SYSTEM AND METHOD FOR DETECTING THE STATE OF THE FINAL CANNON

Abstract

The present invention provides a system and method for using a small wireless gyroscopic sensor to monitor end-barrel operations. In addition, the present invention provides a system and method for using an accelerometer to detect vibrations in the end-barrel. According to further preferred embodiments, the present invention includes a diagnostic application that receives data from gyroscopic sensors and accelerometers. The diagnostic applications of the present invention preferably include logical and threshold limits that are applied to the received data. The present system preferably provides notifications and warnings based on detected changes in rotational motion, orientation changes, and vibration levels in and around the end-barrel.

Description

SYSTEM AND METHOD FOR DETECTING THE STATE OF THE FINAL CANNON RELATED APPLICATIONS This application claims priority over U.S. provisional application No. 63 / 058,560 published on July 30, 2020. BACKGROUND AND SCOPE OF THE PRESENT INVENTION FIELD OF THE PRESENT INVENTION The present invention relates generally to a system and method for monitoring aspects of a mechanized irrigation system. More particularly, the present invention provides a system and method for detecting and controlling the position and condition of an end gun. BACKGROUND OF THE INVENTION Modern linear and center-pivot irrigation systems typically include interconnected sections (e.g., irrigation runs) supported by one or more tower structures to hold the conduits (e.g., sections of water pipe). These conduits are then connected to sprinkler / nozzle systems that spray water (or other applicators) in a desired pattern. Optionally, end guns can be attached to the end of any irrigation run to add more coverage. In use, end guns can greatly extend the range and span of an irrigation system. End guns operate along a predetermined trajectory and at specific angles (i.e., half-circle, full circle). They are typically heavy-duty impact sprinklers that include controllable valves to regulate the flow rate. They may also include booster systems to extend the end gun's range. In current designs, end guns are independent of the main irrigation system's sensing and monitoring systems. Consequently, end guns provide no feedback to the irrigation system, and operators must visually observe the end gun during irrigation to assess its proper functioning. Wired systems and sensors have been used to monitor other elements of irrigation systems. However, these are difficult to use with end guns due to their distance from the main control panel and their continuous movement during irrigation. Furthermore, transducers and simple water pressure measurements cannot provide a comprehensive assessment of end gun performance. Summary of the present invention To address the shortcomings of the prior art, the present invention provides a system and method for using a small wireless gyroscopic sensor to monitor end-barrel operations. Furthermore, the present invention provides a system and method for using an accelerometer to detect vibrations in the end-barrel. According to additional preferred embodiments, the present invention includes a diagnostic application that receives data from gyroscopic sensors and accelerometers. The diagnostic applications of the present invention preferably include logical and threshold limits that are applied to the received data. The present system preferably provides notifications and warnings based on detected changes in rotational motion, orientation changes, and vibration levels in and around the end barrel. The accompanying drawings, which are incorporated into and form part of the specification, illustrate various embodiments of the present invention and, together with the description, serve to explain the principles of the present invention. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows an illustrative irrigation system for use with the present invention. Figure 2 shows a block diagram illustrating an illustrative processing architecture of a control device according to a first preferred embodiment of the present invention. Figure 3 shows a block diagram illustrating an illustrative system architecture in accordance with other aspects of the present invention. Figure 4 shows an illustrative end-barrel configuration according to a preferred embodiment of the present invention. Figure 5 shows a flowchart illustrating an illustrative method according to a first preferred embodiment of the present invention. DESCRIPTION OF PREFERRED MODALITIES For the purpose of promoting an understanding of the principles of the present invention, reference will now be made to the embodiments illustrated in the accompanying drawings, which illustrate one or more embodiments, and specific language will be used to describe them. However, 2 MA / a / ZUZJ / UU 11 / 3 It shall be understood that it is not intended to limit the scope of the present invention and that such alterations and additional modifications to the illustrated devices are contemplated as would normally occur to a person skilled in the art. The terms program, computer program, software application, module, microprogram, and similar terms, as used herein, are defined as a sequence of instructions designed to be executed on a computer system. A program, computer program, module, or software application may include a subroutine, function, procedure, object implementation, executable application, subprogram, servlet, source code, object code, shared library, dynamically loaded library, and / or other sequence of instructions designed for execution on a computer system. Data storage media, as defined herein, include many different types of computer-readable media that allow a computer to read data from them and retain the stored data so that the computer can read the data again.This data storage may include, for example, non-volatile memory (such as ROM) and volatile storage (such as RAM, buffer, cache memory, and network circuitry). The aspects of the systems and methods described herein can be implemented as programmed functions in a variety of circuits, including programmable logic devices (PLDs), such as field-programmable gate arrays (FPGAs), programmable logic array (PAL) devices, electrically programmable logic and memory devices, and standard cell-based devices, as well as application-specific integrated circuits (ASICs). Other possibilities for implementing aspects of the systems and methods include microcontrollers with memory, embedded microprocessors, microprograms, software, and so on.Furthermore, aspects of systems and methods can be put into practice in microprocessors that have software-based circuit emulation, discrete logic (sequential and combinatorial), custom devices, fuzzy logic (network neutral), quantum devices, and hybrids of any of the above types of devices. With reference now to Figure 1, an illustrative system 100 incorporating aspects of the present invention will now be