Patent Description:
There are many different types of agricultural machines. One such machine is a sprayer. An agricultural sprayer often includes a tank or reservoir that holds a substance to be sprayed on an agricultural field. The sprayer also includes a boom that is fitted with one or more nozzles that are used to spray the substance on the field. As the sprayer travels through the field, the boom is moved to a deployed position and the substance is pumped from the tank or reservoir, through the nozzles, so that is sprayed or applied to the field over which the sprayer is traveling.

Other mobile spraying machines apply a substance to a field as well. For instance, center pivot and lateral move irrigation systems are used to spray irrigation fluid on a field.

It may be undesirable for the substance being sprayed by a sprayer to cross the field boundaries onto an adjacent piece of land. This can be extremely difficult to detect. For instance, some substances are visible with the human eye. Therefore, if a relatively large amount of the substance has passed the field boundary of the field being treated, it can be discerned by human sight. However, other substances are dispersed or sprayed in droplets or granule sizes that are too small to be observed by the human eye. It can thus be very difficult to detect whether an overspray condition (where the spray drifts across a field boundary) has occurred.

In document <CIT>, the wind speed, wind direction, and field boundary information are detected and used to identify a monitor area indicative of a likely overspray condition. Control signals are generated to obtain information from a sprayed substance sensor, in the monitor area. When an overspray condition is detected, an overspray signal from the sprayed substance sensor indicating the detected overspray condition is received and overspray processing is performed, based upon the received overspray signal.

In one aspect, a mobile agricultural sprayer is disclosed according to the features of claim <NUM>.

Some current systems use a fixed sensing apparatus, that is fixed relative to a field boundary, to sense overspray conditions. However, this is relatively costly and cumbersome. Any field for which overspray is to be detected needs the fixed sensing apparatus to be installed. Also, should the field boundary change in the future, then the fixed sensing apparatus must be moved to accommodate the new field boundary. Similarly, many fields have large perimeters. Each field of interest would need to have the fixed sensing apparatus installed to cover all of the perimeters of interest.

Given these difficulties, even if an overspray condition can be detected, it can be even more difficult to detect the extent of an overspray condition. For instance, it can be very difficult to detect a quantity of sprayed substance that crossed the field boundary, and a distance that it traveled into an adjacent field. The present description proceeds with respect to deploying sensors to sense overspray conditions. The sensors can be mobile sensors, portable sensors, semi-permanent sensors or permanent sensors. In one example, if any are permanent, they can be moved (such as raised or lowered) or moved on an articulated arm.

<FIG> is a pictorial illustration of one example of an agricultural sprayer <NUM>. Sprayer <NUM> illustratively includes an engine in engine compartment <NUM>, an operator's compartment <NUM>, a tank <NUM>, that stores material to be sprayed, and an articulated boom <NUM>. Boom <NUM> includes arms <NUM> and <NUM> which can articulate or pivot about points <NUM> and <NUM> to a travel position illustrated in <FIG>. Agricultural sprayer <NUM> is supported for movement by a set of traction elements, such as wheels <NUM>. The traction elements can also be tracks, or other traction elements as well. When a spraying operation is to take place, boom arms <NUM>-<NUM> articulate outward in the directions indicated by arrows <NUM> and <NUM>, respectively, to a spraying position. Boom <NUM> carries nozzles that spray material that is pumped from tank <NUM> onto a field over which sprayer <NUM> is traveling. This is described in greater detail below with respect to <FIG>.

<FIG> also shows that, in one example, a set of unmanned aerial vehicles (UAVs) <NUM>-<NUM> are mounted on agricultural sprayer <NUM> so that they can be carried by agricultural sprayer <NUM> as it moves to a field to be sprayed, or as it moves through the field. The present description of <FIG> will proceed with respect to sensors being deployed on UAVs <NUM>, <NUM>. However, as is described later, the sensors can be deployed in a wide variety of other ways as well.

In one example, UAVs <NUM>-<NUM> have sensors (described in greater detail below) that can sense the substance (or the presence and/or quantity of the substance) being sprayed by sprayer <NUM>. They can be mounted to sprayer <NUM> with a mounting assembly that releasably holds UAVs <NUM>-<NUM> on machine <NUM>. The mounting assembly may also have a charging coupler which charges and/or changes batteries or other power cells that are used to power UAVs <NUM>-<NUM>. When the UAVs <NUM>-<NUM> are to be deployed, they can be released from the mounting assembly and controlled to fly to a desired location, as is described in more detail below. It will be appreciated that the UAVs <NUM>-<NUM> can be coupled to machine <NUM> either using a tethered link or a wireless link.

<FIG> is a pictorial illustration showing one example of spraying machine <NUM> deployed in a field <NUM> that is defined by a field boundary that includes boundary sections <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and <NUM>. Machine <NUM> is shown traveling across field <NUM> generally in a direction indicated by arrow <NUM>.

In the example shown in <FIG>, it is assumed that the wind direction is in the direction generally indicated by arrow <NUM>. Also, in the example shown in <FIG>, as agricultural spraying machine <NUM> begins to spray a substance from nozzles on boom arms <NUM> and <NUM>, the spray may drift across the boundaries of field <NUM>. For instance, when sprayer <NUM> is located in the position shown in <FIG>, the substance may drift, because of the wind, across boundary <NUM> in a direction located generally behind machine <NUM>, in the direction of travel, and across boundary <NUM> generally to the side of machine <NUM>.

Therefore, as will be described in greater detail below, sensor position control logic senses the wind direction and wind speed, and also identifies the boundary of field <NUM>, based upon field boundary data, and generates control signals to control UAVs <NUM> and <NUM> to position themselves in monitor areas where an overspray condition is most likely to happen. In the example illustrated in <FIG>, it may be determined that it is relatively likely that an overspray condition may happen in a monitor area defined by dashed line <NUM> and in a monitor area defined by dashed line <NUM>. Therefore, in one example, the sensor position control logic (described in greater detail below with respect to <FIG>) controls UAV <NUM> to position it in monitor area <NUM>, and it controls UAV <NUM> to position it in monitor area <NUM>. If the substance being sprayed by sprayer <NUM> drifts into those areas, it will be sensed by the sensors on the UAVs and logic on the UAVs will send an overspray signal, indicative of the detected overspray condition, to an overspray detection system on sprayer <NUM>. This is all described in greater detail below.

