Note: Descriptions are shown in the official language in which they were submitted.
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SEIE ClElCA_lO N
T I T L E
"METHOD OF GENERATING AND USING A GRID RECIPE
FOR USE IN A CONTROL SYSTEM"
CROSS-REFERENCE TO CO-PENDING PATENT APPLICATION
The present application is a continuation-in-part of a co-pending patent application
Serial No. 08/331,795 which is a continuation-in-part of patent application Serial No.
08/098,621 filed July 29,1993, now abandoned.
BACKGROUND OF THE INVENTION
The present invention relates to product dispensing systems and more particularly to
a grid recipe control system for chemical injection systems utilized in agricultural
environments.
In many agricultural applications it is necessary to inject or spray chemicals either onto
the soil or onto the plants growing on the soil, such as fertilizers, herbicides, pesticides,
fumigants, etc. The chemicals may be applied in liquid form or granular form. Typically what
has been provided is a chemical container either in the form of a liquid tank or a granular bin
in which the chemical is carried until it is metered out and dispensed through one or more
spray nozles carried on booms.
Raven Industries of Sioux Falls, South Dakota, the assignee of the present
applicalion, has previously sold a sprayer control system referred to as the SCS 440 in which
a single chemical could be controlled to be dispensed at one of two pre-programmed flow
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rates and dispensed through up to six booms. Various data displays could be selected at
the control console. A later control console known as the SCS 700 allowed for pre-
programming one or two chemicals at a speed compensated application rate.
In addition, different amounts of multiple fertilizers, herbicides and other agricultural
chemicals are desired in different areas of a field. the amount of a particular chemical to be
applied is based upon the soil type, crop type, and week infestation of a certain area of a
field. The application of multiple fertilizers by use of a control system is disclosed in U.S.
Patent Nos. 4,630,773 and 5,220,876. However, the control systems disclosed in U.S.
Patent Nos. 4,630,773 and 5,220,876 require numerous hardware components and
elaborate software or computer programs in order to implement the control systems with the
pe-existing farm equipment. The elaborate and expensive control systems provided by U.S.
Patent Nos. 4,630,773 and 5,220,876 normally cannot be utilized by the individual farmer
due to their high cost and, consequently, are almost exclusively purchase by large farming
cooperatives and corporations.
While the control systems disclosed in U.S. Patent Nos.4,630,773 and 5,220,876 are
accurate and enable substantially higher yields to be obtained, many individual farmers and
small farming operations are desirous of obtaining a higher crop yield by improving current
farming practices without incurring the expense of purchasing a control system similar to
those disclosed in U.S. Patent Nos.4,630,773 and 5,220,876 and the diffficulties encountered
in ret,ufilli"g existing equipment to accommodate such systems. Simply put, the more
expensive control systems, while providing adequate results, are simply too expensive to
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implement for the individual farmer or small farming operation.
Specifically, U.S. Patent No. 5,220,876 is directed toward a variable rate fertilizer
spreading apparatus and control system that utilizes detailed fertilizer maps and detailed on-
board soil mapping systems that incorporate data obtained from analyzing the soil using soil
analysis apparatus that is provided with the system. Thus, U.S. Patent No. 5,220,876
discloses a fully automatic system in which manual overrides by the equipment operator is
not desired, nor provided for. Similarly, U.S. Patent No. 4,630,773 incorporates a digitized
soil map which is generated from an aerial photograph of the field. The method disclosed
by U.S. Patent No.4,630,773 also includes steps for testing the various soil types in the field
and adjusting the fertilizer types accordingly.
However, as noted above, individual farmers and small farm operations such as
family-owned farms are not desirous of such a sophisticated or such an expensive system.
Further, such elaborate and expensive systems are not necessary because individual
farmers know from their experience over many seasons specifically which areas of their fields
may require more or less fertilizer or more or less herbicide. Specifically, by way of prior
testing of the soil through years of farming his fields, a farmer is familiar with the different
conditions in the field such as lower areas which accumulate water and, thus, have a greater
weed infestation problem. The farmer is also familiar with other areas of the field where the
soil is lacking nutrients and, consequently, additional fertilizer is required.
The problem faced by these experienced individual farmers is how to convey this
information to their equipment operators in an inexpensive and emcient manner without
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resorting to the elaborate systems discussed above. A solution to this problem would
preferably involve reliance upon the farmers knowledge and experience and therefore would
be a heuristic procedure. A solution to this problem would also preferably enable the farmer
to input the date in the form of a grid recipe from a location remote from the field, i.e. from
his home or office and which would eliminate entirely the requirement that a fertilizer and soil
map be generated as required by the more expensive and elaborate prior art control
systems.
