NOZZLE LIGHT ARRANGEMENT

Description

BACKGROUND

[0001] Sprayers and other fluid application systems are used to apply fluids (such as fertilizer, herbicide, insecticide, and / or fungicide) to fields. US 2014 / 048611 A1 discloses an agricultural sprayer that has a tank containing chemicals and a boom arm with a plurality of nozzle assemblies configured to disperse the chemicals in the tank. The nozzle assemblies include a conduit defining a fluid pathway and a spray nozzle in fluid communication with the fluid pathway. A turbine is operatively located within the fluid pathway and a light source is located proximate to the spray nozzle and in electrical communication with the turbine. The light source is arranged to direct emitted light into a spray pattern produced by the spray nozzle. CA 2 773 087 A1 discloses a system to stroboscopically illuminate the spray pattern produced by sprayer nozzles. The system includes LED's to provide the illumination, circuits to cause the LED's to strobe and mounting and shielding mechanisms. EP 3 335 554 A1 discloses a field sprayer with distributor nozzles arranged at distances from one another on a distributor rod, to which lighting units are assigned for illuminating a liquid fan ejected by the distributor nozzles. Because a spectral, temporal and / or directional radiation characteristic of the lighting units can be changed in a controlled manner to display operating and / or error states of connected distributor nozzles, these states can be displayed to a driver of the field sprayer in a technically simple, reliable and energy-efficient manner, even in the dark. EP 1 961 300 B1 discloses a device that has a framework, storage tank, doser and distributor nozzles, which are arranged at a distance from each other at a distributor rod. A spray fan ejected from the distributor nozzles is directly illuminated by light sources such as LEDs, which are arranged at the distributor nozzles. A sensor unit receives light rays reflected from the spray fan, and is attached to the light sources. EP 2 522 433 B1 discloses a nozzle structure that has multiple dispensing nozzles arranged on a liquid line of agricultural sprayer. The adjusting elements are provided in housing of sprayer for activating and deactivating the dispensing nozzles. The light sources are arranged centrally between the dispensing nozzles and adjusting elements in housing, for lighting the spraying portion of dispensing nozzle.SUMMARY

[0002] According to the invention there is provided a system according to the appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0003] FIG. 1 is an illustration of an agricultural crop sprayer. FIG. 2 is a rear elevation view of a spray boom with cameras and lights. FIG. 3 is a rear elevation view of a spray boom with cameras and lights. FIG. 4 is a rear elevation view of a spray boom with cameras and lights. FIG. 5 is a rear elevation view of a spray boom with cameras and lights. FIG. 6 is a rear elevation view of a spray boom with cameras and lights. FIG. 7 is a rear elevation view of a spray boom with cameras and lights. FIG. 8 is a rear elevation view of a spray boom with cameras and lights. FIG. 9 is a rear elevation view of a spray boom with cameras and lights. FIG. 10 is a rear elevation view of a spray boom with a combined camera and light. FIG. 11 is a top plan view of a spray boom with cameras as in FIGs. 2 to 5. FIG. 12 is a top plan view of a spray boom with cameras as in FIGs. 6 to 9. FIG. 13 is side elevation views of a spray pattern from a nozzle. FIG. 14 is side elevation views of a spray pattern from a nozzle. FIG. 15 is a rear elevation view of the boom arm of FIG. 1 according to one aspect. FIG. 16 is a top plan view of the sprayer of FIG. 1 according to one aspect. FIG. 17 is a front elevation view of a camera. FIG. 18 is a top plan view of the sprayer of FIG. 1 according to one aspect. FIG. 19 is a rear elevation view of the boom arm of FIG. 1 according to one aspect. FIG. 20 is a perspective view of a portion of the boom arm of FIG. 17. FIG. 21 is a rear elevation view of the boom arm of FIG. 1 according to one aspect. FIG. 22 is a perspective view of a portion of the boom arm of FIG. 21. FIG. 23 is a rear elevation view of the boom arm of FIG. 22 according to one aspect. FIG. 24 is a perspective view of a portion of the boom arm of FIG. 23. FIG. 25 is a perspective view of a portion a boom arm with a camera. FIG. 26 is a rear elevation view of a spray boom with cameras and lights according to one embodiment. FIG. 27 is a top plan view of an implement with vision guidance. FIG. 28 is a block diagram of the network of FIG. 27. FIG. 29A shows an example of a block diagram of a self-propelled implement 140 (e.g., sprayer, spreader, irrigation implement, etc.). FIG. 29B shows an example of a block diagram of a system 100 that includes a machine 102 (e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.). FIG. 30 illustrates a flow diagram of a computer-implemented method of using images captured by a camera to determine and monitor fluid characteristics for fluid being applied to a field by an implement. FIG. 31 illustrates a flow diagram of another computer-implemented method of using images captured by a camera to determine and monitor fluid characteristics for fluid being applied to a field by an implement. DETAILED DESCRIPTION

[0004] All references cited herein are incorporated herein in their entireties. If there is a conflict between a definition herein and in an incorporated reference, the definition herein shall control.

[0005] Referring to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views, FIG. 1 illustrates an agricultural implement, such as a sprayer 10. While the system 15 can be used on a sprayer, the system can be used on any agricultural implement that is used to apply fluid to soil, such as a side-dress bar, a planter, a seeder, an irrigator, a center pivot irrigator, a tillage implement, a tractor, a cart, or a robot. A reference to boom or boom arm herein includes corresponding structures, such as a toolbar, in other agricultural implements.

