Auto-reverse control with network

A mobile irrigation system including a number of spans, a number of mobile irrigation towers supporting the spans, and a control system. The control system includes a position switch configured to be triggered and transmit a trigger signal and a controller configured to receive the trigger signal from the position switch. Upon receiving the trigger signal, the controller is configured to determine whether a current position of the mobile irrigation system equates to an auto-reverse position. If the current position equates to the auto-reverse position, the controller is configured to transmit a reverse direction signal to a drive motor of one of the mobile irrigation towers to reverse direction so that the drive motor reverses direction.

BACKGROUND

Many mobile irrigation systems are controlled via simple switches and discrete status wires with the transfer of very limited information. Such mobile irrigation systems lack monitoring feedback so that it is difficult and sometimes impossible to ensure routine actions such as auto-reversals are successfully completed or performed properly.

Converting mobile irrigation systems into smart machines provides several benefits including monitoring feedback but is typically cost-prohibitive. Smart machines also greatly increase operation complexity, which can be overwhelming and an unattractive option to some farmers.

SUMMARY

Embodiments of the present invention solve the above-mentioned problems and other problems and provide a distinct advancement in the art of control systems for mobile irrigation systems. More particularly, the invention provides a mobile irrigation system that includes a control system that ensures auto-reversals are not performed prematurely and are actually completed successfully when properly initiated without necessitating costly and complicated smart machine upgrades or reconfigurations.

An embodiment of the invention is a mobile irrigation system broadly comprising a central pivot, a number of spans, and a control system. The control system directs drive motors to reverse direction only at designated auto-reverse positions and communicates with a remote user if a fault occurs or if auto-reversal fails. Although the mobile irrigation system is described as a center pivot irrigation system, linear irrigation systems and other mobile irrigation systems may be used.

The central pivot may be a tower, a standpipe, or the like. The central pivot may include a support structure for withstanding radial loads, axial loads, and twisting loads, a non-rotatable vertically extending pipe, and a rotatable elbow.

The spans include a number of truss sections, a number of conduit sections, and a number of mobile irrigation towers. Any number of spans may be used without departing from the scope of the present invention. To that point, spans may be added and removed as an area to be irrigated is increased or decreased.

Each truss section includes a number of beams rigidly connected to one another to form a framework which carries or otherwise supports the conduit sections and other fluid distribution mechanisms that are connected in fluid communication to the conduit. The truss sections may include braces, cross members, cables, and the like.

The conduit sections are connected end-to-end on the truss sections. The conduit sections transport water or other fluids to a number of sprinklers, spray guns, drop nozzles, or other fluid emitting devices spaced along the conduit sections.

Each of the mobile irrigation towers elevates adjacent truss sections and may include an “A-frame” or similar structure, a number of wheels, and a drive motor. Each mobile irrigation tower may also include a controller for activating its drive motor. One of the mobile irrigation towers may include a position switch configured to generate a trigger signal upon reaching an auto-reverse position.

The wheels may include conventional circular wheels, skis, skids, tank tracks and wheels, rollers on a track, or any mechanism on which the mobile irrigation towers may travel relative to the ground. In one embodiment, one of every pair of wheels is drivably connected to one of the drive motors and the other wheel is free-spinning.

The drive motors may be constant speed or variable speed electric motors. In some embodiments of the invention, the drive motors may include integral or external relays so they may be turned on, off, and/or reversed. The drive motors are drivably connected to one of the wheels via a drive train including a geared transmission, a variable gear ratio transmission, a continuously variable transmission (CVT), or the like.

The control system includes a number of controllers and a number of transceivers. One of the controllers may be a main central controller. The controllers are communicatively coupled locally with the drive motors and the position switch (which may be considered part of the control system). The control system is also communicatively coupled remotely with remote computing devices and remote servers.

In use, the mobile irrigation system traverses a field until the position switch is activated or otherwise transmits a trigger signal to the control system. At this point, it is unknown whether the trigger signal was generated in response to a legitimate trigger.

In case the trigger signal was generated in response to a legitimate trigger (and hence the mobile irrigation system should reverse direction) or an obstacle that would cause damage should the mobile irrigation system continue in the same direction, the mobile irrigation system is stopped.

