GNSS control system and method for irrigation and related applications

• US 8,401,704 B2
• Filed: 07/22/2009
• Issued: 03/19/2013
• Est. Priority Date: 07/22/2009
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: Pollock, Colin J., Burnell, Kirk
• Primary Examiner(s): KASENGE, CHARLES R
• Application Number:
  US12/507,590
• Publication Number:
  US 20110022238A1
• Time in Patent Office: 1,336 Days
• Field of Search: 700/284, 239/69, 239/723, 239/728, 239/739, 342/357.26
• US Class Current: 700/284
• CPC Class Codes: A01G 25/092 movable around a pivot centre
• CPC Class Codes: A01G 25/16 Control of watering
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A global navigation satellite sensor system (GNSS) control system and method for irrigation and related applications is provided for a boom assembly with main and extension boom sections, which are hingedly connected and adapted for folding. The control system includes an antenna and a receiver connected to the antenna. A rover antenna is mounted on the boom extension section and is connected to the receiver. A processor receives GNSS positioning signals from the receiver and computes locations for the antennas, for which a vector indicating an attitude of the extension boom section can be computed. Various boom arrangements and field configurations are accommodated by alternative aspects of the control system.

Claims

1. A GNSS-based control system for irrigation equipment including a boom assembly with a main boom section, an extension boom section hingedly connected to the main boom section and boom drives mounted on said main and extension boom sections respectively, which control system includes:

a first GNSS antenna mounted on the boom assembly;

a GNSS receiver mounted on the boom assembly and connected to the first GNSS antenna;

a second GNSS antenna mounted on the extension boom section and connected to the receiver;

a controller including a processor connected to and receiving input signals from said receiver, said processor being adapted for computing position solutions for said antennas using GNSS ranging signals received by said receiver;

said controller being adapted for controlling said extension boom section drives using said position solutions;

said boom assembly including multiple spray nozzles;

each said spray nozzle having a variable discharge rate;

said processor being adapted for selectively and individually controlling said spray nozzle discharge rates based on GNSS-defined positions of said extension boom section;

an RTK base including a base GNSS antenna, a base RTK receiver connected to said base antenna and a base RTK transmitter connected to said base antenna;

said RTK base adapted to service multiple fields located in proximity to said RTK base;

said controller being programmed with a GNSS-defined location of an obstacle located in a field in the path of said boom assembly;

said extension boom section having a stop position in proximity to said GNSS-defined obstacle location; and

said stop position being GNSS-defined.

2. The invention of claim 1, which includes:

said control system including a radio frequency (RF) correction signal receiver connected to said controller; and

said RTK base being located in spaced relation from said irrigation equipment and transmitting RTK correction signals to said correction signal receiver.

3. The invention of claim 2, which includes:

each field having irrigation equipment including a respective boom assembly and a respective GNSS-based control system controlling said irrigation equipment; and

said RTK base providing RTK correction signals to said control systems.

4. The invention of claim 1, which includes:

said irrigation equipment having a center-pivot configuration with a central water source and said boom assembly main section having a proximate end pivotally connected to said water source;

said main boom section having a distal end;

said extension boom section having a proximate end hingedly connected to said main boom distal end and an extension boom section distal end;

said first antenna being located at said hinged connection of said boom sections; and

said second antenna being located on said extension boom section in spaced relation from said extension boom section proximate end.

5. The invention of claim 4, which includes:

said boom drives comprising drive towers attached to said main and extension boom sections;

said extension boom section drive tower being steerable; and

said processor steering said extension boom section drive tower.

6. The invention of claim 5, which includes:

said main boom section having a generally circular movement path;

said extension boom section being movable through a range of movement relative to said main boom section from a fully-retracted angle of approximately 90°

with said main boom section oriented perpendicularly to the sides of a generally square field to maximum partial extension angle of slightly less than 180°

with said main boom section extending towards corners of said field.

7. The invention of claim 1, which includes:

said field having corner areas beyond a circular area covered by said main boom section;

said extension boom section substantially covering said corner areas;

said extension boom section being guided through said corner areas by GNSS positioning signals received by said first and second antennas; and

said controller computing vector orientations of said extension boom section for guiding said extension boom section through said corner areas.

