Independent flow rate and droplet size control system and method for sprayer

• US 5,653,389 A
• Filed: 09/15/1995
• Issued: 08/05/1997
• Est. Priority Date: 09/15/1995
• Status: Expired due to Term

• Current Assignee: Capstan, Inc.
• Original Assignee: Capstan, Inc.
• Inventors: Funk, Kent D., Giles, Durham K., Henderson, Graeme W., Kolb, Troy C.
• Primary Examiner(s): Morris, Lesley D.
• Application Number:
  US08/528,941
• Time in Patent Office: 690 Days
• Field of Search: 239/69, 239/73, 239/74, 239/100, 239/101, 239/171, 239/172, 364/424.07, 364/424.01, 364/551.01, 364/555
• US Class Current: 239/69
• CPC Class Codes: A01M 7/0089 Regulating or controlling systems the delivery being related to the movement of a vehicle B05B9/06
• CPC Class Codes: B05B 12/02 for controlling time, or sequence, of delivery
• CPC Class Codes: B05B 12/085 responsive to flow or pressure of liquid or other fluent material to be discharged B05B1/3006, B05B1/323, B05B7/1254 take precedence
• CPC Class Codes: B05B 12/12 responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus B05B12/082, B05B12/084 take precedence
• CPC Class Codes: B05B 9/0423 for supplying liquid or other fluent material to several spraying apparatus
• CPC Class Codes: G05D 7/0635 by action on throttling means G05D7/0688, G05D7/0694 take precedence

Abstract

A flow rate and droplet size control system for a spray system including a spray liquid source, a pump, a spray liquid line and a nozzle assembly. The control system includes a setpoint conversion subroutine for independently controlling the flow rate and volume median droplet size setpoints. The control system also includes performance envelopes for various nozzle tips. An independent flow rate and droplet size control method is provided for use with the control system. A position-responsive control system receives information pertaining to the boundaries of spray zones and spray conditions, such as application rates and volume median droplet diameters associated with the spray zones. The position-responsive control system monitors the position of a spray vehicle, which can comprise a ground vehicle or an aircraft. The position-based control system changes the spray system operating conditions in response to the sprayer vehicle position. A position-based method of controlling the spray system utilizes the position-based control system.

Claims

1. A flow rate and droplet size control system for a spray system including a spray liquid source, discharge pressure means associated with said spray liquid source and a nozzle assembly connected to said spray liquid source and having a nozzle tip and a nozzle valve movable between open and closed positions, which comprises:

(a) variable duty cycle setpoint control means for opening and closing said nozzle valve and for varying the timing of the opening and closing duty cycles thereof;

(b) variable discharge pressure setpoint control means for varying the discharge pressure of said spray liquid; and

(c) an application controller including;

(1) means for receiving a flow rate setpoint;

(2) means for receiving a volume median droplet size setpoint; and

(3) a setpoint conversion subroutine for receiving said flow rate and volume median droplet size setpoints as inputs and independently controlling said variable duty cycle setpoint control means and said variable discharge pressure setpoint control means for providing independent flow rate and droplet size control.

2. The control system according to claim 1, which includes:

(a) a pressure controller receiving said spray liquid pressure setpoint and operably connected to said pressure setpoint control means.

3. The control system according to claim 2, which includes:

(a) a spray liquid pressure transducer providing a signal corresponding to a pressure of said spray liquid; and

(b) said spray liquid pressure transducer being connected to said pressure controller in a closed-loop feedback subroutine with said pressure controller and said spray liquid pressure setpoint control means for controlling a discharge pressure setpoint of said spray liquid.

4. The control system according to claim 2, which includes means for inputting nozzle characteristics to said application controller.

5. The control system according to claim 1, which includes:

(a) said application controller having application rate calculation means for receiving an application rate setpoint and for providing an input to said setpoint conversion subroutine for determining a flow rate setpoint.