In one example, as machine <NUM> moves in the direction indicated by arrow <NUM>, the sensor position control logic controls UAVs <NUM> and <NUM> to move along with machine <NUM>, and to position themselves in other monitor areas based upon the position of machine <NUM>, the wind direction indicated by arrow <NUM>, the wind speed, etc. <FIG> shows one example of this.

Some items shown in <FIG> are similar to those shown in <FIG>, and they are similarly numbered. It can be seen in <FIG> that machine <NUM> has now traveled to be closely proximate field boundary <NUM>, but the wind direction is still in the same direction as indicated by arrow <NUM>. Therefore, any likely overspray is illustratively determined to occur in monitor area <NUM> and in monitor area <NUM>. Thus, UAVs <NUM> and <NUM> are controlled to position themselves in those two monitor areas.

<FIG> shows that machine <NUM> has now turned to travel in a direction generally indicated by arrow <NUM>. In addition, the wind direction has now shifted to the direction indicated by arrow <NUM>. Thus, the overspray (in which the sprayed substance crosses the field boundary <NUM> of field <NUM>) is now likely to occur in monitor areas <NUM> and <NUM>. Therefore, UAVs <NUM> and <NUM> are controlled to position themselves in those two monitor areas, respectively.

<FIG> shows that machine <NUM> has now again turned to move in the direction indicated by arrow <NUM>. Also, the wind direction has shifted to that shown by arrow <NUM>. Therefore, it is determined that an overspray condition may occur in monitor areas <NUM> and <NUM>. Thus, control signals are generated to control UAVs <NUM> and <NUM> to position them in monitor areas <NUM> and <NUM>, respectively.

Before describing the operation of sprayer <NUM> and UAVs <NUM> and <NUM> in more detail, a number of other items will first be noted. In one example, it may be that sprayer <NUM> is traveling through the middle of field <NUM>. In that case, it may not be near a field boundary. Therefore, it may be determined that there is no monitor zone that needs to be monitored, because there is no relatively high likelihood that an overspray condition may exist. This may also happen when the wind speed is relatively low, when the substance being sprayed is relatively heavy and resistant to drift, or for other reasons. In those instances, then UAVs <NUM> and <NUM> can be controlled to return to machine <NUM> where they can be carried by sprayer <NUM> and/or recharged, assuming they are coupled to machine <NUM> using a wireless connection.

In addition, some sprayers <NUM> may take on the order of <NUM> minutes to spray a full tank of material. Sprayer <NUM> may then be refilled by a refill machine. During that time, UAVs <NUM>-<NUM> may also return to spraying machine <NUM> where they can be recharged, or where the batteries or other power cells can be swapped for charged batteries or power cells.

<FIG> (collectively referred to herein as <FIG>) illustrate a block diagram showing one example of a spraying architecture <NUM> that shows sprayer <NUM> coupled to UAVs <NUM>-<NUM> and/or other sensing devices <NUM> and/or other computing systems <NUM> (which may be remote server systems, farm manger systems, etc.). It should be noted that, architecture <NUM> can include a sprayer computing system that can be disposed on sprayer <NUM>, and it can also include a single unmanned aerial vehicle (such as one of UAVs <NUM> and <NUM>) or more UAVs. The UAVs <NUM> and <NUM> can be similar or different. For purposes of the present description, it will be assumed that they are similar so that only UAV <NUM> is described in more detail. This is only one example.

UAV <NUM> illustratively includes one or more processors <NUM>, one or more geographic position sensors <NUM> (which can include a location sensor <NUM>, an elevation sensor <NUM>, and a wide variety of other sensors <NUM>), navigation control system <NUM>, one or more controllable subsystems <NUM>, one or more sensors <NUM>, a communication system <NUM>, and a wide variety of other items <NUM>. Controllable subsystems <NUM> can include a propulsion system <NUM>, a steering system <NUM>, and other items <NUM>. Sensors <NUM> can include a particulate sensor <NUM>, a chemical sensor <NUM>, a moisture sensor <NUM>, and/or other sensors <NUM>. They can be volatile organic compound (VOC) sensors <NUM>, or other sensors.

Links <NUM> can be tethered links, or wireless links. If they are tethered links, they can provide power and control signals as well as other communication signals between UAVs <NUM>-<NUM> and sprayer <NUM>. They can provide similar or different signals if UAV links <NUM> are wireless links. All of these arrangements are contemplated herein.

In the example shown in <FIG>, sprayer <NUM> illustratively includes one or more processors or servers <NUM>, overspray detection system <NUM>, data store <NUM>, communication system <NUM>, UAV mounting assembly <NUM>, UAV charging system <NUM>, one or more geographic positioning sensors <NUM>, operator interfaces <NUM> (that are provided for interaction by operator <NUM>), one or more other sensors <NUM>, control system <NUM>, controllable subsystems <NUM>, and it can include other items <NUM>. Data store <NUM> can include field location/shape data <NUM> which can describe the shape or boundaries of one or more different fields. Data store <NUM> can include overspray data <NUM> which can include a wide variety of different types of data that are collected and stored when an overspray condition is detected. Data store <NUM> can include a wide variety of other items <NUM> as well.

Geographic position sensors <NUM> can include a location sensor <NUM> (which can be a GPS receiver, a cellular triangulation sensor, a dead reckoning sensor, etc.), a heading and speed sensor <NUM> that senses the heading and speed of sprayer <NUM>, and it can include a wide variety of other geographic position sensors <NUM>. Other sensors <NUM> can illustratively include wind direction sensor <NUM>, wind speed sensor <NUM>, boom height sensor <NUM> which senses the height of the boom on sprayer <NUM>, nozzle type sensor <NUM> which senses or indicates the type of nozzle being used on the sprayer, droplet size sensor <NUM> which can sense or derive a droplet size (or granule size) of the substance being sprayed by sprayer <NUM>, ambient condition sensor <NUM> which can sense such things as temperature, atmospheric pressure, humidity, etc. Sensors <NUM> can include a wide variety of other sensors <NUM> as well.

Controllable subsystems <NUM> are illustratively customized by control system <NUM>. They can include boom position subsystem <NUM>, a propulsion subsystem <NUM>, steering subsystem <NUM>, nozzles <NUM>, and a wide variety of other subsystems <NUM>.

