Implement position management based on position sensors interacting with the ground or vegetation in a field

Abstract

Technologies for implement position management based on position sensors (e.g., contact force sensors) interacting with (e.g., touching) the ground or vegetation in a field. In some embodiments, a computer-implemented method includes receiving position data (104) from a position sensor (404, 504) interacting with the ground or vegetation in a field, and the sensor is attached to a mobile machine (110, 310) moving through the field. In some examples, the machine is an agricultural sprayer (310). Also, the method includes using the received position data (104) to generate implement position information (112), e.g., spray boom position information, that is useable for controlling an implement (322) of the machine such as to control the height of the implement as the machine moves through the field. In some embodiments, the implement (322) includes a spray boom and the information is useable to control the height of the spray boom as the machine (110, 310) moves through the field.

Description

IMPLEMENT POSITION MANAGEMENT BASED ON POSITION SENSORS INTERACTING WITH THE GROUND OR VEGETATION IN A FIELDTECHNICAL FIELD

[0001] The present disclosure relates to methods and systems for implement position management.BACKGROUND

[0002] Agricultural implement position management, such as boom height management, assists in the control of implement position to limit damage to crops and the implements under the management. Also, implement position management can assist in improving the efficiency and effectiveness of implements. For example, boom height management can facilitate the control of the distance of a spray nozzle from the crop or the ground and can reduce mechanical damage to the boom or its parts from contact with the ground surface. As an example, boom height management systems have been around for some time. Such systems can prevent booms or another type of implement from hitting the ground unintentionally as well as maintain a certain distance from the crop to provide proper application of the implement.

[0003] Although implement position management has improved over the years, with corresponding systems there are still many problems to be solved. For example, lag is a significant issue with such systems as is cost. With implement position management, most of the sensors are located underneath the implement or are positioned very near the front of the implement. With such positioning, sensing the ground or crop (which needs to be reacted to immediately) and then moving an implement rapidly (such as a large and wide steel boom) can be difficult, to say the least, and usually lag causes problems. Also, many systems use sophisticated non-contact sensors employing radar or ultrasonic technologies. Such systems are costly to add and replace as well as maintain. Thus, it would be advantageous to provide a system (and associated method) that overcomes or at least mitigates one or more problems associated with the prior art systems for agricultural implement position management.SUMMARY

[0004] Described herein are techniques for implement position management based on a contact sensor’s interactions with the ground or vegetation in a field. For example, disclosed herein are techniques for implement position management based on position sensors (e.g., contact force sensors) interacting with (e.g., touching) the ground or vegetation in a field. In some embodiments, a method includes receiving, by a computing system, position data from a position sensor interacting with the ground or vegetation in a field. The sensor is attached to a mobile machine moving through the field. In some examples, the machine is an agricultural sprayer. Also, the method includes using the received position data to generate implement position information (e.g., spray boom position information) that is useable for controlling an implement of the machine such as to control the height of the implement as the machine moves through the field. In some embodiments, the implement includes a spray boom, and the information is useable to control the height of the spray boom as the machine moves through the field. The techniques disclosed herein provide specific technical solutions to at least overcome the technical problems mentioned in the background section or other parts of the application as well as other technical problems not described herein but recognized by those skilled in the art.

[0005] In some embodiments, the techniques include technologies that control implement position based on a contact sensor’s interactions with the ground or vegetation in a field. With respect to some embodiments, disclosed herein are computerized methods for generating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field, as well as a non-transitory computer-readable storage medium for carrying out technical operations of the computerized methods. The non-transitory computer-readable storage medium has tangibly stored thereon, or tangibly encoded thereon, computer-readable instructions that when executed by one or more devices (e.g., one or more personal computers or servers) cause at least one processor to perform a method for improved systems and methods for generating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field.

[0006] In some cases, the technologies use a simple model or a more complex model such as a machine learning or deep learning-based model to assist in the generation of implement position information. The techniques described herein can also leverage a model that is not trained via machine learning or deep learning, such as a predetermined and static rules-based model forgenerating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field. Furthermore, in some examples, the technologies described herein can use a model that is trained or frequently updated by a computing technique or other type of technique other than machine learning or deep learning, such as a dynamic rules-based model for generating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field.

[0007] Some embodiments include a method for generating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field. The method can begin with receiving, by a computing system (e.g., see computing system 200), position data (e.g., see sensed position data 104) from a contact sensor (e.g., see contact sensor 404 shown in FIG. 4 or contact sensor 504 shown in FIG. 5) interacting with the ground or vegetation in a field (e.g., see step 602 of method 600 shown in FIG. 6). In some examples, the contact sensor is attached to an implement of a mobile machine, such as a spray boom (e.g., see boom 322 shown in FIG. 3) of an agricultural sprayer (e.g., see mobile machine 110 shown in FIG. 1 or agricultural crop sprayer 310 shown in FIG. 3), moving through the field such that the sensor interacts with the ground or vegetation in front of the implement. The contact sensor includes a floating element (e.g., see sheet 402 shown in FIG. 4 or sheet 502 shown in FIG. 5) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the mobile machine moves through the field. The position data includes positions of the floating element.

