U.S. patent number RE31,023 [Application Number 06/016,845] was granted by the patent office on 1982-09-07 for highly automated agricultural production system.
This patent grant is currently assigned to Advanced Decision Handling, Inc.. Invention is credited to Arthur D. Hall, III.
United States Patent |
RE31,023 |
Hall, III |
September 7, 1982 |
Highly automated agricultural production system
Abstract
The present invention provides a highly automated agricultural
production system which comprises, as essential components: 1. A
sensing subsystem comprising direct and indirect sensing means in
an agricultural production area. The direct sensing means are
generally ground or plant mounted. The indirect sensing means are
remote from the area being sensed. The direct and indirect sensing
means are adapted to jointly generate data on all important
parameters in the homogeneous agricultural production area; 2. A
data transmitting subsystem for forwarding data generated by the
direct and indirect sensing means to computing means and for
transmitting instructions from the computing means via interfacing
means (controllers) to various devices (field effectors) in the
agricultural area to perform various functions; 3. A computing
subsystem linked by way of said data transmitting subsystem to said
indirect and direct sensing means in a pattern of many feedback
loops. The computing means is programmed to enable correlation of
data received from the indirect and direct sensing means and to
generate appropriate instructions to accomplish a substantive
number of functions required for the operation of the automated
agricultural production system of the present invention as will be
later described in detail, including, but not limited to, the
control of the following subsystems. 4. A fluid delivery subsystem
which provides: means for delivering water, chemicals in liquid or
gaseous form, air, and the like to various parts of the
agricultural production area; and means for providing power to
various peripheral devices which utilize the power of moving liquid
and/or gases-for example, a water powered (hydromotor) platform. 5.
A field operations subsystem which, in a highly preferred
embodiment, comprises means to harvest agricultural products,
convey the agricultural products, grade the agricultural products,
store the agricultural products, and pack the agricultural
products. In addition to the above means which are essentially
concerned with presenting the agricultural products in a form
amenable for marketing, additionally means are provided for plant
care, e.g., pruning, thinning and the like. A field operations
subsystem which accomplishes the functions of fruit harvesting,
fruit conveying, fruit grading and fruit storage which, in a most
preferred embodiment of the present invention, accomplishes the
above functions utilizing fluid received from the fluid delivery
subsystem of the present invention. It is also highly preferred
that such fluid powered means be utilized in the agricultural
system of the present invention for tree care, e.g., pruning of
trees, thinning of trees and the like. The field operations can be
accomplished, if desired, utilizing a vehicle which is powered by
fluid, typically water, derived from the fluid delivery subsystem
of the present invention by means of a water-to-mechanical torque
converter (hereafter often called a hydromotor platform).
Inventors: |
Hall, III; Arthur D. (Port
Deposit, MD) |
Assignee: |
Advanced Decision Handling,
Inc. (Port Deposit, MD)
|
Family
ID: |
26689130 |
Appl.
No.: |
06/016,845 |
Filed: |
March 2, 1979 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
Reissue of: |
567322 |
Apr 11, 1975 |
04015366 |
Apr 5, 1977 |
|
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Current U.S.
Class: |
405/37;
137/236.1; 137/386; 137/79; 138/111; 180/305; 193/25E; 198/570;
209/173; 239/210; 239/69; 239/727; 239/745; 382/100; 47/2;
47/DIG.6; 56/237; 56/328.1; 700/67; 700/90 |
Current CPC
Class: |
A01D
46/24 (20130101); A01G 3/04 (20130101); A01G
7/00 (20130101); A01G 25/16 (20130101); B07C
5/342 (20130101); A01M 7/0089 (20130101); Y10T
137/1963 (20150401); Y10T 137/402 (20150401); Y10T
137/7287 (20150401) |
Current International
Class: |
A01G
3/00 (20060101); A01G 7/00 (20060101); A01G
25/16 (20060101); A01G 3/04 (20060101); A01M
7/00 (20060101); A01D 46/00 (20060101); A01D
46/24 (20060101); B07C 5/342 (20060101); A01D
046/00 (); A01G 027/00 (); A01G 013/00 () |
Field of
Search: |
;47/1,9,2,58,1.7,17,48.5
;111/1 ;56/1,13.3,38.8R,339 ;239/63-65,67-70,191 ;137/78
;317/DIG.3 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Bagwill; Robert E.
Attorney, Agent or Firm: Sughrue, Rothwell, Mion, Zinn and
Macpeak
Claims
What is claimed is:
1. A computerized system for the production of agricultural
products in an agricultural area which comprises a plurality of
homogeneous agricultural areas, said system comprising:
a. sensing means for sensing a plurality of desired parameters in
said plurality of homogeneous agricultural areas, which parameters
are necessary to achieve desired agricultural product growth, and
for generating sensor data output representative of said
parameters;
b. a plurality of different controlled means operative in response
to selectively applied control signals for producing desired
changes in said parameters;
c. computing means for comparing said sensor data output to
pre-established standards for said plurality of parameters in said
agricultural areas, said computing means being programmed to
generate said control signals as a result of the comparison of said
sensor data output and said pre-established standards both directly
and in relation to the sensed inter-relationship of such
comparisons from others of said parameters and to optimize said
control signals; and
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means, said data transmission means
comprising means for coding and multiplexing sensor data output
from a plurality of said sensing means onto a single data
transmission channel and means for coding and multiplexing control
signals for a plurality of said controlled means onto a single data
transmission channel.
2. The system of claim 1 wherein said data transmission means
comprises a pair of conductors for two-directional transmission,
and code detecting means associated with each of said sensing means
and said controlled means and responsive to coded signals on said
pair of conductors for connecting said sensing means and said
controlled means to said computing means.
3. The system of claim 1 wherein said data transmission means
comprises a matrix of conductors in said agricultural area, said
sensing means and said controlled means being located at
intersections of conductors in said matrix and responsive to the
simultaneous occurrence of at least two signals at an intersection
for actuation.
4. The system of claim 1 further comprising a power distribution
network for providing electric energy to said sensing means and to
said controlled means, said data transmission means being congruent
with said power distribution network.
5. The system of claim 4 wherein the power and control signals are
multiplexed onto the same lead.
6. The system of claim 1 wherein said sensing means includes both
direct sensing means in said homogeneous agricultural area for
directly measuring said parameters, and indirect sensing means
located at a point remote from said homogeneous agricultural area
for detecting and measuring radation from said homogeneous
agricultural areas as an indirect measurement of said
parameters.
7. The system of claim 2 further comprising fluid delivery means in
said agricultural area and connected to said computing means by
said data transmission means for conveying fluid to or selected one
of said homogeneous agricultural areas under the control of said
computing means.
8. The system of claim 7 wherein said fluid delivery means
comprises a conduit network throughout said agricultural area.
9. The system of claim 8 wherein said fluid delivery means
comprises fluid ejection means.
10. The system of claim 9 wherein said fluid delivery means is in
communication with a source of heated water.
11. The system of claim 10 further comprising means for heating
said heated water to temperatures selected by said computing
means.
12. The system of claim 9 wherein said fluid ejection means
comprises solid set sprinklers.
13. The system of claim 9 wherein said fluid ejection means
comprises solid set sprinklers in combination with microtube
tricklers, said solid set sprinklers being connected to a source of
gas and a source of liquid, trickler irrigation is accomplished
using a stream of liquid, and spraying is accomplished using a
combined stream of gas and liquid.
14. The system of claim 13 wherein said fluid ejection means is
activated by solenoids, which solenoids are in electrical
communication with said controlled means, said controlled means
being linked to said computing means by said data transmission
system.
15. The system of claim 9 wherein said fluid ejection means is
activated by hydraulic pressure changes in said fluid delivery
system.
16. The system of claim 9 wherein said fluid ejection means is
activated by an electrical signal delivered to said fluid ejection
means via said data transmission means.
17. The system of claim 9 wherein said fluid delivery means is in
communication with a source of water-soluble agricultural chemicals
which can be introduced into and dispensed via said fluid ejection
means.
18. The system of claim 9 wherein said fluid delivery means is in
communication with a source of water in which the water temperature
is stratified by natural forces and wherein said fluid delivery
system is adapted to draw water therefrom in at least two different
temperature strata.
19. The system of claim 9 which further comprises frost protection
means.
20. The system of claim 19 wherein said frost protection means is
adapted to spray water at a selected temperature onto trees in said
agricultural area at a selected, extremely low level of
application, whereby the heat of the water and the heat of fusion
of said water provides frost protection.
21. The system of claim 20 wherein said frost protection means
further comprises means for illuminating said trees with infrared
illumination and means for directing heated gas on said trees, the
blend of the use of said water spraying means, said illumination
means, and said gas directing means being controlled by said
computing means.
22. The system of claim 9 wherein said fluid delivery means is in
communication with a source of carbon dioxide as carbonic acid and
is adapted to receive, convey and dispense said carbon dioxide.
23. The system of claim 8 wherein said conduit network comprises at
least one main conduit feeding a plurality of secondary lateral
conduits, said lateral conduits comprising a plurality of sequence
valves in series therealong, each sequence valve being in
controllable fluid communication with a pressure activated valve
capable of selectively introducing fluid into one of a plurality of
fluid ejection means in response to variations in the line pressure
of said fluid.
24. The system of claim 8 wherein said conduit network comprises at
least one main conduit feeding a plurality of secondary lateral
conduits, said lateral conduits comprising a plurality of sequence
valves in series therealong, each sequence valve being in
controllable fluid communication with fluid ejection means
comprising a telescoping support member reciprocable in the
vertical plane in response to varying line pressures of said fluid,
which telescoping support member carries a fluid sprinkler head
having a least one fluid ejection orifice whose effective flow
diameter is automatically variable in response to said varying line
pressures.
25. The system of claim 8 wherein said conduit network comprises at
least one main conduit feeding a plurality of secondary lateral
conduits, said lateral conduits comprising a plurality of sequence
valves in series therealong, each sequence valve being in
controllable fluid communication with a plurality of fluid ejection
means, which fluid ejection means comprises a fluid ejection nozzle
having a fluid ejection orifice of variable orifice diameter, said
nozzle being adjustable in elevation by a first solenoid and said
orifice diameter being adjusted by a second solenoid, said first
and second solenoids being in series and in communication with said
computing means over a single data transmission line.
26. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one parameter,
said sensing means including both direct sensing means in said at
least one homogeneous agricultural area for directly measuring said
one parameter, and indirect sensing means located at a point remote
from said homogeneous agricultural area for detecting and measuring
radiation from said homogeneous agricultural area as an indirect
measurement of said one parameter;
b. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means;
e. fluid delivery means in said agricultural area and connected to
said computing means by said data transmission means for conveying
fluid to said homogeneous agricultural area under the control of
said computing means; and
f. field operation means controlled by said computing means to
accomplish at least the harvesting of said agricultural
product.
27. The system of claim 26 further comprising fluid transportation
means hydraulically connected to said fluid delivery means for the
transportation of said agricultural product in fluid from the area
of growth thereof in said agricultural area to a different
location.
28. The system of claim 27 further comprising means controlled by
said computing means for the classification of said agricultural
product while said agricultural product is being transported in
said liquid.
29. The system of claim 28 wherein said means for the
classification of said agricultural product comprises a fluid flow
conduit disposed at an upwardly extending angle to receive fluid
and said agricultural product, which has a specific gravity less
than one, and convey the same upwardly while said agricultural
product is in contact with the upper surface of said fluid flow
conduit, said fluid flow conduit having disposed thereabove and in
fluid flow communication therewith at least one substantially
vertically oriented conduit, there being disposed between said
fluid flow conduit and said substantially vertically oriented
conduit means to permit the passage of agricultural product of a
desired size but to prevent the passage of agricultural product not
of the desired size.
30. The system of claim 28 wherein said means for the
classification of said agricultural product comprises:
an elongated fluid flow conduit having an agricultural product
receiving area to receive said agricultural product while in said
fluid at a first elevation;
ramp means having one end in said receiving area and a second end
in the beginning of an agricultural product vertical dispersal area
in said fluid, which second end is at a second elevation which is
higher than said first elevation; and
agricultural product removal means in said fluid at the ending of
said agricultural product vertical dispersion area, said
agricultural product removal means being at an elevation in said
fluid whereby agricultural product of a predetermined specific
gravity is dispersed to a degree which permits removal by said
agricultural product removal means.
31. The system of claim 28 wherein said means for the
classification of said agricultural product comprises a generally
horizontal U-shaped main conduit having a first upper horizontal
fluid receiving section joined to a second lower horizontal fluid
removal section by an arcuate vertically oriented section, at least
one portion of the inner wall of said conduit being provided with
means to cause agricultural product in said conduit to be impelled
against a portion of the outer wall of said conduit, which portion
contains means to permit passage of agricultural product of a
desired size into an agricultural product removal conduit but which
means prohibits passage of agricultural product not of the desired
size.
32. The system of claim 28 wherein said means for classification
includes at least two television cameras positioned to provide
multiviewpoint sensing of said agricultural product, and television
monitoring means and video recording means connected to said
television cameras by said data transmission means.
33. The system of claim 32 wherein each television camera is a
monochromatic television camera and associated therewith is
a. a filter wheel containing a plurality of filter means in the
periphery thereof,
b. stepping means connected to said filter wheel to rotate said
filter wheel in discrete steps thereby inserting into the path of
radiation detected by said monochromatic television camera a
selected filter means, and
c. controller means connected to said data transmission means and
responsive to control signals from said computing means for
positioning said monochromatic television camera by tilting and
rotating the same for focusing said monochromatic television
camera, and for controlling said stepping means.
34. The system of claim 33 further comprising light array means
including a plurality of radiation sources controlled by said
controller means for selectively impinging radiation of different
wavelengths on the field of view of said monochromatic television
camera.
35. The system of claim 32 wherein said computing means includes
image storage means for storing video signals which serve as
templates of standard conditions, said computing means comparing
video signals recorded by said video recording means with the video
signals stored in said image storage means and generating a signal
indicating a condition detected in said agricultural product.
36. The system of claim 28 further comprising means for storing
said agricultural product while in contact with a liquid after said
agricultural product has been harvested by said field operations
means.