Briefly, in operation, UAVs <NUM> and <NUM> can be carried by sprayer <NUM> on UAV mounting assembly <NUM>. In one example, assembly <NUM> has an actuatable connector that releasably connects UAVs <NUM> and <NUM> to sprayer <NUM>. When actuated, it illustratively releases UAVs <NUM> and <NUM> so that they can be flown to other positions. UAV charging system <NUM> charges batteries on UAVs <NUM> and <NUM>, when they are battery operated. Geographic position sensors <NUM> illustratively sense the geographic location, heading and speed (or route) of sprayer <NUM>. Wind direction sensor <NUM> and wind speed sensor <NUM> illustratively sense the direction and speed of the wind. Field location/shape data <NUM> illustratively defines the shape and location of a field that sprayer <NUM> is treating or is to treat. Overspray detection system <NUM> illustratively detects when sprayer <NUM> is approaching a likely monitor area, where an overspray condition may likely occur. When this happens, it illustratively generates control signals to launch UAVs <NUM>-<NUM> from UAV mounting assembly <NUM> so that they are positioned in the monitor areas. Also, as sprayer <NUM> moves, overspray detection system <NUM> illustratively provides signals to navigation control system <NUM> on the UAVs <NUM>-<NUM> to control their position so that they follow along with sprayer <NUM>, in monitor areas where an overspray condition is likely to exist, based upon the movement or changing position of sprayer <NUM>. This is described in greater detail below.

Overspray detection system <NUM> illustratively receives one or more signals from UAVs <NUM>, <NUM> and/or other sensing devices <NUM> indicating detection of an overspray condition. This means that the substance being sprayed by sprayer <NUM> has crossed the field boundary of the field being treated and is sensed by sensors <NUM> on one of the UAVs or other sensing devices <NUM> when they are positioned in monitor areas. The signal can be received through communication system <NUM> which can be any of a wide variety of different types of communication systems that can communicate with UAVs <NUM>, <NUM> over UAV links <NUM> or with other sensing devices <NUM>.

When an overspray condition is detected, overspray detection system <NUM> illustratively controls data store <NUM> to store a wide variety of different types of overspray data, some of which will be described in greater detail below. Control system <NUM> also illustratively generates control signals to control various controllable subsystems <NUM> and operator interfaces <NUM>. It can control operator interfaces <NUM> to notify operator <NUM> that an overspray condition has been detected. It can control propulsion system <NUM> and steering system <NUM> to control the direction and speed of sprayer <NUM>. It can control nozzles <NUM> to control spraying characteristics of the nozzles, or to shut them off entirely. It can control the boom height and/or other subsystems as well, such as to inject drift retardant into the substance being sprayed, among other things.

Navigation control system <NUM> on UAV <NUM> illustratively receives navigation signals through communication system <NUM> which communicates with communication system <NUM> on sprayer <NUM> over UAV links <NUM>. The navigation control system <NUM> then generates control signals to control propulsion system <NUM> and steering system <NUM> on UAV <NUM> in order to position UAV <NUM> in a monitor area where an overspray condition is likely.

Sensors <NUM> generate sensor signals indicative of sensed items. They can include volatile organic compound (VOC) sensors or other sensors. Particulate sensor <NUM> is configured to sense the presence (and perhaps quantity) of particulate matter. Chemical sensor <NUM> is illustratively configured to sense the presence (and possibly quantity) of a chemical in the substance being sprayed by sprayer <NUM>. Moisture sensor <NUM> is configured to sense the presence (and possibly quantity) of moisture. Any or all of these or other sensors can be used to detect the substance being sprayed by sprayer <NUM>. There are a wide variety of different types of sensors that can be used for this. For instance, in one example, a dielectric material is used so that when moisture is on the surface of sensor <NUM>, it changes the capacitance of a sensing capacitor on sensor <NUM>. Particulate sensor <NUM> may be an optical sensor with a light emitting diode (or other radiation source) and a radiation detector. It illustratively detects particulate matter passing between the radiation source and the radiation detector. The particulate sensor <NUM> may also sense droplets of moisture.

Chemical sensors <NUM> may illustratively be a chemical sensor which senses the presence of a particular chemical. Sensors <NUM> can be LIDAR or laser-type sensors which sense the presence of moisture or particulates, or sensors <NUM> can include a combination of different types of sensors. A volatile organic compound sensor <NUM> can sense material that is indicative of overspray or drift or material being applied by a machine <NUM>. This can be done in a number of ways. For example, an outdoor baseline VOC reading may be taken (which may be <NUM>-<NUM> ppm, for example), while in the presence of overspray the VOC reading may spike (to over <NUM> ppm, for example). Volatile organic compound sensors <NUM> come in a variety of different types. In one example, the volatile organic compound sensor <NUM> is a micro hotplate sensor. A sample rate for the VOC sensor <NUM> can be chosen based on its particular application. Some examples of sample rates range from several Hz to less than <NUM> sample per minute. A volatile organic compound sensor can either have active or passive airflow over its sensing area.

In one example, sensors <NUM> illustratively provide a signal that is indicative of the presence of, and possibly an amount of (e.g., a proportion, a weight or size, or otherwise indicative of an amount of) sensed material (liquid, particulate, etc.) that is being sensed. These signals can be provided over UAV links <NUM> to overspray detection system <NUM> when an overspray condition is detected. This can be detected in a variety of different ways, such as when a threshold amount of moisture or particulate matter or chemical is detected by one or more of sensors <NUM>.