described. According to a preferred embodiment, an illustrative irrigation system 100 may include a first drive tower 102, a last drive tower (LRDU) 104, and a corner drive tower 106. The drive towers 102, 104, and 106 support connected spans 110 that convey water (or other applicants) to a variety of 3 ML / a / ZUZJ / UU 11 / 3 sprinklers 126 and an end gun 132. As shown, the system may also include pressure sensors and regulators (transducers) 120, 122, 124 which are provided to monitor and regulate the water pressure to the sprinklers 126 and the end gun 132. The end gun 132 may preferably include a sensor housing 134 which may include position and vibration sensors as discussed below. As shown, each transmission tower 102, 104, 106 may include a tower box 112, 114, 116 that are preferably interconnected to the respective transmission unit motors 107, 109, 111. Each tower box may include control boards, motor controllers, non-contact alignment devices, and other components as shown below with reference to Figure 3 below. As further shown, the respective drive unit motors 107, 109, and 111 preferably provide torque and braking to the respective sets of drive wheels. As discussed above, the system of the present invention may include any motor suitable for providing torque to a drive wheel. According to a preferred embodiment, the system of the present invention may preferably include motors such as commutating reluctance motors, induction motors, and the like. Furthermore, the system 100 of the present invention may preferably include a control panel 1 / pivot 108 as well as elements such as GPS receivers 118 for receiving position data. Moreover, a system of the present invention may also include indirect crop sensors 128, which may preferably include optional moisture sensors for determining moisture levels in a given area of ​​soil. Additionally, the sensors 130 may include optics to enable the detection of crop type, growth stage, health, presence of disease, growth rate, and the like. Furthermore, the system may include ground sensors. Moreover, the detection system may also receive data from a connected or remote weather station or similar device capable of measuring climatic characteristics such as humidity, wind speed, wind direction, pressure, precipitation, temperature, and the like.Furthermore, the preferred system of the present invention may alternatively include additional elements mounted on section 110 such as additional sensors and the like. With reference now to Figure 2, an illustrative control device 200 will now be described, representing the functionality for controlling one or more operational aspects of the irrigation system 100. As shown, an illustrative control device 200 preferably includes a processor MA / a / ZUZ3 / UU 11 / □ 202, a memory 206, an irrigation position module 210, and a network interface 204. The processor 202 provides processing functionality for the control device 200 and may include any number of processors, microcontrollers, or other processing systems. The processor 202 may execute one or more software programs that implement the techniques described herein. The memory 206 is an example of a tangible, computer-readable medium that provides storage functionality for storing various data associated with the operation of the present invention, such as the software program and code segments mentioned above, or other data for instructing the processor 202 and other elements of the control device 200 to perform the steps described herein.Memory 206 may include, for example, removable and non-removable memory elements such as RAM, ROM, Flash (e.g., SD card, mini-SD card, microSD card), magnetic USB memory devices, optical devices, and so on. The network interface 204 provides functionality to allow the control device 200 to communicate with one or more networks 216 through a variety of components such as wireless access points, transceivers, and so on, and any associated software used by these components (e.g., drivers, configuration software, and so on). In implementations, the irrigation position determination module 210 can receive data from the global positioning system (GPS) receiver or similar to calculate the location of the irrigation system 100. In addition, the control device 200 can be coupled to the guidance device 218 or similar system of the irrigation system 100 (e.g., steering assembly or steering mechanism) to control the movement of the irrigation system 100. Furthermore, the control device 200 can preferably include multiple inputs and outputs to receive data from sensors 216-224 and monitoring devices as described below. The present invention may also preferably include an end-barrel angle and pressure adjustment module 212 (End-Barrel Module 212). The End-Barrel Module 212 is preferably linked to systems that monitor, control, and adjust end-barrel configurations / parameters. The End-Barrel Module 212 may preferably receive and store data from an end-barrel accelerometer 222 and a gyroscope 224. According to preferred embodiments, the gyroscope sensors 224 of the present invention may be any type of angular rate or angular velocity sensor. For example, the gyroscope sensors 224 may be ring laser gyroscopes, fiber optic gyroscopes, or fluid gyroscopes without limitation. MA / a / ZUZJ / UU 11 / □ The accelerometer 222 and gyroscope 224 sensors can preferably be combined with a wired or wireless transceiver to transmit the detected data to the processor 202 and the End Gun Module 212. In this way, the accelerometer 222 and gyroscope 224 sensors can preferably provide data for use with system diagnostics to determine the status and proper functioning of the end gun. According to an illustrative preferred embodiment, the End Gun Module 212 can use the received data to calculate oscillations within the span that can be parallel (forward / backward roll) or orthogonal (push / pull within the span) to the direction of motion. In addition, the End Gun Module 212 can also compare accelerometer data 222 with stored profiles of acceptable vibration levels based on irrigation run speed, water pressure, and other factors, such as stored vibration thresholds linked to irrigation path data 208. For example, the End Gun Module 212 can determine that an end gun component (i.e., drive arm 404) may not be functioning correctly or that the water pressure is too low based on detected vibration levels within the end gun. The End Gun Module 212 can also compare gyroscope data 224 with stored gyroscopic sensor data for irrigation plan thresholds for given time segments and water pressures (i.e., gyroscopic data profiles 214). For example, the End Gun Module 212 can determine that the end gun is not functioning correctly based on a detected rate of angular displacement over a given time period at a given water pressure. Conversely, the End Gun Module 212 can calculate / detect water pressure based on a detected rate of angular displacement. With reference to Figure 3, an illustrative control system 300 