[0008] The method can also include using, by the computing system, the received position data to generate implement position information (e.g., see implement position information 112 shown in FIG. 1) that is useable for controlling a position of an implement (e.g., see boom 322 shown in FIG.3) of the mobile machine as the machine moves through the field (e.g., see step 604 of method 600). Also, as shown, the method 600 includes generating the implement position information using the received position data (e.g., see step 606 of method 600). In some embodiments, the receiving the position data includes continually receiving the position data from the contact sensor interacting with the ground or vegetation in the field (e.g., see step 602), and the method further includes continually generating the position information using the continually received position data (e.g., see step 606).

[0009] In some examples, the mobile machine is an agricultural sprayer, and the implement is or includes a spray boom. In such cases, the method includes receiving, by the computing system, position data from a contact sensor interacting with the ground or vegetation in a field that is attached to a spray boom of an agricultural sprayer moving through the field such that the sensor interacts with the ground or vegetation in front of the spray boom. And, the method includes using, by the computing system, the received position data to generate spray boom position information that is useable for controlling a height of the spray boom. Also, in such cases, the contact sensor includes the floating element that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the sprayer moves through the field, and the position data includes positions of the floating element. Also, the method can include generating the spray boom position information using the received position data.

[0010] The method can also include using the generated implement position information as input to control, by a controller (e.g., see controllers 102d shown in FIGS. 1 and 2), the position of the implement (e.g., see step 608 of method 600). In some examples, the controlling of the position of the implement includes controlling the height of the implement (e.g., see step 804 shown in FIG.8, wherein the position of the implement is controlled according to implement position information). In some cases, the implement includes a spray boom (e.g., see boom 322) and a method of some embodiments can include using the generated implement position information as input to control, by the controller, the height of the spray boom (e.g., see step 804).

[0011] In some embodiments, the position data (e.g., see sensed position data 104) includes contact force data. And, in some example, the contact sensor (e.g., see contact sensor 404 or 504) includes a contact force sensor. In some embodiments, the floating element of the sensor (e.g., see sheet 402 or 502) interacts with the ground or vegetation such that, when interacting with vegetation, the floating element is supported by the vegetation and remains at or near a top of the vegetation as the mobile machine (e.g., sprayer) moves through the field. In cases where the mobile machine is a sprayer, the position data can indicate the position of the floating element relative to a spray boom of the sprayer.

[0012] In some examples, the method further includes the floating element (e.g., see sheet 402 or 502) signaling a width of at least forty centimeters (e.g., see step 802 shown in FIG. 8). In some examples, the method further includes the floating element signaling a width of at least one meter(e.g., see step 802). In some examples, the method further includes the floating element signaling a weight of one kilogram or less (e.g., see step 802). In such cases, the weight can be indicative of the position of the floating element.

[0013] In some examples, the contact sensor includes a rotation sensor configured to sense angular force (e.g., see rotation sensor 412 shown in FIG. 4 or rotation sensor 512 shown in FIG.5). In such cases, the received position data is derived from or includes the angular force sensed by the rotation sensor.

[0014] In some embodiments, a sheet (e.g., see sheet 402 or 502) is mechanically coupled to the contact sensor. The contact sensor can be configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer) moving through the field. In some embodiments, the contact sensor is attached to a support structure (e.g., see support structure 406) at a first end (e.g., see first end 408) of the support structure. And, in such examples, the support structure is configured to attach to the implement or boom at a second end (e.g., see second end 410) of the support structure. In some cases, such a support structure is foldable. In some other embodiments, the contact sensor is attached to a support structure (e.g., see support structure 506 shown in FIG. 5) at a first end (e.g., see first end 508) of the support structure and the implement or boom. In some of such embodiments, a sheet is mechanically coupled to a second end (e.g., see second end 410) of the support structure. In some cases, such a support structure is foldable. Furthermore, in examples including the sheet, the contact sensor is configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer) moving through the field.

[0015] In some embodiments, the generation of the position information corresponds to minimizing contact between the implement (e.g., boom) and the ground or vegetation, minimizing adjustments of the position of the implement (e.g., boom), enhancing a position of the implement (e.g., boom) relative to the ground surface, enhancing a position of the implement (e.g., boom) relative to the vegetation, or a combination thereof.

[0016] Throughout the disclosure herein, the majority of examples refer to the use of the received position data from the contact sensor to be used as input to generate implement positioninformation or more specifically, in some embodiments, boom position information of a sprayer; however, it is to be understood that some embodiments include the use and generation of such data for applicators in general, which include applications of seeders, planters, spreaders, and sprayers.

[0017] These and other important aspects of the invention are described more fully in the detailed description below. The invention is not limited to the particular methods and systems described herein. Other embodiments can be used and changes to the described embodiments can be made without departing from the scope of the claims that follow the detailed description. Within the scope of this application, it should be understood that the various aspects, embodiments, examples, and alternatives set out herein, and individual features thereof can be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present disclosure will be understood more fully from the detailed description given below and from the accompanying drawings of various example embodiments of the disclosure.

[0019] FIG. 1 illustrates an example technical solution to the example technical problems described herein, in accordance with some embodiments of the present disclosure.

[0020] FIG. 2 illustrates a block diagram of example aspects of a computing system, in accordance with some embodiments of the present disclosure.

[0021] FIG. 3 illustrates an agricultural crop sprayer, in accordance with some embodiments of the present disclosure.

[0022] FIGS. 4 and 5 illustrate two different ways of implementing a position sensor for an implement such as the boom-based implement of the sprayer shown in FIG. 3, in accordance with some embodiments of the present disclosure.