37. The system of claim 36 wherein said storage means comprises
means for introducing said agricultural product into a storage area
and means for removing said agricultural product from said storage
area, which comprises at least two storage zones in series fluid
communication with means for the transportation of said
agricultural product, which storage zones comprise first valving
means to permit and prevent the entrance of said fluid into said
storage zones; second valving means to permit and prevent the
removal of said fluid from said storage zones; means to prevent
agricultural product in said fluid from reaching said second
valving means; and pumping means to introduce fluid into said
storage zones via said second valving means to permit removal of
agricultural product in said fluid via said first valving
means.
38. The system of claim 36 wherein said agricultural product
storage means comprises means to receive said agricultural product
and convey the same to the entrance of an agricultural product
storage zone, which entrance is underwater, and which entrance is
disposed lower than the exit of said agricultural product storage
zone;
an agricultural product storage zone comprising a substantially
vertically oriented enclosed area for the storage of agricultural
product, which area contains baffles and has an entrance and an
exit, which entrance is underwater and disposed lower than said
exit, said enclosed area also being underwater; and agricultural
product removal means in fluid communication with said exit.
39. The system of claim 26 wherein said field operation means
includes a wheeled vehicle attached by a conduit to said fluid
delivery means, said fluid delivery means containing water, whereby
water can flow from said fluid delivery means to said wheeled
vehicle via said conduit.
40. The system of claim 39 wherein said wheeled vehicle comprises
at least one support member carrying a rotatable reel upon which
said conduit is reeled in a removable manner.
41. The system of claim 40 wherein said wheeled vehicle is powered
by a water-to-mechanical torque converter, which converter is
powered by water received from said conduit which is joined to said
fluid delivery means.
42. The system of claim 41 wherein said vehicle has attached
thereto a water conveyor which receives water from said conduit and
conveys said water to a point remote from said vehicle.
43. The system of claim 42 wherein said water conveyer is U-shaped
at least in the area wherein said water is received from said
conduit.
44. The system of claim 43 wherein said vehicle carries thereon a
water conveyer drum upon which said water conveyer is reeled in
flat form.
45. The system of claim 44 wherein said vehicle comprises upper and
lower support members, said upper support member being elevatable
with respect to said lower support member.
46. The system of claim 45 wherein said water conveyer is carried
by said vehicle at said upper support member.
47. The system of claim 46 wherein said upper support member has
attached thereto laterally extensible members which are
reciprocal.
48. The system of claim 46 wherein said vehicle further comprises
water jet spray means attached thereto and adapted to pass around
two rows of trees and remove fruit therefrom by striking water jet
sprays thereagainst.
49. The system of claim 46 wherein said vehicle further comprises
at least one laterally extensible member carried by said upper
support member, said laterally extensible member having at the
extremity thereof a slotting saw and carrying disposed beneath said
slotting saw a chute for the receipt of plant trimmings cut by said
slotting saw, which chute communicates with comminuting means
carried by said lower support member, which comminuting means
receives said plant trimmings and comminutes the same.
50. The system of claim 49 wherein said comminuting means is
provided with an exit port which communicates with a conduit
leading to said water conveyer whereby said comminuted trimmings
are fed to said water conveyer.
51. The system of claim 46 wherein said vehicle further
comprises:
a. fluid jet spray means carried at the side of said vehicle
carrying fluid ejection nozzles suspended from said upper support
member, said fluid ejection nozzles being in fluid communication
with said conduit to receive fluid therefrom and adapted to pass
around a plant on each side of said vehicle and by way of fluid
ejected from said fluid ejection nozzles remove produce from said
plants;
b. produce receiving means disposed at the lower portion of said
fluid jet spray means to receive said produce removed from said
plants due to said fluid ejected from said fluid ejection nozzles;
and
c. means to convey said produce from said produce receiving means
while in said fluid into said water conveyer.
52. The system of claim 41 wherein said vehicle comprises at least
one support carrying a rotatable reel upon which said conduit is
reeled in a removable manner and said vehicle has a water conveyer
attached thereto which receives water from said conduit, said water
conveyer conveying said water to a point remote from said
vehicle.
53. The system of claim 27 wherein said means for the
transportation of said agricultural product in fluid from the area
of growth thereof is in fluid communication with agricultural
product storage and grading means, which storage and grading means
comprises means to receive said agricultural product and convey the
same to the lowermost portion of a fluid flow conduit disposed at
an upwardly extending angle which receives said fluid and said
agricultural product, which agricultural product has a specific
gravity less than 1, and conveys the same while said agricultural
product is in contact with the upper surface of said fluid flow
conduit, said fluid flow conduit having disposed thereabove and in
fluid flow communication therewith at least one storage area for
said agricultural product, there being disposed between said fluid
flow conduit and said at least one storage area means to permit the
passage of agricultural product of a desired size but prevent the
passage of agricultural product of other than the desired size;
and
agricultural product removal means in fluid flow communication with
said at least one storage area to permit the removal of said
agricultural product.
54. The system of claim 27 wherein said means for the
transportation of said agricultural product in liquid from the area
of growth thereof is in communication with agricultural product
storage and grading means which comprises:
means to receive said agricultural product and convey the same to
the entrance of an agricultural product storage zone, which
entrance is underwater and which entrance is disposed lower than
the exit of said agricultural product storage zone, said exit being
in fluid flow communication with the lowermost portion of a fluid
flow conduit disposed at an upwardly extending angle which receives
said fluid and said agricultural product, which agricultural
product has a specific gravity less than one, and conveys the same
while said agricultural product is in contact with the upper
surface of said fluid flow conduit, said fluid flow conduit having
disposed thereabove and in fluid flow communication therewith at
least one substantially vertically oriented conduit, there being
disposed between said fluid flow conduit and said substantially
vertically oriented conduit means to permit the passage of
agricultural product of a desired size but to prevent the passage
of agricultural product not of the desired size, and means to
remove agricultural product from said at least one substantially
vertically oriented conduit.
55. The system of claim 26 wherein said field operation means
includes means for the batch harvesting of agricultural product
which comprises:
a first container provided with means adapting the same to fit
around and substantially completely enclose a plant upon which said
agricultural product is growing, which agricultural product is to
be picked;
a second container provided with means adapting the same to fit
around and substantially completely enclose a plant upon which
agricultural product is growing, which agricultural product is to
be picked;
a first fluid flow conduit interconnecting said first container and
said second container and being provided with pumping means to
transfer fluid from said first container to said second container
and vice versa, whereby as said first container is emptied said
second container is filled and as said second container is emptied
said first container is filled;
a second fluid flow conduit adapted to introduce fluid into said
first container and said second container from said fluid
delivering means, and
at least one of said containers having disposed therein a buoyant
member which is adapted to reciprocate vertically in said container
in response to changes in fluid level therein, said buoyant member
being connected to a source of fluid and being adapted to forceably
eject fluid against said plant upon which said agricultural product
is growing while said plant is enclosed in said container.
56. The system of claim 55 wherein said second fluid flow conduit
is interconnected with said first and second containers by a
multiport valve which permits fluid to be selectively introduced
into said first or said second containers.
57. The system of claim 56 wherein said multiport valve is fed with
fluid derived from said fluid delivery means.
58. The system of claim 55 wherein said first and second containers
are provided with exit means to permit the removal of agricultural
product and fluid, which exit means is joined to fluid conveying
means for removal of said agricultural product and fluid from said
first and second containers.
59. The system of claim 27 wherein said fluid transportation means
includes means to elevate said fluid in a vertical direction which
comprises:
a first fluid storage area adapted to receive fluid and
agricultural product carried in a fluid;
a second fluid storage area in controllable fluid communication
with said first storage area adapted to receive fluid and
agricultural product from said first storage area;
a third fluid storage area adapted to receive fluid from said
second--third fluid storage area adapted to receive fluid from said
second means;
fluid flow control means to permit flow from said first fluid
storage area to said second storage area upon the filling of said
first storage area and to prevent fluid flow into said third
storage area from said second storage area;
second interconnecting means between said third fluid storage area
and said second fluid storage area containing pumping means to
remove fluid from said third storage area and reintroduce the same
into said second storage area via said second interconnecting
means, and
means for the introduction of fluid into said third storage area
and then into said second storage area via said second
interconnecting means, which fluid displaces the original batch of
fluid and agricultural product therein.
60. The system of claim 27 wherein said fluid transportation means
includes means for polishing, drying and waxing said agricultural
product while temporarily removing said agricultural product from
said fluid.
61. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one parameter,
said sensing means including both direct sensing means in said at
least one homogeneous agricultural area for directly measuring said
one parameter, and indirect sensing means located at a point remote
from said homogeneous agricultural area for detecting and measuring
radiation from said homogeneous agricultural area as an indirect
measurement of said one parameter;
b. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard.
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means; and
e. fluid delivery means in said agricultural area and connected to
said computing means by said data transmission means for conveying
fluid to said homogeneous agricultural area under the control of
said computing means, said data transmission means and said fluid
delivery means being housed in a common conduit in contiguous but
separated relationship.
62. The system of claim 61 wherein said common conduit comprises a
plurality of separated compartments along its length.
63. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one parameter,
said sensing means including both direct sensing means in said at
least one homogeneous agricultural area for directly measuring said
one parameter, and indirect sensing means located at a point remote
from said homogeneous agricultural area for detecting and measuring
radiation from said homogeneous agricultural area as an indirect
measurement of said one parameter, said direct sensing means
comprising two carbon dioxide sensors at different elevations in at
least one homogeneous agricultural area;
b. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means;
e. a source of carbon dioxide; and
f. fluid delivery means in said agricultural area and connected to
said computing means by said data transmission means for conveying
fluid to said homogeneous agricultural area under the control of
said computing means, said fluid delivery means comprising a
conduit network throughout said agricultural area and fluid
ejection means, said fluid delivery means being in communication
with said source of carbon dioxide and being adapted to receive,
convey, and dispense carbon dioxide from said source.
64. The system of claim 63 comprising baffles enclosing an area
along contour lines of elevation to contain carbon dioxide.
65. The system of claim 63 wherein each of said two carbon dioxide
sensors comprises at least two electrodes and temperature sensing
means in contact with distilled water.
66. The system of claim 65 further comprising a Wheatstone bridge
two arms of which are in electrical contact with respective ones of
said electrodes and which is arranged to be interrogated by
activating two arms of the Wheatstone bridge while measuring the
voltage across the other two arms, the signals for both pairs of
arms being sent and received, respectively, over said data
transmission means.
67. Agricultural product storage means comprising:
means to receive an agricultural product and convey the same to the
entrance of an agricultural product storage zone, which entrance is
underwater and which entrance is disposed lower than the exit of
said agricultural product storage zone;
an agricultural product storage zone comprising a substantially
vertically oriented enclosed area for the storage of agricultural
product, which area has an entrance and an exit, which entrance is
underwater and disposed lower than said exit, said enclosed area
also being underwater; and
agricultural product removal means in fluid communication with said
exit.
68. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one parameter,
said sensing means including both direct sensing means in said at
least one homogeneous agricultural area for directly measuring said
one parameter and indirect sensing means located at a point remote
from said homogeneous agricultural area for detecting and measuring
radiation from said homogeneous agricultural area as an indirect
measurement of said one parameter; said indirect sensing means
including a network of television cameras;
b. television monitoring means and video recording means connected
to said network of television cameras by data transmission means to
be recited;
c. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
d. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard; and
e. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means.
69. The system of claim 68 wherein each television camera in said
network is a monochromatic television camera and associated
therewith is
a. a filter wheel containing a plurality of filter means in the
periphery thereof,
b. stepping means connected to said filter wheel to rotate said
filter wheel in discrete steps thereby inserting into the path of
radiation detected by said monochromatic television camera a
selected filter means, and
c. controller means connected to said data transmission means and
responsive to control signals from said computing means for
positioning said monochromatic television camera by tilting and
rotating the same for focusing said monochromatic television
camera, and for controlling said stepping means.
70. The system of claim 69 further comprising light array means
including a plurality of radiation sources controlled by said
controller means for selectively impinging radiation of different
wavelengths on the field of view of said monochromatic television
camara.
71. The system of claim 70 wherein said plurality of radiation
sources include a monochromatic laser, a lithium flare, a xenon
flash, a mercury arc lamp.
72. The system of claim 68 wherein said television monitoring means
comprises a plurality of television receivers and said video
recording means comprises a plurality of video tape recorders, said
system further comprising switch means interposed between said
network of television cameras and said television monitoring means
and video recording means for selectively connecting any one of the
television cameras in said network to any one of said television
receivers and any one of said video tape recorders.
73. The system of claim 72 wherein said switch means comprises a
switch array having horizontal switch conductors and intersecting
vertical switch conductors, said horizontal switch conductors being
connected to said network of television cameras and said vertical
switch conductors being connected to said television monitoring
means and video recording means, and switch array control means
connected to said data transmission means and responsive to control
signals from said computing means for selectively electrically
connecting the intersections of said horiziontal and vertical
switch conductors whereby said switch array serves as a means to
concentrate or expand said television cameras and said television
receivers and video tape recorders.
74. The system of claim 68 further comprising selector means
associated with said television monitoring means and video
recording means for selecting the signal of a single one of the
television cameras in said network for monitoring and/or
recording.
75. The system of claim 74 wherein said selector means is a time
division multiplexor.
76. The system of claim 68 wherein said computing means includes
image storage means for storing video signals which serve as
templates of standard conditions, said computing means comparing
video signals recorded by said video recording means with the video
signals stored in said image storage means and generating a signal
indicating a condition detected in said homogeneous agricultural
area.
77. The system of claim 68 wherein said television monitoring means
comprises a plurality of television receivers and said video
recording means comprises a plurality of video tape recorders, said
system further comprising switch means interposed between said
television cameras and said television monitoring means and video
recording means for selectively connecting any one of the
television cameras in said network to any one of said television
receivers and any one of said video tape recorders.