A determination whether a current position of the mobile irrigation system (or a component thereof) equates to the auto-reverse position is made. A tolerance may be taken into account in making this determination. In other words, it may be determined whether the current position of the mobile irrigation system (or a component thereof) is within the tolerance of (and hence equates to) the auto-reverse position.

If the above determination is “no”, the control system notifies a remote user that the mobile irrigation system has stopped at a position that is not the auto-reverse position. This may include transmitting a fault signal representing a notification that a fault has occurred. The notification may include a prompt for the remote user to implement or provide instructions for a corrective action.

The control system then receives a signal representing an instruction for a corrective action. The control system may then implement the corrective action.

If the above determination is “yes”, the control system may start an auto-reverse command sequence. Specifically, one of the controllers may transmit a reverse direction signal to one of the drive motors representing an instruction to reverse direction so that the corresponding mobile irrigation tower reverses direction.

A determination whether the trigger signal has terminated indicating the auto-reverse is successful is then made. In making this determination, a debounce period may be applied to prevent false positives, false negatives, oscillating signals, imperfect signals, and the like. Alternatively, it may be determined whether a subsequent position of the mobile irrigation system indicates the auto-reverse action is successful.

If the above determination is “no”, the remote user may be notified that the auto-reverse action has failed. The remote user may also be prompted for a corrective action. The notification and prompt may be made via a signal transmitted to the remote user.

The control system may also receive from the remote user a signal representing a corrective action. The control system may then implement the corrective action.

If the above determination is “yes”, the mobile irrigation system has successfully completed the auto-reverse action. The control system may then transmit a notification to the remote user that the auto-reverse action has been successfully completed.

The above-described mobile irrigation system and control system provides several advantages. For example, the control system ensures auto-reversals are preformed properly. More specifically, the control system ensures auto-reversals are not initiated pre-maturely and that auto-reversals initiated properly are successfully completed. The control system also prompts and responds to remote user commands so that farmers can assist in control of the mobile irrigation system as needed without having to be onsite and without being subjected to the complexity of smart machine control systems.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Turning to the drawing figures, a mobile irrigation system100constructed in accordance with various embodiments of the invention is illustrated. The mobile irrigation system100is a central pivot irrigation system broadly comprising a central pivot102, a plurality of spans104A-D, and a control system106. Other irrigation systems such as linear move irrigation systems may also be used without departing from the scope of the invention.

The central pivot102distributes water or other fluids to the spans104A-D and may be a tower, a standpipe, or the like. The central pivot102may include a support structure for withstanding radial loads, axial loads, and twisting loads, a non-rotatable vertically extending pipe, and a rotatable elbow. The non-rotatable vertically extending pipe carries the fluids to an elevated height. The rotatable elbow connects the first span104A to the non-rotatable vertically extending pipe such that the spans104A-D are free to pivot about the central pivot102while remaining connected thereto.

The plurality of spans104A-D include a plurality of truss sections108A-D, a plurality of conduit sections110A-D, and a plurality of mobile irrigation towers112A-D. Any number of spans may be used without departing from the scope of the present invention. To that point, spans may be added and removed as an area to be irrigated is increased or decreased. The outermost span (in this case span104D) may include an end gun114configured to spray water radially outwardly to increase a total irrigation area of the mobile irrigation system100.

Each of the truss sections108A-D provides rigidity to or otherwise supports one of the conduit sections110A-D. The truss sections108A-D may include braces, cross members, cables, and the like.

Each of the conduit sections110A-D transport water or other fluids to a plurality of sprinklers, spray guns, drop nozzles, or other fluid emitting devices spaced along the conduit sections110A-D to apply water and/or other fluids to areas underneath the irrigation system100. The conduit sections110A-D may be or may include metal pipes and flexible liners including outlets to which the fluid emitting devices are connected. The outermost conduit section (in this case conduit section110D) may be fluidly connected to the end gun114for delivering water or other fluids thereto.

Each of the mobile irrigation towers112A-D elevates adjacent truss sections108A-D and may include an “A-frame” or similar structure, a number of wheels116, and a drive motor118A-D. Each mobile irrigation tower112A-D may also include a controller for activating the drive motor118A-D according to a position of the mobile irrigation tower112A-D or a relative angle of the adjacent span104A-D, as described in more detail below. Some of all of the mobile irrigation towers (such as mobile irrigation tower112D in this embodiment) may also include a position switch120, shown inFIG.2.