8. The invention of claim 1, which includes:

said field having a rectangular configuration with parallel sides having greater lengths than ends of said field and corners of said field;

said irrigation equipment having a linear travel path between and generally parallel to said field sides;

said boom assembly having a linear travel configuration with said extension boom section fully retracted; and

said boom assembly having an end configuration with said extension boom section partially retracted and covering said field corners.

9. The invention of claim 1, which includes:

said controller and said boom drives being connected by one of a group comprising a computer area network (CAN) bus, a software protocol and a wireless connection.

10. The invention of claim 1, which includes:

said boom assembly having a main section drive tower on said main boom section, a steerable extension section drive tower on said extension boom section and an intermediate drive tower located in proximity to said hinged connection of said main and extension boom sections.

11. A GNSS-based system for positioning a center-pivot irrigation boom assembly including a boom drive for rotating the boom assembly around a center-pivot water source, which system includes:

a first GNSS antenna mounted on the boom assembly;

a GNSS receiver mounted on the boom assembly and connected to the first GNSS antenna;

a second GNSS antenna mounted on the boom assembly in spaced relation outwardly from said first GNSS antenna and connected to the receiver;

said second GNSS antenna forming a baseline with said first GNSS antenna;

a controller including a processor connected to and receiving input signals from said receiver, said processor being adapted for computing position solutions for said antennas using GNSS ranging signals received by said receiver;

said processor being adapted for computing a vector projecting from said baseline using said position solutions;

said controller being adapted for controlling the boom drive using said vector and said position solutions;

said boom assembly including multiple spray nozzles;

each said spray nozzle having a variable discharge rate; and

said processor being adapted for selectively and individually controlling said spray nozzle discharge rates based on GNSS-defined positions of said antennas and vectors of said boom assembly.

12. A GNSS-based control system for a center-pivot irrigation boom assembly with a main boom section, an extension boom section hingedly connected to the main boom section and boom drives mounted on said main and extension boom sections respectively, which control system includes:

a first GNSS antenna mounted on the boom assembly;

a GNSS receiver mounted on the boom assembly and connected to the first GNSS antenna;

a second GNSS antenna mounted on the extension boom section and connected to the receiver;

a controller including a processor connected to and receiving input signals from said receiver, said processor being adapted for computing position solutions for said antennas using the GNSS ranging signals received by said receiver; and

said controller being adapted for controlling said extension boom section drives using said position solutions;

a radio frequency (RF) correction signal receiver connected to said controller;

an RTK base including a base GNSS antenna, a base RTK receiver connected to said base antenna and a base RTK transmitter connected to said base antenna;

said RTK base being located in spaced relation from irrigation equipment and transmitting RTK correction signals to said correction signal receiver;

said irrigation equipment having a center-pivot configuration with a central water source and said boom assembly main section having a proximate end pivotally connected to said water source;

said main boom section having a distal end;

said extension boom section having a proximate end hingedly connected to said main boom distal end and an extension boom section distal end;

said first antenna being located at said hinged connection of said boom sections;

said second antenna being located on said extension boom section in spaced relation from said extension boom section proximate end;

boom drives comprising drive towers attached to said main and extension boom sections;

said extension boom section drive tower being steerable;

said processor steering said extension boom section drive tower;

said boom assembly including multiple spray nozzles;

each said spray nozzle having a variable discharge rate; and

said processor being adapted for selectively and individually controlling said spray nozzle discharge rates based on GNSS-defined positions of said extension boom section.

13. The invention of claim 12, which includes:

said main boom section having a generally circular movement path;

said extension boom section being movable through a range of movement relative to said main boom section from a fully-retracted angle of approximately 90°

with said main boom section is adapted to be oriented perpendicularly to the sides of a generally square field to maximum partial extension angle of slightly less than 180°

with said main boom section extending towards corners of said field.

14. The invention of claim 13, which includes:

said field having corner areas beyond a circular area covered by said main boom section;

said extension boom section substantially covering said corner areas;

said extension boom section being guided through said corner areas by GNSS positioning signals received by said first and second antennas; and

said controller computing vector orientations of said extension boom section for guiding said extension boom section through said corner areas.