Sensing device(s) <NUM>, as will be described in more detail below with respect to <FIG>, can be device(s) that carry one or more sensors <NUM>, but which are not UAVs. For example, they can be manned or unmanned ground vehicles, they can be mountings on sprayer <NUM>, they can be fixed or portable ground assets (like poles), or other things. Sensing device <NUM> illustratively includes communication system <NUM>, sensing system <NUM>, processing system <NUM>, sensor mobility system <NUM>, and it can include a variety of other items <NUM>. Communication system <NUM> can include short range components <NUM>, long-range components <NUM> and other components <NUM>. Short range components <NUM> can allow sensing device <NUM> to communicate with other sensing devices <NUM>, sprayer <NUM>, UAVs <NUM>-<NUM> and other remote computing systems <NUM> that are near a worksite. Short-range components <NUM> may operate on a Wi-Fi, Bluetooth, radiofrequency or other near field or short-range protocol. Long-range components <NUM> can allow device <NUM> to communicate with sprayer <NUM> or systems (such as other remote computing systems <NUM>) that may be out of range of short range components <NUM>. Long-range components <NUM> may operate on a cellular, satellite, radiofrequency or other long-range protocol. In one example, there are several sensing devices <NUM> at a particular worksite, all having short range components <NUM> while one sensing device <NUM> has a long-range component <NUM>. In such an example, the sensing devices <NUM> communicate with each other through short range components <NUM> and all of their combined data can be sent to another system (e.g., remote computing system <NUM>) by the sensing device <NUM> that has the long-range component <NUM>. This is only one example.

Sensing system <NUM> illustratively includes a volatile organic compound sensor <NUM> and other sensors <NUM>. Other items <NUM> can include, among other things, additional sensors. These sensors can include GPS, altitude, humidity, temperature and other sensors. Some of these sensors may be indicative of conditions that would affect the accuracy of a VOC sensor or other sensor. For example, temperature and humidity may have an effect on the output of the VOC sensor. Thus, having a temperature and humidity sensor allows for a compensation algorithm to further refine (or compensate) the reading of the VOC sensor. This processing and other processing completed by the sensing device can be completed by processing system <NUM>, which can, itself, include a processor, timing circuity, signal conditioning logic, etc. This processing can also be completed by another processing system remote from the sensing device <NUM>, e.g. by a processor on sprayer <NUM> or other remote computing system(s) <NUM>.

Mobility system <NUM> controls any movement of the sensing device <NUM>. Mobility system <NUM> may vary based on what type of device the sensing device <NUM> is. In one example, the sensing device <NUM> is a semi-permanent or permanent ground asset (such as a pole). In such an example, mobility system <NUM> can comprise a fixed, telescoping, articulating, or otherwise extendable or movable pole or arm that holds sensor(s) <NUM>. In another example, the sensing device is located on the sprayer <NUM>. In such an example, mobility system <NUM> may comprise an actuator and a controllable articulating or pivoting arm driven by the actuator. In another example, the sensing device is located on a UAV or unmanned ground vehicle (UGV). In such an example, mobility system <NUM> illustratively controls the steering and propulsion systems of the vehicle. In other examples, mobility system <NUM> can comprise different combinations of several components. For example, the combinations can include an articulating arm on a telescoping pole that is mounted onto a vehicle, among a wide variety of other combinations.

A brief description of a more detailed example of overspray detection system <NUM> will now be provided with respect to <FIG>. In the example shown in <FIG>, overspray detection system <NUM> illustratively includes sensor position control logic <NUM> which, itself, can include likely drift detector <NUM>, path planning logic <NUM>, control signal generator logic <NUM>, and it can include other items <NUM>. Control signal generator logic <NUM> can include sensor deployment logic <NUM>, sprayer following logic <NUM>, sensor rest logic <NUM>, overspray detected control logic <NUM>, and it can include other items <NUM>.

Overspray detection system <NUM> can also include overspray characteristic generator <NUM> (which, itself, includes quantity generator <NUM>, overspray distance generator <NUM>, and it can include other items <NUM>). Overspray detection system <NUM> can include data capture logic <NUM> (which, itself, can include sensor accessing logic <NUM>, data store control logic <NUM>, and other items <NUM>), sprayer control signal generator logic <NUM> (which, itself, can include nozzle control logic <NUM>, path control logic <NUM>, and other items <NUM>), alert/notification system <NUM>, and other items <NUM>.

Briefly, in operation, likely drift detector <NUM> illustratively receives the wind speed signal <NUM>, a wind direction signal <NUM>, field shape data <NUM>, sprayer location data <NUM>, and sprayer heading/speed (or route) data <NUM> and other data <NUM>. Based on this information, and possibly based on the drift characteristics of the substance being sprayed (e.g., droplet or particulate size, weight, nozzle type, boom height, sprayer speed, etc.) it detects whether sprayer <NUM> is approaching, or has entered, an area where the substance that it is spraying may pass over a field boundary, and therefore where an overspray condition is likely to (or may) happen. When this is detected, it provides a signal indicative of a likely overspray condition to path planning logic <NUM>. Monitor area logic <NUM> then calculates the location of one or more monitor areas where the overspray condition is likely to occur. Monitor area logic <NUM> can also calculate positions of potential sensors based on areas where overspray conditions are likely to occur and/or based on the sensitivity of a proximate area to the substance being sprayed. Sensor deployment logic <NUM> then generates signals indicative of those monitor areas and provides those signals to control signal generator logic <NUM>. Logic <NUM> generates sensor control signals <NUM>. In one example, these are recommendations of locations where an operator is to place stationary sensor devices <NUM> or to pilot a manned vehicle with an attached sensor device. They can also indicate a recommended position of a movable sensor device <NUM>. For instance, where sensors <NUM> are carried on articulating on telescope arms of the sprayer <NUM>, the sensor control signals <NUM> can control the arms to assure a desired position. In another example, the sensor control signals <NUM> are sent to UAVs <NUM>-<NUM> or UGVs (such as through communication system <NUM> and links <NUM>) to position UAVs <NUM>-<NUM> or UGVs in the one or more monitor areas that have been identified by monitor area logic <NUM>. In such a scenario, control signal generator logic <NUM>, can also illustratively generate control signals to detach UAVs <NUM>-<NUM> from the mounting assembly <NUM> on sprayer <NUM>, (or UGVs from an appropriate mounting assembly) so that they can move to the desired monitoring areas.

As sprayer <NUM> moves through the field, monitor area logic <NUM> (continues to identify monitor areas). Sprayer following logic <NUM> illustratively receives the sprayer route <NUM> and sprayer location information <NUM> as well as the identified monitor areas and/or other information. Where sensors <NUM> are mounted on UAVs <NUM>-<NUM> or UGVs, logic <NUM> controls UAVs <NUM>-<NUM> or UGVs to follow sprayer <NUM>, positioning themselves in any monitor areas where an overspray condition is likely to happen, that may be detected by monitor area logic <NUM>. When sensing devices <NUM> are on ground assets (like poles) the sensors in the monitor) area can be activated and read.