It is, therefore, desirable to have a multiple chemical injection system for agriculture
use which is capable of providing different amounts of multiple types of fertilizers or
chemicals to be dispensed in different parts of a field whereby the amounts dispensed are
determined and co,l~lulled by data generated by the farmer based on the farmer's personal
knowledge and experience.
SUMMARY OF THE INVENTION
The present invention provides an improved control system for chemical application
in the agricultural area. This control system allows for the application of multiple products
which may be fertilizers, herbicides, insecticides, fumigants, carriers, or other similar
materials. These materials can be applied in either liquid or granular form. The control
system can operate either electric or hydraulic control valves or pumps for the various
products.
The control system includes a visual display which displays various information
relating to all five products simultaneously such as the rate of application for each product,
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the volume of each product applied, the amount remaining in each product tank, etc. Other
information is also available to be displayed on the control panel including current speed,
field area covered, etc. Thus, the number of products handled is greatly increased, the
information display is greatly increased and the product dispensing capabilities are greatly
increased.
The present invention further provides a grid recipe system having a data card which
contains a desired recipe for zoned areas of a field defined by longitude and latitude and the
amounts of the multiple products desired to be dispensed over these particular areas. The
control system utilizes a Global Positioning System (GPS) to provide the location (longitude
and latitude) of the product applicator. Further, the data card provides a medium which can
store data received from the control system for further processing by a computer.
In addition, the computer performs two main functions. The first function is to output
to the control system the recipe that is defined for the particular gridded zone. Second, the
computer stores information transmitted by the control system into defined files. Thus, the
present invention cooperatively combines the grid recipe system with the control system.
The resulting grid recipe control system (GRCS) is capable of controlling the application of
the liquid and/or granular products at a programmed rate and the applicator rate is controlled
relative to the width and speed of the applicator. The GRCS determines in which gridded
area the applicator is located and by using this location (which is determined by the GPS),
the recipe is downloaded from the data card to the control system to provide the proper
application of multiple products to a particular gridded zone in the field based upon the grid
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recipe created by a farmer as discussed below.
The data card provides an electronic media storage device that contains the desired
recipe information which is defined by the farmer. The recipe is delineated by the latitude
and longitude in all the zoned areas of the field. The farmer creates the recipe by
establishing a grid for the field to be fertilized. The farmer also determines the locations in
the field requiring different amounts of different products based upon various factors such
as the soil type, the weed infestation and the crop type. Thus, a gridded field is used to
make a "checker board" of the field in which the farmer may determine how much of each
product to apply in each square of the checker board. Because the farmer is familiar with his
soil type in his field by prior testing of the soil and years of farming, the creation of the grid
recipe is greatly simplified. No aerial photographs are required; no digitized soil maps are
needed; no testing and analysis of soil samples is necessary. The method is heuristic in its
approach and depends upon the farmer's personal knowledge of the field and its
characteristics. For example, the farmer is also familiar with different conditions in the field
such as low areas which accumulate water and, thus, have a greater weed infestation
problem. Further, the farmer is also familiar with other areas that are lacking in nutrients in
the soil, etc. In addition, the farmer plans which type of crop to plant and can base the
product needs upon such information.
As a result of the farme~s knowledge, it is possible for the farmer to create the grid
recipe desired in the farme~s home or offfice. The farmer does not have to be in the field to
do this. For example, the farmer can generate the grid recipe in his offfice on a home
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computer. The farmer can then transfer this information onto the data card which stores
data. The data card is also capable of storing data which is received by the computer in the
grid recipe system and the information received from the control system via the computer for
further processing.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 illustrates a chemical dispensing vehicle which can be utilized in combination
with the present invention.
Figure 2 is an elevational view of the control panel for the chemical injection system
of the present invention.
Figure 3 is a schematic diagram illustrating the various components of the system of
the present invention.
Figure 4 is a block diagram illustrating the various components of the system of the
present invention.
Figure 5 is a schematic diagram illustrating the gridded field as could be used in the
present invention.
Figure 6 is a flow diagram illustrating a method of generating and using a grid recipe
in a control system in accordance with the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
In Figure 1 there is illustrated an agricultural vehicle such as a tractor generally at 10.