according to a preferred embodiment of the present invention will now be described. As shown in Figure 3, the control panel / pivot box 302 of the present invention may preferably include a main pivot controller 304 that controls and directs signals and power to the downstream tower boxes / units 308 via a signal / power supply bus 306 or the like. The tower boxes / units 308 may include components such as drive unit controllers 310, GPS sensors 312, and drive motors 314. According to a first preferred embodiment, the 302 pivot panel box can provide control signals and power supply through a pivot point PLC board via a power supply line BUS. ML / a / ZUZJ / UU 11 / 3 Alternatively, any other type of control and communication system may also be used. For example, the signals of the present invention can be transmitted between system elements using any wireless protocol (e.g., Wi-Fi, Zigbee) or wired protocol (e.g., PLC, Ethernet). Furthermore, the present invention is not intended to be limited to the use of solid-state tower enclosures. For example, electromechanical tower enclosures with or without PLC systems may be used without departing from the scope of the present invention. As further shown in Figure 3, the system may preferably include an end gun 316 that can be connected in series with a booster pump 326 and a solenoid valve 328 or similar device to control the water flow to the end gun 316. According to a preferred embodiment, the end gun 316 may preferably be mechanically connected to an accelerometer 318 and / or a gyroscopic sensor 324. The accelerometer 318 may preferably be attached to the end gun 316 to detect vibrations experienced by the end gun 316 during its operation. The gyroscopic sensor 324 may preferably be attached to and oriented with the end gun 316 to detect and transmit the angular velocity and orientation of the end gun 316, as discussed below. With reference to Figure 4, an illustrative irrigation system 400 according to a preferred embodiment of the present invention will now be described. As shown in Figure 4, the end gun system 400 may include an end gun main body 402, an actuating arm 404, an actuating bucket 406, a trigger lever 408, and a bearing 410 that allows the end gun main body 402 to rotate. The end gun system 400 may also preferably include an accelerometer 412 and / or a gyroscopic sensor 414, as discussed above. With reference to Figure 5, an illustrative method 500 will now be described. As shown in Figure 5, in a first preferred step 502, the system is started and / or preferably powered on. In a second preferred step 504, the system preferably receives a status update from any linked sensor. In a third step 505, the system preferably loads, calculates, and / or sets the initial parameters of the end gun. These may include ranges of acceleration / vibration values ​​(i.e., acceleration profile data 214) for given ranges / levels of detected water pressures, locations, and the like. These may further include acceptable ranges of orientations / angular velocities for the end gun for given time segments within an irrigation program or over given location ranges (i.e., gyroscopic data ranges). MA / a / ZUZJ / UU 11 / 3 In the next step 508, the system can preferably execute a given stored irrigation plan. In the next step 510, the system can receive accelerometer, gyroscope, water pressure, and / or time data. In the next step 512, the system preferably compares the received accelerometer data with a stored vibration / acceleration event profile for the detected water pressure and / or other irrigation plan parameters. If the received accelerometer data falls outside the accepted thresholds for the water pressure or the given irrigation plan parameter, the system can preferably transmit a warning to the operator (step 518). According to a preferred embodiment, the system can compare the received accelerometer data with the vibration / acceleration event profile data stored in one or more lookup tables. Preferably, an illustrative lookup table can link acceleration / vibration event interval values ​​with stored water pressure interval values ​​and / or time segment values. In this way, the system of the present invention can determine whether the magnitude of a detected acceleration event falls outside a specific stored vibration / acceleration interval linked to a detected water pressure value (or interval of values), or a specific time segment of a given irrigation plan. In the next step, 514, the system preferably receives time and gyroscopic data. In the following step, 516, the system preferably compares the received gyroscopic data with acceptable gyro intervals / thresholds / settings for the detected time segment. As described above, if the data received from the gyroscopic sensor falls outside the accepted thresholds for the gyro intervals / thresholds / settings for the detected time segment, the system preferably transmits a warning to the operator (step 518). Subsequently, the system preferably returns to step 508 and continues executing the irrigation plan. As discussed earlier, the system can compare received gyroscopic data with gyroscopic data stored as gyroscopic profile data stored in one or more lookup tables. Preferably, an illustrative lookup table can link gyroscopic event interval values ​​(i.e., a discrete value or range of values) with stored end-gun angular velocity / orientation interval values ​​for a given time segment and / or water pressure interval values. In this way, the system of the present invention can determine whether the magnitude of a gyroscopic event (i.e., a detected orientation, a change in orientation, an angular velocity, or a change in angular velocity) falls outside a stored gyroscopic interval linked to a given detected water pressure value. MA / a / ZUZ3 / UU 11 / 3 acceleration and / or time segment of a given irrigation plan. While the preceding descriptions of the present invention are highly specific, they should not be interpreted as limitations on its scope, but rather as examples. Many other variations are possible. For example, the processing elements of the present invention can operate at a number of different frequencies, voltages, amperages, and bus configurations. Furthermore, the communications provided by the present invention can be designed to be either duplex or single-duplex. In addition, the systems of the present invention can be used with any drive tower arrangement, including center-pivot and linear systems. Moreover, as required, the processes for transmitting data to and from the present invention can be designed to be either insert or pull-type.Furthermore, each feature of the present invention can be made to be remotely activated and accessed from distant monitoring stations. Consequently, data can preferably be uploaded and downloaded from the present invention as needed. Accordingly, the scope of the present invention must be determined not by the illustrated embodiments, but by the appended claims and their legal equivalents.