When sprayer <NUM> moves to a position where there are no monitor areas identified, then sensor rest control logic <NUM> indicates this to control signal generator logic <NUM>. In one example, where the sensors are on UAVs (or possibly UGVs), control signal generator logic <NUM> generates sensor control signals causing UAVs <NUM>-<NUM> (or possibly UGVs) to return to the mounting assembly <NUM> on sprayer <NUM>. Therefore, the UAVs <NUM>-<NUM> (or possibly UGVs) are again secured to sprayer <NUM>. In another example, sensor rest control logic <NUM> generates control signals causing sensor devices <NUM> (that have sensors that are not being read) to go into a power saving mode that can include slowed sampling rates, fewer communications, etc..

Overspray detected control logic <NUM> illustratively receives an overspray detected signal <NUM> which is a signal from one or more of UAVs <NUM>-<NUM> and/or sensor devices <NUM> indicating that an overspray condition has been detected. It then generates signals that are provided to control signal generator logic <NUM> that generates control signals to control the sensors to perform overspray operations. For example, it can control the UAVs <NUM>-<NUM> (or telescoping poles that hold the sensors) to change elevations or locations to determine whether the substance being sprayed is detected in the monitor area at higher or lower elevations, is detected at a position further from the field boundary, etc..

Also, once an overspray condition is detected, overspray characteristic generator <NUM> can detect or generate or otherwise derive characteristics of the overspray condition. Quantity generator <NUM> can generate a quantitative value indicative of the quantity of sprayed substance that has been oversprayed across the field boundary. This can be based upon the droplet size detected by the sensors, based upon the droplet size being sprayed or particulate matter size detected or sprayed, etc. Overspray distance generator <NUM> can also generate a distance value indicative of how far the overspray extended across the field boundary. This can be based on the prevailing wind conditions, the elevation of the boom on sprayer <NUM>, the elevation of the sensor devices <NUM> or UAVs <NUM>-<NUM> when they detected the overspray condition, etc..

Data capture logic <NUM> illustratively uses sensor accessing logic <NUM> to access various sensor data, and data store control logic <NUM> to control data store <NUM> on sprayer <NUM> so that it captures overspray data <NUM>. Some examples of this are described below.

Sprayer control signal generator logic <NUM> can use nozzle control logic <NUM> to control the nozzles or the operation of the nozzles on sprayer <NUM>. It can use path control logic <NUM> to change or control the path of sprayer <NUM> based upon the detected overspray condition. Alert/notification system <NUM> can control operator interfaces <NUM> to generate an alert or notification to operator <NUM> indicative of the detected overspray condition.

<FIG> and <FIG> (collectively referred to herein as <FIG>) illustrate a flow diagram showing one example of the operation of architecture <NUM> in more detail. It is first assumed that sprayer <NUM> is running and that it has a set of UAVs <NUM>-<NUM> onboard. This is indicated by block <NUM> in the flow diagram of <FIG>. It will be noted that the set of UAVs can include a single UAV, or multiple UAVs (such as two UAVs indicated by block <NUM>). The UAVs can be tethered to sprayer <NUM> for power and communication as indicated by block <NUM>. They can be mounted on mounting assembly <NUM> and have battery or power cells being charged by UAV charging system <NUM>. Thus, they can have a wireless connection as indicated by block <NUM>.

Also, in one example, the sensors <NUM> on the UAVs are calibrated. This is indicated by block <NUM>. For instance, readings can be taken from the sensors in clear air (where sprayer <NUM> is not spraying or applying any substance to a field. The sensor signals, in clean air, can be taken as a baseline value, against which other sensor measurements are compared, when they are deployed.

The sprayer can be running in other ways as well. This is indicated by block <NUM>.

Sensor position control logic <NUM> then accesses the field location and shape data <NUM> in data store <NUM>, as well as adjacent geography data indicative of geographic or other attributes of adjacent land. This is indicated by block <NUM> in the flow diagram of <FIG>. Accessing field location data is indicated by block <NUM>, and accessing field shape or boundary data is indicated by block <NUM>. Accessing or retrieving adjacent geography data is indicated by block <NUM>. The other data can be accessed as well, and this is indicated by block <NUM>.

Likely drift detector <NUM> then accesses sensor signals of sensors <NUM> on sprayer <NUM> to evaluate the sensed variables that are sensed by the various sensors <NUM>. This is indicated by block <NUM> in the flow diagram of <FIG>. For instance, likely drift detector <NUM> can obtain wind speed data <NUM> from the wind speed sensor <NUM>. It can obtain wind direction data <NUM> from the wind direction sensor <NUM>. It can obtain sprayer location data <NUM> from location sensor <NUM>. It can obtain sprayer heading/speed (or route) data <NUM> from the heading/speed sensor <NUM>. It can obtain a wide variety of other information <NUM>, such as characteristics of the substance being sprayed or other information as well. Based on the information from the sensors <NUM>, likely drift detector <NUM> can determine whether an overspray condition is likely to happen. For instance, if the wind is strong enough, and in the right direction, and if the location of sprayer <NUM> is near a field boundary, this may indicate that it is likely that an overspray condition may occur. If not, processing simply reverts to block <NUM> where the sensor signals from sensors <NUM> on sprayer <NUM> are monitored.

If so, as indicated at block <NUM>, then path planning logic <NUM> determines whether it is time to launch UAVs <NUM>-<NUM> (or to obtain sensor values from other sensing devices <NUM>, and if so controls them accordingly. For instance, monitor area logic <NUM> identifies the location of a monitor area where an overspray condition is likely to happen and/or a location that is more sensitive to overspray conditions. This is indicated by block <NUM>. As discussed above with respect <FIG>, the monitor area can be an area or location of possible or likely unwanted spray drift. This is indicated by block <NUM>. This can be defined based on the location of sprayer <NUM> being near a field boundary as indicated by block <NUM>, and it can be determined in a wide variety of other ways as indicated by block <NUM>.

