, 42, 62, 1304) comprising: an expected total flow module (1318) configured to generate an expected total flow of an agricultural product based on the one or more sprayer characteristics, and an adjustment module (1320) configured to generate an error correction based on a difference between the expected total flow and an actual total flow of the agricultural product; and a plurality of intelligent nozzles (1004, 1102, 1200, 1306) connected to the master node (6, 42, 62, 1304), each of the intelligent nozzles (1004, 1102, 1200, 1306) having an electronic control unit (ECU) (7, 72, 80, 90, 1310) connected to one or more control valves (920, 1008, 1210, 1312) and one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), each of the intelligent nozzles (1004, 1102, 1200, 1306) having: a module (1314) for a target flow of an intelligent nozzle (1004, 1102, 1200, 1306) configured to generate a target flow of an intelligent nozzle (1004, 1102, 1200, 1306) for the agricultural product based on the one or more sprayer characteristics, and a duty cycle module (1316) in communication with the adjustment module (1320), the duty cycle module (1316) configured to generate an adjusted duty cycle for the one or more control valves (920, 1008, 1210, 1312) based on the desired flow of a smart nozzle (1004, 1102, 1200, 1306) and the error correction. [2] The system of claim 1, wherein the master node (6, 42, 62, 1304) is in communication with a flow meter (924, 1020, 1322), the flow meter (924, 1020, 1322) being configured to measure the actual total flow. [3] The system of claim 1, wherein the smart nozzle target flow module (1314) is configured to generate running smart nozzle target flow values (1004, 1102, 1200, 1306) based on changes to the one or more sprayer characteristics. [4] The system of claim 1, wherein the expected total flow module (1318) is configured to generate running values of the expected total flow based on changes in the one or more sprayer characteristics. [5] The system of claim 4, wherein the adjustment module (1320) is configured to generate running values of the error correction based on running values of the expected total flow and the actual total flow measured by a flow meter (924, 1020, 1322). [6] The system of claim 1, wherein the one or more sprayer characteristics include a target pressure and the master node (6, 42, 62, 1304) includes: an output interface for an agricultural product for coupling with an agricultural output system and a feedback control module (1330) in communication with a pressure sensor (926, 1021, 1324), wherein the pressure sensor (926, 1021, 1324) is configured to measure the actual pressure of the agricultural product, and the feedback control module (1330) is configured to control the output interface for an agricultural product according to the difference between the actual pressure and a target pressure. [7] The system of claim 6, wherein the target pressure is a precisely set pressure value corresponding to a specified agricultural product droplet size for the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), and the feedback control module (1330) is configured to maintain the actual agricultural product pressure at the precisely set pressure value and to produce the specified droplet size regardless of changes in the expected total flow, the actual total flow, the target flow of a smart nozzle (1004, 1102, 1200, 1306), and the adjusted duty cycle. [8] The system of claim 6, wherein the target pressure includes a target pressure range and the master node (6, 42, 62, 1304) comprises a pressure adjustment module (1402) in communication with the expected total flow module (1318), the pressure adjustment module (1402) being configured to generate an updated target pressure based on: Nozzle characteristics of one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), a fixed duty cycle for the control valves (920, 1008, 1210, 1312) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), and the expected total flow generated by the expected total flow module (1318). [9] The system of claim 8, wherein the predetermined duty cycle corresponds to an oscillating duty cycle of the control valve (920, 1008, 1210, 1312) between an open and a closed position, wherein the nozzle body (930, 1034, 1120) is configured to produce a continuous spray of the agricultural product based on the predetermined duty cycle. [10] The system of claim 8, wherein the feedback control module (1330) is in communication with the pressure adjustment module (1402), and the feedback control module (1330) is configured to control the output interface for an agricultural product if the updated target pressure is outside the target pressure range. [11] The system of claim 1, wherein the one or more control valves (920, 1008, 1210, 1312) each comprise an oscillating valve actuator configured to oscillate between the open and closed positions based on the adjusted duty cycle. [12] The system of claim 1, wherein the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) include a plurality of nozzle assemblies (918, 1006, 1104, 1204, 1308), and the adjusted duty cycle includes different adjusted duty cycles for each control valve (920, 1008, 1210, 1312) of the one or more control valves (920, 1008, 1210, 1312), and the different adjusted duty cycles vary with respect to one another according to one or more of the sprayer characteristics, including the beam width, the sprayer yaw rate, and the location of the nozzle body (930, 1034, 1120) of each of the plurality of nozzle assemblies (918, 1006, 1104, 1204, 1308) along a sprayer bar (4). [13] System according to claim 1, comprising: a storage container (2, 902, 1012) for an agricultural product; at least one sprayer boom (4) connected to the storage container (2, 902, 1012) for an agricultural product; a flow meter (924, 1020, 1322) configured to measure the actual total flow of the agricultural product from the agricultural product storage container (2, 902, 1012) to the at least one sprayer boom (4); and a pressure sensor (926, 1021, 1324) configured to measure an actual pressure of the agricultural product delivered to the at least one sprayer boom (4). [14] System for controlling (40, 60, 1300, 1400) a nozzle flow in an agricultural sprayer (10, 900, 1000), comprising: a flow meter (924, 1020, 1322) configured to measure an actual total flow rate of the agricultural sprayer (10, 900, 1000); a pressure sensor (926, 1021, 1324) configured to measure an actual pressure of an agricultural product; a master node (6, 42, 62, 1304) in communication with the flow meter (924, 1020, 1322) and the pressure sensor (926, 1021, 1324), the master node (6, 42, 62, 1304) being configured to receive one or more sprayer characteristics of the agricultural sprayer (10, 900, 1000), the master node (6, 42, 62, 1304) comprising: an expected total flow module (1318) configured to generate an expected total flow based on the one or more sprayer characteristics, an adjustment module (1320) configured to generate an error correction based on a difference between the expected total flow and the actual total flow, and a feedback control module (1330) configured to control an output interface for an agricultural product according to the difference between the actual pressure and a target pressure; and a plurality of intelligent nozzles (1004, 1102, 1200, 1306) in communication with the master node (6, 42, 62, 1304), each of the intelligent nozzles (1004, 1102, 1200, 1306) having an electronic control unit (ECU) (7, 72, 80, 90, 1310) in communication with one or more control valves (920, 1008, 1210, 1312) and one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), the ECU (7, 72, 80, 90, 1310) of each of the intelligent nozzles (1004, 1102, 1200, 1306) has: a module (1314) for a desired flow of an intelligent nozzle (1004, 1102, 1200, 1306) configured to generate a desired flow of an intelligent nozzle (1004, 1102, 1200, 1306) based on the one or more sprayer characteristics, and a duty cycle module (1316) in communication with the adjustment module (1320), the duty cycle module (1316) configured to generate an adjusted duty cycle for the one or more control valves (920, 1008, 1210, 1312) based on the desired flow of a smart nozzle (1004, 1102, 1200, 1306) and the error correction. [15] The system of claim 14, comprising: the master node (6, 42, 62, 1304) having an input interface (1302) configured to receive one or more sprayer characteristics of the agricultural sprayer (10, 900, 1000), the one or more sprayer characteristics including a sprayer bar width, a desired product coverage per unit area, a sprayer speed, a sprayer yaw rate, and / or nozzle characteristics; [16] The system of claim 14, wherein the smart nozzle target flow module (1314) is configured to generate running smart nozzle target flow values (1004, 1102, 1200, 1306) based on changes to the one or more sprayer characteristics. [17] The system of claim 14, wherein the expected total flow module (1318) is configured to generate running values of the expected total flow based on changes in the one or more sprayer characteristics. [18] The system of claim 17, wherein the adjustment module (1320) is configured to generate running values of the error correction based on running values of the expected total flow and the actual total flow. [19] The system of claim 14, wherein the target pressure is a precisely set pressure value corresponding to a specified droplet size of the agricultural product discharged from a nozzle body (930, 1034, 1120) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), and the feedback control module (1330) is configured to maintain the actual pressure of the agricultural product at the precisely set pressure value and to produce the specified droplet size regardless of changes in the expected total flow, the actual total flow, the target flow of a smart nozzle (1004, 1102, 1200, 1306), and the adjusted duty cycle. [20] The system of claim 14, wherein the target pressure includes a target pressure range and the master node (6, 42, 62, 1304) comprises a pressure adjustment module (1402) in communication with the expected total flow module (1318), the pressure adjustment module (1402) being configured to generate an updated target pressure based on: Nozzle characteristics of one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), a specified duty cycle for the one or more control valves (920, 1008, 1210, 1312) and the expected total flow generated by the expected total flow module (1318). [21] The system of claim 20, wherein the predetermined duty cycle corresponds to an oscillating duty cycle of the control valves (920, 1008, 1210, 1312) between an open and a closed position, wherein the nozzle body (930, 1034, 1120) is configured to produce a continuous spray of the agricultural product based on the predetermined duty cycle. [22] The system of claim 20, wherein the feedback control module (1330) is in communication with the pressure adjustment module (1402), and the feedback control module (1330) is configured to control the output interface for an agricultural product if the updated target pressure is outside the target pressure range. [23] The system of claim 14, wherein the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) each comprise a stacked nozzle assembly (1204) with at least one of the control valves (920, 1008, 1210, 1312) of the one or more control valves (920, 1008, 1210, 1312), the stacked nozzle assembly (1204) comprising: a variable flow control valve (1210) having an off position, an on position and a plurality of intermediate positions therebetween, a bimodal control valve (1212) having a bimodal off position and a bimodal operation on position and wherein the agricultural product is delivered based on the desired flow of an intelligent nozzle (1004, 1102, 1200, 1306) through the variable flow control valve (1210) and / or the bimodal control valve (1212). [24] The system of claim 23, wherein the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) each comprise a first nozzle body (930, 1034, 