78. The system of claim 77 wherein said switch means comprises a
switch array having horizontal switch conductors and intersecting
vertical switch conductors, said horizontal switch conductors being
connected to said television cameras and said vertical switch
conductors being connected to said television monitoring means and
video recording means, and switch array control means connected to
said data transmission means and responsive to control signals from
said computing means for selectively electrically connecting the
intersections of said horizontal and vertical switch conductors
whereby said switch array serves as a means to concentrate or
expand said television cameras and said television receivers and
video tape recorders.
79. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representive of said at least one parameter,
said sensing means and controlled means to be recited comprising a
field package:
b. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means, said data transmission means
comprising a pair of conductors for two-directional
transmission;
e. code detecting means associated with each of said sensing means
and said controlled means and responsive to coded signals on said
pair of conductors for connecting said sensing means and said
controlled means to said computing means; and
f. fluid delivery means in said agricultural area and connected to
said computing means by said data transmission means for conveying
fluid to said controlled means under the control of said computing
means, said data transmission means being congruent with said fluid
delivery means.
80. The system of claim 79 further comprising a power distribution
network for providing electric energy to said sensing means and to
said controlled means, said power distribution network being
congruent with said data transmission means and said fluid delivery
means.
81. The system of claim 79 wherein said fluid delivery means
includes an air delivery line and a liquid delivery line and said
controlled means includes liquid spray means and liquid irrigation
means, first spool valve means connected between said air delivery
and liquid delivery line and said liquid spray means and controlled
by said code detecting means for spraying said agricultural area,
and second spool valve means connected between said liquid delivery
line and said liquid irrigation means and controlled by said code
detecting means for irrigating said agricultural area.
82. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representtive of said at least one
parameter;
b. controlled means operative to response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensing
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means, said data transmission means
comprising a pair of conductors for two-directional
transmission;
e. code detecting means associated with each of said sensing means
and said controlled means and responsive to coded signals on said
pair of conductors for connecting said sensing means and said
controlled means to said computing means;
f. address sending means controlled by said computing means and
connected to said data transmission means for sending a binary
signal to said code detecting means; and
g. signal receiver means connected to said data transmission means
for detecting a pulse amplitude modulated signal from said sensing
means.
83. The system of claim 82 further comprising an analog-to-digital
converter connected between said signal receiver means and said
computing means for converting said pulse amplitude modulated
signal to a digital signal.
84. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one
parameter;
b. a controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard; and
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means, said data transmission means
comprising:
i. a matrix of conductors in said agricultural area, said sensing
means and said controlled means being located at intersections of
conductors in said matrix and being responsive to the simultaneous
ocurrence of at least two signals at an intersection for
activation, and
ii. a further single data conductor connected to all of said
sensing means and to said computer, whereby only that sensing means
which is addressed by said at least two signals in said matrix is
connected to said computing means by said further single data
conductor.
85. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing at least one desired parameter in said
homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one
parameter;
b. controlled means operative in response to a control signal for
producing a desired change in said one parameter;
c. computing means for comparing said sensor data output to at
least one pre-established standard for said parameter in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means, said data transmission means
comprising a matrix of conductors comprising row conductors and
column conductors in said agricultural area, said sensing means and
said controlled means being located at intersections of conductors
in said matrix and being responsive to the simultaneous occurrence
of at least two signals at an intersection for activation;
e. row selector means connected to said row conductors and
controlled by said computing means to select a single one of said
row conductors;
f. column selector means connected to said column conductors and
controlled by said computing means to select a single one of said
column conductors; and
g. function selector means connected to said column selector means
and controlled by said computing means to control the function of a
selected controlled means.
86. The system of claim 85 wherein said controlled means are fluid
dispensing means, said system further comprising fluid delivery
means in said agricultural area and connected to convey fluid to
said fluid dispensing means, said fluid dispensing means being
connected in rows by said fluid delivery means, said fluid delivery
means including solenoid valve means in each of said rows of fluid
dispensing means and connected to said row conductors for passing
fluid in response to a signal on a corresponding row conductor.
87. The system of claim 86 wherein said fluid dispensing means are
spray heads having position control means and nozzle orifice
control means connected to said column conductors and responsive to
said function selector means to position said spray heads and
adjust size of the nozzle orifices of said spray heads.
88. A computerized system for the production of agricultural
products in an agricultural area which comprises at least one
homogeneous agricultural area, said system comprising:
a. sensing means for sensing soil moisture in said homogeneous
agricultural area and for generating a sensor data output
representative of said soil moisture;
b. an irrigation system operative in response to a control signal
for producing a desired change in said soil moisture, said
irrigation system including means for storing water;
c. computing means for comparing said sensor data output to at
least one pre-established standard for soil moisture in said
agricultural area, said computing means being programmed to
generate said control signal as a result of the comparison of said
sensor data output and said pre-established standard;
d. data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signal from said computing means and transmitting said control
signal to said controlled means;
e. means for measuring the amount of water in said means for
storing water and supplying a signal proportional thereto to said
computing means; and
f. means for supplying weather forecast data in the form of signals
proportional to the forecast time and amount of rain to said
computing means,
g. said computing means being programmed to compute the amount of
irrigation water required to bring the soil moisture up to a
pre-established standard, to compare the computed amount of
irrigation water with the amount of water in said means for storing
water and the amount of rain forecast, and to adjust the computed
amount of irrigation water based on those computations in order to
generate said control signal. .Iadd. 89. A computerized system for
the production of agricultural products in an agricultural area
which comprises at least one homogeneous agricultural area, said
system comprising:
(a) sensing means for sensing at least one desired parameter in
said homogeneous agricultural area, which parameter is necessary to
achieve desired agricultural product growth, and for generating a
sensor data output representative of said at least one
parameter;
(b) a plurality of different controlled means each operative in
response to a different respective control signal and functioning
together to produce a desired change in said at least one
parameter;
(c) computing means for comparing said sensor data output to at
least one pre-established standard for said at least one parameter
in said agricultural area, said computing means being programmed to
generate said respective control signals as a result of the
comparison of said sensor data output and said pre-established
standard; and
(d) data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signals from said computing means and transmitting said control
signals to said controlled
means. .Iaddend. .Iadd. 90. A computerized system for the
production of agricultural products in an agricultural area which
comprises at least one homogeneous agricultural area, said system
comprising:
(a) a plurality of sensing means for sensing at least one desired
parameter in said homogeneous agricultural area, which parameter is
necessary to achieve desired agricultural product growth, and for
generating sensor data output signals representative of said at
least one parameter;
(b) a plurality of controlled means operative in response to
respective control signals for producing a desired change in said
at least one parameter;
(c) computing means for comparing said sensor data output signals
to at least one pre-established standard for said at least one
parameter in said agricultural area, said computing means being
programmed to generate said control signals as a result of the
comparison of said sensor data output signals and said
pre-established standards; and
(d) data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data output from said sensing means and transmitting said sensor
data output to said computing means, and for receiving said control
signals from said computing means and transmitting said control
signals to said controlled means, said data transmission means
comprising means for multiplexing sensor data output signals from
said plurality of sensing means onto a
single data transmission channel. .Iaddend..Iadd. 91. The system of
claim 90, wherein there are a plurality of controlled means and
said data transmission means further comprises means for
multiplexing control signals for said plurality of controlled means
onto a single data transmission channel. .Iaddend..Iadd. 92. The
system according to claim 90, wherein said data transmission means
includes address means for sending respective address signals to
said sensing means, and each said sensing means includes means for
receiving said address signals and providing a sensor data output
signal in response to its respective address signal.
.Iaddend..Iadd. 93. The system according to claim 91, wherein said
data transmission means includes address means for sending
respective address signals to said plurality of controlled means,
and each said controlled means includes means for receiving and
responding to its respective address signal. .Iaddend. .Iadd. 94. A
computerized system for the production of agricultural products in
an agricultural area, said system comprising:
(a) sensing means for sensing a plurality of parameters in said
agricultural area, at least one of said plurality of parameters
being a desired parameter which is necessary to achieve desired
agricultural product growth and for generating sensor data output
signals representative of said plurality of parameters;
(b) controlled means operative in response to a control signal for
producing a desired change in said desired parameter;
(c) computing means for comparing the sensor data output signal
representative of said desired parameter to at least one
pre-established standard for said desired parameter in said
agricultural area, calculating the proper control signal which
should be provided to said controlled means in order to produce
said desired change in said desired parameter and generating said
proper control signal, said computing means comparing sensor data
output signals, other than that representative of said desired
parameter, to one another for ensuring that said controlled means
has responded to said proper control signal; and
(d) data transmission means connecting said sensing means and said
control means to said computing means for receiving said sensor
data output signals from said sensing means and transmitting said
sensor data output signals to said computing means, and for
receiving said control signal from said computing means and
transmitting said control signal to said
controlled means. .Iaddend..Iadd. 95. A computerized system as
defined in claim 94 wherein said computing means continues to
generate said control signal until the comparison of said
pre-established standard and said sensor data output signal
representative of said desired parameter indicates that the desired
change in said desired parameter has been achieved. .Iaddend.
.Iadd. 96. A computerized system as defined in claim 95, wherein
said desired parameter is moisture and said computing means
computes the amount of irrigation water necessary to produce a
desired change in the sensed moisture. .Iaddend..Iadd. 97. A
computerized system for the production of agricultural products in
an agricultural area which comprises at least one homogeneous
agricultural area, said system comprising:
(a) sensing means for sensing a plurality of different parameters
in said homogeneous agricultural area, which parameters are
necessary to achieve desired agricultural product growth, and for
generating sensor data outputs representative of said
parameters;
(b) controlled means operative in response to a control signal for
producing desired changes in said parameters;
(c) computing means for comparing said sensor data outputs to
pre-established standards for said plurality of parameters in said
agricultural area and for comparing said sensor data outputs to one
another, said computing means being programmed to generate said
control signals as a result of both (1) the comparison of said
sensor data ouptuts and said pre-established standards and (2) the
comparison of various ones of the sensor data output signals to one
another; and
(d) data transmission means connecting said sensing means and said
controlled means to said computing means for receiving said sensor
data outputs from said sensing means and transmitting said sensor
data outputs to said computing means, and for receiving said
control signals from said computing means and transmitting said
control signals to said controlled means. .Iaddend.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to means for the production of
agricultural products.
2. Description of the Prior Art
U.S. Pat. No. 484,294, Carlson, discloses an automatic water
sprinkler. The automatic sprinkler may be guided along a desired
path by a rope placed on the ground, the sprinkler traversing the
rope with wheels on each side of the rope. At the end of its
desired path, the automatic sprinkler strikes an object such as a
preplaced stake, thereby causing the gears of the automatic
sprinkler to reverse and the automatic sprinkler to travel back to
its original path until it gets to its starting point, where it
again strikes another stake and reverses its gears. The automatic
sprinkler travels back and forth between the two stakes until
stopped.
U.S. Pat. No. 1,079,817, Williamson, discloses a sprinkling device
which travels back and forth suspended from a pipe track from which
the vehicle draws water periodically through valves. The water
drawn from the pipe track can be utilized not only for irrigating
purposes but, while falling under the influence of gravity, strikes
paddle wheels in the sprinkling device to move the same.
U.S. Pat. No. 1,142,442, Lord, discloses an automatic lawn
sprinkler which is adapted to run on tracks over a desired path,
the described lawn sprinkler utilizing a double winch with a draw
cable extending in each direction along the track so that at the
end of its travel the lawn sprinkler reverses its direction,
returns to its starting point and is there automatically stopped.
The lawn sprinkler is powered by a water jet striking against a
water wheel.
U.S. Pat. No. 2,578,981, Parker, discloses an electronically
operated irrigation system, in this patent, sprinklers are under
the control of a fixed timer. The timer selects an appropriate time
for a soil moisture test and, if the soil moisture test calls for
irrigation, the system proceeds through a fixed routine until the
irrigation cycle is completed, thereafter being inactive until the
timer indicates another soil moisture sample should be taken. In
the Parker system, the moisture sensor is not independent of ion
concentrations, the moisture sensor cannot be sampled at any
desired time and the entire system must be duplicated for each
sensor, all features which are unlike the present invention.
U.S. Pat. No. 2,674,490, Richards, discloses an irrigation system
controlled by a single soil moisture sensor of the tensionometer
type. The tensionometer actuates a timer through a vacuum line and,
in a manner similar to U.S. Pat. No. 2,578,981, Parker, the timer
initiates an irrigation cycle which must be completely run through
prior to completion of the cycle.
U.S. Pat. No. 2,831,434, Hunter et al., discloses a mechanical
system for controlling irritation apparatus which essentially can
be utilized to serve only one sensor.
U.S. Pat. No. 3,037,704, Kinigsberg et al., discloses an
electromechanical automatic control for irrigation systems
involving a soil moisture sensor which depends upon electrical
conductivity between two electrodes for the sensing of soil
moisture, rendering the sensor susceptible to error due to ions
found in soil. Kinigsberg makes no provision for space division or
time division switching.
U.S. Pat. No. 3,114,243, Winters, provides an automatic system of
ditch irrigation where the flow of water from the ditch to rows is
controlled by solenoid operated gates under the control of a radio
receiver which receives signals from a soil moisture sensor. The
soil moisture sensor of Winters is, of course, not subject to
feedback loop control and, once an irrigation cycle is initiated,
it must be taken to completion until all fields are flooded and the
contact at the meter location is opened. Further, Winters suggests
the use of only one sensor on the entire farm.
U.S. Pat. No. 3,200,539, Kelly describes a system for heating,
irrigating, and fertilizing a farm. The Kelly system is an
open-loop system providing no provisions for feedback loop
control.
U.S. Pat. No. 3,244,676, Rauchwerger, provides electronic means for
automatically controlling a sprinkler system, which can be used
only for controlling one function, viz, water irrigation. The
Rauchwerger system can be utilized to serve only one homogenous
agricultural area; to serve other areas, duplicating essentially
the entire system of Rauchwerger is necessary. Finally, in
Rauchwerger a photocell is utilized to inactivate the system in the
daytime, a feature which is not desirable, and, in Rauchwerger a
thermistor inactivates the system at 32.degree. F., rendering the
system useless for frost protection.
