A boom spraying apparatus

Abstract

A boom sprayer has a camera system for monitoring a boom configuration. The boom is in a field of view of the cameras of the camera system and the images captured by the camera system are processed to determine the boom configuration, determine if there is a boom configuration error, and indicate any determined boom configuration error to a user.

Description

A BOOM SPRAYING APPARATUSFIELD[OOO1] Embodiments of the present disclosure relate generally to boom sprayers, such as self-propelled boom sprayers.BACKGROUND

[0002] It is well known to provide regulation of the height of the boom of a boom sprayer. A control system is used to maintain the same boom height whatever the layout of the terrain. The regulation is for example controlled by ultrasonic height sensors or other sensors attached to the ends of the booms, which transmit information to a control unit that directs tilt (and pitch) actuators of the boom as required according to the desired (programmed) height above the crop.

[0003] Smaller booms may have a fixed geometry and the slope and height of that fixed geometry is adjustable. Larger booms may have a variable geometry so that the two sides of the boom may be controlled independently to match the lateral shape of the terrain.

[0004] Boom height control enables the efficiency of spraying to be improved by working closer to the target area, while significantly reducing drift

[0005] It has been proposed to provide feedback to an operator about the correct functioning of a boom sprayer. For example, US Patent 10,721,859, "Monitoring and Control Implement for Crop Improvement," granted July 28, 2020, discloses a camera-based sensor system for analysis of the performance of an agricultural machine, and which can be mounted to different machines to analyze different functions, including spraying using a boom sprayer.

[0006] For the example of a boom sprayer, the boom carries cameras, and image analysis enables various factors to be assessed. Examples of factors that can be monitored include analysis of the terrain and crop height so that the height of the boom can be adjusted to the correct height. Look-ahead conditions may be used to tilt the spray boom, rotate the spray boom, or retract or fold up part of the spray boom to match the upcoming terrain. Spraydrift monitoring can also be performed using a rearward-looking image sensor to check if the spray has passed permitted boundaries. Thus, image analysis has been proposed for analyzing the terrain and the spray performance.

[0007] It would also be of interest to monitor that the boom is functioning correctly so that maintenance can be provided as soon as it is needed.BRIEF SUMMARY

[0008] According to examples in accordance with this disclosure, there is provided a spraying apparatus comprising:

[0009] a liquid tank;

[0010] a boom comprising a plurality of spray nozzles;

[0011] a delivery system for delivering liquid from the liquid tank to the spray nozzles;

[0012] a camera system comprising a set of one or more cameras for monitoring a boom configuration; and

[0013] an output interface,

[0014] wherein the boom is in a field of view of the one or more cameras, and wherein the spraying apparatus further comprises a processor for processing the images captured by the set of cameras and configured to:

[0015] determine a boom configuration;

[0016] determine if there is a boom configuration error; and

[0017] control the output interface to indicate the boom configuration error.

[0018] This spraying apparatus uses image processing to provide feedback about the configuration of a spraying boom so that a warning can be given and optionally corrective action may be taken if the sprayer is not being operated with the correct configuration or if there is a fault leading to an incorrect configuration. These are examples of possible boom configuration error. The boom itself is captured in the images, so that not only the spray or crop is imaged, but also the boom itself. This enables additional diagnostic information to be obtained.

[0019] The boom configuration for example comprises a slope of the boom.

[0020] Image analysis enables the slope of the boom (which is captured in the images) relative to the chassis of the vehicle to be determined. This enables verification that the boom tilt corresponds to the intended boom tilt relative to the machine chassis. Image analysis also enables the slope of the boom relative to the ground to be determined. This enables verification that the boom tilt control is correctly driving the boom to be parallel to the crop surface.

[0021] The processor is for example configured to generate an alarm if the boom remains non-parallel to the crop surface for a predetermined period of time. For boom sprayers that work using a pendulum concept with height control, the boom must be kept parallel to the crop surface, so if the boom stays out of this position for a certain period of time (e.g., 3 to 4 seconds), it may indicate regulation problems. The system can then provide a warning that maintenance may be required.