6. The control system according to claim 5, which includes:

(a) a flow controller connected to said application rate calculation means and to said setpoint conversion subroutine for providing a duty cycle signal to said nozzle valve responsive to inputs from said application rate calculation and said setpoint conversion subroutine.

7. The control system according to claim 6, which includes:

(a) a flow meter connected to said spray liquid source and providing a signal to said flow controller; and

(b) a closed-loop feedback subroutine connected to said flow meter for maintaining a relatively constant flow rate of spray liquid through said nozzle.

8. The control system according to claim 5, which includes:

(a) means for inputting spray system operating characteristics to said application rate calculation means.

9. The control system according to claim 1, which includes:

(a) said nozzle assembly having a performance envelope defined by volume median droplet size and flow rate operating parameters.

10. The control system according to claim 9, which includes:

(a) said application controller including means for altering a first operating condition of said spray system to a second operating condition within said nozzle assembly performance envelope.

11. The control system according to claim 10 wherein:

(a) said application controller includes means for simultaneously adjusting the median droplet size diameter and the flow rate as said controller alters said spray system operating conditions from said first condition to said second condition.

12. The control system according to claim 9, which includes:

(a) said application controller including data storage means for storing performance envelopes for a plurality of spray nozzles.

13. The control system according to claim 12, which includes:

(a) said application control system including a plurality of predefined pathways for changing said operating conditions, each said pathway being associated with predefined changes in said median spray droplet size and flow rate setpoints.

14. The control system according to claim 1, which includes:

(a) means for storing a predetermined spray deposition location.

15. The control system according to claim 14, which includes:

(a) means for controlling said application controller in response to a position of said spray system with respect to said spray deposition location.

16. The control system according to claim 14, which includes:

(a) said spray deposition location comprising a first location;

(b) a second spray deposition location;

(c) a first operating condition corresponding to a first predetermined median spray droplet size setpoint and a first predetermined flow rate setpoint;

(d) a second operating condition corresponding to a second predetermined median spray droplet size setpoint and a second predetermined flow rate setpoint; and

(e) said application controller including a setpoint conversion subroutine for changing from said first operating condition to said second operating condition in response to said spray system moving from one of said spray deposition locations to the other of said spray deposition locations.

17. The control system according to claim 14 wherein:

(a) said application controller includes means for determining a position of said spray system.

18. The control system according to claim 17 wherein:

(a) said application controller includes means for comparing a position of said spray system to a predetermined spray deposition location.

19. The control system according to claim 17 wherein:

(a) said means for determining a position of said spray system includes means responsive to a global positioning system (GPS).

20. The control system according to claim 14, which includes:

(a) a spray transport and drift model; and

(b) means for transferring data from said spray transport and drift model to said application controller.

21. The control system according to claim 14, which includes:

(a) a data recorder recording data corresponding to operating conditions and spray system locations.

22. The control system according to claim 1 wherein said variable discharge pressure setpoint control means comprises liquid pressure control means associated with said discharge pressure means and said nozzle assembly.

23. The control system according to claim 1 wherein said spray system is mounted on a vehicle comprising a ground vehicle.

24. The control system according to claim 1 wherein said spray system is mounted on a vehicle comprising an aircraft.

25. The control system according to claim 1, which includes two-way telecommunications means for inputting data to and outputting data from said control system.

26. The control system according to claim 1, which includes:

(a) a plurality of said nozzle assemblies; and

means for selectively and independently controlling said nozzle assemblies.

27. The control system according to claim 26, which includes:

(a) a plurality of networked microprocessors each associated with a respective nozzle assembly before controlling same.