U.S. Pat. No. 3,354,579, Gross et al., discloses a system for the
prevention of frost damage. The Gross et al. system is an open-loop
system, i.e., no sensors are provided. Further, the utilization of
hot air and smudge in Gross et al is not an efficient means of
frost protection and, in fact, can lead to dangerous air pollution.
In Gross et al since no sprinkler heads or the like are provided,
it is impossible for the system to provide a spraying function.
U.S. Pat. No. 3,349,794, Behlen discloses a hydraulically powered
self-propelled, continuously fed irrigation device. The Behlen
device is for flat rectangular fields, is not adapted to
arbitrarily chosen terrain, and is, essentially, not automatically
controlled.
U.S. Pat. No. 3,643,442, Houston, teaches an irrigation method
wherein slots are dug into the ground approximately eight inches
deep and four inches wide, filled with mulch or other permeable
material, and thereafter a machine run over the slots discharging
water into the slots. The machine is charged manually, the water
being taken from hydrants positioned throughout the field, and no
provision is made for a common irrigation system which accomplishes
many functions in addition to irrigation, not is the system
provided with the capability for a feedback loop relationship with
a computer. Rather, the system is simply prescheduled to apply a
uniform amount of water to every slot, whether required or not.
U.S. Pat. No. 3,684,178, Friedlander, discloses a traveling
agricultural sprinkler which is provided with a reel utilized to
take up a cable laid down by the sprinker during its run. The
travelling sprinkler is driven by way of water fed to the
travelling sprinkler by a hose, which water is directed against a
turbine wheel or impeller to drive the sprinkler. When the
travelling sprinkler reaches the end of its run, a conventional
tractor or the like must be hooked to the sprinkler and the power
take-off of the tractor coupled to the pipe take-up reel of the
travelling sprinkler to provide energy to rewind the pipe take-up
reel. Water is then cut off and the water pipe decoupled from the
travelling sprinkler and sprinkling means. The tractor then moves
the vehicle and retraces the original path of the vehicle.
U.S. Pat. No. 3,771,720, Courtright discloses a winchdriven water
spray irrigation device which comprises a fourwheel pipe frame
structure carrying a large water gun. In operation, a tractor draws
the device to its starting point, where the device is uncoupled
from the tractor. A steel cable is then pulled from a winch on the
device and carried across the field to be irrigated to the end of
the travel of the device. The end of the cable is there attached to
a stake in the ground called a "dead man". A water hose is then
attached to the rear of the machine and, by operating a manual
clutch, water is supplied to the machine. The water drives a water
turbine, or fluid motor, which in turn is geared down to drive the
winch to pull the device across the field to the "dead man". Upon
reaching the "dead man", brakes in the device are operated
automatically while the water gun continues to rotate and discharge
water. At that time, it is necessary to cut the water off, go to
the device, disconnect the water hose and winch cable, turn the
device around and pull it to the next area to be located whereafter
the above operation is repeated. No provision is made for
accomplishing functions other than irrigation, for example,
pruning, brush removing, thinning, picking or conveying. Further,
the device described cannot be considered self-propelled; it cannot
travel either forward or in reverse, it must drag along substantial
amounts of agricultural hose, and it is not provided with elevating
means to achieve control in the vertical dimension.
U.S. Pat. No. 3,785,564, Baldocchi, discloses apparatus adapted to
automatically travel between two rows of low plants, such as cotton
plants, and dispense insecticide upward into the branches of the
plants. The device is open-loop controlled by radio means.
U.S. Pat. No. 2,660,021, McDowell, discloses a tractor-drawn
machine for picking berries wherein the machine is adapted to
straddle the berry plants, and, by blasts of air generated from two
fans carried on the machine, knock the berries from the plant into
catch basins disposed on opposite sides of the plant, which catch
basins are carried by the berry-picking machine. There is no
provision described in the McDowell patent for conveying fruit from
the berry-picking machine utilizing a water conveyor, nor is the
McDowell device adapted to pick two rows at the same time.
U.S. Pat. No. 2,996,868, Voelker, discloses a pneumatic fruit
harvester which is carried on or mounted on the body of a flat bed
truck. The device is moved beneath the tree from which the fruit is
to be harvested and, by way of air jets generated by the pneumatic
harvester, fruit is knocked from the tree from below. Enormous
quantities of air are required by the device described in the
Voelker patent, and the device is not capable of surrounding the
tree, rather, it only rests on the ground underneath the branches
to be picked and a complete picking requires a number of movements
around the tree. There is, of course, no suggestion whatsoever of a
water conveying system.
U.S. Pat. No. 3,269,099, Fricks, discloses a berry harvester which
essentially comprises a moveable platform having two tilted troughs
on either side thereof. The device is particularly adapted for
harvesting fruit which grows upon vines which can be trained to
grow on a trellis. The fruit is knocked from the vines, using, for
example, a compressed air vibrator, and as the fruit falls from the
vines it is allowed to fall into the troughs which contain water.
The troughs are sloped, and a conveyor belt is mounted along the
back of the apparatus for transporting water containing the berries
the suspension into a tank mounted on the device. No provision is
made in the Fricks patent for conveying the fruit in a water
conveyor, nor is there provision for a continuous water supply.
U.S. Pat. No. 3,276,194, Mohn et al, discloses a berrypicking
machine wherein fluid sprays are utilized to dislodge the fruit;
the device is specific to the picking of berries. In the device
described by Mohn et al, a water storage tank is described as
mounted on the apparatus. Berry-catching means are provided at the
bottom portion of the device to catch the berries which are
dislodged from the plant by the fluid sprays. No provision is
provided by Mohn et al for the continuous supply of water to the
berry-picking machine nor for the continuous removal of picked
fruit.
U.S. Pat. No. 3,439,746, Lee, discloses a method and apparatus for
selecting plants of a crop for harvesting, apparently being limited
to small vegetables such as lettuce plants. Means are provided for
sensing the size of the plant and for removing all plants that do
not meet the size requirements built into the sensing device.
U.S. Pat. No. 3,522,696, Miller et al, discloses harvesting
apparatus which is provided with oscillatory tine means whereby, as
the device travels by a tree, the tine means are vertically
reciprocated and the rate of forward movement of the device is
correlated with the horizontal movement of the tine means so that
the horizontal movement of the tines relative to the tree is zero,
whereby shaking is avoided. Catching means are provided beneath the
tines including a web which receives the fruit, a conveyor beneath
the web to receive the fruit and a water tank which receives the
fruit from the conveyor. A padded roller is provided in the water
tank to submerge the fruit and to transport the fruit away from the
conveyor discharge area. The device described by Miller et al is
not self-propelled, can effectively work on only one side of the
tree, and, importantly, is provided with no means for conveying the
harvested fruit away from the machine nor with a continuous water
supply.
U.S. Pat. No. 3,584,442, White, discloses a method and apparatus
for picking citrus fruit by submerging the trees temporarily in
water; in greater detail, a tank encloses the tree, the tank is
filled with water and the rising water removes the citrus fruit
from the tree due to the buoyancy of the citrus fruit.
U.S. Pat. No. 3,600,131, McDowell, discloses an improvement upon
the earlier discussed McDowell patent, U.S. Pat. No. 2,660,021. The
device described is a pneumatic machine in which the fans of the
earlier McDowell patent are replaced by a series of ducts in which
the air can be pulsated to provide a shaking effect to the berry
plant being picked. The ducts are present on only one side of the
machine, and the berries are blown to the other side of the
machine, generally through the berry plant.
U.S. Pat. No. 3,720,050, Rozinska, discloses a machine for picking
blueberries similar to the earlier described McDowell machines
except that a deflector is inserted between the branches of the
berry plants so as to bend the branches outward and over pick-up
arms provided in the device, as air stream stripping the berries
from the branches to either side and downward to the pickup arms
provided on the blueberry picker. The requirement of utilizing a
deflector in the Rozinska patent renders the described device
useless for removing fruit from large plants such as trees which
may not have separable branches and, in fact, which may be grown on
a central leader system such as is typically used with dwarf and
semi-dwarf fruit trees. The general principles utilized are similar
to those of the earlier McDowell patents.
U.S. Pat. No. 3,776,316, Eberhart, discloses electronic control
means for crop thinning. The Eberhart patent does not describe a
complete thinning system; it relates primarily to control means for
such a system. While no detailed description is provided on the
machine which accomplishes thinning, apparently it would be similar
to a mechanical roto-tiller or a cutting knife which can be raised
and lowered from the ground to remove excess plants in a row, such
as corn, soy beans and the like. The machine which performs the
thinning is controlled by a sensor which detects the presence of a
plant by resistance contact therewith. The sensor controls whether
or not the hoeing head is lowered or raised in accordance with a
set of options provided by the controller. The present invention,
on the other hand, is primarily directed in its thinning function
to orchards, rather than small ground plants such as corn or soy
beans, though the general approach could be adapted to plants of
any size.
U.S. Pat. No. 3,776,316, Cascarine, is quite similar to the
Eberhart patent is disclosing the use of a conventional tractor
pulling a hoeing device for automatically removing excess plants in
a row, the device being specifically developed for thinning beet
roots.
U.S. Pat. No. 1,955,749, Jones, discloses means for washing,
brushing, polishing and similar operations upon the surface of
fruit which comprises a series of circular rotary brushes provided
with transverse grooves to retain the fruit as it is impelled from
brush-to-brush, a conveyor system being mounted beneath the
transverse brushes and the fruit being immersed in water while
passing through the apparatus. The described device is extremely
complicated, and fruit reversal means are required. Further, there
is no provision for feeding fruit to the described device while it
is carried in water and, since the system is essentially a closed
system, no level control means are provided.
U.S. Pat. No. 2,162,415, Allen, discloses apparatus for handling
fruits wherein the fruits are transported in a preserving liquid
such as a sulphur dioxide solution. As described in Allen, fruit is
unloaded from boxes onto a belt conveyor system, and thence dumped
into a trough, contacted therein with preserving sulphur dioxide in
solution, and carried into a storage tank. The fruit maintained in
the sulphur dioxide solution can thus be stored for substantial
periods of time. Excess sulphur dioxide solution is placed in
storage container 19 as shown in Allen. When it is desired to take
the fruit from solution, an outlet at the bottom of the tank is
opened and fruit is removed from the storage tank by way of a
discharge pipe under the influence of gravity. The fruit then falls
into a second trough which contains sulphur dioxide in solution,
and is removed from therefrom by conventional belt conveyor
immersed in one end thereof. The sulphur dioxide solution from the
second trough may be recirculated to the fruit storage container or
the sulphur dioxide solution storage container. In the present
invention, of course, it is unnecessary to utilize a preserving
liquid as is disclosed in Allen. Rather, in accordance with the
present invention, storage is typically conducted under water
maintained at a low temperature.
U.S. Pat. No. 2,362,130, Glenn, discloses means for grading fruit
by specific gravity wherein fruit is introduced into a tank of
liquid on a platform and a stream of flowing water carries the
fruit from the platform into a series of grading screens, the fruit
dispersing to the appropriate grading screen due to specific
gravity differences. The grading screens permit water to be removed
from the fruit and recirculated in the system prior to the fruit
being introduced into storage containers. The device described in
the Glenn patent is relatively complicated, and requires a large
standing fluid reservoir and a circulating pump. Further, there is
no provision for water conveyors into and out of the Glenn device
and extremely accurate control of water is needed. The device is
operable only for items which have a specific gravity greater than
1.
U.S. Pat. No. 3,288,265, Smith, discloses liquid feeding and
positioning means for fruit and vegetables. The object of the
described device is to receive dry fruit or vegetables dumped into
a large water-filled hopper and thereafter convey the same on an
endless conveyor provided with position cups in the bottom thereof.
In one embodiment, a single file of fruit or vegetables is obtained
for the purpose of subsequent grading and counting. The conveyor is
inclined upwardly so that the articles are not only positioned and
spaced on the conveyor but are also drained of water as they rise
from the holding tank. This is necessary since subsequent
operations must be performed when the fruit or vegetables are dry.
As exemplified in FIG. 9 of the Smith patent, the fruit or
vegetables can be graded using a photocell. There is no provision
in the Smith path for the introduction of fruit in water, whereby a
pump and recirculator and agitators are unnecessary as is the case
in the present invention. Further, the grading means of the Smith
patent is capable of measuring only a single variable, an
integrated measurement of the color of the fruit.
U.S. Pat. No. 3,499,687, Ellis, discloses apparatus for feeding
fruit from a bulk supply into a pick-up station where pieces of
fruit are floated in a continuous trough and recirculated until
they are picked up by a conveyor. The device described in the Ellis
patent is relatively complicated and, by necessity, requires a
recirculating path for the fruit.
U.S. Pat. No. 3,786,917, Rousselie et al, discloses a fruit grading
plant wherein fruit enters the packing plant in boxes and is
removed by immersing the boxes in water so that the fruit floats up
and into the grading machine. No provision is made in the Rousselie
et al packing plant for the direct receipt of fruit from an orchard
in flotation.
U.S. Pat. No. 3,186,493, Barry, discloses an automatic farming
system wherein a machine intended to accomplish primarily plowing,
cultivating, discing, harrowing and the like is mounted on rails
laid out in parallel across a field in a manner such that the
device can move itself from track to track.
U.S. Pat. No. 3,468,379, Rushing et al, discloses automatic farming
apparatus wherein a tractor pulling a plow or the like is adapted
to trace a path defined by buried conductors in a field, a separate
conductor being buried along the edges of the field for controlling
the turning of the vehicle. A digital control system is provided by
which the operation of the vehicles steering means, the vehicle
throttle, implement positioning means and the like is controlled by
pre-selected combinations of control pulses which may be generated
upon crossing a control wire or by a radio receiver responsive to a
plurality of separate signals. In accordance with the teachings of
the Rushing et al patent, once the cable system is laid in the
ground, a fixed pattern of operation is set, and it is impossible
to vary the pattern of operation of the described device without
relocating the cable system or introducing new cables. While the
use of radio signals is suggested, no feedback means of any type
are disclosed in the Rushing et al patent.
U.S. Pat. No. 3,609,913, Rose, discloses a method of controlling
weeds along a row of plants wherein the weeds can be smaller than,
or at least no greater in size than, the desired plant.