[0022] The processor may instead be configured to generate an alarm if the boom remains non-horizontal for a predetermined period of time. This applies to systems without height control, in which case the boom regulation aims to maintain a horizontal position.

[0023] In a first example, the camera system comprises first and second rear-facing cameras for mounting in front of the boom and to each side of a drive vehicle to which the boom is coupled. Thus, the cameras capture a view of the boom at each side of the vehicle as well as the ground beneath the boom. Because the cameras are fixed to the vehicle, a boom orientation detected in the captured images comprises an orientation relative to the vehicle.

[0024] However, by capturing an image of the crop beneath the boom, the boom orientation relative to the crop surface may also be derived. The cameras in this first example can thus be used to determine the boom slope.

[0025] Once the boom slope is known, an automated control may also be implemented, for example an Al algorithm may actuate hydraulic cylinders to regulate the boom and maintain it parallel to the crop surface. Thus, cameras are used to evaluate if the boom is parallel to the crop surface, and a control loop then may be used to maintain the boom parallel to the crop surface.

[0026] In a second example, the boom is foldable and unfoldable between retracted and extended configurations, and wherein the boom configuration comprises a state of retraction or extension of the boom. This provides a simple way to verify that the boom shape matches the shape to which the boom has been driven.

[0027] The boom is for example foldable in a horizontal and / or vertical plane. There may be one or multiple fold joints. In wider booms, there may be two or three folds on each side.

[0028] The processor is for example configured to generate an alarm if the boom is operated when not fully extended. This prevents operation of the boom when not in the correct extended configuration. The boom is for example not designed to tolerate the loads experienced if operated in a folded or partially folded configuration.

[0029] For this second example, the camera system may comprise first and second laterally outward facing cameras mounted at a central area of the boom and each facing outward in opposite lateral directions towards a respective boom tip. These cameras enable the extended and retracted shapes of the boom to be easily distinguished.

[0030] The cameras for the first and second examples may be combined to form an overall monitoring system.

[0031] In addition to the camera systems described above, the spraying apparatus may further comprise a second camera system for monitoring a spray performance. Thus, image analysis may be used for evaluating the spray function as well as the boom configuration.

[0032] The spray performance for example comprises verification of a delivery of spray from each nozzle. In this way, it can be verified if each nozzle is functioning correctly, for example if a nozzle is partially clogged or not delivering spray at all. The spray performance may additionally or alternatively comprise an amount of spray drift.

[0033] Another aspect of the disclosure provides a spraying apparatus comprising:

[0034] a liquid tank;

[0035] a boom comprising a plurality of spray nozzles;

[0036] a delivery system for delivering liquid from the liquid tank to the spray nozzles;

[0037] a camera system comprising a set of one or more cameras for monitoring a spray performance; and

[0038] an output interface, wherein the spraying apparatus further comprises a processor for processing the images captured by the set of cameras and configured to:

[0039] determine delivery of spray from each nozzle.

[0040] In this way, the individual nozzle performance can be assessed.

[0041] The processor is for example configured to determine if: a nozzle is partially clogged; or if a nozzle is delivering no spray.

[0042] For all examples above, the spraying apparatus may comprise a pendulum mounting system for mounting the boom to a drive vehicle. However, the concepts may be applied to any type of boom mounting system.

[0043] The spraying apparatus preferably comprises a self-propelled spraying apparatus comprising a drive vehicle to which the boom is coupled.

[0044] Various aspects, embodiments, examples, and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0046] FIG. 1 shows a first example of a self-propelled boom sprayer;

[0047] FIG. 2 shows a second example of a self-propelled boom sprayer;

[0048] FIG. 3 shows a first additional camera system;

[0049] FIG. 4 shows a second additional camera system;

[0050] FIG. 5 shows on the left a representation of an image of a correctly functioning nozzle and on the right a representation of an image of a partially blocked nozzle; and

[0051] FIG. 6 shows the overall parts of a camera system.DETAILED DESCRIPTION

[0052] Aspects will be described with reference to the figures.