The vehicle 10 may be provided with one or more booms 12 carrying spray or injection
conduits 14 through which liquid or granular materials may be dispersed. The vehicle 10 is
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provided with one or more storage reservoirs 16 for holding the products to be dispensed.
The reservoirs 16 may be contained on separate vehicles and towed like a trailer, or can be
incorporated into the vehicle itself in the form of tanks or bins. Carried within the driver's
compartment is a console 18 through which control of the dispensing system can be made.
The dispensing system is shown in greater detail in Figure 2 where five separate
product containers 16 are illustrated. In the system shown, up to five different types of
products can be applied simultaneously. The schematic diagram illustrates that each of the
product containers 16 has a controllable output valve 20 leading to a pump 22 which in turn
has a controllable output valve 24. The five output flows are then connected by conduits 25
to a single manifold 26 after passing through check valves 28. An in line mixing device 30
may be used to assure that all of the products are thoroughly mixed and from the mixing
device the flow is directed out through controlled valves 32 to the booms 12 and dispensing
nozles 14.
The system control is operated through the console 18 to provide the appropriate
control to the various valves and pumps and to receive information from various sensors.
Sensors such as a flow meter 34, a dispensing tip monitor 36 and a vehicle speed sensor
38 can be used.
The console 18 is shown in greater detail in Figure 3. Along the top edge of the
console are five switch areas 40a,40b,40c,40d and 40e relating to each of the five products
to be dispensed. Each of the switch areas has a first switch 42 for controlling a product
dispensing mode, whether that is an automatic mode, a manual mode or off. Also, each area
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has a second switch 44 for increasing or decreasing the dispensing rate of product when the
first switch 42 is in the manual mode.
Below the switch areas is a display screen 45, preferably a liquid crystal display,
which, as shown, provides at least four lines of display information. The display is divided
into five lateral sections by vertical bars 46 so that information relating to each of the five
products can be displayed simultaneously. A top line 48 of the information identifies each
of the five product categories. A second line displays specific information relating to each
of the five products such as a continuous display of the actual current rate of application of
each product. The third line 52 and fourth line 54 display various information as selected by
operation of the selector switches positioned below the display.
A first switch 60 is utilized to tum on or turn off the console power. Switch 62, in one
mode, is used to move a position cursor to the right, and in a second mode to input the
numeral 1. Switch 64 operates in a first mode to move the position cursor to the left and in
a second mode to input the numeral 2.
Switch 66 is used in a first mode to enter in boom widths and in a second mode to
enter the numeral 3. Thus, by utilizing switch 66 the width of each boom, in inches or
centimeters can be input into the console memory for up to ten booms. Key 68 is used in a
first mode to enter in wheel size for calculating speed when using a wheel drive speed
sensor and in a second mode to enter the numeral 4. By using switch 68 the wheel drive
speed sensor can be calibrated to provide appropriate speed input signals when utilizing
such a wheel drive speed sensor. Such sensors are known and utilize hall effect switches,
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magnetic switches or other similar arrangements on a non-driven wheel such that the number
of rotations are counted and, given the diameter of the wheel, distance and thus speed can
be calculated and displayed.
Switch 70 is used to enter meter calibration constants in a first mode and in a second
mode to enter the numeral 5. By utilizing switch 70 the flow meter may be calibrated to
provide accurate flow information of product being dispensed. Switch 72 is used to control
the valve system response time in a first mode and in a second mode to enter the numeral
6. By utilizing switch 72 the valve control and/or pump control can be modified.
Switch 74 is used in a first mode to input the rate of production application for each
product and in a second mode to enter the numeral 7. By utilizing switch 74 a target
application rate can be input for each of the products.
Switch 76 is used in a first mode to display the remaining chemical amounts in each
tank in a first mode and to enter the numeral 8 in a second mode. Switch 78 is used in a first
mode to adjust contrast of the display for better viewing and in a second mode to enter the
numeral 9. Switch 80 is used in a first mode to turn on a display light for night viewing and
in a second mode to enter the numeral 0.
Switch 82 is used to clear an entry to delete any unwanted input. Switch 84 is used
to display the total area to which each of the products has been applied. Switch 86 is used
to display the total volume of product which has been applied for each of the five products.
Switch 88 is used to display the volume of each product which has been applied to
a current field. Switch 90 is used to display the volume of each product which has been
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applied to the current field.