Essentially, a wheel-mounted tank containing herbicide travels over
a row of plants and, when an undesired weed is detected, herbicide
is applied to the weed. Detection of undesirable weeds is
pre-controlled and is conducted by direct sensing.
U.S. Pat. No. 3,123,304, Sutton, discloses an orchard-treating
system wherein irrigation and related functions are accomplished
utilizing special sprinkler headers in conjunction with both air
and water lines leading to the special sprinkler headers from a
central station. The system described in the Sutton patent is,
however, an open-loop system-i.e., no provision is made for closed
feedback loops involving sensors, a data transmission system and
effectors which make the system automatic. As later explained,
however, the sprinkler headers described in the Sutton patent can
be used in the agricultural system of the present invention.
The following references are cited as being of marginal
interest:
U.S. Pat. No. 1,744,363, Chapman; U.S. Pat. No. 2,876,488, Zebarth;
U.S. Pat. No. 2,975,055, Brown et al; U.S. Pat. No. 3,001,656,
Brooks et al; U.S. Pat. No. 3,650,097, Nokes; U.S. Pat. No.
3,759,557, Manzer; U.S. Pat. No. 3,763,360, Nishimura et al; and
U.S. Pat. No. 3,771,258, Charney.
SUMMARY OF THE INVENTION
The present invention provides a highly automated system for the
production of agricultural products which comprises, as essential
components:
1. sensing means comprising both direct and indirect sensing
means;
2. data transmitting means for forwarding data generated by the
sensing means to computing means and for transmitting instructions
from the computing means via appropriate interfacing means
(controllers) to various devices (field effectors) in the
agricultural area;
3. computing means linked by way of said data transmitting means to
said sensing means and to said field effectors in a pattern of many
feedback loops. The computing means is programmed to enable
correlation of data received from all direct and indirect sensing
means and to generate appropriate instructions to accomplish a
substantive number of functions required for the operation of the
agricultural system; and
4. fluid delivery means.
To utilize the full potential of the agricultural system of the
present invention, further preferred means are: field operation
means which can include any or all of the following:
means to harvest the agricultural product;
means to convey the agricultural product away from the site of
harvesting;
means to grade the agricultural product;
means to store the agricultural product (optional where the product
is directly sold), and means to containerize the agricultural
product.
In a further preferred embodiment of the present invention means
are provided to effect plant care operations such pruning,
thinning, brush removal and the like.
The most highly preferred embodiment of the present invention makes
maximum utilization of water received from the fluid delivery means
to perform one or more of the field operations set forth above,
most preferably, harvesting, conveying, grading which is conducted
in water, storage which is conducted under water and plant care
operations which are conducted utilizing power derived from the
water flowing in the fluid delivery means by way of one or more
water to mechanical torque converters.
Some of the primary advantages provided by most preferred forms of
the agricultural system of the present invention are:
1. It avoids all heavy machinery in the field, thereby lowering
capital and operating costs and avoiding soil compaction and plant
damage.
2. Due to the absence of heavy machinery and precise control of
water, carbon dioxide and nutrient levels, closer spacing of plants
than is possible following present state of the art techniques can
be achieved. For instance, conventional planting distance for full
size peach trees is 20-24 feet. On the block plan, the number of
trees per acre is 74-108. In the present invention, a spacing of 15
feet or less is feasible on a triangular plan, thus permitting 226
trees per acre.
3. Product grading and storage means can be integrated functionally
and geographically with the balance of the agricultural system. In
addition, the packing means can be much smaller and much less
expensive to operate than conventional packing means.
4. Only one prime power source is needed for the entire
agricultural system, an electric motor. The motor and all controls
can be located in any area where its duty cycle is high-for
example, in the packing plant.
5. Maintenance of farm machinery is drastically reduced.
6. Risks of crop failure are sharply reduced because of the
elimination of frost damage, and the provision of maximum
environmental characteristics necessary for plant growth, e.g.,
precise control of water, nutrients and the like.
7. Quality and size of produce will be better, permitting higher
prices to be obtained. In addition to the reasons advanced in
paragraph (5) above, this is due in part to the fact that transport
and processing of produce may be in flotation, whereby bruising is
reduced and cooling starts at the instant of picking, increasing
the maximum feasible storage time.
8. Labor costs are drastically reduced.
9. Chemicals can then be transported and dispensed in common liquid
form without the danger of personnel exposure to toxic materials,
thereby reducing the costs for expensive protective clothing.
10. Since only the necessary amounts of water and chemicals are
utilized, substantial savings in water and chemical costs will be
achieved. This leads to a secondary benefit that soil leaching and
ground and water pollution are reduced.
11. More efficient land use is possible. This is due not only to
the reasons advanced in paragraph (2) above, but also due to the
fact that land useless under current techniques due to frost damage
potential can be utilized and soil too soft for heavy equipment can
also be utilized since the system of the present invention requires
no heavy machinery.
12. In one embodiment, the agricultural system of the present
invention does not require external sources of electricity,
gasoline or fuel oils.
OBJECTS OF THE INVENTION
One object of the present invention is to provide a highly
automated agricultural production system (hereafter the
agricultural system).
A further object of the present invention is to provide an
agricultural system in which both direct and indirect sensing means
are utilized to generate maximum data in an economical manner from
an agricultural area.
Another object of the present invention is to provide an
agricultural system which is in large part computer controlled.
Still yet another object of the present invention is to provide an
agricultural system wherein direct and indirect sensing means are
linked to computing means in a pattern of many feedback loops.
A further object of the present invention is to provide an
agricultural system wherein in a preferred embodiment water is
utilized to power various devices, under the control of computing
means.
Still yet a further object of the present invention is to provide
an agricultural system wherein liquid and/or gas can be utilized to
derive power for performing various field operation functions such
as harvesting, conveying, grading and storing.
A further object is to reduce consumption of fossil fuel by more
efficient accomplishment of all needed functions, to utilize all
organic wastes in energy production, and to employ any energy
source available on a farm, including water, sun and wind.
Yet another object is to reduce soil, water and noise pollution by
minimizing the use of water and toxic chemicals and eliminating the
use of gasoline or diesel engines in tractors and other implements.
A corollary is to reduce the use of all agricultural chemicals.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic representation of the major components of the
agricultural system of the present invention.
FIG. 2 illustrates a carbon dioxide direct sensor.
FIG. 3 shows indirect sensing means with an electronic sampling
gate which can be utilized in the present invention;
FIG. 4 shows another sampling means.
FIG. 5 shows indirect sensing means in combination with computing
means and variable radiation generating means.
FIG. 6 shows scanning means in combination with direct sensors.
FIG. 7 is a logic diagram of the circuit required to interrogate
one sensor.
FIG. 8 is a block diagram of a data acquisition system using
interrogation circuits of the type shown in FIG. 7.
FIG. 9 is a block diagram showing the more detail a data
transmission system of the type shown in FIG. 8 serving both field
sensors and effectors.
FIG. 10 is a block diagram of an alternative coordinate data
acquisition system.
FIG. 11 is a logic diagram illustrating how one sensor is
interrogated in the data acquisition system in FIG. 10.
FIG. 12 is a logic diagram showing a modification to the basic data
acquisition system shown in FIG. 10.
FIGS. 13 and 14 show data transmission lines in combination with
fluid delivery lines useful in the present invention.
FIG. 15 is a schematic representation of a computer controlled
fluid distribution system useful in the present invention.
FIGS. 16A to 16N are flow diagrams illustrating typical computer
programs for irrigation and spraying operations.
FIG. 17 shows multi-function sprinkling means.
FIG. 18 shows additional multi-function sprinkling means useful in
the present invention.
FIG. 19 shows an adjustable orifice sprinkler useful in the present
invention.
FIG. 20 shows yet another embodiment of multifunction sprinkling
means useful in the present invention.
FIG. 21 shows still another embodiment of multifunction sprinkling
means useful in the present invention.
FIG. 22 is a schematic representation of XYZ orchard wiring.
FIG. 23 shows a solenoid controlled sprinkling device.
FIG. 24 shows a circuit for controlling the sprinkling device of
FIG. 23.
FIG. 25 shows yet another embodiment of multifunction sprinkling
means useful in the present invention.
FIG. (a) and (b) shows a hydromotor platform in accordance with the
present invention.
FIG. 27 shows water transmission means in combination with a
hydromotor useful for the apparatus of FIG. 26.
FIG. 28 shows hydromotor valve control means useful in the
apparatus of FIG. 26.
FIG. 29(a) (b) and (c) show an embodiment of the hydromotor
platform of FIG. 26 useful for pruning.
FIG. 30 shows an embodiment of the hydromotor platform of FIG. 26
useful for thinning or spraying.
FIG. 31 shows a water lock for the transportation of fruit up an
incline.
FIGS. 32(a), (b) and (c) show a modification of the apparatus of
FIG. 26 useful for continuous harvesting.
FIGS. 33 and 34 show means for batch harvesting of fruit.
FIG. 35 shows means for the storage of fruit.
FIG. 36 shows means for the drying and, optionally, the waxing of
fruit.
FIG. 37 shows means for electronically grading fruit by pattern
recognition.
FIG. 38 shows means for the grading of fruit utilizing specific
gravity differences.
FIGS. 39 and 40 show means for sizing fruit using underwater sizing
screens.
FIG. 41 shows means for the underwater storage of fruit.
FIGS. 42 and 43 show means for the underwater grading and storage
of fruit.
FIG. 44 shows means for the underwater refrigerated storage of
fruit.
FIG. 45 shows a hydroelectric system particularly useful in the
present invention.
FIG. 46 shows a multi-function tower which may be utilized in the
system of the present invention, if desired.
FIG. 47 is a schematic representation of a circuit for direct
sensing of soil moisture and soil temperature.
FIG. 48 is a logic diagram of a circuit utilized in combination
with the circuit of FIG. 47.
DETAILED DESCRIPTION OF THE INVENTION
The present invention provides a computer controlled agricultural
system which effectively enables one to automatically perform all
major agricultural production system activities for the successful
production of agricultural products from the planting of the same
to the storage of the same ready for sale, if desired, to an end
use consumer.
While the applications of the agricultural system of the present
invention are not limited, the present invention finds particular
application in a fruit tree farm. As will be evident, the
agricultural system of the present invention can also be utilized
for bush and cane fruits, nursery products and many vegetables. For
purposes of illustration, however, the following detailed
discussion will be in the context of a fruit tree farm, on which
for example, apples, oranges or peaches, are grown as the
agricultural system of the present invention finds particular
application thereto.
The term "fluid" in the present application includes liquids,
gases, solids in liquids (either in dissolved or particulate form),
solids in gases and combinations thereof useful in an agricultural
system, and the term is purposefully given broad construction.
However, for purposes of illustration, unless otherwise indicated,
in the following discussion the term fluid refers to water, air or
agricultural chemicals dissolved in water, as most generally the
fluid delivery subsystem is used to "deliver" water, air or
(dissolved) agricultural chemicals in water to desired points.
Further, hereafter all materials, other than water per se, which
are dispensed in liquid form via the fluid delivery subsystem are
called "agricultural chemicals"; a representative sampling thereof
is shown in FIG. 15 in containers 206.
While the operation of farming is viewed by many individuals as a
rather simple procedure, in fact, a substantial number of rather
sophisticated skills are necessary for successful agricultural
production.
For instance, a partial listing of the activities conducted
following conventional agricultural production methods on a fruit
farm include liming (pH control), fertilizing (provision of
nutrients), pruning (plant growth control), brush removal (field
sanitation), frost protection (temperature control), spraying
(control of insects and disease), thinning, weeding (control of
unwanted plant species), cultivation (control of soil
permeability), irrigation (moisture control), harvesting, trucking
to a packing plant (conveying), cleaning of the agricultural
product, culling and sizing (grading of the agricultural product by
quality variables), storage of the agricultural product, packing or
boxing, transportation to the marketing area, and the like.
The agricultural system of the present invention is adapted to
accomplish all of the above conventional functions performed on a
typical farm, including greenhouse and hydroponic farming.
However, in addition to the above conventional functions, the
agricultural system of the present invention is uniquely adapted to
accomplish the following functions which are not generally
performed on the average farm:
Continuous sensing of plant needs;
Control of carbon dioxide to promote plant growth;
Control of light to promote plant growth and to enable sensing of
plant conditions easily detected under radiation of certain
wavelengths;
Chemical growth control involving the application of sophisticated
chemicals as opposed to conventional fertilizers;
Humidity control;
Automatic planting of seeds;
Automatic recycling and distribution of plant and animal
wastes;
On-farm generation of all energy needs combined with maximum
utilization of internal energy, whereby minimal pollution is
generated;
Prevention of premature ripening of agricultural products; and
Providing simultaneous maturity of agricultural products, thereby
simplifying the harvesting load.
A further substantial advantage provided by the agricultural system
of the present invention is the provision of system components
which perform multiple functions, thereby avoiding a growing
tendency in the agricultural arts today for excessive utilization
of apparatus designed to perform one task only a few times a year,
thereby resulting in an extremely high duty cycle for major
components of the agricultural system of the present invention.
The agricultural system of the present invention in a preferred
embodiment thereof comprises the following generic subsystems or
means, as these terms are used interchangeably in the present
specification and claims:
a. A sensing subsystem comprising remote and direct sensing means
as later defined. The sensing subsystem is adapted to monitor all
important parameters necessary for the successful production of
agricultural products beginning with the planting thereof and
terminating with the obtension thereof in a form ready, if desired,
for sale to the ultimate consumer. It is important to note that the
sensing subsystem of the present invention comprises both remote
and direct sensing means as will be later described in detail.
b. A data transmitting subsystem which conveys data generated by
the remote and direct sensing means to computing means and
instructions from the computing means to various peripheral devices
located in the agricultural area (field effectors) via appropriate
interfacing means (controllers). In general, a controller converts
a low power digital signal into a high power analog or digital
signal.
Illustrative, but non-limiting, specific illustrations of various
"controllers" in combination with devices which can be controlled
are: a diode network which responds to a digitally coded signal and
operates a relay which in turn connects high power to an electric
motor; a similar decoder which operates a solenoid to turn on a
valve, and the like.