The position switch120may be mounted on one of the mobile irrigation towers112D and may be configured to contact a target122. To that end, the position switch120may be positioned at a low point such as on a crossbeam between two wheels116for engaging the target122. The position switch120may also be considered part of the control system106.

The target122may be positioned in the field near a position in which reversal of the mobile irrigation system100is desired for being engaged by the position switch120. For example, the target122may be positioned near the end of a field, near the end of a rotational range of the mobile irrigation system100, or near the end of an irrigation region.

The wheels116illustrated and described herein are merely examples of mechanisms for permitting movement of the mobile irrigation system100. The term “wheel” or “wheels” as used herein may refer to conventional circular wheels, skis, skids, tank tracks and wheels, rollers on a track, or any mechanism on which the mobile irrigation towers may travel relative to the ground. In one embodiment, each mobile irrigation tower112A-D includes a pair of wheels with one wheel being drivably connected to one of the drive motors118A-D and the other wheel free-spinning.

The drive motors118A-D are substantially similar, so only drive motor118D will be described further. The drive motor118D may be a constant speed or variable speed electric motor. In some embodiments of the invention, the drive motor118D may include integral or external relays so they may be turned on, off, and/or reversed. The drive motor118D may be drivably connected to one of the wheels116via a drive train including a geared transmission, a variable gear ratio transmission, a continuously variable transmission (CVT), or the like.

The control system106includes a plurality of controllers124A-D and a plurality of transceivers126A-D. The control system106may be communicatively coupled with the plurality of motors118A-D and the position switch120, remote computing devices such as remote device130, and remote servers such as server132.

The plurality of controllers124A-D are substantially similar so only controller120D will be described in detail. Controller124D may include electronic hardware components such as microprocessors (single-core or multi-core), microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), analog and/or digital application-specific integrated circuits (ASICs), or the like, or combinations thereof. The controller124D may generally execute, process, or run instructions, code, code segments, code statements, software, firmware, programs, applications, apps, processes, services, daemons, or the like. The controller124D may also include hardware components such as registers, finite-state machines, sequential and combinational logic, configurable logic blocks, and other electronic circuits that can perform the functions necessary for the operation of the current invention. In certain embodiments, the controller124D may include multiple computational components and functional blocks that are packaged separately but function as a single unit. The controller124D may be in electronic communication with the other electronic components through serial or parallel links that include universal busses, address busses, data busses, control lines, and the like.

The controller124D may include, perhaps as an embedded device or an integrated device, or be in electronic communication with, a memory element. The memory element may be embodied by devices or components that store data in general, and digital or binary data in particular, and may include exemplary electronic hardware data storage devices or components such as read-only memory (ROM), programmable ROM, erasable programmable ROM, random-access memory (RAM) such as static RAM (SRAM) or dynamic RAM (DRAM), cache memory, hard disks, floppy disks, optical disks, flash memory, thumb drives, universal serial bus (USB) drives, or the like, or combinations thereof. In some embodiments, the memory element may be embedded in, or packaged in the same package as, the controller. The memory element may include, or may constitute, a non-transitory “computer-readable medium”. The memory element may store the instructions, code, code statements, code segments, software, firmware, programs, applications, apps, services, daemons, or the like that are executed by the controller. The memory element may also store data that is received by the controller124D or the device in which the controller124D is implemented. The memory element may further store data or intermediate results generated during processing, calculations, and/or computations as well as data or final results after processing, calculations, and/or computations. In addition, the memory element may store settings, data, documents, sound files, photographs, movies, images, databases, and the like.

Each of the plurality of controllers124A-D may be mounted on or near one of the mobile irrigation towers122A-D, as shown inFIG.1, For example, controller124D may be mounted on mobile irrigation tower122D, as shown inFIG.2. The plurality of controllers124A-D may include or may be communicatively connected to a main central controller, with the remaining controllers being distributed controllers.

