Object sensor and method for use in controlling an agricultural sprayer
First Claim
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1. A laser sensor for detecting foliage and providing outputs useful in controlling an agricultural sprayer having controllable sprayer heads, the laser sensor comprising:
- laser means for determining a range from the sensor to the foliage located in a row of such foliage along which the sensor is transported and for providing respective range data outputs corresponding with a sensor angle for each range data output;
means for determining a travel distance for the sensor along the foliage, the travel distance representing distance between the sensor and the spray heads; and
means for processing the respective range data output and travel distance for determining the presence and signature of sensed foliage, the processing means providing control signals useful to the agricultural sprayer.
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Abstract
An object sensor and method using pulsed laser range imaging technology is adapted for controlling an agricultural spraying system. A single laser sensor employs a continuously scanned pulsed laser transmitter and optical receiver to determine the presence or absence of foliage in predetermined spray zones to selectively control spraying only in those spray zones where foliage has been sensed. Range and distance data are also collected and stored in a microprocessor for use in determining the appropriate zones requiring spraying.
107 Citations
23 Claims
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1. A laser sensor for detecting foliage and providing outputs useful in controlling an agricultural sprayer having controllable sprayer heads, the laser sensor comprising:
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laser means for determining a range from the sensor to the foliage located in a row of such foliage along which the sensor is transported and for providing respective range data outputs corresponding with a sensor angle for each range data output; means for determining a travel distance for the sensor along the foliage, the travel distance representing distance between the sensor and the spray heads; and means for processing the respective range data output and travel distance for determining the presence and signature of sensed foliage, the processing means providing control signals useful to the agricultural sprayer. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A apparatus for controlling the application of selected spraying materials onto respective target trees arranged in a grove from a mobile agricultural sprayer, the apparatus comprising:
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means for determining a travel distance along the row of target trees and providing a signal indicating an incremental movement; a single optical sensor range determining means situated at a predetermined location on the sprayer and forward of the distribution means with respect to the direction of travel of the sprayer, the range determining means measuring sensor to tree height distances for corresponding angles of reference for the sensor, the range determining means being operated in common measurement scanning cycles to a designated travel distance measurement; and means for controlling the material distribution means, operatively associated with each of the material distribution means for selectively and respectively actuating the material distribution means, and responsive to the incremental movement signal for reading the most current measurement cycle set of respective range data from the sensor, calculating relative size of the target tree for a corresponding set of travel distance data, the travel distance correcting for a time measurement difference between the scanning cycle generated by the sensor for a particular location and the separation of the corresponding material distribution means control based on a distance between the sensor and the distribution means. - View Dependent Claims (8, 9)
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10. An object sensor useful in the controlling an application of selected spraying materials from a mobile agricultural sprayer, the materials applied to target trees generally arranged in a grove, the object sensor comprising:
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an optical transmitter for emitting a pulsed laser beam through an aperture, the transmitter having a pulse for triggering the output of the beam; an optical receiver having an aperture for receiving the laser beam reflected from a target tree and providing an output representative of a range to the target tree; means for scanning the laser beam so as to encompass the target tree, the scanning means providing an angle output relative to a reference angle so as to indicate the orientation of the laser beam; means for determining a distance traveled by the sensor and providing signal output indicative of a position of the sensor relative to the target tree; a microprocessor for receiving range output from the receiver, the angle output from the scanning means, and the distance traveled signal from the distance determining means, the microprocessor storing the outputs for a representative scanning cycle and initiating the trigger pulse to the laser transmitter for subsequent scanning cycles, the microprocessor initiating a controller sprayer activation signal representative of the scanning cycle; and a solenoid driver, the driver comprising designated zones, the zones activated by the microprocessor based on appropriate predetermined target tree measurement data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method for controlling an application of selected spraying materials from a mobile agricultural sprayer onto target trees arranged in grove, the method comprising the steps of:
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providing a sensor having a laser beam transmitter and an optical receiver for the laser beam; scanning the laser beam across the target trees in predetermined spray zones; measuring a range and angle for a plurality of elevations for the target tree; measuring a distance traveled for the sensor; and processing the range, angle and distance calculations and initiating spray control signals. - View Dependent Claims (19, 20)
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21. A method for sensing an object, the method useful in controlling an application of selected spraying materials onto target trees generally arranged in regular equidistant rows forming a grove, from a sprayer having controllable spray heads for distribution of the selected material, the sprayer generally traveling along an axis parallel to and between the rows, the method comprising the steps of:
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emitting a pulsed laser beam from a transmitter through an aperture, the pulsed laser beam being initiated by a pulsed trigger signal input to the transmitter; receiving the laser beam reflected from a point on the target tree into an aperture of a receiver, the receiver providing an output representative of a time-of-flight for a selected pulsed beam, the time-of-flight representative of the point the point on the tree; scanning the pulsed beam vertically across the target tree, the scanning being identified by an angle representing the angle of the laser beam relative to a reference angle; determining a location of the sensor during a scanning cycle, the scanning cycle being defined as a complete revolution of the laser beam about the axis of the sprayer path in a vertical scanning plane at a location along the axis of sprayer travel; establishing a plurality of designated spray zones, the spray zones having a predetermined direction and spray head nozzle opening for the selected material to be released from a plurality of the spray heads located on the sprayer; providing a microprocessor; and processing range, angle, and distance information by the microprocessor for determining tree heights and a location of the spray head corresponding to the tree height for a scanning measurement for an appropriate travel location of the sprayer, the processing including a distance adjustment accounting for a separation between the sensor and the spray head, the processing initiating a control signal for activating an appropriate spray head corresponding to the appropriate spray zone for the range measurement. - View Dependent Claims (22, 23)
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Specification