[0023] FIGS. 6 to 8 illustrate methods in accordance with some embodiments of the present disclosure.DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0024] Details of example embodiments of the invention are described in the following detailed description with reference to the drawings. Although the detailed description provides reference to example embodiments, it is to be understood that the invention disclosed herein is not limited to such example embodiments. But to the contrary, the invention disclosed herein includes numerous alternatives, modifications, and equivalents as will become apparent from consideration of the following detailed description and other parts of this disclosure.

[0025] Described herein are techniques for implement position management based on a contact sensor’s interactions with the ground or vegetation in a field (e.g., see contact sensors 404 and 504 shown in FIGS. 4 and 5 respectively). For example, disclosed herein are techniques for implement position management based on position sensors (e.g., contact force sensors) interacting with (e.g., touching) the ground or vegetation in a field. In some embodiments, a method includes receiving, by a computing system, position data from a position sensor interacting with the ground or vegetation in a field (e.g., see methods 600 to 800 shown in FIGS. 6 to 8 respectively). The sensor is attached to a mobile machine moving through the field. In some examples, the machine is an agricultural sprayer (e.g., see the sprayer in FIG. 3). Also, the method includes using the received position data to generate implement position information (e.g., spray boom position information) that is useable for controlling an implement of the machine such as to control the height of the implement as the machine moves through the field (e.g., see methods 600 to 800). In some embodiments, the implement includes a spray boom, and the information is useable to control the height of the spray boom as the machine moves through the field. The techniques disclosed herein provide specific technical solutions to at least overcome the technical problems mentioned in the background section or other parts of the application as well as other technical problems not described herein but recognized by those skilled in the art.

[0026] For many years, boom height management has been needed and offered by multiple companies. Many of the example embodiments disclosed herein can provide for boom height management that can help keep an applicator of a mobile machine (e.g., a spray nozzle of an agricultural sprayer) at the proper height from the target crop or ground surface and also limitmechanical damage to the boom from contact with the ground surface. Embodiments can use a mechanism to feel the crop or the ground and provide an electrical signal that can be used by the electronic boom height control system for positioning the booms according to the feeling (i.e., the force exchanged between the mechanism and the crop or the ground).

[0027] FIG. 1 illustrates an example technical solution to the example technical problems described herein, such as a solution for generating implement position information based on position data sent from a contact sensor. The technical solution, shown in FIG. 1 , can include or be a part of the techniques and technologies described herein (such as described with respect to method 600, method 700, or method 800) and can provide specific technical solutions to at least overcome the technical problems mentioned in the background section or other parts of the application as well as other technical problems not described herein but recognized by those skilled in the art.

[0028] FIG. 1 depicts a network 100, such as a computer network, within which a computing system 102 receives various inputs (e.g., see position data 104 and geographic location information 114). These inputs and others can be received from other computing systems within the network 100 or from sensor systems in the network. The various inputs can include or are related to some of the efficiencies and factors in farming crops (such as operational time efficiency, fuel efficiency, reduced soil compaction, and machine capabilities) that are considered by the computing system in determination of the implement position information 112. As shown, the computing system includes a model 108 that can be used to determine the implement position information 112. As shown, the implement position information 112 is an output of the model 108 and can be an input for controllers 102d.

[0029] Depending on the embodiment, the model 108 can be a simple model or a more complex model such as a machine learning or deep learning-based model to assist in the generation of implement position information. In some examples, the model 108 is not trained via machine learning or deep learning and can include a predetermined and static rules-based model for generating implement position information based on position information sent from a contact sensor attached to the mobile machine. Furthermore, in some examples, the model 108 is trained or frequently updated by a computing technique or other type of technique other than machine learning or deep learning, such as a dynamic rules-based model for generating implement position information based on position information sent from a contact sensor attached to the mobilemachine. In some cases leveraging machine learning or deep learning, the model 108 includes digital signal processing or some other form of preprocessing of the position data 104 prior to the use of the data as inputs for an artificial neural network which may include, for example, a convolutional neural network. Such computing schemes or networks can be used by the model 108 to determine the implement position information or parts of the implement position information.

[0030] Also, as shown, the computing system 102 is a part of a mobile machine 110 or the network 100 depending on the embodiment as are the inputs and outputs of the computing system (including the inputs and the outputs of the model 108). In some embodiments, the computing system 102 and the inputs and outputs of the computing system are part of a remote system in that the remote system is physically and geographically separated from the mobile machine 110 but communicates with a system or controller of the machine over a telecommunications or computer network (such as network 100). The mobile machine 110 can be or include a sprayer, seeder, planter, or spreader, for example. The mobile machine 110 or an implement of the machine can also be configured to follow instructions entirely or to some extent via a control system for automated control of the machine or implement (e.g., see implement position information 112 and controllers 102d).

[0031] The computing system 102 includes electronics such as one or more controllers, sensors, busses, and computers. The computing system 102 includes at least a processor, memory, and a communication interface and can include one or more sensors, which can make the mobile machine 110 an individual computing device. In the case of the network 100 including the Internet, the mobile machine 110 can be considered an Internet of Things (loT) device. Also, in some embodiments, the computing system 102 is a part of a cloud computing system. The computing system 102 and the mobile machine 110 can include both electronic hardware and software that can integrate between the systems of the computing system and the mobile machine 110. And, such hardware and software (such as controllers and sensors and other types of electrical or mechanical devices) can be configured to communicate with a remote computing system via the communications network 100.