[0006] FIG. 1 shows an agricultural crop sprayer 10 used to deliver chemicals to agricultural crops in a field. Agricultural sprayer 10 comprises a chassis 12 and a cab 14 mounted on the chassis 12. Cab 14 may house an operator and a number of controls for the agricultural sprayer 10. An engine 16 may be mounted on a forward portion of chassis 12 in front of cab 14 or may be mounted on a rearward portion of the chassis 12 behind the cab 14. The engine 16 may comprise, for example, a diesel engine or a gasoline powered internal combustion engine. The engine 16 provides energy to propel the agricultural sprayer 10 and also can be used to provide energy used to spray fluids from the sprayer 10.

[0007] Although a self-propelled application machine is shown and described hereinafter, it should be understood that the embodied invention is applicable to other agricultural sprayers including pull-type or towed sprayers and mounted sprayers, e.g. mounted on a 3-point linkage of an agricultural tractor.

[0008] The sprayer 10 further comprises a liquid storage tank 18 used to store a spray liquid to be sprayed on the field. The spray liquid can include chemicals, such as but not limited to, herbicides, pesticides, and / or fertilizers. Liquid storage tank 18 is to be mounted on chassis 12, either in front of or behind cab 14. The crop sprayer 10 can include more than one storage tank 18 to store different chemicals to be sprayed on the field. The stored chemicals may be dispersed by the sprayer 10 one at a time or different chemicals may be mixed and dispersed together in a variety of mixtures. The sprayer 10 further comprises a rinse water tank 20 used to store clean water, which can be used for storing a volume of clean water for use to rinse the plumbing and main tank 18 after a spraying operation.

[0009] At least one boom arm 22 on the sprayer 10 is used to distribute the fluid from the liquid tank 18 over a wide swath as the sprayer 10 is driven through the field. The boom arm 22 is provided as part of a spray applicator system 15 as illustrated in FIGs. 1-10, 15 and 26, which further comprises an array of spray nozzles (in addition to lights, cameras, and processors described later) arranged along the length of the boom arm 22 and suitable sprayer plumbing used to connect the liquid storage tank 18 with the spray nozzles. The sprayer plumbing will be understood to comprise any suitable tubing or piping arranged for fluid communication on the sprayer 10. Boom arm 22 can be in sections to permit folding of the boom arm for transport. As illustrated in some figures, there is a left boom portion 22-1, a center boom portion 22-2, and a right boom portion 22-3.

[0010] Additional components that can be included, such as control modules or lights, are disclosed in PCT Publication No. WO2020 / 178663 and U.S. Application No. 63 / 050,314, filed 10 July 2020, respectively.

[0011] Illustrated in FIGs. 2 to 9, there are a plurality of nozzles 50 (50-1 to 50-12) disposed on boom arm 22. While illustrated with 12 nozzles 50, there can be any number of nozzles 50 disposed on boom arm 22. Nozzles 50 dispense material (such as fertilizer, herbicide, or pesticide) in a spray. Nozzles 50 can be actuated with a pulse width modulation (PWM) actuator to turn the nozzles 50 on and off. In one example, the PWM actuator drives to a specified position (e.g., full open position, full closed position) according to a pulse duration, which is a length of the signal.

[0012] Illustrated in FIGs. 2 to 5, there are two cameras 70 (70-1 and 70-2) disposed on the boom arm 22 with each camera 70-1 and 70-2 disposed to view half of the boom arm 22 as seen in FIG. 11. Illustrated in FIGs. 6 to 9, there are a plurality of cameras 70 (70-1, 70-2, 70-3) each disposed on the boom arm 22 with each viewing a subsection of boom arm 22 as seen in FIG. 12. While illustrated with three cameras 70, there can be additional cameras 70. In the plurality of camera 70 examples, the cameras 70 can each be disposed to view an equal number of nozzles 50 or any number of nozzles 50.

[0013] FIGs. 2 and 6 illustrate two lights 60 (60-1, 60-2) that are disposed at a middle (24) of the boom arm 22 and disposed to each illuminate towards ends (23, 25) of boom arm 22.

[0014] FIGs. 3 and 7 illustrate two lights 60 (60-1, 60-2) that are disposed at the ends (23, 25) of boom arm 22 and disposed to illuminate towards the middle (24) of boom arm 22.

[0015] FIGs. 4 and 8 illustrate a plurality of lights 60 (60-1, 60-2, 60-3, 60-4) that are disposed on boom arm 22 to illuminate a subset of nozzle sprays from nozzles 50. While illustrated with each light 60 illuminating three nozzles 50, the number of nozzles 50 illuminated can range from two to less than less than all nozzles 50.

[0016] FIGs. 5 and 9 illustrate a plurality of lights 60 (60-1 to 60-12) that are each disposed to illuminate one nozzle 50.

[0017] FIG. 10 illustrates a combined camera 70 and light 60 unit 80 (80-1- to 80-12). A reference to camera 70 is to either camera 70 or camera / light unit 80 unless otherwise specifically stated.