Claims

1. A method for monitoring an end gun within an irrigation system, wherein the method comprises: receiving status confirmation from a set of linked sensors; wherein the linked sensors comprise at least one sensor selected from the sensor group comprising: an accelerometer and a gyroscopic sensor; wherein the accelerometer is configured to detect acceleration events experienced by the end gun; wherein the acceleration events comprise vibrations; wherein the gyroscopic sensor is configured to detect at least one of the angular velocity and orientation of the end gun; storing a first set of acceleration profile data; wherein the first set of acceleration profile data comprises a first lookup table linking a first set of vibration interval values ​​to a second set of water pressure interval values; storing gyroscopic profile data;wherein the gyroscopic profile data comprises a gyroscopic lookup table that links a third set of end gun orientation interval values ​​to a fourth set of time segment interval values; execute a stored irrigation plan; receive data from accelerometer sensors, water pressure sensor data, gyroscopic sensor data, and time segment data; compare the data received from the accelerometer sensor with an acceleration interval value linked to the water pressure sensor data; compare the data received from the gyroscopic sensor with an end gun orientation interval value linked to the time segment data; transmit a warning if the data received from the accelerometer sensor is outside the acceleration interval value linked to the water pressure sensor data;Transmit a warning if the data received from the gyroscopic sensor is outside the end-barrel orientation value for the detected time segment data; determine the end-barrel's functional status based on the data received from the accelerometer sensor; and determine the end-barrel's functional status based on the data received from the gyroscopic sensor. MA / a / ZUZ4 / UUl 1 / 3; 2. The method according to claim 1, wherein the method further comprises the step of: calculating the oscillations within the section based at least partly on data received from the accelerometer sensor and at least partly on data from the gyroscopic sensor.