[0053] The detailed description and specific examples, while indicating exemplary embodiments of the apparatus, systems, and methods, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure. These and other features, aspects, and advantages of the apparatus, systems, and methods will become better understood from the following description, appended claims, and accompanying drawings. The figures are merely schematic and are not drawn to scale. The same reference numerals are used throughout the figures to indicate the same or similar parts.

[0054] This disclosure provides a boom sprayer which has a camera system for monitoring a boom configuration. The boom is in a field of view of the cameras of the camera system and the images captured by the camera system are processed to determine the boom configuration, determine if there is a boom configuration error; and indicate any determined boom configuration error to a user.

[0055] FIG. 1 shows a self-propelled boom sprayer comprising a spray boom 10 comprising a line of spray nozzles mounted behind a drive vehicle 20. The drive vehicle has a cab 22 within which a user interface is used for receiving instructions from the driver (via an input interface) and providing feedback to the driver (via an output interface). A tank 12 stores chemicals to be applied, and a delivery system is provided for delivering the chemicals to the nozzles.

[0056] A camera system, comprising a set of one or more cameras 30, is provided for monitoring a boom configuration. At least a part of the boom is in a field of view of the cameras of the set, and this means the camera images can be processed to determine a boom configuration (as explained below) and hence determine if there is a boom configuration error. Any such error can then be reported to the driver using the output interface. In some cases,automatic corrective action may also be taken. The crop surface is also in the field of views of the cameras so that the boom orientation relative to the crop surface can also be determined.

[0057] FIG. 1 is used to explain a first possible example of boom configuration to be monitored, in particular the slope of the boom.

[0058] For this purpose, the camera system comprises a camera 30 at each side of the boom sprayer, in front of the spray boom 10 and facing rearward. Thus, a section of a respective side of the boom is in the field of view of each camera as well as the crop surface below the boom. In this way, the boom slope, relative to the vehicle (since the camera is fixed to the vehicle) can be immediately derived from image analysis. Furthermore, the slope relative to the crop surface can also be derived from image analysis. In this way, it can be verified that the boom is parallel to the crop surface. The slope of each side of the boom may be separately controllable, or the boom may be rigid across its width.

[0059] The best performance during crop spraying is achieved when each nozzle has a correct distance (e.g., 50 cm) from the crop. In another words, the boom copies exactly the crop behavior. A height control system is used by some machines to maintain this distance. However, if a machine does not have a height control system, or when this system is not working properly, the pivoting of the boom about its pendulum center no longer copies the crop distance but instead behaves in response to the terrain conditions. For example, when the suspension system of the boom is not working properly, or is not well adjusted, the movement of the boom does not maintain a condition parallel to the crop.

[0060] For example, a side of the boom may drop in response to a terrain change, but it may remain there until the terrain pushes it to the other side regardless of the crop height. This is an example of a badly regulated boom, and it is desirable to warn the operator that there is a problem with the boom regulation.

[0061] The camera system may generate 2D images which are processed by an image analysis algorithm. However, depth information may additionally be recorded using a depth camera or range sensor for measuring a distance to the crop, e.g., beneath the boom.

[0062] The system may be supplemented with additional sensors, such as an inclinometer to measure the lateral incline of the vehicle. In this way, an absolute slope of the boom (relative to the horizontal) can be determined.

[0063] When the boom slope does not match the intended boom slope (i.e., to match boom tilt actuation signals which have been sent to the boom or to have a uniform height over the crop), feedback can be provided to the driver, in particular a warning can be given.

[0064] In one example, the processor is configured to generate an alarm if the boom remains non-parallel to the crop surface for a predetermined period of time. This applies to a system which is controlled to maintain the boom parallel to the crop surface, i.e., with an automatic height control system.