[0018] Camera 70 can be any type of camera. Examples of cameras include, but are not limited to, digital camera, line scan camera, monochrome, RGB (red, green blue), NIR (near infrared), SWIR (short wave infrared), MWIR (medium wave infrared), LWIR (long wave infrared), optical sensor (including receiver or transmitter / receiver), reflectance sensor, laser.

[0019] Camera 70 can be coordinated with the PWM of the nozzles 50. Camera 70 can capture images when the nozzle 50 is off and when nozzle 50 is on. The off image can be subtracted from the on image to eliminate background light from the image. While any wavelength of the electromagnetic spectrum can be used, lights 60 can illuminate with blue light. The wavelength of light from light 60 may be in a range of 380-500nm or 450 to 485nm. The frequency of PWM may be 10 to 35 Hz.

[0020] The camera 70 and nozzle 50 can be operated at the same frequency. Alternatively, the cameras 70 can be operated at a different frequency from nozzles 50. Similar to aliasing, the camera can be operated at a frequency less than the nozzle 50 PWM frequency. Camera 70 can capture images at 9 Hz while the nozzles operate at 10 Hz.

[0021] The angle of light from light 60 may not be directly aligned with a camera 70.

[0022] Nozzles 50, lights 60, and cameras 70 may be connected to a network. An example of a network is described in PCT Publication No. WO2020 / 039295A1 and is illustrated as implement network 150 in FIG. 29A and FIG. 29B.

[0023] FIGs. 13 and 14 illustrate a spray pattern 55 from nozzle 50 having a spray angle (a). Spray pattern 55 can be captured in an image from camera 70. The image can be analyzed (e.g., analyzed with artificial intelligence) as described below to determine pattern, uniformity, spray angle (a), and amount of light refracted. In FIG. 13, optional pressure sensor 40 can be installed anywhere before nozzle 50. In FIG. 14, optional flow meter 45 can be installed anywhere between nozzle 50 and the fluid source.

[0024] Spray angle (a) is a function of nozzle tip geometry, material viscosity, PWM duty cycle, pressure, and flow rate. For a given nozzle spraying a material under a specific duty cycle, these parameters are fixed. Any variation in spray angle (a) is related to changes in pressure or flow rate with one of these being fixed.

[0025] FIG. 30 illustrates a flow diagram of a computer-implemented method of using images captured by a camera to determine and monitor fluid characteristics for fluid being applied to a field by an implement. The method 3000 is performed by processing logic that may comprise hardware (circuitry, dedicated logic, a processor, etc.), software (such as is run on a general purpose computer system or a dedicated machine or a device), or a combination of both. The method 3000 may be performed by processing logic (e.g., processing logic 126) of a processing system or of a monitor (e.g., monitor 1000). The camera can be attached to a boom as described herein.

[0026] At operation 3002, the computer-implemented method captures, with a camera, a first image of one or more spray patterns 55 at a given pressure. The spray angle (a) of each spray pattern 55 can be measured at operation 3004. A second image can be taken of the one or more spray patterns 55 and the spray angle (a) measured at operation 3006. The spray angle (a) from second image is compared to the spray angle (a) from the first image , at operation 3008. From the comparison, the processing logic determines if the nozzle is plugged (0%) or partially plugged (greater than 0 to less than 100%) at operation 3010. The amount of plugging if any for each nozzle 50 can be displayed on a display (e.g., display device 125, display device 130, monitor 100, display 120, 130, or 1230 from WO2020 / 039295, any device with a display) at operation 3012. The plugging can be a numerical amount, a color, or a combination of a color and numerical amount. For color, green can be used for no plugging, yellow for partial plugging, and red for totally plugged.

[0027] The absolute pressure at the nozzle 50 can be determined by the processing logic at operation 3014. From operating the nozzle 50 at different pressures and measuring the spray angle (a) of the spray patterns 55, a calibration curve can be created. By comparing the spray angle (a) from the second image , a pressure for nozzle 50 can be determined from the calibration curve. Alternatively, a pressure sensor 40 can be installed before one or more nozzles 50 to measure actual flow. A spray angle (a) of a nozzle 50 without a pressure sensor 40 can be compared to a spray angle (a) of a nozzle 50 with the pressure sensor 40. The difference in spray angle (a) provides a percentage difference that is converted to actual by multiplying the percentage difference by the pressure measured from pressure sensor 40. Each successive comparison between nozzles 50 can be based on the current pressure from pressure sensor 40.

[0028] The absolute flow rate at the nozzle 50 can be determined by the processing logic at operation 3016. From operating the nozzle 50 at different flow rates and measuring the spray angle (a) of the spray patterns 55, a calibration curve can be created. By comparing the spray angle (a) from the second image , a flow rate for nozzle 50 can be determined from the calibration curve. Alternatively, a flow meter 45 can be installed before one or more nozzles 50 to measure actual flow. A spray angle (a) of a nozzle 50 without a flow meter 45 can be compared to a spray angle (a) of a nozzle 50 with the flow meter 45. The difference in spray angle (a) provides a percentage difference that is converted to actual by multiplying the percentage difference by the flow rate measured from flow meter 45. Each successive comparison between nozzles 50 can be based on the current flow rate from flow meter 45.