[0032] As mentioned, the mobile machine 110 and the other mobile machines shown in FIG. 1 are agricultural machines such as applicators (e.g., sprayers, seeders, planters, spreaders, etc.). In some embodiments, the mobile machine 110 can be or include a vehicle in that it is self-propelling.Also, in some embodiments, the mobile machine 110 can be a part of a group of similar machines or a group of different types of mobile machines (e.g., see mobile machines 110a and 110b).

[0033] The network 100 can include one or more local area networks (LAN(s)) or one or more wide area networks (WAN(s)). In some embodiments, the network 100 includes the Internet or any other type of interconnected communications network. The network 100 can also include a single computer network or a telecommunications network. More specifically, in some embodiments, the network 100 includes a local area network (LAN) such as a private computer network that connects computers in small physical areas, a wide area network (WAN) to connect computers located in different geographical locations, or a middle area network (MAN) to connect computers in a geographic area larger than that covered by a large LAN but smaller than the area covered by a WAN.

[0034] At least each shown component of the network 100 (including computing system 102) can be or include a computing system that includes memory that includes media. The media includes or is volatile memory components, non-volatile memory components, or a combination thereof. In general, in some embodiments, each of the computing systems includes a host system that uses memory. For example, the host system writes data to the memory and reads data from the memory. The host system is a computing device that includes a memory and a data processing device. The host system includes or is coupled to the memory so that the host system reads data from or writes data to the memory. The host system is coupled to the memory via a physical host interface. The physical host interface provides an interface for passing control, address, data, and other signals between the memory and the host system.

[0035] In some examples, the geographic location information 114 includes a series of time-stamped locations of the mobile machine 110 as it moves through an area of land during a time period. As shown, the geographic location information 114 is received from some of the sensors 102c. In some embodiments, the linking of the geographic location (e.g., GPS coordinates) of the mobile machine 110 to a date and time (such as via a timestamp) includes geotagging the date and time or the time stamp. Such tagging can include adding geographical identification metadata to an item including the image or a file of data that has date and time information associated with it, such as position information sent from a contact sensor attached to the mobile machine that includes geolocation and time and date information. For example, the position data 104 can include such dateand time information and parts of the data can be linked to corresponding parts of the geographic location information 114. In some embodiments, the metadata can be embedded in the image or the item or sensed data (such as embedded in parts of the position data 104). And, in some embodiments, the metadata is stored separately and linked to the image or the item with the sensed data (such as linked to the position data 104). The item can be a data log, a control system or sensor output signal, an image file, an image stream, an image object, etc. Also, in some embodiments, the item is a data log, a control system or sensor output signal, an image file or a video file, a media feed, a message file, or another type of item that is configurable to include a time and date information such as a timestamp and that can be geotagged. And, in some embodiments, the metadata related to the geotag includes latitude and longitude coordinates, altitude, bearing, distance, accuracy data, a place name, or a time stamp.

[0036] In some embodiments, the computing system 102 can link the position data 104 or the geographic location information 114 to the other types of information of the system via identifiers of parts of the information, which can become a part of the metadata before or after being linked to the location information 114. This makes the geotagging advanced geotagging. In some embodiments, a location tracking system configured to retrieve at least part of the location information 114 includes a GPS or is part of a GPS (e.g., which can be one or more of the sensors of the mobile machine 110).

[0037] As mentioned, the techniques disclosed herein can resolve many problems in implement position information determinations or automated control of implements, such as implements for sprayers, planters, seeders, and spreaders stemming from the complex nature of such determinations, including the model-based determination of the implement position information (e.g., see information 112). In some embodiments, the technologies disclosed herein include a system that can control height of a sprayer boom or another type of implement. Also, the information 112 can be used to generate farming management information system (FMIS) maps— in some examples (e.g., see FIG. 7).

[0038] FIG. 2 illustrates a block diagram of example aspects of a computing system 200 that can implement the technical solution shown in FIG. 1 or each computing part of the solution (e.g., see computing systems 102 and 102a). Also, FIG. 2 illustrates parts of the computing system 200 within which a set of instructions are executed for causing a machine (such as a computer processoror processing device 202) to perform any one or more of the methodologies discussed herein performed by a computing system (e.g., see the method steps of the methods 600, 700, and 800 shown in FIGS. 6, 7, and 8 respectively). In some embodiments, the computing system 200 operates with additional computing systems to provide increased computing capacity in which multiple computing systems operate together to perform any one or more of the methodologies discussed herein that are performed by a computing system (e.g., also see the computing system 102 that is connected and interoperable with the remote computing system 102a to provide increased computing capacity).

[0039] In some embodiments, the computing system 200 corresponds to a host system that includes, is coupled to, or utilizes memory or is used to perform the operations performed by any one of the computing systems described herein. In some embodiments, the machine is connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. In some embodiments, the machine operates in the capacity of a server in a client-server network environment, as a peer machine in a peer-to-peer (or distributed) network environment, or as a server in a cloud computing infrastructure or environment. In some embodiments, the machine is a personal computer (PC), a tablet PC, a cellular telephone, a web appliance, a server, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein performed by computing systems.