1120) coupled to the variable flow control valve (1210) and a second nozzle body (930, 1034, 1120) coupled to the bimodal control valve (1212). [25] The system of claim 14, wherein the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) include a plurality of nozzle assemblies (918, 1006, 1104, 1204, 1308), and the adjusted duty cycle includes different adjusted duty cycles for each control valve (920, 1008, 1210, 1312) of the one or more control valves (920, 1008, 1210, 1312), and the different adjusted duty cycles vary with respect to one another according to one or more of the sprayer characteristics, including beam width, sprayer yaw rate, and location of the nozzle body (930, 1034, 1120) of each of the plurality of nozzle assemblies (918, 1006, 1104, 1204, 1308) along a sprayer bar (4). [26] The system of claim 14, wherein the agricultural product output interface is coupled to a product pump (1014) and / or a distribution control valve. [27] A method for controlling a nozzle flow in an agricultural sprayer (10, 900, 1000), comprising: Inputting a target area coverage by the product per unit area for an agricultural product at a master node (6, 42, 62, 1304) and a plurality of intelligent nozzles (1004, 1102, 1200, 1306), each of the intelligent nozzles (1004, 1102, 1200, 1306) having an electronic control unit (ECU) (7, 72, 80, 90, 1310) and one or more nozzle assemblies (918, 1006, 1104, 1204, 1308); Generating an error correction for the plurality of intelligent nozzles (1004, 1102, 1200, 1306), including: Determining an expected total flow of the agricultural product based on the target area coverage by the product and one or more sprayer parameters, Measuring an actual total flow of the agricultural product used, and Determining the error correction based on the difference between the expected total flow and the actual total flow; and determining an adjusted duty cycle for one or more control valves (920, 1008, 1210, 1312) each coupled to one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) included in each smart nozzle (1004, 1102, 1200, 1306), wherein determining the adjusted duty cycle includes: generating a target flow of an intelligent nozzle (1004, 1102, 1200, 1306) for the agricultural product based on the target area coverage by the product per unit area and the one or more sprayer characteristics, and Determining an adjusted duty cycle based on the target flow of an intelligent nozzle (1004, 1102, 1200, 1306) and the error correction. [28] The method of claim 27, comprising dispersing agricultural product from the nozzle assemblies (918, 1006, 1104, 1204, 1308), including: Actuating the one or more control valves (920, 1008, 1210, 1312) according to the adjusted duty cycle received from the associated intelligent nozzle (1004, 1102, 1200, 1306) of the plurality of intelligent nozzles (1004, 1102, 1200, 1306), and Dispensing the agricultural product through nozzle bodies (930, 1034, 1120) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) at the target flow of an intelligent nozzle (1004, 1102, 1200, 1306) that has been adjusted according to the error correction. [29] The method of claim 27, wherein generating the desired flow of a smart nozzle (1004, 1102, 1200, 1306) is based on the desired area coverage by the product per unit area and the one or more sprayer characteristics including sprayer beam width, sprayer speed, sprayer yaw rate, and / or nozzle characteristics. [30] A method according to claim 27, comprising controlling an actual pressure of the agricultural product, wherein the controlling includes: Recording the actual pressure of the agricultural product, Determining a difference between the actual pressure and a target pressure, and Adjusting the actual pressure of the agricultural product according to the determined difference. [31] The method of claim 30, wherein the target pressure includes a precisely set pressure value corresponding to a specified droplet size of the agricultural product for nozzle bodies (930, 1034, 1120) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), comprising: Generating droplets from the nozzle bodies (930, 1034, 1120) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) having the specified droplet size according to the target pressure, the determined differential, and independent of the adjusted duty cycle and changes to the adjusted duty cycle. [32] The method of claim 30, wherein the target pressure includes a target pressure range and controlling the actual pressure of the agricultural product includes updating a target pressure, wherein updating the target pressure includes: Determining the updated target pressure based on one or more nozzle characteristics of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308), the expected total flow, and a specified duty cycle for the one or more control valves (920, 1008, 1210, 1312) independently of the adjusted duty cycle, Comparing the updated target pressure with the target pressure range and Adjust the actual pressure of the agricultural product if the updated target pressure is outside the target pressure range. [33] The method of claim 32, comprising dispersing agricultural product from the nozzle assemblies (918, 1006, 1104, 1204, 1308), including: Actuating the one or more control valves (920, 1008, 1210, 1312) according to the adjusted duty cycle received from the associated intelligent nozzle (1004, 1102, 1200, 1306) of the plurality of intelligent nozzles (1004, 1102, 1200, 1306), Maintaining the actual pressure within the target pressure range based on the update of the target pressure and continuously spraying the agricultural product through the nozzle bodies (930, 1034, 1120) of the one or more nozzle assemblies (918, 1006, 1104, 1204, 1308) based on maintaining the actual pressure within the target pressure range, wherein the agricultural product is continuously sprayed at the target flow of an intelligent nozzle (1004, 1102, 1200, 1306) that has been adjusted for the error correction.

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