[0065] In another example, the processor may be configured to generate an alarm if the boom is non-horizontal for a predetermined period of time. This applies to a system which is controlled to maintain the boom horizontal, i.e., with a pendulum beam regulated to stay horizontal. Thus, the alarm that is suitable depends on the machine configuration.

[0066] In each case, if the boom stays out of the intended position for a certain period of time (e.g., 3 to 4 seconds), it may indicate regulation problems. The system can then provide a warning that maintenance may be required.

[0067] FIG. 1 shows a camera system having first and second rear-facing cameras 30 for mounting in front of the boom and to each side of a drive vehicle to which the boom is coupled. Thus, the cameras capture a view of the boom at each side of the vehicle as well as the ground beneath the boom.

[0068] FIG. 2 shows an alternative camera system comprising first and second laterally outward facing cameras 40, with a field of view along the boom sides. This is of particular interest for a foldable boom. For example, the boom may be foldable in a horizontal and / or a vertical plane, or in a plane angled relative to the horizontal and vertical. There may be a single fold joint along each boom arm or there may be multiple joints such as two or three. It is possible to run the machine with the boom partially opened, but the boom structure is not designed for this load case so this possible mode of operation will damage the boom structure. The image processing is used to recognize the configuration and warn the operator if there is aconfiguration error. In this example, the boom configuration comprises a state of retraction or extension of the boom. A configuration error may apply if the boom is not fully opened or it may apply more generally to any set of positions that the manufacturer has determined to be wrong and that can damage the structure, or cause a poor application performance to the crop.

[0069] FIG. 3 shows another use of imaging, in addition to detecting a boom configuration, for detecting excessive spray drift during application. In this way, losses can be reduced and crop protection is improved. This imaging may be used in addition to the imaging for boom configuration monitoring as discussed above.

[0070] In this example, the camera system additionally comprises two cameras 50 with their fields of view towards the rear and towards the sides of the machine. The images show the envelope of the spray pattern from the nozzles so that an amount of drift can be identified. If the drift is greater than a specified amount a warning is provided to the driver. The reason may be that the sprayer condition is not set well for the particular application, or it may be that the weather conditions are not favorable. The spray drift is one example of spray performance which may also be monitored by image analysis.

[0071] FIG. 4 shows another example of spray performance that may be monitored by image analysis. In this example, the spray performance is verification of the delivery of spray from each nozzle. In this way, it can be verified if each nozzle is functioning correctly.

[0072] In the example of FIG. 4, there are five cameras 60 mounted on the boom aimed at the spray nozzles. They face laterally outward so that they each provide a view of a set of nozzle outputs. There may be one nozzle viewed per camera, or each camera may capture a set of multiple nozzles in its field of view. In the example shown, there are two cameras along each side of the boom and a central camera at the middle of the boom.

[0073] FIG. 5 shows on the left a representation of an image of a correctly functioning nozzle and on the right a representation of an image of a partially blocked nozzle. The image analysis enables the detection of clogged nozzles or non-functioning nozzles during application to avoid crop losses.

[0074] FIG. 6 shows the overall parts of the system. It shows the liquid tank 12 and a delivery system (e.g., pump) 70 for delivering liquid to the boom 10. The boom 10 has a row ofspray nozzles 72. The camera system comprises a set of cameras 74 as described above. They may be rear facing, or laterally outward facing or both. A processor 76 processes the captured images and provides messages to an output interface 78 such as a display screen. FIG. 6 also schematically shows hinge joints 80 of a hinged boom 10. The image analysis may further be used to provide automatic correction. For example, it may be used to control the boom tilt to maintain the boom level with the crop. It may also inhibit spraying if the boom is not correctly unfolded.

[0075] The examples above all include the camera system arranged such that the boom (10) is in a field of view of the cameras of the camera system. The option of an additional camera system for monitoring individual nozzle spray performance is also explained above, and the camera system for this monitoring does not need the boom to be in the field of view. Instead, one or more nozzle outlets and the associated regions of nozzle flow are in the field of view of the cameras of the camera system.