28. A flow rate and droplet size control system for a spray system including a spray liquid tank, a pump fluidically connected to the tank, a spray liquid line fluidically connected to the pump and a plurality of nozzle assemblies fluidically connected to the spray liquid line and each having a nozzle valve movable between open and closed positions and a nozzle tip, which independent flow rate and droplet size control system comprises:

(a) a setpoint conversion subroutine receiving as inputs a flow rate setpoint and a volume median droplet size setpoint and providing as outputs a duty cycle setpoint and a liquid pressure setpoint, said setpoint conversion subroutine including means for independently controlling the flow rate and droplet size;

(b) an application rate control subsystem receiving said duty cycle setpoint from said setpoint conversion subroutine and including a flow controller with function generation means for generating control signals for said nozzle valves corresponding to duty cycles thereof and a flow meter fluidically connected to said spray liquid line;

(c) said flow controller, nozzle valves and flow meter forming a closed-loop feedback subsystem for maintaining a relatively constant flow rate;

(d) a droplet size control subsystem receiving said liquid pressure setpoint from said setpoint conversion subroutine and including a pressure controller, pressure control means in said spray liquid line for controlling pressure therein and receiving a pressure control signal from said pressure controller and a liquid pressure transducer in said spray liquid line providing a signal corresponding to a liquid pressure therein to said pressure controller; and

(e) said pressure controller, said pressure control means and said liquid pressure transducer forming a closed-loop feedback subsystem for maintaining a relatively constant liquid pressure in said spray liquid line.

29. A flow rate and droplet size control method for a spray system including a spray liquid source, variable discharge pressure control means associated with said spray liquid source and a nozzle assembly with a nozzle tip for discharging said spray liquid and a nozzle valve movable between open and closed positions, which comprises the steps of:

(a) inputting flow rate and volume median droplet size setpoints;

(b) outputting a liquid pressure setpoint;

(c) adjusting said pressure control means in response to said liquid pressure setpoint;

(d) outputting a duty cycle setpoint for said nozzle valve;

(e) adjusting the duty cycle of said nozzle valve assembly corresponding to the timing of cycles thereof between open and closed positions in response to said flow rate setpoint;

(f) providing a setpoint conversion subroutine for receiving said flow rate and volume median droplet size setpoints as inputs; and

(g) independently controlling said duty cycle setpoint and said liquid pressure setpoint for providing independent flow rate and droplet size control.

30. The method according to claim 29, which includes the additional steps of:

(a) receiving a volume median droplet size setpoint; and

(b) correlating said spray liquid volume pressure setpoint to said median droplet size setpoint.

31. The method according to claim 29, which includes the additional step of:

(a) altering said flow rate setpoint while maintaining said volume median droplet size setpoint.

32. The method according to claim 29, which includes the additional step of:

(a) altering said volume median droplet size setpoint while maintaining said flow rate setpoint.

33. The method according to claim 29, which includes the additional step of:

(a) simultaneously altering said flow rate setpoint and said volume median droplet size setpoint from a first operating condition having first predefined flow rate and droplet size setpoints to a second operating condition having second predefined flow rate and droplet size setpoints.

34. The method according to claim 29, which includes the additional steps of:

(a) setting said spray system at a first predetermined operating condition corresponding to a first predetermined droplet size setpoint and a first predetermined flow rate setpoint; and

(b) adjusting said spray system to a second predetermined operating condition corresponding to a second predetermined droplet size setpoint and a second predetermined flow rate setpoint by sequentially altering said droplet size and said flow rate setpoints.

35. The method according to claim 29, which includes the additional steps of:

(a) providing a spray liquid pressure transducer;

(b) providing a signal from said spray liquid pressure transducer corresponding to a pressure of said spray liquid; and

(c) providing a pressure controller in a feedback loop with said spray liquid pressure transducer and said pressure control means for controlling a pressure of said spray liquid.

36. The method according to claim 29, which includes the additional steps of:

(a) providing two-way telecommunications means; and

(b) communicating with said control system by means of said two-way telecommunications means.

37. The method according to claim 29, which includes the additional steps of:

(a) providing a flow controller;

(b) generating a variable duty cycle signal with said flow controller; and

(c) sequentially opening and closing said nozzle valve with said duty cycle signal.