15. The invention of claim 13, which includes:

an obstacle located in said field in the path of said boom assembly;

said controller being programmed with a GNSS-defined location of said obstacle;

said extension boom section having a stop position in proximity to said obstacle; and

said stop position being GNSS-defined.

16. The invention of claim 13, which includes:

said field having a rectangular configuration with parallel sides having greater lengths than ends of said field and corners of said field;

said irrigation equipment having a linear travel path between and generally parallel to said field sides;

said boom assembly having a linear travel configuration with said extension boom section fully retracted; and

said boom assembly having an end configuration with said extension boom section partially retracted and covering said field corners.

17. The invention of claim 12, which includes:

said controller and said boom drives being connected by one of a group comprising a computer area network (CAN) bus, a software protocol and a wireless connection.

18. The invention of claim 12, which includes:

said boom assembly having a main section drive tower on said main boom section, a steerable extension section drive tower on said extension boom section and an intermediate drive tower located in proximity to said hinged connection of said main and extension boom sections.

19. A method of guiding an articulated, center-pivot irrigation equipment boom assembly including:

a main boom section with a proximate end connected to a center-pivot water source, a distal end and a main boom section drive; and

an extension boom section having a proximate end hingedly connected to said main boom section distal end, a distal end and an extension boom section drive, which method includes the steps of;

mounting a first GNSS antenna on the boom assembly;

mounting a GNSS receiver on the boom assembly and connecting said receiver to said first GNSS antenna;

mounting a second GNSS antenna on the extension boom section and connecting said second GNSS antenna to said receiver;

providing a controller including a processor;

connecting said processor to said receiver and providing input signals from said receiver to said processor;

computing position solutions for said antennas with said receiver using GNSS ranging signals received by said receiver;

controlling said extension section boom drive using said position solutions;

providing said boom assembly with multiple spray nozzles;

providing each said spray nozzle with a variable discharge rate;

said processor selectively and individually controlling said spray nozzle discharge rates based on GNSS-defined positions of said extension boom section;

servicing multiple fields with an RTK base;

providing each said field with a respective GNSS-based control system controlling said irrigation equipment;

wherein each said field has a generally elongated rectangular configuration; and

said processor guiding said irrigation equipment along a linear travel path between innings of each said field wherein said extension boom section partially extends into corners of each said field.

20. The method of claim 19, which includes the additional steps of:

providing an RF correction signal receiver and connecting said correction signal receiver to said controller;

providing said RTK base including a base GNSS antenna, a base RTK receiver and a base RTK transmitter;

connecting said base RTK receiver to said base antenna;

connecting said base RTK transmitter to said base antenna;

locating said RTK base in spaced relation from said irrigation equipment; and

transmitting RTK correction signals to said correction signal receiver.

21. The method of claim 19 wherein each said field has a generally square configuration with a contained circular coverage area for said main boom section and corners located outside of said circular coverage area, which method includes the additional steps of:

locating said first antenna at the hinged connection between said main and extension boom sections;

locating said second antenna in spaced relation outwardly along said extension boom section from said first antenna;

providing said extension boom section with a steerable drive tower;

moving said main boom section through a generally circular movement path;

moving said extension boom section relative to said main boom section between a fully-retracted angle of approximately 90°

with said main boom section extending towards a respective side and a maximum partial extension angle of slightly less than 180°

with said main boom section oriented towards a respective corner;

said controller computing vector orientations of said extension boom section; and

said controller guiding said extension boom section through said corners using said vector orientations.

22. The method of claim 19 wherein each said field includes an obstacle, which method includes the additional steps of:

programming said processor with the location of said obstacle;

said processor guiding said extension boom section through a modified travel path avoiding said obstacle.

23. The method of claim 22, which includes the additional steps of:

said processor guiding said extension boom section between opposite stop locations located along respective opposite sides of said obstacle; and

said processor guiding said extension boom section through a path covering an area with a varying radius including a minimum radius opposite sides of said obstacle and a maximum radius diametrically opposed from said obstacle.