[0076] Another aspect of the disclosure is this camera system for monitoring individual nozzle performance (without the boom configuration monitoring). In particular, an image (or portion of an image) of the spray pattern at the exit of each individual nozzle enables a determination that nozzle is partially clogged or that a nozzle is fully blocked or malfunctioning when it delivers no spray. A partially clogged nozzle will typically create large spray droplets compared to a clear nozzle, and a fully blocked nozzle will of course not create any droplets. Thus, these conditions can be assessed from an image analysis.

[0077] In all examples above, the image analysis may be performed using a trained machine learning algorithm. Alternatively, conventional image segmentation and analysis may be used.

[0078] Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality.

[0079] The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0080] Any reference signs in the claims should not be construed as limiting the scope.

[0081] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

Claims

CLAIMSWhat is claimed is:

1. A spraying apparatus (10) comprising: a liquid tank (12); a boom (10) comprising a plurality of spray nozzles (72); a delivery system (70) for delivering liquid from the liquid tank to the spray nozzles; a camera system (74) comprising a set of one or more cameras for monitoring a boom configuration; and an output interface (80), wherein the boom (10) is in a field of view of the one or more cameras, and wherein the spraying apparatus further comprises a processor (76) for processing the images captured by the set of cameras and configured to: determine a boom configuration; determine if there is a boom configuration error; and control the output interface to indicate the boom configuration error.

2. The spraying apparatus of claim 1, wherein the boom configuration comprises a slope of the boom.

3. The spraying apparatus of claim 2, wherein the processor is configured to generate an alarm if the boom remains non-parallel to the crop surface for a predetermined period of time.

4. The spraying apparatus of claim 2, wherein the processor is configured to generate an alarm if the boom remains non-horizontal for a predetermined period of time.

5. The spraying apparatus of any one of claims 2 to 4, wherein the camera system comprises first and second rear-facing cameras (30) for mounting in front of the boom and to each side of a drive vehicle to which the boom is coupled.

6. The spraying apparatus of any one of claims 1 to 5, wherein the boom is foldable and unfoldable between retracted and extended configurations, and wherein the boom configuration comprises, or further comprises, a state of retraction or extension of the boom.

7. The spraying apparatus of claim 6, wherein the boom is foldable in a horizontal and / or vertical plane.

8. The spraying apparatus of claim 6 or 7, wherein the processor is configured to generate an alarm if the boom is operated when not fully extended.

9. The spraying apparatus of any one of claims 6 to 8, wherein the camera system comprises, or further comprises, first and second laterally outward facing cameras (40) mounted at a central area of the boom and each facing outward in opposite lateral directions towards a respective boom tip.

10. The spraying apparatus of any one of claims 1 to 9, further comprising a second camera system (50, 60) for monitoring a spray performance.

11. The spraying apparatus of claim 10, wherein the spray performance comprises: a delivery of spray from each nozzle; or an amount of spray drift.

12. A spraying apparatus (10) comprising: a liquid tank (12); a boom (10) comprising a plurality of spray nozzles (72); a delivery system (70) for delivering liquid from the liquid tank to the spray nozzles; a camera system (74) comprising a set of one or more cameras for monitoring a spray performance; and an output interface (80), wherein the spraying apparatus further comprises a processor (76) for processing the images captured by the set of cameras and configured to: determine delivery of spray from each nozzle.

13. The apparatus of claim 12, wherein the processor is configured to determine if: a nozzle is partially clogged; or a nozzle is delivering no spray.

14. The spraying apparatus of any one of claims 1 to 13 comprising a pendulum mounting system for mounting the boom to a drive vehicle.

15. The spraying apparatus of any one of claims 1 to 14 comprising a self-propelled spraying apparatus comprising a drive vehicle to which the boom is coupled.

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