[0040] The computing system 200 includes a processing device 202, a main memory 204 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM), etc.), a static memory 206 (e.g., flash memory, static random-access memory (SRAM), etc.), and a data storage system 210, which communicates with each other via a bus 220. The processing device 202 represents one or more general-purpose processing devices such as a microprocessor, a central processing unit, or the like. More particularly, the processing device can include a microprocessor or a processor implementing other instruction sets, or processors implementing a combination of instruction sets. Or the processing device 202 is one or more special-purpose processing devices such as an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA),a digital signal processor (DSP), a network processor, or the like. The processing device 202 is configured to execute instructions 214 for performing the operations discussed herein performed by a computing system. In some embodiments, the computing system 200 includes a network interface device 208 (e.g., see network interface 102b) to communicate over a communications network (e.g., see communications network 101). Such a communications network can include one or more local area networks (LAN(s)) or one or more wide area networks (WAN(s)). In some embodiments, the communications network includes the Internet or any other type of interconnected communications network. The communications network can also include a single computer network or a telecommunications network.

[0041] The data storage system 210 includes a machine-readable storage medium 212 (also known as a computer-readable medium) on which is stored one or more sets of instructions 214 or software embodying any one or more of the methodologies or functions described herein performed by a computing system. The instructions 214 also reside, completely or at least partially, within the main memory 204 or within the processing device 202 during execution thereof by the computing system 200, the main memory 204 and the processing device 202 also constituting machine-readable storage media. While the machine-readable storage medium 212 is shown in an example embodiment to be a single medium, the term “machine-readable storage medium” should be taken to include a single medium or multiple media that store the one or more sets of instructions. The term “machine-readable storage medium” shall also be taken to include any medium that is capable of storing or encoding a set of instructions for execution by the machine and that causes the machine to perform any one or more of the methodologies of the present disclosure performed by a computing system. The term “machine-readable storage medium” shall accordingly be taken to include solid-state memories, optical media, or magnetic media.

[0042] Also, as shown, the computing system 200 includes user interface or UI 216 that includes a display, in some embodiments, and, for example, implements functionality corresponding to any one of the UI devices disclosed herein. A UI, such as UI 216, or a UI device described herein includes any space or equipment where interactions between humans and machines occur. A UI described herein allows operation and control of the machine from a human user, while the machine simultaneously provides feedback information to the user. Examples of a user interface, or UI deviceinclude the interactive aspects of computer operating systems (such as GUIs), machinery operator controls, and process controls.

[0043] Also, as shown, the computing system 200 includes hardware interfaces 218 that include sensor interfaces to interface sensors to the computing system (e.g., see sensors 102c) and controller interfaces to interface controllers to the computing system (e.g., see controllers 102d). The interfaces 218 can implement at least some of the functionality corresponding to the respective hardware devices that they interface with. The interfaces 218 can provide the connections for the communications between the computing system 200 and any one of the electronics described herein such as any one of the controllers described herein or sensors described herein.

[0044] FIG. 3 illustrates an agricultural crop sprayer 310, in accordance with some embodiments of the present disclosure. FIG. 3 shows the agricultural crop sprayer 310 used to deliver chemicals to agricultural crops in a field. Agricultural sprayer 310 includes a chassis 312 and a cab 314 mounted on the chassis 312. Cab 314 can house an operator and a number of controls for the agricultural sprayer 310. An engine 316 can be mounted on a forward portion of chassis 312 in front of cab 314 or can be mounted on a rearward portion of the chassis 312 behind the cab 314. The engine 316 can include, for example, a diesel engine or a gasoline powered internal combustion engine. The engine 316 provides energy to propel the agricultural sprayer 310 and also can be used to provide energy used to spray fluids from the sprayer 310. 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.

[0045] The sprayer 310 further includes a liquid storage tank 318 used to store a spray liquid to be sprayed on the field. The spray liquid can include chemicals, such as herbicides, pesticides, or fertilizers. Liquid storage tank 318 is mounted on chassis 312, either in front of or behind cab 314. The crop sprayer 310 includes a liquid storage tank 318 to store different chemicals to be sprayed on the field. The stored chemicals can be dispersed by the sprayer 310 one at a time or different chemicals can be mixed and dispersed together in a variety of mixtures. The sprayer 310 further includes a rinse water tank 320 used to store clean water, which can be used for storing a volume of clean water for use to rinse the plumbing and tank 318 after a spraying operation.

[0046] The boom 322 on the sprayer 310 is used to distribute the fluid from the tank 318 over a wide swath as the sprayer 310 is driven through the field. The boom 322 is provided as part of a spray applicator system, which further includes an array of spray nozzles (not depicted) arranged along the length of the boom 322 and suitable sprayer plumbing (also not depicted) used to connect the liquid storage tank 318 with the spray nozzles 324. The sprayer plumbing will be understood to include any suitable tubing or piping arranged for fluid communication on the sprayer 310.

[0047] For many years, boom height management, such as for a sprayer, has been needed and offered by multiple companies. Many of the example embodiments disclosed herein can provide for boom height management that can help keep an applicator of a mobile machine (e.g., a spray nozzle of an agricultural sprayer) at the proper height from the target crop or ground surface and also limit mechanical damage to the boom from contact with the ground surface. Embodiments can use a mechanism to feel the crop or the ground and provide an electrical signal that can be used by the electronic boom height control system for positioning the booms according to the feeling (i.e., the force exchanged between the mechanism and the crop or the ground).