Switch 92 is used to display vehicle speed and distance and also allows for entry of
a self test speed. Switch 94 displays the volume per minute for each product.
Switch 96 is used to display tip faults at each spray tip to designate if any tips are
clogged, and thus not spraying. Switch 98 is used to display data not accessible from the
keyboard and switch 100 is used to enter data into the console.
The console 18, upon initial powering up, will display various area units of
measurement, such as U.S. acres, International System units (Hectares) or a turf unit of
1,000 square feet. By utilizing switches 62 and 64 the cursor can be moved to highlight an
appropriate unit of measurement and switch 100 can be used to enter that desired unit for
future display purposes.
Next, a speed sensor type is to be selected which can be either magnetic sensors,
sonar, speedometer input, drive shaft input or radar input. Again switches 62 and 64 can be
used to move the cursor to highlight the appropriate speed sensor type and switch 100 can
be used to enter that for calculations and display.
For each of switches 66, 68, 70, 72 and 74, a five step programming method must be
undertaken for each of the products to be dispensed. First, the appropriate key 66-74 is
depressed. Then the arrow keys 62 and 64 are used to position the cursor over the
appropriate area into which data is to be entered. Then switch 100 is depressed to signify
that the appropriate area has been selected. This causes switches 62-80 to move into the
second mode to allow for numeric input. Once the appropriate numerals have been entered
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(also utilizing switch 82 to erase any improper entries) switch 100 is again depressed to enter
that number into the area highlighted by the cursor.
The above description of the control system and its components is further defined by
the overall system block diagram illustrated in Figure 4. For example, an interface between
a Grid Recipe System (GRS) and the control system is shown.
The control system described above is shown on the right half of Figure 4. The blocks
shown include the multiple controlled metering systems. Five such systems are illustrated
in Figure 4. The controlled metering system may be mechanically, electrically or hydraulically
driven. The rate of application is controlled by varying the speed or restricting the output of
the delivery system. The volumetric output of the metering system is converted to a pulse
train that can be recognized by the console. The co"l~olled metering systems are connected
to and communicate with the console. The console consists of a display to present data to
the operator. The console also has a keyboard by which the operator can recall specific
data, enter system parameters or program the console to gather specific data. Switches, as
described above, are also provided to activate the co,ll~ulled metering systems. In addition,
microprocessors that control the application rate of the products are provided.
Boom switches are also connected to the console. The boom switches control the
flow/no-flow to the boom sections. The stage of the switches is monitored to determine the
width of the applicator (i.e., the greater the number of boom switches in the flow position, the
greater the width of the applicator area). In addition, a ground speed sensor is connected
to the console. The ground speed sensor converts distance to a pulse that is recognized by
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the console.
In addition, auxiliary sensors are provided as inputs to the console which monitor
parameters that are critical to proper functioning of the applicator such as: system pressure,
product level, critical connections, etc. Thus, the right half side of Figure 4 illustrates the
control system of the present invention.
The left half side of Figure 4 consists of the grid recipe system (GRS) which has a
computer that utilizes GPS. The GPS uses satellites and a base tower to determine the
locations of specific areas in the gridded field. For example, the field is laid out in latitude
and longitude coordinates so that zones may be created in the field by the farmer to
delineate different regions of the field that need different applications of different products.
An example of a gridded field is illustrated in Figure 5.
In addition, the computer performs two main functions. The first function is to output
the recipe that is defined for the particular gridded zone to the control system. Second, the
computer stores information transmitted by the control system into defined files. Thus, the
present invention cooperatively combines the grid recipe system with the control system.
The resulting grid recipe control system (GRCS) is capable of controlling the application of
the liquid and/or granular products at a proyrdn ,med rate and the applicator rate is controlled
relative to the width and speed of the applicator. The grid recipe system determines in which
gridded area the applicator is located and by using this location (which is determined by the
GPS), the recipe is downloaded from the data card to the control system to provide the
proper application of multiple products to a particular gridded zone in the field based upon
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14
the grid recipe created by the farmer.
Also shown in Figure 4 is a data card. The data card is an electronic media storage
device that contains the desired recipe information which is defined by the farmer. The
recipe is delineated by the latitude and longitude in all the zoned areas of the field. Thus, a
gridded field is used to make a "checkerboard" of the field in which the farmer may determine
how much of each product to apply in each square of the checkerboard.