The plurality of controllers124A-D may be communicatively coupled with each other via a wired or wireless data bus such as a CAN bus, Mod bus, ethernet, ethernet over powerline, ethernet over fiber, or any other data bus style type protocol. Additionally, communication between distributed controllers and the main central controller may occur over a cloud network (e.g., network128). The plurality of controllers124A-D may also utilize edge computing, an Internet of Things (IoT) system, machine-to-machine (M2M) communication, and other computing and communication paradigms. For example, the controllers124may communicate with nearby agricultural implements for improved, more responsive, or more comprehensive computing and data storage.

Each of the transceivers126A-D may include signal and/or data transmitting and receiving circuits, such as antennas, amplifiers, filters, mixers, oscillators, digital signal processors (DSPs), and the like. The transceivers126A-D may establish communication with each other and with remote computing devices wirelessly by utilizing radio frequency (RF) signals and/or data that comply with communication standards such as cellular 2G, 3G, 4G, Voice over Internet Protocol (VoIP), LTE, Voice over LTE (VoLTE), or 5G, Institute of Electrical and Electronics Engineers (IEEE) 802.11 standard such as WiFi, IEEE 802.16 standard such as WiMAX, Bluetooth™, or combinations thereof.

The control system106may implement a wired or wireless network that communicatively connects all of the controllers124A-D and other devices. For example, the controllers124A-D, position switch120, and drive motors118A-D may be communicatively connected via hard wires, fibers, a radio frequency network, or any combination thereof. The control system106may also communicate with the remote device130and remote server132via cellular radios, a radio frequency network, satellite radio, hard wiring, or any other suitable communication connection.

The remote device130may be a mobile cellular phone, a tablet, a laptop, a desktop computer, a personal digital assistant, a pager, or the like. The remote device130may be used by a remote user to receive notifications and prompts from the control system106and to transmit commands, data, and information to the control system106.

The remote server132may be a desktop computer, a server, a backend computer, or any other suitable computing device. The remote server132may be used for data collection and storage associated with the mobile irrigation system100and additional computing power for the control system106and remote device130.

Use of the mobile irrigation system100will now be described in more detail. First, auto-reverse control may be implemented or activated, as shown in block200. This may be automatic with general operation of the mobile irrigation system100or may be done selectively.

A position at which auto-reverse of the mobile irrigation system100should occur may then be stored in memory, as shown in block202. The position may be an angular position of a span, a distance a span is from the end of a run or the beginning of a run, a discrete latitude or longitude point, or any other type of position.

A tolerance associated with the position may also be stored in memory. The tolerance may depend on the type of position. For example, the tolerance may be an angular tolerance, a linear tolerance, a tolerance radius, or any other suitable tolerance.

The mobile irrigation system100may then traverse a field until the position switch120is activated or otherwise transmits a trigger signal to the control system106, as shown in block204. Importantly, at this point, it is unknown whether the trigger signal was generated in response to a legitimate trigger.

In case the trigger signal was generated in response to a legitimate trigger (and hence the mobile irrigation system100should reverse direction) or an obstacle that would cause damage should the mobile irrigation system100continue in the same direction, the mobile irrigation system100may be stopped, as shown in block206. This may include one of the controllers122A-D transmitting a stop signal to one of the drive motors116A-D representing an instruction to stop in response to receipt of the trigger signal. The control system106may also pause at the end of the field (or at the intended reverse position) to irrigate in place prior to reversing.

A decision may then be made at block208. Specifically, it may be determined whether a current position of the mobile irrigation system100(or a component thereof) equates to the auto-reverse position. The tolerance may be taken into account in making this determination. In other words, it may be determined whether the current position of the mobile irrigation system100(or a component thereof) is within the tolerance of (and hence equates to) the auto-reverse position. The current position may be an angular position of a span, a distance a span is from the end of a run or the beginning of a run, a discrete latitude or longitude point, or any other type of position.

If the above determination is “no”, the control system106may notify a remote user that the mobile irrigation system100has stopped at a position that is not the auto-reverse position, as shown in block210. This may include transmitting a fault signal representing a notification that a fault has occurred. The notification may include a prompt for the remote user to implement or provide instructions for a corrective action.

The control system106may then receive a signal representing an instruction for a corrective action. The control system106may then implement the corrective action, as shown in block212.

If the determination at block208is “yes”, the control system106may start an auto-reverse command sequence, as shown in block214. Specifically, one of the controllers122A-D may transmit a reverse direction signal to one of the drive motors116A representing an instruction to reverse direction so that the corresponding mobile irrigation tower112A-D reverses direction.