[0048] FIGS. 4 and 5 illustrate two different ways of implementing a position sensor for an implement such as the boom-based implement of the sprayer 310 shown in FIG. 3, in accordance with some embodiments of the present disclosure. FIGS. 4 and 5 depict a side view of a boom (such as boom 322). FIGS. 4 and 5 each also depict a sheet (e.g., see sheet 402 and 502), which can be a plastic sheet that is mechanically coupled to a contact sensor (e.g., see contact sensors 404 and 504). The contact sensor can be configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer 310) moving through the field. As shown in FIGS. 4 and 5, the contact sensors are attached to respective support structures (e.g., see support structure 406 shown in FIG. 4 and support structure 506 shown in FIG. 5). Specific to FIG. 4, the contact sensor 404 is attached to the support structure 406 at a first end 408 of the support structure. And, the support structure 406 is configured to attach to the implement or boom (e.g., see boom 322) at a second end 410 of the support structure. The support structure 406 is foldable. Specific to FIG. 5, the contact sensor 504 is attached to a support structure 506 at a first end 508 of the support structure and the implement or boom (e.g., see boom 322). The sheet 502 of the contact sensor 504 is located at a second end 510 of the support structure 506. The support structure 506 is also foldable. In theseexamples including the sheet 402 or 502, the corresponding contact sensor 404 or 504 is configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer 310) moving through the field and force being applied to rotation sensors. As shown in FIGS. 4 and 5, each of the contact sensors 404 and 504 includes a rotation sensor configured to sense angular force or displacement (e.g., see rotation sensors 412 and 512). In such cases, the received position data described herein is derived from or includes the angular force sensed by the rotation sensor.

[0049] As explained below, the contact sensor includes a floating element (e.g., see sheet 402 or 502, which can be a sheet made of plastic, carbon fiber or other suitable material, shown in FIG.4 or 5 respectively) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the mobile machine moves through the field. Because the floating element is positioned at least partially by the vegetation, the contact sensor follows the contour of the vegetation canopy in front of the implement, allowing the mobile machine to react to variations in the height of the vegetation canopy in the vicinity of the implement. Due to the large size and light weight of the floating element, it interacts with the vegetation without damaging it.

[0050] Some embodiments described herein include a method for generating implement position information based on a contact sensor’s interactions with the ground or vegetation in a field. The implement can be a part of or be attached to a mobile machine such as an agricultural sprayer, seeder, planter, or spreader. For example, the implement can be or include or be a part of a spray boom. Also, the method can include generating the implement position information according to a model using data from the contact sensor as input for the model (e.g., see model 108 shown in FIG.1). Furthermore, the method can include generating the implement position information according to a geographic location information corresponding to the contact sensor’s interactions with the ground or vegetation in a field, and, in some embodiments, both the data from the contact sensor and geographic location information can be used as input for the model to generate the implement position information that in turn can be used to generate an FMIS map according to the two inputs. Also, the implement position information or a derivative thereof can be used as input for a controller to control the implement or a mobile machine having the implement. For example, FIGS. 6 to 8 illustrate methods in accordance with some of such embodiments. Also, although much of thedescription of the methods 600, 700, and 800 refers to the use and generation of implement information for sprayers, it is to be understood that some embodiments include the use and generation of implement information for other types of agricultural applicators in general, which include sprayers, seeders, planters, and spreaders.

[0051] Steps performed by a computing system in methods 600, 700, and 800 are performed by any one of the computing systems described herein (e.g., see computing system 102, 102a, or 200 depicted in FIGS. 1 and 2 respectively). In some systems of the technologies disclosed herein, any steps of embodiments of the methods described herein are implementable by executing instructions corresponding to the steps, which are stored in memory (such as the instructions 214).

[0052] As shown in FIG. 6, method 600 begins with step 602, which includes receiving, by a computing system (e.g., see computing system 200), position data (e.g., see sensed position data 104) from a contact sensor (e.g., see contact sensor 330 shown in FIG. 3) interacting with the ground or vegetation in a field. In some examples, the contact sensor is attached to an implement of a mobile machine, such as a spray boom (e.g., see boom 322 shown in FIG. 3) of an agricultural sprayer (e.g., see mobile machine 110 shown in FIG. 1 or agricultural crop sprayer 310 shown in FIG. 3), moving through the field such that the sensor interacts with the ground or vegetation in front of the implement. The contact sensor includes a floating element (e.g., see sheet 402 or 502, which can be a plastic sheet, shown in FIG. 4 or 5 respectively) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the mobile machine moves through the field. The position data including positions of the floating element. Because the floating element is positioned at least partially by the vegetation, the contact sensor follows the contour of the vegetation canopy in front of the implement, allowing the mobile machine to react to variations in the height of the vegetation canopy in the vicinity of the implement. Due to the large size and light weight of the floating element, it interacts with the vegetation without damaging it.

[0053] At step 604, the method 600 also includes using, by the computing system, the received position data to generate implement position information (e.g., see implement position information 112 shown in FIG. 1) that is useable for controlling a position of an implement (e.g., see boom 322 shown in FIG. 3) of the mobile machine as the machine moves through the field. Also, as shown, the method 600 includes generating the implement position information using the received positiondata, at step 606. In some embodiments, receiving the position data includes continually receiving the position data from the contact sensor interacting with the ground or vegetation in the field (e.g., see step 602), and the method further includes continually generating the position information using the continually received position data (e.g., see step 606).