[0029] A spray pattern variability can be measured. For a given nozzle 50, multiple images of spray pattern 55 from nozzle 50 are obtained from camera 70. Spray angle (a) from multiple images can be used to calculate an average spray angle (a) for a nozzle 50 and / or a standard deviation for spray angle (a). A spray pattern uniformity / variability can be calculated based on a percentage of spray angles (a) over a given time period that are within a given percentage of average or standard deviation at operation 3018. Uniformity can be displayed as a numeric value and / or as a color, such as green, yellow, or red, with each successive color representing a larger deviation from the average and / or standard deviation. Green can represent a uniformity of at least 80%, at least 90%, at least 95%, or at least 99%. Red can represent uniformity less than 50%, less than 40%, less than 30%, less than 25%, less than 20%, or less than 10%. Yellow can represent a uniformity that is not any of the green uniformity values and not any of the red uniformity values.

[0030] FIG. 31 illustrates a flow diagram of another computer-implemented method of using images captured by a camera to determine and monitor fluid characteristics for fluid being applied to a field by an implement. The method 3100 is performed by processing logic that may comprise hardware (circuitry, dedicated logic, a processor, etc.), software (such as is run on a general purpose computer system or a dedicated machine or a device), or a combination of both. The method 3100 may be performed by processing logic (e.g., processing logic 126) of a processing system or of a monitor (e.g., monitor 1000). The camera can be attached to a boom as described herein.

[0031] At operation 3102, a camera captures images of a spray pattern of a first nozzle and a spray pattern of a second nozzle. At operation 3104, the processing logic determines a spray angle (a) of each of the first and second nozzles. A relative pressure for a nozzle can be determined by processing logic. Instead of comparing a spray angle (a) of a nozzle 50 to a previous image of the same nozzle 50, the spray angle (a) of one nozzle can be compared with the spray angle (a) of another nozzle 50 at operation 3106. The difference in spray angle (a) between the two nozzles 50 provides the percentage of pressure of one nozzle 50 to the other nozzle 50 for the relative pressure.

[0032] A relative flow rate for a nozzle can be determined by the processing logic. Instead of comparing a spray angle (a) of a nozzle 50 to a previous image of the same nozzle 50, the spray angle (a) of one nozzle can be compared with the spray angle (a) of another nozzle 50. The difference in spray angle (a) between the two nozzles 50 provides the percentage of flow rate of one nozzle 50 to the other nozzle 50 for the relative flow rate at operation 3108.

[0033] Any of the above measured parameters, such as spray angle (a), average of spray angle (a), standard deviation of spray angle (a), relative pressure, absolute pressure, relative flow rate, absolute flow rate, percent plugged, and / or spray pattern uniformity / variability, can be displayed on a display (e.g., display device 125, display device 130, monitor 100, display 120, 130, or 1230 from WO2020 / 039295, any device with a display ). The parameters can be displayed as numeric values, mapped on the display, or both. The parameters can be displayed in split view with the applied flow rate and / or applied pressure.

[0034] Although the operations in the computer-implemented methods disclosed herein are shown in a particular order, the order of the actions can be modified. Thus, the operations can be performed in a different order, and some operations may be performed in parallel. Some of the operations listed in the methods disclosed herein are optional. In one example of FIG. 30, the operations 3014, 3016, and 3018 are optional and may be removed from method 3000. In another example of FIG. 30, the operations 3010 and 3012 are optional and may be removed from method 3000. The numbering of the operations presented is for the sake of clarity and is not intended to prescribe an order of operations in which the various operations must occur. Additionally, operations from the various flows may be utilized in a variety of combinations.

[0035] Cameras 350 can be installed at various locations across boom arm 22. Cameras 350 can have a plurality of lenses. An exemplary camera 350 is illustrated in FIG. 17 with lenses 351 and 352. Each lens 351 and lens 352 can have a different field of view 355. The different fields of view can be obtained by different focal lengths of the lens. Illustrated in FIG. 16 are a plurality of cameras 350 (350-1, 350-2, 350-3, and 350-4) disposed along boom arm 22 via arm 30 (30-1, 30-2, 30-3, and 30-4). In combination, cameras 350 are positioned to view all of the length of boom arm 22, and, optionally, beyond the end of boom arm 22 to view any drift. Cameras 350 can be positioned to view spray from nozzles 50 for flow, blockage, or drift, to view for guidance, for obstacle avoidance, to identify plants, to identify weeds, to identify insects, to identify diseases, or combinations thereof. Not all fields of view 355 may be the same. Fields of view 355 can all be different from each other, or there can be two or more groups of fields of view in which the field of view of each field of view in the group is the same and different from the fields of view of other groups. Illustrated in FIG. 16, fields of view 355-1, 355-3, 355-5, and 355-7 are all the same and in a first group, and fields of view 355-2, 355-4, 355-6, and 355-8 are all the same and in a second group.

[0036] Illustrated in FIG. 18, there are two cameras 350 (350-1 and 350-2) that are disposed on arm 30 and positioned to view the entire boom arm 22, and optionally beyond boom arm 22. While illustrated on one arm 30, each camera 350-1 and 350-2 can be mounted on separate arms 30. Each camera 350-1 and 350-2 has a plurality of lenses to provide each camera 350-1 and 350-2 with two fields of view 355 (355-1 to 355-4). While illustrated with two lenses, cameras 350-1 and 350-2 can each have more lenses. The illustration in FIG. 18 reduces the number of cameras 350 needed to view along boom arm 22 to reduce cost and complexity.