A decision may then be made at block216. Specifically, it may be determined whether the trigger signal has terminated indicating the auto-reverse is successful. In making this determination, a debounce period may be applied to prevent false positives, false negatives, oscillating signals, imperfect signals, and the like. Alternatively, it may be determined whether a subsequent position of the mobile irrigation system100indicates the auto-reverse action is successful. The subsequent position may be an angular position of a span (as determined by an encoder on the mobile irrigation system100for example), a distance a span is from the end of a run or the beginning of a run, a discrete latitude or longitude point (as determined by GPS or other means), or any other type of position.

If the above determination is “no”, the remote user may be notified that the auto-reverse action has failed, as shown in block218. The remote user may also be prompted for a corrective action. The notification and prompt may be made via a signal transmitted to the remote user.

The control system106may also receive from the remote user a signal representing a corrective action. The control system106may then implement the corrective action, as shown in block220. Corrective actions may be continuing movement as previously commanded, stopping movement and waiting for another command from the remote user, or any other suitable corrective action.

If the determination at block216is “yes”, the mobile irrigation system100has successfully completed the auto-reverse action, as shown in block222. The control system106may then transmit a notification to the remote user that the auto-reverse action has been successfully completed, as shown in block224.

After a corrective action has been implemented (block212or220) or after the auto-reverse action has been successfully completed, the auto-reverse control may then end, as shown in block226. Auto-reverse control may be active or on standby at any time or may be turned off for certain situations.

Control parameters, values, and other data may be changed via instructions received from the remote computing device130, remote server132, edge computing devices, or IoT devices, or from direct inputs into the controllers124A-D. For example, an input signal representing a change to the auto-reverse position or tolerance may be received. The auto-reverse position or tolerance stored in the memory may then be updated according to the input signal.

Some or all of the above features and steps can be performed by a single controller, via a number of controllers together (e.g., controllers124A-D), at a central or edge control location, or remotely from the mobile irrigation system100. Some or all of the above features and steps can be applied to any one or all of the mobile irrigation towers112A-D, although the outermost mobile irrigation tower112D may be predominantly utilized as it covers the most area and is the most effective for implementing control of the mobile irrigation system100.

The above-described mobile irrigation system100and control system106provides several advantages. For example, the control system106ensures auto-reversals are preformed properly. More specifically, the control system106ensures auto-reversals are not initiated pre-maturely and that auto-reversals initiated properly are successfully completed. The control system106also prompts and responds to remote user commands so that farmers can assist in control of the mobile irrigation system100as needed without having to be onsite and without being subjected to the complexity of smart machine control systems,

Additional Considerations

In various embodiments, computer hardware, such as a processing element, may be implemented as special purpose or as general purpose. For example, the processing element may comprise dedicated circuitry or logic that is permanently configured, such as an application-specific integrated circuit (ASIC), or indefinitely configured, such as an FPGA, to perform certain operations. The processing element may also comprise programmable logic or circuitry (e.g., as encompassed within a general-purpose processor or other programmable processor) that is temporarily configured by software to perform certain operations. It will be appreciated that the decision to implement the processing element as special purpose, in dedicated and permanently configured circuitry, or as general purpose (e.g., configured by software) may be driven by cost and time considerations.

Accordingly, the term “processing element” or equivalents should be understood to encompass a tangible entity, be that an entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein. Considering embodiments in which the processing element is temporarily configured (e.g., programmed), each of the processing elements need not be configured or instantiated at any one instance in time. For example, where the processing element comprises a general-purpose processor configured using software, the general-purpose processor may be configured as respective different processing elements at different times. Software may accordingly configure the processing element to constitute a particular hardware configuration at one instance of time and to constitute a different hardware configuration at a different instance of time.

Similarly, the methods or routines described herein may be at least partially processing element-implemented. For example, at least some of the operations of a method may be performed by one or more processing elements or processing element-implemented hardware modules. The performance of certain of the operations may be distributed among the one or more processing elements, not only residing within a single machine, but deployed across a number of machines. In some example embodiments, the processing elements may be located in a single location (e.g., within a home environment, an office environment or as a server farm), while in other embodiments the processing elements may be distributed across a number of locations.