[0054] In some examples, the mobile machine is an agricultural sprayer and the implement is or includes a spray boom. In such cases, the method includes receiving, by the computing system, position data from a contact sensor interacting with the ground or vegetation in a field that is attached to a spray boom of an agricultural sprayer moving through the field such that the sensor interacts with the ground or vegetation in front of the spray boom. And, the method includes using, by the computing system, the received position data to generate spray boom position information that is useable for controlling a height of the spray boom. Also, in such cases, the contact sensor includes the floating element that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the sprayer moves through the field, and the position data includes positions of the floating element. Also, the method can include generating the spray boom position information using the received position data.

[0055] Also, the method 600, at step 608, includes using the generated implement position information as input to control, by a controller (e.g., see controllers 102d shown in FIGS. 1 and 2), the position of the implement. In some examples, the controlling of the position of the implement includes controlling the height of the implement (e.g., see step 804 shown in FIG. 8, wherein the position of the implement is controlled according to implement position information). In some cases, the implement includes a spray boom (e.g., see boom 322) and a method of some embodiments can include using the generated implement position information as input to control, by the controller, the height of the spray boom (e.g., see step 804).

[0056] In some embodiments, the position data (e.g., see sensed position data 104) includes contact force data. And, in some examples, the contact sensor (e.g., see sensor 404 or 504) includes a contact force sensor. In some embodiments, the floating element of the sensor (e.g., see sheet 402 or 502) interacts with the ground or vegetation such that, when interacting with vegetation, the floating element is supported by the vegetation and remains at or near a top of the vegetation as the mobile machine (e.g., sprayer) moves through the field. In cases where the mobile machine is asprayer, the position data can indicate the position of the floating element relative to a spray boom of the sprayer.

[0057] In some examples, the method further includes the floating element (e.g., see sheet 402 or 502) presenting a width of at least fifty centimeters (e.g., see step 802 shown in FIG. 8). In some examples, the method further includes the floating element presenting a width of at least one meter (e.g., see step 802). In some examples, the method further includes the floating element presenting a weight of one kilogram or less (e.g., see step 802).

[0058] In some examples, the contact sensor includes a rotation sensor configured to sense angular force or position (e.g., see rotation sensors 412 or 512 shown in FIG. 4 or 5 respectively). In such cases, the received position data is derived from or includes the angular force or position sensed by the rotation sensor.

[0059] In some embodiments, a sheet (e.g., see sheet 402 or 502) is mechanically coupled to the contact sensor. The contact sensor can be configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer) moving through the field. In some embodiments, the contact sensor is attached to a support structure (e.g., see support structure 406 shown in FIG. 4) at a first end (e.g., see first end 408) of the support structure. And, in such examples, the support structure is configured to attach to the implement or boom (e.g., see boom 322) at a second end (e.g., see second end 410) of the support structure. In some cases, such a support structure is foldable. In some other embodiments, the contact sensor is attached to a support structure (e.g., see support structure 506 shown in FIG. 5) at a first end (e.g., see first end 508) of the support structure and the implement or boom (e.g., see boom 322). In some of such embodiments, a sheet is mechanically coupled to a second end (e.g., see second end 510) of the support structure. In some cases, such a support structure is foldable. Furthermore, in examples including the sheet, the contact sensor is configured to sense contact force between the sheet and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the mobile machine (e.g., agricultural sprayer) moving through the field.

[0060] In some embodiments, the generation of the position information corresponds to minimizing contact between the implement (e.g., boom) and the ground or vegetation, minimizingadjustments of the position of the implement (e.g., boom), enhancing a position of the implement (e.g., boom) relative to the ground surface, enhancing a position of the implement (e.g., boom) relative to the vegetation, or a combination thereof.

[0061] As mentioned, in some embodiments, the data from the contact sensor and geographic location information can be used as input to generate the implement position information that in turn can be used to generate an FMIS map. For example, method 700 includes all the steps of method 600 and, at step 702, the method 700 further includes receiving geographic location information corresponding to the position data and the mobile machine moving through the field (e.g., see geographic location information 114). And, at step 704, the method 700 includes using the generated implement position information and the received geographic location information as input to generate an FMIS map. In some embodiments, the FMIS maps are generated according to geographically linked sensed data or advance geographically linked sensed data from the contact sensor. And, in some embodiments, the geographically linked data or advance geographically linked data include or are geographically tagged sensed data or advance geographically tagged sensed data, respectively. In some embodiments, the technologies generate and provide geographically linked data or advance geographically linked data from the contact sensor. And, then based on the linked data or the information linked to the data, the technologies can provide FMIS mapping and generate agricultural maps.

[0062] Also, as shown in FIG. 8, embodiments of the method can include the steps of sensing and signaling the contact with the vegetation by the contact sensor and the controlling of the position of the implement based on the implement position information by the controller. Method 800 includes all the steps of methods 600 and 700 and at step 802 the method 800 further includes the floating element of the contact sensor signaling positions of itself via the position data generated by the contact sensor. This data is then received in method 600 at step 602. And, subsequent to step 608 of method 600, the method 800 can continue with, at step 804, controlling, by the controller, the position of the implement based on the implement position information.

[0063] Some portions of the preceding detailed descriptions have been presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the ways used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. Analgorithm is here, and generally, conceived to be a self-consistent sequence of operations leading to a predetermined result. The operations are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. It should be borne in mind, however, that these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. The present disclosure can refer to the action and processes of a computing system, or similar electronic computing device, which manipulates and transforms data represented as physical (electronic) quantities within the computing system's registers and memories into other data similarly represented as physical quantities within the computing system memories or registers or other such information storage systems.