[0037] While illustrated rearward of boom arm 22 along the direction of travel 2 of sprayer 10, cameras 350 can be disposed forward of boom arm 22 along a direction of travel 2 of sprayer 10. This can be beneficial when boom arm 22 is mounted to the front of sprayer 10 instead of the back, and boom arm 22 pivots rearwardly for transport.

[0038] Each arm 30 can be mounted to boom arm 22 in a fixed or a movable attachment. A movable attachment allows arm 30 to be stored then deployed for use. The length of arm 30 is any length that accommodates camera 350 being positioned with its selected field of view 355. For arm 30, it can be deployed from a storage position to a working position either manually or automatically. When automatic, the deployment of arm 30 can be separately operated, or the deployment of arm 30 can be combined with the boom arm 22 deployment. Arm 30 may be a telescoping arm. Arm 30 may be a scissor actuator. Arm 30 may have a fixed length and be attached to boom arm 22. Arm 30 can be pivotally attached to boom arm 22. Some examples of pivoting attachment are illustrated in FIG. 19 to 24. In any of FIGs. 19 to 24, arm 30 can pivot horizontally in a plane parallel to the ground to the left or right. Illustrated in FIGs. 19 and 20, arm 30 is mounted to a top of boom arm section 22-2 and is disposed to pivot downward for storage and upward for deployment. Illustrated in FIGs. 21 and 22, arm 30 is mounted to a bottom of boom arm section 22-2 and is disposed to pivot upward for storage and downward for deployment. In FIGs. 23 and 24, arm 30 is mounted in a position between the top and bottom of boom arm section 22-2. It can pivot up or down for deployment and the opposite for storage. For the actuation of arm 30, any actuator can be used. When an actuator receives a control signal, the actuator responds by converting the signal's energy into mechanical motion. An actuator requires a control signal and a source of energy. Example of actuators include, but are not limited to, hydraulic actuators, pneumatic actuators, electric linear actuators, and electric rotary actuators. Actuator 35 is illustrated in FIG. 25.

[0039] The position of a camera 70, 350 relative to boom arm 22 can be adjusted via arm 30. One or more of a distance between camera 70, 350 and boom arm 22, an angle of arm 30 to boom arm 22, or a rotation (e.g., rotation B) of camera 350 to arm 30 can be adjusted. Illustrated in FIG. 25, actuator 35 can adjust angle A to any value from 0° to 180°. Arm 30 can also adjust a distance between boom arm 22 and camera 70, 350 as described above. Camera 70, 350 can also be rotationally connected to arm 30 about an axis or a distal end of the arm. Changing one or more of these adjustments can change the position of camera 70, 350. This allows camera 70, 350 to multitask between different operations. Camera 70, 350 can switch positions between guidance, obstacle avoidance, see and spray plants and / or weeds, and nozzle performance, such as spray pattern, blockage, and / or drift. This can reduce the total number of cameras needed. Camera 70 and camera 350 are both exemplified as there is no requirement for the number of lenses in the camera.

[0040] Cameras 70, 350 can be connected to a monitor 1000, such as the monitor disclosed in U.S. Patent Number 8,078,367. Camera 70, 350 and monitor 1000 can each process the images captured by camera 70, 350 or share the processing of the images. The images captured by camera 70, 350 can be processed in camera 70, 350, and the processed images can be sent to monitor 1000. The images can be sent to monitor 1000 for processing. Processed images can be used to identify flow, to identify blockage, to identify drift, to view for guidance, for obstacle avoidance, to identify plants, to identify weeds, to identify insects, to identify diseases, or combinations thereof. Once identified, monitor 1000 can alert an operator of the condition and / or send a signal to a device to address the identified condition, such as to a nozzle 50 to activate to apply herbicide to a weed.

[0041] Illustrated in FIG. 26 is an alternative nozzle 50 and light 60 combination. Nozzle assembly 51 (51-2 to 51-12) is a combined nozzle 50 and light 60. The light from one nozzle assembly 51 is disposed to illuminate the spray from an adjacent nozzle assembly 51. There can be any combination of nozzle assemblies 51 disposed on the boom. Nozzle assembly 51 can contain multiple lights. For example in FIG. 26, nozzle assembly 51-11 can have two lights so that the spray from nozzle assembly 51-12 at the end of boom arm 22 is illuminated.

[0042] In any of the embodiments above with lights 60 or nozzle assembly 51, a light (60, 51) and camera (70, 350) can capture images of a spray pattern of a nozzle (50, 51). The camera, a processing system, or a monitor can include a processor that is configured to determine when the nozzle (50, 51) is spraying and not spraying and calculate a difference in time between spraying and not spraying to determine a pulse width modulation of nozzle (50, 51). The determined pulse width modulation can then be used to signal lights 60 and cameras (70, 350) when to be on to capture spraying from the nozzle (50, 51). This can be used with groups of nozzles (50, 51) when different groups are on versus off. For example, if there are two groups, the cameras (70, 350) associated with each group of nozzles (50, 51) can be operated to be on / off when the nozzles (50, 51) in that group are on / off.

