Nozzle fault detection

1. A method of detecting faults in spray nozzles, the method comprising:

actuating a first valve of a spray nozzle based on a spray command regarding a commanded application rate and a commanded droplet size;

generating, by a first position sensor, first position information regarding an actual position of the first valve;

comparing, by a controller, the actual position of the first valve to an expected position of the first valve, wherein the expected position is determined from historical valve position information of the first valve;

generating, by the controller, a nozzle status based on the comparison of the actual position of the first valve and the expected position of the first valve;

averaging the historical valve position information to obtain an average valve position of the first valve based on previous actuations of the first valve; and

storing the average valve position as the expected position of the first valve.

2. The method of claim 1 , wherein comparing, by the controller, the actual position of the first valve to the expected position of the first valve comprises:

determining a difference between the actual position of the first valve and the expected position of the first valve; and

comparing the difference to a first threshold value.

3. The method of claim 2 , wherein comparing, by the controller, the actual position of the first valve to the expected position of the first valve further comprises

comparing the difference to a second threshold value, the second threshold value being larger than the first threshold value; and

generating a first abnormal status alert based on the difference being between the first threshold value and the second threshold value; and

generating a second abnormal status alert based on the difference being greater than the second threshold value.

4. The method of claim 2 , wherein generating, by the controller, the nozzle status based on the comparison of the actual position and the expected position comprises:

generating an abnormal nozzle status based on the difference being at least the first threshold value.

5. The method of claim 4 , wherein generating, by the controller, the nozzle status based on the comparison of the actual position and the expected position further comprises:

generating a normal nozzle status based on the difference being less than the first threshold value.

6. The method of claim 4 , further comprising:

generating an abnormal status alert based on the abnormal nozzle status; and

providing the abnormal nozzle alert to a user via a user interface.

7. The method of claim 1 , wherein the controller is a nozzle controller integrated into the nozzle.

8. The method of claim 7 , wherein actuating the first valve based on the spray command comprises:

receiving, by the nozzle controller, the spray command; and

generating, by the nozzle controller, a first position command and transmitting the first position command to the first valve to cause actuation of the first valve.

9. The method of claim 8 , further comprising:

generating, by the nozzle controller, a second position command; and

transmitting the second position command to a second valve of the nozzle to cause actuation of the second valve.

10. The method of claim 1 , wherein the controller is a communicatively coupled to a plurality of nozzles, and wherein the controller is configured to generate the spray command.

11. The method of claim 10 , wherein actuating the first valve based on the spray command comprises:

generating, by the controller, a plurality of spray commands;

transmitting a first spray command of the plurality of spray commands to a first nozzle of the plurality of nozzles; and

generating, by a first nozzle controller of the first nozzle, a first position command; and

transmitting the first position command to the first valve to cause actuation of the first valve.

12. The method of claim 11 , further comprising:

transmitting, by the first nozzle controller, the first position information to the controller.

13. The method of claim 11 , further comprising:

transmitting the first spray command to a second nozzle of the plurality of nozzles;

generating, by a second nozzle controller of the second nozzle, second position information regarding an actual position of a first valve of the second nozzle; and

comparing the actual position of the first valve of the second nozzle to the expected position of the first valve of the second nozzle.

14. The method of claim 10 , wherein the plurality of nozzles are mounted on a boom extending from an agricultural sprayer.

15. A nozzle comprising:

a first valve at least partially disposed within a first nozzle body and configured to control liquid flow through a first flow path in the first nozzle body;

a first position sensor operatively coupled to the first valve, the first position sensor configured to generate first position information;

a first liquid sensor disposed upstream of the first valve and configured to generate first liquid parameter information regarding a first liquid parameter of the liquid flowing through the first flow path; and

a controller communicatively coupled to the first valve and configured to control actuation of the first valve based on a spray command regarding a commanded application rate and a commanded droplet size;

wherein the controller is configured to compare an actual position of the first valve to an expected position of the first valve and to determine a nozzle status of the nozzle based on the comparison of an actual position and the expected position;

wherein the actual position of the first valve is based on the first position information;

wherein the expected position comprises an average position of the first valve based on previous actuations of the first valve; and

wherein the controller is configured to store historical position information of the first valve and to average the historical valve position data to obtain the average valve position of the first valve.

16. The nozzle of claim 15 , wherein the controller is a nozzle controller supported by the first nozzle body.

17. The nozzle of claim 15 , wherein the first liquid sensor is a flow meter.

18. The nozzle of claim 15 , further comprising:

a second valve at least partially disposed within a first nozzle body and configured to control liquid flow through an outlet of the nozzle;

a second position sensor operatively coupled to the second valve, the second position sensor configured to generate second position information; and

a second liquid sensor disposed downstream of the first valve and upstream of the second valve and configured to generate second liquid parameter information regarding a second liquid parameter of the liquid flow.

19. The nozzle of claim 18 , wherein the second liquid sensor comprises a pressure sensor.