[0064] While the invention has been described in conjunction with the specific embodiments described herein, it is evident that many alternatives, combinations, modifications and variations are apparent to those skilled in the art. Accordingly, the example embodiments of the invention, as set forth herein are intended to be illustrative only, and not in a limiting sense. Various changes can be made without departing from the spirit and scope of the invention.

Claims

2.

3. CLAIMS4.What is claimed is:

1. A method, comprising:6.receiving, by a computing system (200), position data (104) from a contact sensor (404, 504) interacting with the ground or vegetation in a field (step 602), wherein the contact sensor is attached to a spray boom (322) of an agricultural sprayer (110, 310) moving through the field such that the sensor interacts with the ground or vegetation in front of the spray boom; and7.using, by the computing system (200), the received position data (104) to generate spray boom position information (112) that is useable for controlling a height of the spray boom (step 604),8.the contact sensor (404, 504) including a floating element (402, 502) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the sprayer (110, 310) moves through the field, the position data (104) including positions of the floating element.

2. The method according to claim 1, wherein the position data (104) includes contact force data.

3. The method according to claim 2, wherein the contact sensor (404, 504) includes a contact force sensor.

4. The method according to claim 1, wherein the floating element (402, 502) interacts with the ground or vegetation such that, when interacting with vegetation, the floating element is supported by the vegetation and remains at or near a top of the vegetation as the sprayer (110, 310) moves through the field.

5. The method according to claim 1, wherein the position data (104) indicates the position of the floating element (402, 502) relative to the spray boom (322).

13.

14.

6. The method according to claim 1, further comprising the floating element (402, 502) presenting a width of at least forty centimeters (step 802).

7. The method according to claim 1, further comprising the floating element (402, 502) presenting a width of at least one meter (step 802).

8. The method according to claim 1, further comprising the floating element (402, 502) presenting a weight of two kilograms or less (step 802).

9. The method according to claim 1, further comprising using the generated position information (112) as input to control, by a controller (102d), the position of the boom (step 608).

10. The method according to claim 9, wherein the position of the boom (322) comprises the height of the boom.

11. The method according to claim 1, wherein the receiving the position data (104) comprises continually receiving the position data (104) from the contact sensor (404, 504) interacting with the ground or vegetation in the field (step 602), and wherein the method further comprises continually generating the position information (112) using the continually received position data (step 606).

12. The method according to claim 1,21.wherein contact sensor (404, 504) comprises a rotation sensor (412, 512) configured to sense angular force, and22.wherein the received position data (104) is derived from or comprises the angular force sensed by the rotation sensor (412, 512).

23.

13. The method according to claim 1,26.wherein a sheet (402, 502) is mechanically coupled to the contact sensor (404, 504), and wherein the contact sensor (404, 504) is configured to sense a position of the sheet (402, 502) when the sheet moves over the ground or vegetation due to the agricultural sprayer (110, 310) moving through the field.

14. The method according to claim 13,28.wherein the contact sensor (404) is attached to a support structure (406) at a first end (408) of the support structure, and29.wherein the support structure (406) is configured to attach to the boom (322) at a second end (410) of the support structure.

15. The method according to claim 14, wherein the support structure (406) is foldable.

16. The method according to claim 1,32.wherein the contact sensor (504) is attached to a support structure (506) at a first end (508) of the support structure and the boom (322),33.wherein a sheet (502) is mechanically coupled to a second end (510) of the support structure (506), and34.wherein the contact sensor (504) is configured to sense contact force between the sheet (502) and the ground or vegetation in the field when the sheet moves over the ground or vegetation due to the agricultural sprayer (110, 310) moving through the field.

17. The method according to claim 16, wherein the support structure (506) is foldable.

18. The method according to claim 1, wherein the generation of the position information (112) corresponds to minimizing contact between the boom (322) and the ground or vegetation, minimizing adjustments of the position of the boom, enhancing a position of the boom37.

38. relative to the ground surface, enhancing a position of the boom relative to the vegetation, or a combination thereof.

19. A system comprising: at least one processor; and memory in communication with the at least one processor and storing instructions that are executable by the at least one processor to cause the at least one processor to:40.receive position data (104) from a contact sensor (404, 504) interacting with the ground or vegetation in a field, wherein the contact sensor is attached to a spray boom (322) of an agricultural sprayer (110, 310) moving through the field such that the sensor interacts with the ground or vegetation in front of the spray boom; and use the received position data (104) to generate spray boom position information (112) that is useable for controlling a height of the spray boom (322),41.the contact sensor (404, 504) including a floating element (402, 502) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the sprayer (110, 310) moves through the field, the position data (104) including positions of the floating element.

20. A non-transitory computer-readable medium storing instructions that when executed cause a computing device to:43.receive position data (104) from a contact sensor (404, 504) interacting with the ground or vegetation in a field, wherein the contact sensor is attached to a spray boom (322) of an agricultural sprayer (110, 310) moving through the field such that the sensor interacts with the ground or vegetation in front of the spray boom; and use the received position data (104) to generate spray boom position information (112) that is useable for controlling a height of the spray boom (322),44.the contact sensor (404, 504) including a floating element (402, 502) that interacts with vegetation such that, when interacting with vegetation, the floating element is positioned at least partially by the vegetation as the sprayer (110, 310) moves through the field, the position data (104) including positions of the floating element.

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