[0043] An implement 10 that has an autosteer controller 900 can be retrofitted with a vision guidance system 1070 that includes cameras 71 and monitor 1000 as illustrated in FIGs. 27 and 28. Implement 10 can be any implement that has autosteer, such as a tractor or sprayer. An autosteer controller 900 receives signals from a global positioning system (GPS) 999 to automatically direct steering of the implement 10 through actuators that steer the wheels or tracks of the implement 10 to be aligned in spacing between rows of plants P-1, P-2, and P-3. In one example, a first set of wheels 25-1, 25-2 or track on a left side of implement are aligned in a row spacing between rows of plants P-1 and P-2 while a second set of wheels 25-3, 25-4 or track on a right side of the implement are aligned in a row spacing between rows of plants P-2 and P-3 to avoid damaging the rows of plants. Automatically directing steering of the implement can be performed without intervention from a user. Instead of having to discard an autosteer controller 900 to install a new one that interfaces with a vision guidance system, the existing autosteer control 900 can be retained and corrections to steering can be effected by offsetting the GPS coordinates sent to the autosteer controller 900. GPS 999 is disconnected from autosteer controller 900 and connected to monitor 1000. The monitor 1000 includes at least one processor 1002, memory 1004, and a display device 1006 with a graphical user interface. Monitor 1000 is in communication with at least one camera 71 (which can be the same as camera 70 or 350). Illustrated in FIG. 27, there are two cameras 71-1 and 71-2, which are in communication with monitor 1000. Images from cameras 71-1 and 71-2 can be processed in cameras 71-1 and 71-2, or they can be processed by monitor 1000 similar to above. Images are processed to determine whether implement 10 is driving a desired course, such as between rows of crops. If it is determined that a steering correction is needed to stay within a row, a GPS offset is calculated based on the current GPS coordinates and the required GPS coordinates. The GPS offset is used to create a modified GPS coordinate that is sent from monitor 1000 to autosteer controller 900, which will then steer implement 10 on a desired course.

[0044] FIG. 29A shows an example of a block diagram of a self-propelled implement 140 (e.g., sprayer, spreader, irrigation implement, etc.). The implement 140 includes a processing system 1200, memory 105, and a network interface 115 for communicating with other systems or devices. The network interface 115 can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems. The network interface 115 may be integrated with the implement network 150 or separate from the implement network 150 as illustrated in FIG. 29A. The I / O ports 129 (e.g., diagnostic / on board diagnostic (OBD) port) enable communication with another data processing system or device (e.g., display devices, sensors, etc.).

[0045] In one example, the self-propelled implement 140 performs operations for fluid applications of a field. Data associated with the fluid applications can be displayed on at least one of the display devices 125 and 130.

[0046] The processing system 1200 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic 126 for executing software instructions of one or more programs and a communication unit 128 (e.g., transmitter, transceiver) for transmitting and receiving communications from the network interface 115 or implement network 150. The communication unit 128 may be integrated with the processing system or separate from the processing system.

[0047] Processing logic 126 including one or more processors may process the communications received from the communication unit 128 including agricultural data (e.g., planting data, GPS data, fluid application data, flow rates, etc.). The system 1200 includes memory 105 for storing data and programs for execution (software 106) by the processing system. The memory 105 can store, for example, software components such as fluid application software for analysis of fluid applications for performing operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops, images of a spray pattern for rows of crops), alerts, maps, etc. The memory 105 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive. The system can also include an audio input / output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).

[0048] The processing system 1200 communicates bi-directionally with memory 105, implement network 150, network interface 115, display device 130, display device 125, and I / O ports 129 via communication links 131-136, respectively.

[0049] Display devices 125 and 130 can provide visual user interfaces for a user or operator. The display devices may include display controllers. The display device 125 is a portable tablet device or computing device with a touchscreen that displays data (e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations. The operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated. The display device 1230 may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, as-applied liquid or fluid application data, as-planted or as-harvested data, yield data, controlling an implement (e.g., planter, tractor, combine, sprayer, etc.), steering the implement, and monitoring the implement (e.g., planter, combine, sprayer, etc.). A cab control module 1270 may include an additional control module for enabling or disabling certain components or devices of the implement.

[0050] The implement 140 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation, implement, etc.) includes an implement network 150 having multiple networks. The implement network 150 having multiple networks (e.g., Ethernet network, Power over Ethernet (PoE) network, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) may include a pump 156 for pumping liquid or fluid from a storage tank(s) 190 to row units of the implement, communication module 180 for receiving communications from controllers and sensors and transmitting these communications. In one example, the implement network 150 includes nozzles 50, lights 60, and vision guidance system 70 having cameras and processors.

[0051] Sensors 152 (e.g., speed sensors, seed sensors for detecting passage of seed, downforce sensors, actuator valves, OEM sensors, flow sensors, etc.), controllers 154 (e.g., drive system, GPS receiver), and the processing system 120 control and monitoring operations of the implement.

[0052] The OEM sensors may be moisture sensors or flow sensors, speed sensors for the implement, fluid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement. For example, the controllers may include processors in communication with a plurality of sensors. The processors are configured to process data (e.g., fluid application data) and transmit processed data to the processing system 120. The controllers and sensors may be used for monitoring motors and drives on the implement.