If monitor area logic <NUM> identifies a monitor area that should be monitored for overspray (as indicated by block <NUM>), then it provides a signal indicating this to sensor deployment logic <NUM>, which deploys UAVs <NUM>-<NUM> to sensor locations, or which can activate or obtain sensor readings from other sensing devices <NUM>, in the monitor area that was identified. This is indicated by block <NUM>. Sensor deployment logic <NUM> may illustratively provide an output to control signal generator logic <NUM> indicating the sensor locations. Control signal generator logic <NUM> then generates UAV control signals to decouple UAVs <NUM>-<NUM> from mounting assembly <NUM>, to launch UAVs <NUM>-<NUM> and navigate them to their sensor locations in the identified monitor areas. This is indicated by block <NUM>. In another example, control signal generator logic <NUM> can load a path into the navigation control system <NUM> on UAVs <NUM>-<NUM> and the UAVs, themselves, can move into the sensor locations. This is indicated by block <NUM>. The UAVs can be deployed to the sensor locations, or other sensing devices <NUM> can be deployed or activated in other ways as well, and this is indicated by block <NUM>.

As sprayer <NUM> moves through the field, sprayer following logic <NUM> illustratively provides an output to control signal generator logic <NUM> indicating that logic <NUM> should control UAVs <NUM>-<NUM> to follow the sprayer, or to control other sensing devices <NUM> accordingly. This can include the sprayer heading and speed (or route), the location of new monitor areas, etc.). Repositioning the UAVs or controlling other sensing devices <NUM> or other sensing devices <NUM> are activated as the sprayer moves is indicated by block <NUM>.

If, while the UAVs are deployed to their sensor locations, they detect an overspray condition, as indicated by block <NUM>, they illustratively provide a signal to overspray detection system <NUM> indicating that an overspray condition has been detected. In that case, overspray detection system <NUM> performs overspray operations, as indicated by block <NUM>. One example of this is described in greater detail below with respect to <FIG>.

If an overspray condition is not detected, or after the overspray operations have been performed, then UAVs <NUM>-<NUM> continue to move along with sprayer <NUM>, or other sensing devices <NUM> can be controlled accordingly, to sense additional overspray conditions, if they occur. This is indicated by block <NUM>.

At some point, monitor area logic <NUM> will determine that sprayer <NUM> is not ear a monitor area that needs to be monitored, or likely drift detector <NUM> may detect that the conditions have changed so an overspray condition is unlikely. In that case, UAVs <NUM>-<NUM> or other sensing devices <NUM> need not monitor for an overspray condition any longer. This is indicated by block <NUM>. Thus, sensor rest control logic <NUM> provides signals to control signal generator logic <NUM> so that logic <NUM> generates UAV control signals to control the UAVs <NUM>-<NUM> to return them to the UAV mounting assembly <NUM> on sprayer <NUM>. This is indicated by block <NUM> in the flow diagram of <FIG>. In one example, UAV charging system <NUM> again recharges the batteries on UAVs <NUM>-<NUM>. This is indicated by block <NUM>. The control signals can be generated to power down other sensing devices <NUM> or place them in power saving mode, as indicated by block <NUM>. Other operations can be performed on the UAVs when they return to sprayer <NUM> or other sensing devices <NUM> as well, and this is indicated by block <NUM>.

The processing in <FIG> can continue at block <NUM>, where the sensor signals are detected, until the spraying operation for the current field ends. This is indicated by block <NUM> in the flow diagram of <FIG>.

<FIG> is a flow diagram illustrating one example of the operation of architecture <NUM> (shown in <FIG>) in performing overspray operations (as indicated by block <NUM> in <FIG>). It is first assumed, for the sake of <FIG>, that an overspray condition has been detected, and that one of the UAVs <NUM>-<NUM> or other sensor devices <NUM> has detected the presence of a chemical or moisture in a monitor area, or other indication that an overspray has occurred in a monitor area where the sensor is positioned. This is indicated by block <NUM> in the flow diagram of <FIG>.

Sensor accessing logic <NUM> in data capture logic <NUM> then accesses sensors to obtain sensor values of the sensed variables, and data store control logic <NUM> controls data store <NUM> to store those values to record that the overspray was detected and to record certain variable values corresponding to the detected overspray condition. In one example, sensor accessing logic <NUM> accesses the signal provided by location sensor <NUM> on UAV <NUM> (assuming UAV <NUM> is the UAV that sensed the overspray condition), as well as the signal value generated by elevation sensor <NUM>. These values are indicative of the location and elevation of the UAV that detected the overspray condition. Similar sensors can be on other sensing devices <NUM> and can be accessed by data store control logic <NUM> then controls data store <NUM> to store that elevation and position as part of the overspray data <NUM> recorded for this overspray condition. This is indicated by block <NUM> in the flow diagram of <FIG>.

Overspray detected control logic <NUM> (in overspray detection system <NUM> shown in <FIG>) can then generate signals to control the UAV (or sensor mobility system <NUM> in other sensing devices <NUM>) to vary its elevation or position, so that the various elevations where an overspray condition is detected can be determined. Generating control signals to control the UAV or sensor mobility system to move to various elevations or positions is indicated by block <NUM>. The sensors <NUM> on the UAV or other sensing devices <NUM> then detect whether an overspray condition is present at the various elevations or other sensing devices. If so, the data capture logic <NUM> records the elevation and position of the UAV that is detecting the overspray condition. This is indicated by block <NUM> in <FIG>.

Sensor accessing logic <NUM> can then access the sensor signals (or values indicative of the sensed variables) from a variety of different sensors, to obtain and record that information. For instance, in one example, sensor accessing logic <NUM> accesses machine configuration sensors to detect a variety of different machine configuration settings or characteristics. Data store control logic <NUM> can then store the machine configuration that exists at the time of the detected overspray condition as well. This is indicated by block <NUM>. For instance, sensor accessing logic <NUM> can access boom height sensor <NUM> to record boom height. This is indicated by block <NUM>. It can access nozzle type sensor or nozzle setting sensor <NUM> to record the nozzle type or setting of the nozzles being used on the sprayer <NUM>. This is indicated by block <NUM>. It can access droplet size sensor <NUM> to identify the droplet size of droplets being sprayed by sprayer <NUM>. It can also generate an indication of the droplet size from the signals generated by sensors <NUM> on the UAV or other sensing devices <NUM>. Obtaining droplet size information is indicated by block <NUM>. Logic <NUM> can access a wide variety of other machine configuration settings or sensors and record those as well. This is indicated by block <NUM>.