An illustrative, but non-limiting, listing of representative
"effectors" includes irrigation sprinklers, pumps, solenoids,
hydraulic cylinders, flow valves, metering valves, high pressure
water jets, slotting saws, and the like.
c. A computing subsystem linked to the indirect and direct sensing
means in a pattern of many feedback loops. The computing means is
provided with programming which permits the same to utilize stored
data and translate sensory information obtained from the direct and
indirect sensing means into control settings for various peripheral
devices in the agricultural system (effectors).
d. A fluid delivery subsystem which provides:
means for delivering water, chemicals in liquid or gaseous form,
air and the like to various parts of the agricultural production
area; and
means for providing power to various peripheral devices which
utilize the power of a moving liquid and/or gas--for example, a
water powered (hydromotor) platform.
Having thus described the general components of the agricultural
system in accordance with the present invention, the subsystems
generally outlined above will now be discussed in detail.
The general components of the agricultural system of the present
invention, and their interrelationship, are schematically
illustrated in FIG. 1.
Referring to FIG. 1, central to the agricultural system of the
present invention is computer 10, generally shown disposed within
agricultural area 11. Computer 10 can be selected from standard
main-frame computers as are currently available to the art, for
example, the PDP 11-20, available from Digital Equipment Corp., the
Model 2100S available from Hewlett-Packard and the like.
It shall be clearly understood that the exact computer selected for
use in the agricultural system of the present invention is
relatively non-critical, so long as the computer has sufficient
memory capacity. As will be apparent to one skilled in the
computing arts, computers as are described above typically comprise
input and output units which may include a keyboard and an
automatic printout device, respectively, a memory for storing data
and programs, and an arithmetic and logic unit for performing
computations and other logic operations on data under control of a
program. The memory may be composed of a plurality of memory
devices including high-speed solid-state or core memories for
frequently used data, bulk memories such as magnetic tape for less
frequently used data, read-only memories such as diode matrices for
table lookup operations, buffer and temporary storage registers and
so forth.
Computer 10 is, of course, provided with a standard display panel,
be the display visual or written (the display is not shown), and
computer 10 is shown in FIG. 1 as connected to various controllers
12a-12d in the agricultural area 11. Controllers are adapted to
receive a digital code signal from computer 10 and to thereafter
appropriately activate or deactivate devices in the agricultural
area 11. For instance, the controller can be used to receive an
appropriate code signal from computer 10 and activate an electrical
motor. Such interfacing means are well known to the art, and in
this respect any conventional apparatus adapted to receive a code
signal from a computer and thereafter convert that code signal into
an appropriate device activating signal can be used. Typically, the
code signal is a digital code signal.
Turning to some of the other primary components of the agricultural
system of the present invention, computer 10 is shown linked to a
fluid delivery subsystem 13 by way of controller 12a; typically,
controller 12a will receive a digital code signal from computer 10
and activate, for example, an electrically controlled solenoid
valve which permits water to be delivered to an effector, such as a
sprinkler.
Computer 10 is also shown linked to controller 12b, interfacing the
fluid delivery subsystem 13 of the present invention with a
material selection and preparation subsystem 14 as is later
exemplified with reference to FIG. 15. Material selection and
preparation subsystem 14 could be, for example, mixing means where
water from the fluid delivery subsystem 13 is combined with
agricultural chemicals and therafter forwarded to a field effector
such as generally shown as 15. A typical field effector could be,
as earlier indicated, a sprinkler. In this case, the field effector
15 is under computer control by way of controller 12c which permits
water flow thereto via a flow valve (not shown). The fluid delivery
subsystem 13 is also shown linked to a hydromotor powered platform
16 (which will later be described in detail), in this case the
hydromotor powered platform 16 being shown linked to computer 10 by
way of controller 12d.
Direct sensors 17 are schematically shown as linked to computer 10
by data transmission lines 18, scanner 19 being generally shown as
inserted in the data transmission lines.
Also shown in FIG. 1 is indirect sensor 20, shown linked to
computer 10 by way of data transmission lines 21 in combination
with controller 22.
Data transmission lines not specifically referenced above are
generally identified in FIG. 1 as 23. Fluid flow lines are
generally identified as 24.
It is to be specifically noted that FIG. 1 aptly illustrates three
primary concepts of the present invention:
1. The use of current state of the art computer technology to
effectively control a farm;
2. The maximal utilization of the capabilities of fluid to perform
many functions on a farm which have heretofore not been utilized;
and
3. The use of a pattern of many feedback loops linking the computer
to data generating means an instruction receiving means.
THE SENSING SUBSYSTEM
The sensing subsystem of the present invention comprises two
essential types of sensors: indirect sensors and direct sensors,
both of which are linked to the computer subsystem via a data
transmission subsystem in feedback loop patterns.
At several points in the following discussion, the term "field
sensor package" will be utilized. In the present invention, a
"field sensor package" is a generic term utilized to represent the
field sensors involved in maintaining a homogeneous agricultural
area; a field sensor package can include any or all of the sensors,
be they direct or indirect, earlier recited. It is a term used for
purposes of convenience in the following discussion.
It is generally necessary that one "set" of direct sensors be
provided for each homogeneous area in the agricultural production
area, that is, a section of the field in which the species of
plants, soil type, sun exposure, slope, wind exposure, and the like
variables are identical. This insures sensing of all important
parameters for that homogeneous agricultural area.
The indirect sensors can, and generally will, be utilized to gather
data from more than one homogeneous area of the agricultural
production area; thus, generally indirect sensing will occur on a
periodic basis. It is thus seen that with indirect sensors a "set"
thereof will usually serve a plurality of homogeneous agricultural
areas.
The reason that direct and indirect sensors are keyed to
homogeneous agricultural areas is a practical one--i.e., if all
variables in a particular area are homogeneous, then computer
control for the entire area under consideration can be effected
more economically.
One exception to the above correlation of sensors with a
homogeneous agricultural area is means for sensing weather
conditions, as generally weather conditions over the entire
agricultural area will be substantially identical. Exceptions might
be encountered, of course, due to topographical variations if the
agricultural area is extremely large, and in such case more than
one weather sensing system will be used.
The concept of a "homogeneous agricultural area" is, as indicated
above, an important one to the present invention. It shall be
specifically understood, in this regard, that "homogeneous
agricultural areas" need not be rigid in accordance with the
present invention but, in fact, can be changed as conditions
dictate. For example, during one season of the year a homogeneous
agricultural area might include a certain set one-acre area,
whereas during another season with changing climatic conditions the
homogeneous agricultural areas might differ somewhat. The concept
of variable boundaries of the homogeneous agricultural areas of the
present invention is a valuable one as it permits maximum benefits
to be obtained from the computing subsystem.
DIRECT SENSING MEANS
Variables particularly amenable to direct sensing in the
agricultural system of the present invention include percent soil
moisture, ground temperature, pH, nitrate/phosphate/potassium ion
concentration, and preferably, carbon dioxide concentration.
Weather conditions, for example, air temperature, wind velocity and
direction, humidity, pressure, rainfall, and sunlight energy
spectrum can be measured by a separate weather sensor package.
The above listing of variables will be appreciated by one skilled
in the art as obviously not all-inclusive. For example, the listing
of variables amenable to direct sensing could include any of the 17
elements necessary for plant growth and reproduction, i.e., carbon,
oxygen, hydrogen, nitrogen, phosphorus, potassium, calcium,
magnesium, sulphur, iron, manganese, copper, zinc, boron,
molybdenum, chloride and cobalt.
Nitrogen, phosphorus and potassium are specifically listed because
these are the primary nutrients for plant growth and reproduction
and are generally present in the lowest quantities relative to
plant needs. Because of their importance for plant growth and
reproduction, and their relatively wide fluctuation during a plant
growing season, the amounts thereof must generally be sensed more
frequently than secondary variables as discussed above, such as
calcium, magnesium and sulphur.
The direct sensors utilized in the agricultural system of the
present invention can be selected from conventional sensory means.
It is preferred, as will become clear from the later discussion
regarding the data transmission system, to utilize direct sensors
which generate an electrical signal which can be transmitted via
the data transmission subsytem to the computer subsystem. For
example, direct sensing means as follows are useful in the
agricultural system of the present invention:
1. Percent soil moisture can be sensed utilizing apparatus as
described in Phene et al, "Measuring Soil Matrix Potential In Situ
By Sensing Heat Dissipation Within A Porous Body": I. Theory and
Sensor Construction, Soil Science Society of American Proceedings,
Vol. 35, No. 1, Madison, Wisconsin, January-February-1971.
2. Ground temperature can also be sensed using the means described
in the above citation.
3. pH can be sensed utilizing, for example, Corning Code 0150 Glass
Electrode, pH meter Model 801 (Orion Research, Inc., Cambridge,
Mass.) or carbon electrodes as are known in the art.
4. Nitrate ion concentration can be determined utilizing liquid
ion-exchange electrodes manufactured by Orion Research, Inc.
5. Potassium ion concentration can be determined using glass
electrode type 78137V, manufactured by Beckman Instruments
Company.
It should be noted that in those instances wherein direct sensing
electrodes are used to determine a certain condition, for example,
the concentration of nitrate ions or potassium ions, response
separation from the electrodes is performed utilizing matrix
inversion to obtain the desired signal from the interfering
background "noise". While matrix inversion is known in the art and
has been performed in the laboratory, it has never before been
performed "On the line" to directly control an agricultural process
as is accomplished in the agricultural system of the present
invention.
6. Other parameters can be sensed utilizing apparatus currently
available which is easily rendered compatible with the data
transmitting and computer subsystems of the present invention,
e.g., carbon dioxide can be detected with a device as described
with reference to FIG. 2, air temperature by a thermistor bead
which is part of the carbon dioxide sensor described with reference
to FIG. 2, wind velocity using an anemometer, wind direction using
a weather vane coupled to a potentiometer (voltage output being
proportional to the angular position of the potentiometer),
humidity utilizing electrodes imbedded in a hygroscopic porous
medium to measure conductivity, air pressure using an aneroid
barometer coupled to a potentiometer (providing a voltage output
proportional to pressure), the intensity of sunlight utilizing a
plant growth photometer available from International Light, Inc.,
and rainfall by a rain gauge comprising two carbon electrodes in a
calibrated tube, the two carbon electrodes connected to a
Wheatstone bridge which becomes more and more unbalanced as the
water level in the calibrated tube rises.
A specific exemplification of a carbon dioxide detector which finds
use in the agricultural system of the present invention is shown in
FIG. 2. Referring to FIG. 2, the carbon dioxide detector is
generally indicated by numeral 30, and comprises a sun and water
shade 31, a container 32 shown holding distilled water 33, an
electrically and fluid impervious support 34 for carbon electrodes
35 and temperature thermistor 36, appropriate leads from the carbon
electrodes (generally designated as 37) and from the thermistor
(generally designated as 38). A conventional Wheatstone bridge is
designated 39.
Direct sensor leads from the Wheatstone bridge to the data
transmission sub-system are generally designated 40, and effector
leads from the data transmission system are generally designated
41. Leads 40 and 41 are, of course, in communication with the
computer sub-system.
When the carbon dioxide sensor shown in FIG. 2 is to be
interrogated by the computer sub-system, the computer applies a
direct voltage across the bridge 39 and at the same time measures
the voltage across the remaining two branches of the bridge 39, the
latter voltage being an indication of the carbon dioxide
concentration at the site.
The concentration of carbon dioxide can be determined by measuring
the pH of a water sample contained in refluxing means with a pH
detector, a rather sophisticated arrangement, or simply by taking
conductivity measurements of a pure water sample containing carbon
dioxide as carbonic acid, as shown in FIG. 2. At saturation, the pH
of carbonic acid is 3.8 at 77.degree. F. Carbonic acid
concentration results in an approximately linear variation in pH at
a given temperature. It will, accordingly, be necessary for the
computer to simultaneously measure the temperature of the carbonic
acid containing water sample undergoing analysis, but since air
temperature measurements are generally required throughout the
agricultural system of the present invention, this does not impose
an additional burden upon this system.
For the system shown in FIG. 2, twelve output leads are required in
total, six for each carbon dioxide sensor. These leads are
connected to the data transmission system where they are later
reduced to one lead as explained with reference to FIG. 9. Two
sensors per site are needed to measure the concentrations at two
altitudes, since carbon dioxide is heavier than other components of
the air, and will settle to the ground.
A carbon dioxide sensor is interrogated by the computer applying a
direct voltage across the Wheatstone bridges 39, and, at the same
time, measuring the voltage across the other two branches of the
bridges.
Since the output of the carbon dioxide sensor is a voltage, it will
be apparent to one skilled in the art that the Wheatstone bridges
39 are initially adjusted for normal ambient carbon dioxide
concentrations, conductivity measurements for the carbonic
acid/water sample being programmed into the computer at various
pH/temperature conditions. This is relatively simple since
variations in conductivity are basically linear with respect to
temperature and pH changes.
Also shown in FIG. 2 are a north baffle 40, and a south baffle 41.
In general baffles are placed to enclose a contour line of an
elevation. The function of these baffles is to retain carbon
dioxide introduced into the agricultural area to promote plant
growth. Carbon dioxide will generally be introduced via the fluid
delivery sub-system as will be later explained.
It will be appreciated that although only one direct sensor
interrogating means has been described above, similar means are
utilized to interrogate other direct sensors since, generally
speaking, all direct sensors are chosen to generate an electrical
output which can be interrogated by the computing subsystem by
sampling the output of the sensor at the Nyquist rate.
INDIRECT SENSING
The term "indirect sensing" implies that a homogeneous agricultural
area, or plurality of homogeneous areas, may be subjected to
analysis by sensors which need not necessarily be present in the
homogeneous agricultural areas(s) undergoing sensing. For example,
the indirect sensors can be mounted on a tower which permits
observation of the desired homogeneous agricultural area(s), on a
tethered balloon, can be carried in an airplane, a satellite or
combinations thereof can be used.