38. The method according to claim 37, which includes the additional steps of:

(a) providing a flow meter associated with said spray liquid source;

(b) generating a signal from said flow meter; and

(c) providing a closed-loop feedback subroutine with said flow meter and said flow controller and substantially maintaining a flow rate setpoint therewith.

39. The method according to claim 29, which includes the additional steps of:

(a) calculating an application rate setpoint of said spray liquid; and

(b) inputting spray system operating characteristics and a flow rate setpoint in calculating said application rate setpoint.

40. The method according to claim 29, which includes the additional step of:

(a) providing a performance envelope associated with said nozzle tip and defined volume by median droplet size and flow rate operating parameters.

41. The method according to claim 40, which includes the additional steps of:

(a) inputting an additional performance envelope for a different nozzle tip; and

(b) providing for operation with either of said nozzle tips by referencing a respective performance envelope.

42. The method according to claim 40, which includes the additional steps of:

(a) providing first and second operating conditions within said performance envelope; and

(b) adjusting said duty cycle and said liquid pressure setpoints from said first operating condition within said performance envelope to said second operating condition within said performance envelope.

43. The method according to claim 29, which includes the additional steps of:

(a) providing soil sensors in a spray zone; and

(b) inputting data from said soil sensors to said control system.

44. The method according to claim 29, which includes the additional steps of:

(a) defining a spray zone;

(b) associating an application rate with said spray zone;

(c) mounting said spray system on a vehicle;

(d) traversing said spray zone with said vehicle; and

(e) controlling said spray application rate within said spray zone.

45. The method according to claim 44, which includes the additional steps of:

(a) defining said spray zone as a first spray zone;

(b) defining a second spray zone;

(c) defining a first spray condition corresponding to a first flow rate setpoint and a first volume median droplet size setpoint associated with said first spray zone;

(d) defining a second spray condition corresponding to a second flow rate setpoint and a second volume median droplet size setpoint;

(e) operating said spray system at approximately said first condition within said first spray zone; and

(f) operating said spray system at approximately said second condition within said second spray zone.

46. The method according to claim 29, which includes the additional steps of:

(a) providing a camera and inputting data to said control system from said camera.

47. The method according to claim 44, which includes the additional steps of:

(a) monitoring a position of said spray vehicle; and

(b) controlling said spray system in response to said spray vehicle position.

48. The method according to claim 47, which includes the additional steps of:

(a) determining a latitudinal and longitudinal position of said spray vehicle with a global positioning system; and

(b) determining a direction-of-travel and a groundspeed of said spray vehicle and inputting same to said control system.

49. The method according to claim 45, which includes the additional steps of:

(a) providing a setpoint calculation process for calculating an application rate setpoint and a volume median droplet size setpoint and outputting same to an application control process;

(b) providing inputs to the setpoint calculation process consisting of the spray system position, groundspeed and direction of travel; and

(c) providing setpoint calculation process input information consisting of the location of field zones and the application rates associated with each.

50. The method according to claim 49, which includes the additional step of:

(a) initializing a computer input of said setpoint calculation process with operating parameters for said spray system.

51. The method according to claim 49, which includes the additional step of:

(a) providing a spray transport and drift model to said setpoint calculation process.

52. The method according to claim 51, which includes the additional step of:

(a) imputting environmental condition process and to said setpoint calculation process and to said spray transport and drift model.

53. The method according to claim 51, which includes the additional step of:

(a) providing spray system and vehicle configuration information as inputs to said spray transport and drift model.

54. The method according to claim 51, which includes the additional steps of:

(a) providing a data recorder; and

(b) outputing information pertaining to the operation of said spray system from said setpoint calculation process to said data recorder.

55. The method according to claim 44, wherein said vehicle comprises a ground vehicle.

56. The method according to claim 44 wherein said vehicle comprises an aircraft.