Overspray characteristic generator <NUM> can then obtain or calculate or otherwise identify different characteristics of the detected overspray condition. For instance, quantity generator <NUM> can illustratively identify or estimate a quantity of the sprayed substance that has crossed the field boundary. This can be determined, for instance, based upon the droplet size, based upon the wind speed and wind direction, based upon the elevations at which the overspray detection is detected by the UAV or other sensing devices, based upon the boom height, or based upon a wide variety of other items. Overspray distance generator <NUM> can also generate an output indicative of a distance that the overspray extended across the field boundary. This can be done by positioning the UAV that detected the overspray condition further away from the field boundary until the presence of the sprayed substance is no longer detected. It can also be calculated or estimated based upon, again, the wind speed and wind direction, the boom height, the droplet size or chemical being sprayed, the various elevations at which the overspray condition was detected, among other things. Determining and recording overspray quantity and distance is indicated by block <NUM> in the flow diagram of <FIG>. Data capture logic <NUM>, or other items in overspray detection system <NUM> or elsewhere can also detect and record other overspray characteristics. This is indicated by block <NUM>. For instance, they can detect the date <NUM>, the time of day <NUM>, the particular chemical or product being sprayed <NUM>, ambient weather conditions <NUM>, or other characteristics <NUM>.

Sprayer control signal generator logic <NUM> can then illustratively generate control signals to control various controllable subsystems <NUM> on sprayer <NUM>, based upon the detected overspray condition. This is indicated by block <NUM> in the flow diagram of <FIG>. In one example, sprayer control signal generator logic <NUM> generates control signals to control operator interfaces <NUM> to show an operator user interface element (such as a warning, an alert, or another indication) indicative of the detected overspray condition. This is indicated by block <NUM>. Sprayer control signal generator logic <NUM> can generate control signals to control the boom position subsystem <NUM> to control the boom height. This is indicated by block <NUM>. Nozzle control logic <NUM> can generate control signals to control nozzles <NUM>. For instance, it can modify the nozzles to control the droplet size of the droplets being sprayed. This is indicated by block <NUM>. By way of example, if the droplet size is increased, it may be less likely that the substance will cross a field boundary. It can shut off the nozzles as indicated by block <NUM>, or a subset of the nozzles (such as those closest to the field boundary). It can inject drift retardant <NUM> into the sprayed substance. In one example, path control logic <NUM> illustratively controls the sprayer speed of sprayer <NUM>. This is indicated by block <NUM>. In another example, path control logic <NUM> generates control signals to control the propulsion subsystem <NUM> and steering subsystem <NUM> of sprayer <NUM> to change the path or route of sprayer <NUM>. Performing path planning is indicated by block <NUM>. It can change the sprayer route as indicated by block <NUM>. It can also store locations along the route of sprayer <NUM> where the nozzles were turned off. This is indicated by block <NUM>. It can then control sprayer <NUM> to return to the spots that were skipped, when the wind changes or when other conditions change so that an overspray condition is less likely. This is indicated by block <NUM>. It will be appreciated that a wide variety of other control signals can be generated to control other items on sprayer <NUM>. This is indicated by block <NUM>.

<FIG> is a pictorial illustration showing one example of spraying machine <NUM> deployed in a field <NUM>. Some items shown in <FIG> are similar to those shown in <FIG>, and they are similarly numbered. However, the UAV of <FIG> is replaced in <FIG> with a ground vehicle <NUM>. Ground vehicle <NUM> can have features/sensors that are similar to those of UAVs <NUM> and <NUM> in <FIG>. Among these, the sensors can be overspray sensors indicative of overspray chemical from machine <NUM>. Sensors mounted on ground vehicle <NUM> can be mounted on height adjusting or articulating arms so that sensor readings can be taken from multiple different altitudes or positions. Also, there may be multiple ground vehicles <NUM>, each with a sensor, that can be positioned, like the UAVs <NUM>, <NUM> are positioned, or they can be positioned differently. Ground vehicle <NUM> may either be unmanned (UGV) or manned. Some examples of manned ground vehicles include utility vehicles, trucks, tractors, ATVs, etc..

<FIG> is a pictorial illustration showing one example of spraying machine <NUM> deployed in a field <NUM>. In this example, there are overspray sensors <NUM> coupled to the machine <NUM>. Overspray sensors <NUM> can be mounted on arms <NUM> which are coupled to boom arms <NUM> and <NUM>. Arms <NUM> can articulate or pivot about points <NUM>, they can telescope or otherwise move. They can be moved manually or by controlling one or more actuators in a sensor mobility system <NUM> (shown in <FIG>). The actuators can be controlled automatically or manually as well. Control of arms <NUM> can be based upon similar factors that determine appropriate locations of UAVs <NUM>-<NUM>, discussed above. For example, the wind may be in the direction generally indicated by arrow <NUM>, in which case the arms <NUM> can move overspray sensors <NUM> into a position downwind of the spray nozzles on boom arms <NUM> and <NUM>. Of course, arms <NUM> can be stationary and located at predetermined overspray locations as well.

<FIG> is a pictorial illustration showing one example of spraying machine <NUM> deployed in a field <NUM>. Some items shown in <FIG> are similar to those shown in <FIG>, and they are similarly numbered. Field <NUM> is defined by boundaries <NUM>-<NUM>. Along boundary <NUM> is an area of sensitivity <NUM>. Area of sensitivity <NUM> is an area that is sensitive to overspray from machine <NUM>. Examples of areas of sensitivity <NUM> include residential areas, fields containing plants sensitive to sprays, organic certified fields, etc. When a known area of sensitivity <NUM> exists, sensors <NUM> may be placed along the adjacent edge of field <NUM>, to help identify if overspray is leaving field <NUM> in the direction of area of sensitivity <NUM>. Sensors <NUM> can be mounted to fixed, permanent, semi-permanent or mobile structures. For instance, sensors <NUM> can be mounted to fixed or movable poles or other ground-based elements or structures. The permanent or semi-permanent structures can support the sensors so they have some types of mobility. For instance, the structures can have the sensors mounted on articulating, telescoping, or extending arms, etc. The movement of the arms can be driven manually or automatically, by actuators or other mechanisms in sensor mobility system <NUM>, or elsewhere.