In research accomplished at Purdue University, an aircraft-mounted
oscillating mirror was utilized to reflect light from the ground
and the light detected using a photo-detector, the output signal
being recorded on a magnetic tape. A portion of the light was split
using a half-silvered mirror, subdivided by a prism into four bands
and each of the resulting photodetector outputs recorded on
magnetic tape. The tapes were then replayed through a pre-amplifier
and an analog-to-digital converter, the resulting output being
introduced to a computer programmed to recognize contours for
variables being measured, the computer then printing out a contour
map for crop species and the like. Llimitations in the described
system were, however, small scale, excessive delay for real-time
control, and, importantly, poor registration of successive
images.
Data can be taken in the form of photographs using a camera, by
electronic scanning, by direct human visual observation or the
like.
In accordance with the agricultural system of the present
invention, natural sunlight need not be the only type of radiation
utilized; on the contrary, not only can sunlight be used but
broad-band artificial light or narrow-band artificial light can be
used, an example of the latter being from a coherent laser.
If desired, a plurality of indirect sensing means can be used to
view a homogenous agricultural area(s) from a number of different
viewpoints, thereby permitting a geometric perspective to be
gained, permitting both sides of the plants to be viewed and,
inherently, increasing the number of sample points involved.
In the context of the present discussion, it should be understood
that "viewing from a plurality of viewpoints" for the purpose of
gathering and recording data implies, for example, not only that
viewing can be utilizing a plurality of indirect sensors, for
instance, situated on different sides of the plant under
consideration, but also implies the use of radiation of varying
wavelengths, which essentially can be used to generate highly
specific data in different forms from the plant, radiation of
different wavelengths being very useful as providing high
sensitivity for a particular condition under consideration.
The images or data generated can be interpreted in a number of
different fashions, for example, by direct human visual observation
by an appropriately trained individual or, alternatively,
electronically by comparing the image or data generated with a
pre-generated reference image, the reference image permitting a
comparison to be made to optimum conditions and enabling the
computer to indicate when conditions deviate from optimum.
Alternatively, of course, a harmful condition can be stored as a
reference image and when the image generated from the indirect
sensors corresponds thereto, a similar indication of required
action is obtained.
The success of indirect sensing depends upon the fact that any
particlar ground condition will generate, upon exposure to
appropriate radiation, a particular reflection or emission
"signature"; this signature can be compared to known standards to
determine the variation from the known standard, and to gain an
indication of what remedial action needs to be taken in those cases
where the known standard represents optimal conditions. For
example, the amount of soil moisture can be detected by the amount
of infrared radiation emitted by the soil; for wet soil an infrared
photograph or scanning indicates that the ground is cold, and
accordingly wet areas will appear dark on an infrared photograph.
On the other hand, if the soil is dry an infrared photograph shows
the soil to be hot.
It is appropriate to further discuss and exemplify in some detail
the various types of radiation sources which can be used.
To date, sensing of the type contemplated for use in the
agricultural system of the present invention has involved only
natural sunlight and, essentially, has involved only photographic
means. See for example, Remote Sensing With Special Reference To
Agriculture and Forestry, National Academy of Sciences, 1970;
Aerospace Science and Agricultural Development, May 970; and
Ecological Surveys From Space, Washington, D.C., 1970.
In no instance has the prior art utilized indirect sensing coupled
with a computer for direct control of effectors in an agricultural
area.
It is specifically contemplated in the agricultural system of this
invention that artificially generated light of a desired wavelength
which is specifically keyed to enable maximum data generation of
certain desired conditions and/or that desired bands of natural
light be used. The artificial radiation can be broad-band, or, if
desired, can be restricted to the wavelength region of the
radiation that is best matched for the spectral signature being
sought.
If desired, the artificial radiation can be used in non-daylight
hours, thereby securing reflection spectra with little or no
interference with emission spectra.
Of particular interest is the use of narrow-band artificially
generated radiation for indirect sensing purposes, such narrow-band
artificially generated radiation including but not being limited to
radiation generated by monochromatic lasers. When the light from a
monochromatic laser is reflected from the homogeneous agricultural
area and detected by a flying spot scanner, extremely specific
spectral signatures can be obtained, this aspect of the invention
being later illustrated with reference to FIG. 5. Example of other
types of artificial light sources which can be used include
incandescent light, fluorescent light, mercury arc lamps, lithium
flares (670 nm), etc.
One important feature of the agricultural system of the present
invention relates to the means utilized to mount indirect
sensors.
The following discussion deals with such mounting means in detail,
and discusses several alternatives.
Assuming that a tethered balloon in utilized, generally it would be
secured to the ground by three cables. By varying the length of the
cables the tethered balloon could be rendered movable in both a
horizontal and vertical plane and could cover a significant area
for remote sensing. One of the cables could, in fact, serve as a
control cable and a.c. power cable to the indirect sensing means
carried by the tethered balloon.
One criterion which should be considered in initially establishing
the height of a tethered balloon or the height of a platform
utilized is the optical resolution of currently available
commercial vidicon scanners. This is typically on the order of 400
usable scanning lines per frame (horizontal and vertical
directions), and such will suffice for most uses. While
sophisticated vidicon scanners are available which will enable a
scanning of about 1000 scanning lines per frame, the cost of such
is relatively high, and, unless a large agricultural area can be
scanned with one such scanner, usually lower cost vidicon scanners
will be utilized.
One substantial advantage encountered with the use of a tower(s) or
tethered balloon(s) is that images can be recorded with sufficient
frequency to enable field effectors to be controlled on a real time
basis; substantial difficulties would be encountered in achieving
real time sensing using indirect sensing from an aircraft or a
satellite.
Since animation is generally not required for field sensing,
scanning of field sensors (direct and indirect) can be performed at
very low rates, for instance, on the order of about one frame per
minute, and the signal thus generated can be returned to the
computer over low bit rate transmission lines or, if the line is
relatively short, over an analog line. Because of the computer
comparison used in this invention, it is necessary with any
indirect sensing means used that succeeding frames be in accurate
registration with preceeding frames to enable an accurate
comparison. Accordingly, it is an essential requirement for
indirect sensing that extremely accurate image registration be
obtainable on a reproducible basis. Because of this requirement,
and the requirement for high resolution, photographic means in
satellites or aircraft-mounted sensors are not preferred.
An alternative to a tethered balloon is, of course, the utilization
of multiple towers at appropriate locations throughout the
agricultural area. Several advantages accrue with the utilization
of multiple towers, since such towers can serve various functions
in addition to supporting the remote sensing means, including:
1. To mount a home TV antenna;
2. To mount communications transceiving and/or telemetry
transceiving antennas;
3. To mount appropriate weather instruments and other indirect
sensors;
4. Farm surveillance using the same cameras used for indirect
sensing;
5. The tower can, if desired, be used for water storage in the
manner similar to a typical water storage tower and can, if
desired, by used for the cold underwater storage of farm products
(as will later be described in detail), as the secondary reservoir
in an energy conservation system and for like purposes;
6. The tower can be used to mount a windmill for pumping water
and/or driving a generator to charge batteries or the like, the
combination of water, wind and batteries being used to ensure a
constant-output energy supply;
7. The tower can be used to mount artificial radiation generating
sources which can generate radiation serving various purposes in
the agricultural system, for example, to control both wanted and
unwanted growth.
The number of towers required will obviously be determined by the
nature of the agricultural product involved and can easily be
determined by one skilled in the art. For example, assuming an
agricultural area which contains semi-dwarf apple trees, 12 feet in
height, rows of such trees spaced every 10 feet, towers 100 or 150
feet high will have a clear view of an area of at least 250 feet in
radius (4.5 acres). Ground plants such as strawberries or field
crops could be adequately scanned over great distances using a
smaller tower, of course.
A number of various alternatives can be used to gather and record
data for either manual or machine processing by way of indirect
sensors. A number of these alternatives will now be discussed in
detail.
For sake of illustration, it will be assumed that the agricultural
area of the present invention consists of 12 contiguous homogenous
agricultural areas, each of which must be observed. For example,
each homogenous agricultural area might be on the order of 30
acres.
It must be kept in mind that in accordance with the present
invention it is not essential to view the entire agricultural area
of the present invention at one time; it is necessary, however, to
secure a sufficient sample of the agricultural area such that the
conditions within individual homogeneous agricultural areas can be
statistically derived. In the following description, sampling
procedures are described in which the sample size can range up to
100%, which procedures can be utilized to gain an accurate
summarization of the conditions that exist within the agricultural
area or, more correctly, within the individual homogeneous
agricultural areas.
One initial point to consider, which has already been alluded to,
is the location or site of the indirect sensor; for purposes of the
present discussion the indirect sensor will be assumed to be a
tower mounted television camera. It will be apparent to one skilled
in the art, however, that the following discussion will hold for
indirect sensors in general.
It is possible to use one camera to cover several homogeneous
agricultural areas in order to decrease the number of cameras
required, or, alternatively, one may utilize several cameras to
obtain as many points of observation for one or more homogeneous
agricultural areas as possible. An obvious instance where multiple
observation points would be required would be where due to
topographical factors substantial variations occur in lighting
conditions. Another example of when multiple observation points
would be desirable is to locate and control the position of devices
in the field, e.g., by means of triangulation performed by the
computer using angular position data from the camera(s).
Whether one camera is used to cover several homogeneous
agricultural areas to reduce the number of cameras or several
cameras are used to obtain an many observation points as possible,
generally remote control of individual cameras will be necessary,
and for complete flexibility means must be provided for adjusting
the variables of interest, which can include pan, tilt, zoom,
focus, aperture, band pass and polarization. While providing these
features may substantially increase the cost of inexpensive
monochromatic vidicon cameras that can be used for most
observational purposes, in certain instances the benefits attendant
to such features will more than offset the increased cost.
Commercial devices are currently available which permit all of the
above variables to be remotely controlled via a manual "joy-stick"
control. Such devices would be particularly appropriate where the
TV cameras are to be controlled by an operator.
Alternatively, it is feasible to directly control the above
variables by the computer, and since generally a predetermined
routine will be followed by the indirect sensors, the programming
for the remote sensors will be relatively simple.
Several alternative systems will now be discussed in detail; assume
12 one-acre homogeneous areas are to be scanned.
In the first alternative, fixed cameras are provided which are
trained on areas which represent an acceptable sample of a
homogeneous agricultural area which is to be subjected to indirect
sensing. As the camera is fixed at the desired location, upon
activation an individual camera returns its signal to a television
monitor or a video tape recorder, or to both, whereafter the view
can be analyzed by a skilled observer or by computer analysis, or
both. A clock signal from the computer can be impressed upon the
recorded image to record the exact time and data of the scene as it
is viewed. If desired, a sound track can be multiplexed onto the
tape to record the observer's impressions at the time of
viewing.
Advantages of this particular alternative are that, if desired,
full-time coverage of sample area can be obtained since the cameras
are fixed, that the viewpoint and camera adjustments can be
individually optimized for each viewing scene and, primarily, that
it is extremely simple to install and utilize. The primary
disadvantage of this alternative is that substantial numbers of
cameras are required, in view of the fixed nature thereof, and more
data than is necessary may be produced, since the sampling
requirement would not call for imaging 100 percent of the time.
A second alternative is similar to that described above except that
four cameras, four monitors and four video tape recorders are
utilized. The major modification from the first alternative
involves the use of remotely controlled cameras, necessary so that
all homogeneous agricultural areas can be examined by remote
control of pan, tilt, zoom, aperture and spectral band
adjustments.
Since each camera basically is utilized to view a plurality, for
example, three homogeneous agricultural areas, the sequence of
viewing can be pre-programmed in the computer and the cameras
automatically activated to sequentially examine the homogeneous
agricultural areas under consideration. Separate records of each
homogeneous agricultural area can be recorded on the video tape
recorders for later analyses by a skilled observer, or by computer
analysis.
This particular arrangement will also find use when artificially
generated radiation is used to secure remote images, in which case
each of the four cameras would pan across the three homogeneous
agricultural areas under individual consideration for that camera
in a single arc of constant radius, thus avoiding the cost and time
loss of remote control of zoom and focus. If desired, a
lens-aperture-light combination can be used to provide broad depth
of focus (or field).
The above panning procedure also offers the advantage, when
artificial light is used at the camera location, that camera
aperture changes can be avoided since the light distribution
increases from maximum to minimum from the light source to the most
distant point.
The second alternative requires an indexer and a signaling lead,
used to indicate to the observer (or to the computer) which area is
being viewed, or, alternatively, a visually observable indicator
can be placed as an identifier, the index can be derived from a
remote control box, coded and recorded on the sound track of the
video tape recorder as it is recording the scene under
observation.
The major advantage of this above alternative is cost reduction,
i.e., the number of cameras is substantially reduced. A further
advantage is that the cameras can be utilized to cover any area as
long as each camera stays focused on an area of constant distance
from the camera.
A disadvantage of this alternative is that only a third of the
areas can be viewed at one time; however, for certain sampling
situations this will be entirely adequate.
A third alternative is similar to the second alternative above,
except each camera is switched one at a time to a plurality of
video tape recorders, the individual tape recorders being either
manually or automaticaly activated as the camera pans across the
desired homogeneous agricultural area(s). Many alternative
embodiments are possible, ranging from one camera serving twelve
video tape recorders to, for example, four cameras each serving
three video tape recorders.
The main advantage of this alternative over the second alternative
described above is best illustrated where twelve video tape
recorders are used in combination with four cameras, viz: each
video recorder contains a record for a separate sampled area,
instead of the records for separate areas being presented in
sequential order on one video tape as would be the case with a
camera panning across three homogeneous agricultural areas as in
alternative two. Further, no indexing is required in this
embodiment.
A disadvantage of this particular alternative is that data
generation of a particular homogeneous agricultural area is
possibly only one third of the time, on an average.
A fourth alternative is similar to the third alternative above but
rather a plurality of cameras is utilized to record on one or two
video tape recorders using an electronic sampling gate. Such an
embodiment is shown in FIG. 3, which represents a time division
multiplex system to minimize the use of a video tape recorders.
Referring to FIG. 3, camera 50 represents the first camera in a
twelve camera set, and camera 51 represents the twelfth camera in
the twelve camera set; for purposes for simplicity, cameras 2
through 11 are omitted.