[0053] FIG. 29B shows an example of a block diagram of a system 100 that includes a machine 102 (e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.). The machine 102 includes a processing system 1200, memory 105, machine network 110 that includes multiple networks (e.g., an Ethernet network, a network with a switched power line coupled with a communications channel (e.g., Power over Ethernet (PoE) network), a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface 115 for communicating with other systems or devices including the implement 1240. The machine network 110 includes sensors 112 (e.g., speed sensors), controllers 111 (e.g., GPS receiver, radar unit) for controlling and monitoring operations of the machine or implement. The network interface 115 can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the implement 1240. The network interface 115 may be integrated with the machine network 110 or separate from the machine network 110 as illustrated in Figure 29B. The I / O ports 129 (e.g., diagnostic / on board diagnostic (OBD) port) enable communication with another data processing system or device (e.g., display devices, sensors, etc.).

[0054] In one example, the machine is a self-propelled machine that performs operations of a tractor that is coupled to and tows an implement for planting or fluid applications of a field. Data associated with the planting or fluid applications can be displayed on at least one of the display devices 125 and 130.

[0055] The processing system 1200 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic 126 for executing software instructions of one or more programs and a communication unit 128 (e.g., transmitter, transceiver) for transmitting and receiving communications from the machine via machine network 110 or network interface 115 or implement via implement network 150 or network interface 160. The communication unit 128 may be integrated with the processing system or separate from the processing system. The communication unit 128 may be in data communication with the machine network 110 and implement network 150 via a diagnostic / OBD port of the I / O ports 129 or via network devices 113a and 113b. A communication module 113 includes network devices 113a and 113b. The communication module 113 may be integrated with the communication unit 128 or a separate component.

[0056] Processing logic 126 including one or more processors may process the communications received from the communication unit 128 including agricultural data (e.g., planting data, GPS data, liquid application data, flow rates, etc.). The system 1200 includes memory 105 for storing data and programs for execution (software 106) by the processing system. The memory 105 can store, for example, software components such as planting application software for analysis of planting applications for performing operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops), alerts, maps, etc. The memory 105 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive. The system can also include an audio input / output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).

[0057] The processing system 120 communicates bi-directionally with memory 105, machine network 110, network interface 115, display device 130, display device 125, and I / O ports 129 via communication links 130-136, respectively.

[0058] Display devices 125 and 130 can provide visual user interfaces for a user or operator. The display devices may include display controllers. The display device 125 may be a portable tablet device or computing device with a touchscreen that displays data (e.g., planting application data, liquid or fluid application data, captured images, localized view map layer, high definition field maps of as-applied liquid or fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations. The operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated. The display device 1230 may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, as-applied liquid or fluid application data, as-planted or as-harvested data, yield data, controlling a machine (e.g., planter, tractor, combine, sprayer, etc.), steering the machine, and monitoring the machine or an implement (e.g., planter, combine, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.

[0059] A cab control module 1270 may include an additional control module for enabling or disabling certain components or devices of the machine or implement. For example, if the user or operator is not able to control the machine or implement using one or more of the display devices, then the cab control module may include switches to shut down or turn off components or devices of the machine or implement.

[0060] The implement 1240 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation, implement, etc.) includes an implement network 150 having multiple networks, a processing system 162 having processing logic 164, a network interface 160, and optional input / output ports 166 for communicating with other systems or devices including the machine 102. The implement network 150 having multiple networks (e.g, Ethernet network, Power over Ethernet (PoE) network, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) may include a pump 156 for pumping liquid or fluid from a storage tank(s) 190 to row units of the implement, communication modules (e.g., 180, 181) for receiving communications from controllers and sensors and transmitting these communications to the machine network. In one example, the communication modules include first and second network devices with network ports. A first network device with a port (e.g., CAN port) of communication module (CM) 180 receives a communication with data from controllers and sensors, this communication is translated or converted from a first protocol into a second protocol for a second network device (e.g., network device with a switched power line coupled with a communications channel , Ethernet), and the second protocol with data is transmitted from a second network port (e.g., Ethernet port) of CM 180 to a second network port of a second network device 113b of the machine network 110. A first network device 113a having first network ports (e.g., 1-4 CAN ports) transmits and receives communications from first network ports of the implement. In one example, the implement network 150 includes nozzles 50, lights 60, vision guidance system 70 having cameras and processors, and autosteer controller 900. The autosteer controller 900 may also be part of the machine network 110 instead of being located on the implement network 150 or in addition to being located on the implement network 150.

[0061] Sensors 152 (e.g., speed sensors, seed sensors for detecting passage of seed, downforce sensors, actuator valves, OEM sensors, flow sensors, etc.), controllers 154 (e.g., drive system for seed meter, GPS receiver), and the processing system 162 control and monitoring operations of the implement.

[0062] The OEM sensors may be moisture sensors or flow sensors for a combine, speed sensors for the machine, seed force sensors for a planter, liquid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement. For example, the controllers may include processors in communication with a plurality of seed sensors. The processors are configured to process data (e.g., liquid application data, seed sensor data) and transmit processed data to the processing system 162 or 120. The controllers and sensors may be used for monitoring motors and drives on a planter including a variable rate drive system for changing plant populations. The controllers and sensors may also provide swath control to shut off individual rows or sections of the planter. The sensors and controllers may sense changes in an electric motor that controls each row of a planter individually. These sensors and controllers may sense seed delivery speeds in a seed tube for each row of a planter.

[0063] The network interface 160 can be a GPS transceiver, a WLAN transceiver (e.g.,WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the machine 102. The network interface 160 may be integrated with the implement network 150 or separate from the implement network 150 as illustrated in FIG. 29B.

