Agricultural crop and field sprayer and method for operating an agricultural crop and field sprayer
An agricultural sprayer ( 1 ) with a pump ( 20 ), a plurality of nozzles, a valve arrangement ( 28 ) associated with the nozzles and a feed conduit ( 25 ). The valve arrangement ( 28 ) selectively connects the feed conduit ( 25 ) to a bypass conduit ( 26 ) or to the nozzles. A return conduit ( 32 ) branches off from the feed conduit ( 25 ). A regulation valve ( 30 ) applies a variable degree of throttling to the fluid flowing through the return conduit. A pressure sensor ( 41 ) provides a signal for fluid delivered to the valve arrangement. A flow sensor ( 42 ) provides a signal representing the flow in the feed conduit ( 25 ). A controller ( 50 ) is in receipt of the sensor signals, receives instructions from an operator and controls the regulation valve ( 30 ) using the instructions from the operator and available measured signals using feedback control loops combined with a feed forward signal.
1. An agricultural crop and field sprayer ( 1 ), said sprayer ( 1 ) comprising:
a sprayer fluid tank ( 10 ),
a pump ( 20 ), the inlet of the pump ( 20 ) being in fluid communication with said tank ( 10 ),
a boom ( 15 ) divided in boom sections ( 16 ) and each boom section being provided with a plurality of spray nozzles,
a valve arrangement ( 28 ) associated with said boom sections ( 16 ),
a feed conduit ( 25 ) for establishing fluid communication between an outlet of said pump ( 20 ) and said valve arrangement ( 28 ),
said valve arrangement ( 28 ) being configured for selectively connecting the feed conduit to a bypass conduit or to one or more of the boom sections ( 16 ),
a return conduit ( 32 ) branching off from the feed conduit ( 25 ),
a regulation valve ( 30 ), said regulation valve ( 30 ) applying a variable degree of throttling to the fluid flowing from the feed conduit ( 25 ) through said return conduit ( 32 ), said variable degree of throttling depending on the position of the regulation valve ( 30 ),
a controller ( 50 ), characterized by
said controller ( 50 ) being configured to be in receipt of a group of signals, said group of signals including a signal from:
a pressure sensor ( 41 ) providing a signal representing the pressure of the fluid delivered to said valve arrangement ( 28 ), a flow sensor ( 42 ) providing a signal representing the flow rate of the flow to said valve arrangement ( 28 ), a regulation valve position sensor ( 31 ) sensing the position of the regulation valve ( 30 ), a pump speed sensor ( 27 ) sensing the speed of the pump ( 20 ), a sprayer speed sensor sensing the speed of the agricultural crop and field sprayer ( 1 ),
said controller ( 50 ) being configured to control the position of said regulation valve ( 30 ) in accordance with a plurality of operation modes, and said controller ( 50 ) being configured to automatically select an appropriate one of said operation modes,
said plurality of operation modes including a full functionality mode and a plurality of reduced functionality modes,
said controller ( 50 ) being configured to operate said agricultural crop and field sprayer ( 1 ) in said full functionality mode in response to all of the signals from said pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ), said pump speed sensor ( 27 ) and said sprayer speed sensor, said controller ( 50 ) being configured to operate said agricultural crop and field sprayer ( 1 ) in said full functionality mode when the signal of said pressure sensor ( 41 ), the signal of said flow sensor ( 42 ), the signal of said regulation valve position sensor ( 31 ), the signal of said pump speed sensor ( 27 ) and the signal of said sprayer speed sensor are all available to the controller ( 50 ),
said controller ( 50 ) being configured to operate said agricultural crop and field sprayer ( 1 ) in one of the reduced functionality modes when one or more of the signals from said pressure sensor ( 41 ), the signal of said flow sensor ( 42 ), the signal of said regulation valve position sensor ( 31 ), the signal of said pump speed sensor ( 27 ) or the signal of said sprayer speed sensor is not available to the controller ( 50 ), and
said controller ( 50 ) being configured to use all available signals from said pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ), said pump speed sensor ( 27 ) and said sprayer speed sensor when operating in one of the reduced functionality modes.
2. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein there is a reduced functionally mode for each one of the situations where one of the signals in said group is not available to the controller ( 50 ).
3. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein there is a reduced functionally mode for several situations where a combination of several of the signals of said group is not available to the controller ( 50 ).
4. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein said controller in said full functionality mode is configured to:
control the position of said regulation valve ( 30 ) in a closed loop using the pressure signal in relation to a desired pressure setpoint,
to determine the restriction to flow of the active spray nozzles,
determine the desired position for the regulation valve ( 30 ) automatically in relation to the determined restriction to flow, and
to adapt the desired pressure setpoint in relation to the sprayer speed signal.
5. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein said controller ( 50 ) is configured in a first reduced functionality mode to control the position of said regulation valve ( 30 ) in a closed loop using the flow signal in relation to a desired flow rate setpoint, when the signal from the pressure sensor ( 41 ) is not available.
6. An agricultural crop and field sprayer ( 1 ) according to claim 4 , wherein said controller ( 50 ) is configured to use said first reduced functionality mode when the signal from the pressure sensor ( 41 ) and the pump speed signal are not available.
7. An agricultural crop and field sprayer ( 1 ) according to claim 1 , further comprising a second reduced functionality mode used by the controller ( 50 ) when the signal from the flow sensor ( 42 ) is not available, wherein said controller ( 50 ) in said second reduced functionality mode does not determine the actual restriction to flow of the active spray nozzles, and wherein said controller ( 50 ) is configured to determine the desired position of the regulation valve based on the last determined restriction to flow before flow sensor signal became unavailable or said controller ( 50 ) is configured to determine the desired position of the regulation valve ( 30 ) based on an entry by an operator indicating the restriction to flow.
8. An agricultural crop and field sprayer ( 1 ) according to claim 7 , wherein said controller ( 50 ) is configured to use said second reduced functionality mode when the signal from the flow sensor ( 42 ) and the pump speed signal are not available.
9. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein said controller ( 50 ) is configured in a third reduced functionality mode to determine the desired position of the regulation valve ( 30 ) based on an entry by an operator indicating the sprayer speed, when the sprayer speed signal is not available.
10. An agricultural crop and field sprayer ( 1 ) according to claim 1 , wherein said controller ( 50 ) is further configured to use feed forward control in said full functionality mode, and wherein said controller ( 50 ) is configured in a fourth reduced functionality mode not to use feed forward control when the pump speed signal is not available.
11. A method of operating an agricultural crop and field sprayer ( 1 ), said sprayer ( 1 ) comprising:
a sprayer fluid tank ( 10 ),
a pump ( 20 ), the inlet of the pump ( 20 ) being in fluid communication with said tank ( 10 ),
a boom ( 15 ) divided in boom sections ( 16 ) and each boom section being provided with a plurality of spray nozzles,
a valve arrangement ( 28 ) associated with said boom sections ( 16 ),
a feed conduit ( 25 ) for establishing fluid communication between an outlet of said pump ( 20 ) and said valve arrangement ( 28 ),
said valve arrangement ( 28 ) being configured for selectively connecting the feed conduit to a bypass conduit or to one or more of the boom sections ( 16 ),
a return conduit ( 32 ) branching off from the feed conduit ( 25 ),
a regulation valve ( 30 ), said regulation valve ( 30 ) applying a variable degree of throttling to the fluid flowing from the feed conduit ( 25 ) through said return conduit ( 32 ), said variable degree of throttling depending on the position of the regulation valve ( 30 ),
a controller ( 50 ), said controller ( 50 ) being configured to be in receipt of a group of signals, said group of signals including a signal from:
a pressure sensor ( 41 ) providing a signal representing the pressure of the fluid delivered to said valve arrangement ( 28 ),
a flow sensor ( 42 ) providing a signal representing the flow rate of the flow to said valve arrangement ( 28 ),
a regulation valve position sensor ( 31 ) sensing the position of the regulation valve ( 30 ),
a pump speed sensor ( 27 ) sensing the speed of the pump ( 20 ),
a sprayer speed sensor sensing the speed of the agricultural crop and field sprayer ( 1 ),
characterized by controlling the position of said regulation valve ( 30 ) in accordance with a plurality of operation modes, and automatically selecting an appropriate one of said operation modes,
said plurality of operation modes including a full functionality mode and a plurality of reduced functionality modes,
operating said agricultural crop and field sprayer ( 1 ) in said full functionality mode in response to all of the signals from said pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ),said pump speed sensor ( 27 ) and said sprayer speed sensor,
operating said agricultural crop and field sprayer ( 1 ) in said in said full functionality mode in response to all of the signals from said the pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ), said pump speed sensor ( 27 ) and said sprayer speed sensor are all available to the controller ( 50 );
operating said agricultural crop and field sprayer ( 1 ) in one of the reduced functionality modes when one or more of the signals from said the pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ), said pump speed sensor ( 27 ) and said sprayer speed sensor is not available to the controller ( 50 ); and
operating said agricultural crop and field sprayer ( 1 ) in said reduced functionality mode using all available signals from said pressure sensor ( 41 ), said flow sensor ( 42 ), said regulation valve position sensor ( 31 ), said pump speed sensor ( 27 ) when operating in one of the reduced functionality mode.