<FIG> is a pictorial illustration showing one example of overspray sensors deployed in a worksite. Worksite <NUM> comprises an agricultural field <NUM>. In the example shown, there are four overspray sensors <NUM>, <NUM>, <NUM>, and <NUM>. These sensors are mounted on arms <NUM>. Arms <NUM> may be permanently installed into the ground or they can be portable. Arms <NUM> in one example, have an adjustable height and/or articulate to accommodate for different scenarios. For instance, in the example shown, sensor <NUM> is lower than sensor <NUM>. The height, spacing and quantity of sensors in <FIG> may be modified for differing conditions. For example, if an area adjacent to field <NUM> is more hypersensitive to chemicals being sprayed, more sensors can be spaced close together at varying heights to monitor overspray.

<FIG> also shows that sensors <NUM>, <NUM>, <NUM> and <NUM> can include short range communication components <NUM> so they are in short range communication with one another as indicated by signal <NUM>. <FIG> also shows that at least one of them (e.g., sensor <NUM>) can include a long-range communication components <NUM> that can communicate data received from all of the sensors (using short range communication components <NUM>) to a location that is remote from worksite <NUM>. Such as a remote computing system <NUM>, sprayer <NUM>, UAVs, UGVs or other sensors or systems. Long-range communication component <NUM>, as described above, can operate on a cellular, satellite or other long-range communication protocol.

The present discussion has mentioned processors and servers. In one embodiment, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of the other components or items in those systems.

<FIG> is a block diagram of sprayer <NUM>, shown in <FIG>, except that it communicates with elements in a remote server architecture <NUM>. In an example remote server architecture <NUM> can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various embodiments, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown in <FIG> as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the example shown in <FIG>, some items are similar to those shown in <FIG> and they are similarly numbered. <FIG> specifically shows that remote systems <NUM> can be located at a remote server location <NUM>. Therefore, sprayer <NUM> accesses those systems through remote server location <NUM>.

<FIG> also depicts another example of a remote server architecture. <FIG> shows that it is also contemplated that some elements of <FIG> are disposed at remote server location <NUM> while others are not. By way of example, data store <NUM> can be disposed at a location <NUM> or separate from location <NUM>, and accessed through the remote server at location <NUM>. Regardless of where they are located, they can be accessed directly by sprayer <NUM>, through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an embodiment, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the sprayer comes close to the fuel truck for fueling, the system automatically collects the information from the sprayer using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on the sprayer until the sprayer enters a covered location. The sprayer, itself, can then send the information to the main network.

It will also be noted that the elements of <FIG>, or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc..

<FIG> is a simplified block diagram of one illustrative example of a handheld or mobile computing device that can be used as a user's or client's hand held device <NUM>, in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of sprayer <NUM> for use in generating, processing, or displaying the overspray data and position data. <FIG> are examples of handheld or mobile devices.

<FIG> provides a general block diagram of the components of a client device <NUM> that can run some components shown in <FIG>, that interacts with them, or both. In the device <NUM>, a communications link <NUM> is provided that allows the handheld device to communicate with other computing devices and under some embodiments provides a channel for receiving information automatically, such as by scanning. Examples of communications link <NUM> include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

In other examples, applications can be received on a removable Secure Digital (SD) card that is connected to an interface <NUM>. Interface <NUM> and communication links <NUM> communicate with a processor <NUM> (which can also embody processors or servers from other FIGS. ) along a bus <NUM> that is also connected to memory <NUM> and input/output (I/O) components <NUM>, as well as clock <NUM> and location system <NUM>.

I/O components <NUM>, in one embodiment, are provided to facilitate input and output operations. I/O components <NUM> for various embodiments of the device <NUM> can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components <NUM> can be used as well.

Memory <NUM> stores operating system <NUM>, network settings <NUM>, applications <NUM>, application configuration settings <NUM>, data store <NUM>, communication drivers <NUM>, and communication configuration settings <NUM>. Memory <NUM> can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory <NUM> stores computer readable instructions that, when executed by processor <NUM>, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor <NUM> can be activated by other components to facilitate their functionality as well.

<FIG> shows one example in which device <NUM> is a tablet computer <NUM>. In <FIG>, computer <NUM> is shown with user interface display screen <NUM>. Screen <NUM> can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port, for instance. Computer <NUM> can also illustratively receive voice inputs as well.

<FIG> is one example of a computing environment in which elements of <FIG>, or parts of it, (for example) can be deployed. With reference to <FIG>, an example system for implementing some embodiments includes a general-purpose computing device in the form of a computer <NUM>. Components of computer <NUM> may include, but are not limited to, a processing unit <NUM> (which can comprise processors or servers from other FIGS. ), a system memory <NUM>, and a system bus <NUM> that couples various system components including the system memory to the processing unit <NUM>. The system bus <NUM> may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect to <FIG> can be deployed in corresponding portions of <FIG>.

Other input devices (not shown) may include foot pedals, steering wheels, levers, buttons, a joystick, game pad, satellite dish, scanner, or the like.

The computer <NUM> is operated in a networked environment using logical connections (such as a local area network - LAN, or wide area network WAN) to one or more remote computers, such as a remote computer <NUM>.

Claim 1:
A mobile agricultural sprayer, comprising:
a frame;
a tank (<NUM>) configured to carry a substance to be sprayed;
a spraying mechanism that sprays the substance; and
an overspray detection system (<NUM>) that generates control signals to obtain sensor information from a sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>), that senses a spray variable indicative of a presence of the substance, at a sensor location corresponding to a field boundary of a field (<NUM>) over which the sprayer (<NUM>) is traveling and that receives an overspray detected signal indicative of the sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) sensing the presence of the substance at the sensor location, the mobile agricultural sprayer further comprising a likely drift detector logic that receives sprayer location information indicative of a geographic location of the sprayer, a wind sensor signal indicative of a value of a sensed wind variable and field characteristic data indicative of the field boundary of the field, and generates an overspray likely signal when a likely overspray condition is identified, based on the sprayer location information, the value of the sensed wind variable and the geographical characteristic of the field (<NUM>), characterized in that, the mobile agricultural sprayer further comprising a sensor rest control logic configured to generate a sensor control signal to activate the sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) when the sensor location corresponds to the likely overspray condition and to deactivate the sensor (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) when the sensor location does not correspond to the likely overspray condition.