[0064] The processing system 162 communicates bi-directionally with the implement network 150, network interface 160, and I / O ports 166 via communication links 141-143, respectively. The implement communicates with the machine via wired and possibly also wireless bi-directional communications 104. The implement network 150 may communicate directly with the machine network 110 or via the network interfaces 115 and 160. The implement may also by physically coupled to the machine for agricultural operations (e.g., planting, harvesting, spraying, etc.). The memory 105 may be a machine-accessible non-transitory medium on which is stored one or more sets of instructions (e.g., software 106) embodying any one or more of the methodologies or functions described herein. The software 106 may also reside, completely or at least partially, within the memory 105 and / or within the processing system 1200 during execution thereof by the system 100, the memory and the processing system also constituting machine-accessible storage media. The software 1206 may further be transmitted or received over a network via the network interface 115.

[0065] In one example, the implement 140, 1240 is an autosteered implement comprising a self-propelled implement with an autosteer controller 900 for controlling traveling of the self-propelled implement. The controllers 154 include a global positioning system to provide GPS coordinates. The vision guidance system 70 includes at least one camera and a processor. The global positioning system is in communication with the processor, and the processor is in communication with the autosteer controller. The processor is configured to modify the GPS coordinates to a modified GPS coordinates to maintain a desired travel for the self-propelled implement.

[0066] In another example, the machine 102 is an autosteered machine comprising a self-propelled machine with an autosteer controller 900 for controlling traveling of the self-propelled machine and any implement that is coupled to the machine. The controllers 154 include a global positioning system to provide GPS coordinates. The vision guidance system 70 includes at least one camera and a processor. The global positioning system is in communication with the processor, and the processor is in communication with the autosteer controller. The processor is configured to modify the GPS coordinates to a modified GPS coordinates to maintain a desired travel for the self-propelled machine.

[0067] In another example, a boom actuation system 170 moves a boom arm 22 of the implement between a storage position and a deployed position, and the arm is actuated with the boom actuation system.

[0068] A machine-accessible non-transitory medium (e.g., memory 105) may contain executable computer program instructions which when executed by a data processing system cause the system to perform operations or methods of the present disclosure

[0069] It will be appreciated that additional components, not shown, may also be part of the system, and fewer components than shown in FIG. 29A and FIG. 29B may also be used in a data processing system. It will be appreciated that one or more buses, not shown, may be used to interconnect the various components as is well known in the art.

[0070] The foregoing description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the scope of the invention as defined by the appended claims.

Claims

1. A system comprising: a boom (22); at least one first nozzle assembly (51-2 - 51-12) attached to the boom (22); and a second nozzle assembly (51-2 - 51-12); wherein the at least one first nozzle assembly (51-2 - 51-12) and the second nozzle assembly (51-2 - 51-12) each comprise a nozzle (50) and at least one light (60); characterized in that the at least one light (60) is disposed to illuminate a spray from an adjacent nozzle assembly (51-2 - 51-12).

2. The system of claim 1, wherein the first nozzle assembly (51-11) comprises two lights (60).

3. The system of claim 1, wherein at least one light (60) of the first nozzle assembly (51-2 - 51-12) is disposed to illuminate a spray from the second nozzle assembly (51-2 - 51-12) that is adjacent to the first nozzle assembly (51-2 - 51-12).

4. The system of any preceding claim, further comprising: a pulse width modulation actuator to drive to a specified position according to a pulse duration to turn at least one nozzle on or off.

5. The system of claim 1, wherein the first nozzle assembly (51-2 - 51-12), the second nozzle assembly (51-2 - 51-12), and a nozzle (50-1) are attached to the boom (22).

6. The system of claim 1, wherein the first nozzle assembly (51-2 - 51-12) comprises a nozzle (50) and a light (60) combination.

7. The system of claim 1, wherein the first nozzle assembly (51-11) comprises a nozzle (50) and a two light (60) combination with a first light (60) being disposed to illuminate an adjacent nozzle (51-10, 51-12) for a first side of the first nozzle assembly (51-11).

8. The system of claim 7, wherein a second light (60) of the first nozzle assembly (51-11) is disposed to illuminate an adjacent nozzle (51-12) for a second opposing side of the first nozzle assembly (51-11).

9. The system of claim 1, further comprising: a first camera (70) attached to the boom (22), the first camera (70) is disposed to capture images of the first and second nozzle assemblies (51-2 - 51-12); and a second camera (70) attached to the boom (22), the second camera (70) is disposed to capture images of other nozzle assemblies (51-2 - 51-12) that are attached to the boom (22).

10. The system of claim 1, further comprising: at least one camera (70) attached to the boom (22).

11. The system of claim 10, wherein the camera (70) is disposed to capture images of a spray pattern of the nozzle (50) of the first nozzle assembly (51-2 - 51-12).

12. The system of any of claims 1, 10, and 11, further comprising: a processor (1002) of the camera (70) or of the system, wherein the processor (1002) is configured to determine when the nozzle (50) is spraying and not spraying and to calculate a difference in time between spraying and not spraying to determine a pulse width modulation of the nozzle (50).

13. The system of claim 12, wherein the determined pulse width modulation is used to signal lights (60) and the at least one camera (70) when to be turned on to capture spraying from the nozzle (50).