3. The method according to claim 1, wherein the method further comprises the step of: calculating the oscillations within the section that are parallel to the direction of displacement of the irrigation section.

4. The method according to claim 1, wherein the method further comprises the step of: calculating the oscillations within the section that are orthogonal to the direction of displacement of the irrigation section.

5. The method according to claim 1, wherein the method further comprises the step of: determining that a component of the end gun is functioning outside of a first set of parameters.

6. The method according to claim 1, wherein the method further comprises the step of: determining that a detected water pressure level is below a predetermined level based at least in part on the detected vibration levels within the end barrel.

7. The method according to claim 5, wherein the method further comprises the step of: determining whether an end gun is functional based on a detected angular displacement velocity over a specified period of time.

8. The method according to claim 5, wherein the step of determining whether an end gun is functional is based, at least in part, on a detected water pressure level.

9. The method according to claim 8, wherein the method further comprises the step of: determining a water pressure level based at least in part on a detected angular displacement velocity. MA / a / ZUZ4 / UUl 1 / 3 10. A method for monitoring an end gun within an irrigation system, wherein the method comprises: receiving status confirmation from a set of linked sensors; wherein the linked sensors comprise at least one sensor selected from the group of sensors comprising: an accelerometer and a gyroscopic sensor; wherein the accelerometer is configured to detect acceleration events experienced by the end gun; wherein the gyroscopic sensor is configured to detect the angular velocity of the end gun; storing a first set of acceleration profile data; wherein the first set of acceleration profile data comprises a first lookup table linking a first set of acceleration event interval values ​​to a second set of water pressure interval values; storing gyroscopic profile data;wherein the gyroscopic profile data comprises a gyroscopic lookup table that links a third set of end gun angular velocity interval values ​​to a fourth set of time segment interval values; execute a stored irrigation plan; receive accelerometer sensor data, water pressure sensor data, gyroscopic sensor data, and time segment data; compare the received accelerometer sensor data with an accelerometer interval value linked to the water pressure sensor data; compare the received gyroscopic sensor data with an end gun angular velocity interval value linked to the time segment data; transmit a warning if the received accelerometer sensor data is outside the accelerometer interval value linked to the water pressure sensor data;transmit a warning if the data received from the gyroscopic sensor is outside the angular velocity range of the end gun for the detected time segment data; determine the functional state of the end gun based on the data received from the accelerometer sensor; and determine the functional state of the end gun based on the data received from the gyroscopic sensor.

11. The method according to claim 10, wherein the method further comprises the MA / a / ZUZd / UUl 1 / 3 step of: calculating the oscillations within the section based at least partly on data received from the accelerometer sensor and at least partly on data from the gyroscopic sensor.

12. The method according to claim 10, wherein the method further comprises the step of: calculating the oscillations within the section that are parallel to the direction of displacement of the irrigation section.

13. The method according to claim 10, wherein the method further comprises the step of: calculating the oscillations within the section that are orthogonal to the direction of displacement of the irrigation section.

14. The method according to claim 10, wherein the method further comprises the step of: determining that a component of the final cannon is functioning outside of a first set of parameters.

15. The method according to claim 10, wherein the method further comprises the step of: determining that the detected water pressure level is below a predetermined level based at least in part on the detected vibration levels within the end barrel.

16. The method according to claim 14, wherein the method further comprises the step of: determining whether an end gun is functional based on a detected angular displacement velocity during a specified period of time.

17. The method according to claim 14, wherein the step of determining whether an end gun is functional is based, at least in part, on a detected water pressure level.

18. The method according to claim 14, wherein the method further comprises the step of: determining a water pressure level based at least partly on a detected angular displacement velocity.

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