The farmer is familiar with his soil type in his field by prior testing of the soil and years
of farming. In addition, the farmer is familiar with different conditions in the field such as low
areas which accumulate water and, thus, have a greater weed infestation problem and other
areas that are lacking in nutrients in the soil, etc. The farmer is also familiar with the crop to
be planted and can base the product needs upon such information.
As a result, it is possible for the farmer to create the grid recipe desired at home or at
the office. The farmer does not have to be in the field to do this. Instead, the farmer can
generate the grid recipe in the offfice on a personal computer, for example. The farmer can
then transfer this information onto the data card which stores the data defining the grid
recipe. The data card is also capable of storing data which is received by the computer in
the grid recipe system and the information received from the control system via the computer
for further processing. Thus, the recipe is a listing of the application rates desired for the
multiple products to be applied in the defined zones of the gridded field.
As mentioned above, Figure 5 illustrates a gridded field. The field is delineated by
latitude and longitude so that zones may be created for use with a desired grid recipe. The
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zone consists of one or more squares, for example, or units. The squares or units preferably
have a width dimension that is a multiple of the boom width to simplify the method of the
invention. For example, the unit shown in Figure 5 has a width "a" and a length "b". The
zones need not be regular geometric shapes however. For example, zone 1 is shown as a
3 x 3 square and zone 3 is a 2 x 7 rectangle whereas zone 2 has an irregular shape. The
type of product and the application rate for each different type of product is set in the grid
recipe for each zone.
For example, with reference to Figure 5, if a farmer begins at the northwest corner
(NW) of the field shown in zone 1, the present invention would dispense known amounts of
the various products as defined in the grid recipe for zone 1. For example, product 1 may
have a dispensing rate of 10, product 2 may have a dispensing rate of 0, product 3 may have
a dispensing rate of 100, etc. Then, as the farmer proceeds south through three units of
zone 1 until reaching the southwest corner (SW) of zone 1, the grid recipe for zone 1 is
dispensed. Upon coming to the southwest comer (SW) of zone 1 which borders zone 2, the
recipe changes to that of the grid recipe for zone 2. The zone 2 grid recipe has product
application rates for the products which vary from those of the grid recipe for zone 1. In
addition, after proceeding through one unit of zone 2 the southward-bound farmer proceeds
into zone 3. As a result, the present invention will convert to the application rates for each
of the products for the grid recipe for zone 3, and these amounts will be dispensed in the two
remaining units of zone 3 before the farmer reverses direction of the vehicle and proceeds
north up the second column of units of the gridded field. This process continues until the
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16
entire field has been covered by the various grid recipes of products. Thus, the control
system and the grid recipe work together to provide the different product application rates
for different products in each of the zones traveled by vehicle.
the method of generating a grid recipe and using said grid recipe is illustrated in Figure
6. First, as shown at the top of Figure 6, the farmer divides the field into a plurality of
sections. The farmer may use a pre-existing survey or pre-existing map of the field to do this.
Generally, an aerial photograph is not required unless a pre-existing n~ap or survey is
unavailable. After dividing the field into a plurality of sections, the farmer generates a
prescribed recipe for each section. In most cases, the farmer already knows what and how
much to apply to each particular section based on personal experience. The recipe can
cover one or more chemical applications. The farmer then stores all of the recipes on a data
card, diskette or other portable data storage means which enables the farmer to deliver the
date to the on-board computer of the tractor. As opposed to physically delivering the data
card or disk to the tractor, it is foreseeable that such data could be transmitted by way of
radio waves or other suitable transmission means. After the data has been delivered to the
tractor and communicated to the computer, the tractor is ready to go out into the field and
apply the recipes to the sections of the field. During this process, the location of the tractor
is transmitted to the computer by way of the GPS system discussed above. Accordingly, the
location of the tractor, i.e. which section the tractor is in, is constantly communicated to the
computer so that the computer will communicate the proper recipe to the application system.
Thus, two sets of information are used by the controller to control the application system.
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Specifically, the controller uses the recipe for each section which is transmitted to the
computer by way of the data card, and the computer uses the location of the tractor to
identify the section which the tractor is in. When the tractor moves from one section to
another which has a different recipe than the previous section, the computer then alters the
recipe which is being applied by the application system.
As is apparent from the foregoing specification, the invention is susceptible of being
embodied with various alterations and modifications which may differ particularly from those
that have been described in the preceding specification and description. It should be
understood that we wish to embody within the scope of the patent warranted hereon all such
modifications as reasonably and properly come within the scope of our contribution to the art.