53 generally indicates an electronic sampling switch provided with
twelve contacts generally indicated at 54, contact 55 being shown
to place the video tape recorder 56 in electrical communication
with camera 50 via lines 57 and 56a, and contact 58 being shown to
put video tape recorder 56 into electronic communication with
camera 51 via lines 59 and 56a.
Synchronization generator 60 is shown connecting switch 53 to
cameras 50 and 51 (it would, of course, be connected to all cameras
in the twelve camera set) via line 61. Its function, of course, is
to insure that all frames are initiated at the proper time.
Assuming all twelve cameras are connected to the electronic
sampling gate 53 and contact switch 62 of electronic sampling gate
53 is rotated at a frame rate of 30 frames per second, then in
twelve thirtieths of a second the video tape recorder would have
recorded one frame from each of the twelve cameras, whereafter the
above cycle is repeated.
Upon playback, the video tape recorder 56 will deliver the frame
from the first camera 50 to a storage monitor 63 via lines 57/64,
will deliver the first frame from the second camera to a second
storage monitor (not shown), etc., until the first frame of camera
51 is delivered to storage monitor 65 via lines 59/66. Each storage
monitor thus receives an additional frame every twelve thirtieths
of a second.
Ordinary television monitors will not work on such a signal since
they need a frame every one thirtieth of a second, and inexpensive
video tape recorders can not be speeded twelve fold to provide such
capabilities. Thus, the monitors must be provided with a storage
tube to maintain the frame received until the next frame is
received. Since the frame receipt rate in the embodiment described
in FIG. 3 is only two and one-half frames per second, the apparatus
described does not provide animation. If animation is required for
any purpose, the frame rate can be increased by assigning fewer
cameras to each video tape recorder. For example, if only three
cameras are provided per electronic sampling gate, the frame
receipt rate can be increased to ten frames per second on playback,
which would be an adequare animation level for securing information
from human conversation, or for remote control of the hydromotor
platform.
The advantage of the alternative above described over the earlier
alternatives is that it provides full time coverage of all sample
areas; disadvantages are that picture quality is somewhat degraded
on playback and that some gray scale distortion will be encountered
due to the use of memory storage tubes in the storage monitors.
If desired, this defect can be overcome by utilizing a dynamic
storage in the computer and having the dynamic storage feed a
conventional CRT monitor. In such case, the memory storage tubes
can be omitted. The dynamic storage can use acoustic delay lines or
other devices such as charge-coupled devices. In this arrangement,
only one monitor can be used if desired, and the computer can
continue "refreshing" the image until the viewer (or computer)
desires to observe the next homogeneous agricultural area.
In the fifth embodiment, cameras are utilized which can be remotely
controlled with respect to pan, tilt, zoom, focus, aperture and
spectral band to provide multiple points of view of each area being
sampled. In this embodiment, switching is also utilized to provide
reliability and to concentrate both cameras and VTR's to permit the
use of smaller arrays. This embodiment will be explained with
reference to FIG. 4, which illustrates indirect sensing means
involving twelve separate remote controlled cameras in combination
with twelve VTR's.
Referring to FIG. 4, only the first and twelfth cameras in the
twelve camera array are shown, the first camera being identified as
camera 70 and the twelfth camera being identified as camera 71.
Camera 70 is shown in electrical communication with switch 72 via
line 73, and camera 71 is shown in electrical communication with
switch 72 via line 74.
The second to eleventh cameras would also be joined to switch 72 by
way of similar lines generally indicated at 75, in this instance
the communication line for the second camera generally being
indicated by 76.
Camera 70 is also shown linked to a remote controller and indexer
77 by way of data transmission line 78; remote controller and
indexer 77 is in electrical communication with the computer (not
shown) by way of line 79. Camera 71 is in electrical communication
with remote controller and indexer 80 by way of line 81, remote
controller and indexer 80 being linked to the computer (not shown)
by way of data transmission line 82.
Switch 72 is controlled by switch control 83 by way of line 84,
which switch control itself is linked to the computer by way of
data transmission line 85. Switch control 83 permits switch 72 to
place any of the cameras in the twelve camera array into
communications with any of the VTR's as will later be
explained.
Returning now to the remote controller and indexers 77 and 80, the
functions of these particular devices will now be explained in
detail; since the functions of remote controller and indexers 77
and 80 are substantially identical, only one explanation will be
offered for remote controller and indexer 77.
The first function is to receive instructions from the computer via
line 79 which permits the pan, tilt, zoom, focus, aperture and the
filter selection of camera 70 to be controlled.
Typically this will be accomplished by the use of positioning
motors in the remote controller and indexer. The positioning motors
can be controlled in many different fashions; for example, a
digitally encoded signal can be generated by the computer and
forwarded to the remote controller and indexer 77 via line 79, a
decoder (not shown) in the remote controller and indexer can then
convert the digitally encoded signal to an analog signal and
selectively supply power to drive the motors to control pan, tilt,
zoom, focus, aperture and filter selection. Remote controlled
cameras of this type are available as current state of the art
technology.
The second function of remote controller and indexer 77 is
essentially to advise the computer via data transmission line 79
which camera is undergoing remote control and/or viewing
(indexing). Any conventional state of the art indexing signal can
be applied to line 79 and forwarded to the computer for appropriate
recognition of the camera involved, for example, a ground signal, a
twenty Hz pulse, and the like. If a substantial number of cameras
are being utilized, the indexer most preferably would be a binary
number generator which, when the computer connects a certain VTR to
a certain camera, generates a binary number representative of the
camera undergoing viewing.
The purpose of switch 72 is to provide reliability and maximum
concentration of either cameras or of VTR's, i.e., as a review of
FIG. 4 will indicate, reducing the number of switch verticals as
represented by 87 permits the number of cameras to be reduced, and
reducing the number of switch horizontals as indicated by 86
permits the number of VTR's to be reduced. As will be appreciated
by one skilled in the art, switch 72 as shown in FIG. 4 is actually
a 12 by 12 array, and only one switch horizontal 86 and one switch
vertical 87 is shown for purposes of simplicity. In fact, even in
the 12 by 12 array shown in FIG. 4, switch 72 serves as a
concentrating means since each camera can be, if desired, a
multi-functional device, having a plurality of filters, zoom
capability and the like.
Since the computer determines the area to be viewed and the camera
which is to view that area, the computer can make the choice of the
camera and the area to be viewed through switch control 83, camera
control generally being conducted in an open-loop fashion, though
if the number of choices involved is large, as is the case with the
embodiment of FIG. 4, feedback control is desirable. For example,
control can be effected as follows: the pan, tilt and zoom
servomotors in the remote controller and indexers 77 and 80 can be
coupled to a resistance potentiometer so that the position of the
camera results in an encoded signal specific to one particular
resistance value, the encoded value being transmitted to the
computer. If this embodiment is practiced, an analog to digital
converter is, of course, necessary.
A second method of accomplishing this result enables identification
of the homogeneous agricultural area(s) being viewed to be
achieved. Visually observable indicators such as can be
automatically interpreted by the computer (e.g., a coded sign
mounted on a stake in the field) can be used to permit the camera
to scan a number of indicators and, when the appropriate visual
indicator is scanned by the camera and the recognition pattern
thereon identified by the computer, the camera is trained upon the
desired area. This method also enables precise registration of the
scene as is required when the same area is to be observed at
different times, and the two observations are to be compared by the
computer for decision analysis.
Referring now to switch 72 and its relationship with switch control
83, switch control 83 essentially converts digital signals derived
from the computer via data transmission line 85 into high-power
signals which permit control of switch 72. The exact type of switch
chosen can be freely selected. For instance, an electromechanical
crossbar switch could be used in which contact springs at the
intersection of a switch horizontal (row) and a switch vertical
(column), the switch horizontal for camera 70 being identified in
FIG. 4 by 86 and the switch vertical for camera 70 being identified
in FIG. 4 by 87, are closed by a common select magnet (not shown)
on the switch horizontal and a common hold magnet (not shown) on
the switch vertical. As an alternative, a time division switch
could be used wherein conventional diode gates are utilized instead
of mechanical contact springs. Such switching devices are within
the skill of the art, and are disclosed in Principles of Switching,
Second Edition, Paul Fleming, Paullen Press, Chesterfield,
Missouri, 1974.
The relationship of the cameras and the VTR's will, for
illustrative purposes, be explained with reference to camera
70.
As shown in FIG. 4, camera 70 is linked to VTR 88 by line 73,
switch 72 and line 89. Camera 71 is linked to VTR 90 in a similar
fashion by line 74, switch 72 and line 91.
Both VTR's are provided with monitors identified as 92 and 93,
respectively, connected thereto by lines 94 and 95. The monitors of
the embodiment of FIG. 4 are essentially the same as those that can
be utilized in the earlier four embodiments i.e., either ordinary
monochrome or color TV receivers or storage television monitors,
storage television monitors being utilized in the situation where
the picture must be held by the monitor instead of the
computer.
If ordinary color TV receivers are utilized, it is only necessary
that the computer refresh the picture sufficiently often to prevent
picture decay.
In FIG. 4, data transmission line 96 is shown from the computer to
the VTR's, being linked to VTR 90 by data transmission subline 97
and to VTR 88 by data transmission subline 98.
Data transmission line 96 would be similarly linked to the second
through eleventh VTR's, not shown in FIG. 4 for purposes of
simplicity, by way of data transmission sublines generally
indicated by 99.
As one will appreciate from the heretofore offered discussion on
five illustrative indirect sensing alternatives, the cameras
utilized therein can, of course, be capable of performing
specialized functions, thereby permitting one to minimize cost and
maximize utility. For instance, if desired, one camera in a
multi-camera array could be specific to infrared observations,
while another could be used only for high resolution observation.
In a further alternative, a decrease in resolving power could be
offset against utilizing a standard frame rate of 30, thereby
permitting the camera to be utilized to detect rapid movement in
the area being sampled. A similar approach could be utilized with
the monitors and VTR's.
It should be understood, of course, that the term "electrical
communication" in the above discussion merely means that
appropriate electrical interconnections of a conventional nature
are provided to connect the various components under
discussion.
While the above scanning means have been described with reference
to an indirect sensor of the television monitoring type, such
scanning means can be utilized for other indirect sensors, and, in
fact, can be used for direct sensors if desired.
As was earlier indicated, the cameras in accordance with the
present invention are subject to full remote control, including
spectral band control, to provide multiple points of vieqw of each
sampled area. The desired spectral band can be obtained using a
filter wheel as will be explained with reference to FIG. 5, or,
alternatively, by varying the spectral radiation impinged upon the
homogeneous agricultural area(s) undergoing sampling, or by a
combination of both methods.
As will be apparent to one skilled in the art, the twelve by twelve
array as described above can be scaled up or down as required.
Further, it will be seen that the described alternative is
extremely versatile, since the cameras can cover any portion of the
agricultural area of the present invention, not merely the sample
areas, and can, utilizing the zoom capability, permit extremely
close inspection of individual plants or parts thereof.
As compared to the fourth alternative described above, the present
alternative is a ture full-access space-division switching system
for remote sensing. Although in the alternative described twelve
cameras and twelve video tape-recorders are shown, it will be
apparent to one skilled in the art that the switching sub-assembly
in combination with the switch control can be utilized to
concentrate the number of monitors and VTR's down to a minimum of
one camera, or to concentrate the number of cameras down to a
minimum of one recorder. The latter alternative, of course, becomes
the equivalent of FIG. 4.
Overviewing the concept of indirect sensing, it is valuable to
analyze the fundamental variables utilized in indirect sensing and
to briefly illustrate the essential variations in these variables.
At least nine variables can be considered in the establishment of
an indirect sensing means:
1. The source of radiation;
2. The wavelength of the radiation;
3. The observational site of the indirect sensing means;
4. The number of observational sites;
5. The method of generating the indirect sensing image;
6. The method of image interpretation;
7. The time required for feedback between image generation and
utilization of the data derived from the image for control
purposes;
8. The frequency of generating images from a desired area; and
9. The degree of cross-correlation between data generated by
indirect sensing with data generated by direct sensors.
These points will now be discussed in detail.
Turning first to the radiation source, representative radiation
sources contemplated for the agricultural system of the present
invention include:
1. emissions from the soil or plants which are derived from prior
radiation, i.e., involving the inherent retention capability of the
soil or plants.
2. direct reflection of natural daylight.
3. artificial electromagnetic sources such as earlier described,
e.g., incandescent lamps (broad spectrum), mercury arcs (multiple
spectrum lines), lithium flares (narrow band) and lasers
(monochromatic).
A particularly useful embodiment of the indirect sensing means of
the present invention involves a radiation source generating images
in the red, green and blue bands of the visible spectrum. These
three colors can be used independently to perform analyses or,
alternatively, can be used in combination to generate a color image
using the technique originally developed for sequential color
television imagery by C.B.S. Laboratories, the individual
monochrome images being generated by a single flying spot scanner
or television camera.
The wavelength of the electromagnetic energy used for generating
images by indirect sensing can be controlled in two primary
fashions:
1. By selecting an appropriate frequency band, and
2. By controlling the band width utilized for indirect sensing.
The frequencies utilized can range from the centimeter radar band
up through ultraviolet radiation and beyond. For instance, long
(radar) wavelengths have the capability to penetrate ground cover
and can be utilized to measure the thickness of snow-cover, the
height of desirable and undesirable plants, for example, weeds, the
thickness of mulch and the like. One consideration involved in
determining whether long (radar) wavelengths should be utilized is
that large antennas are required, increasing expense. Extremely
short wavelength radiation may be needed in certain instances to
obtain the highest resolutions, for example, to detect fungus
infections and the like.
Illustrative of the many types of radiation which can be used to
determine various parameters in the agricultural area are those
used in the recent government Skylab program. For example, the
micowave L-Band (approximately 20 cm) can be uses to measure water
temperature of large bodies of water, the surface conditions of the
water and potentially wind direction. Dielectric constant can be
used to measure, e.g., salinity variations. Apparatus useful for
detecting the microwave L-Band includes, for example, the S194
L-Band radiometer.
The microwave K-Band (approximately 2.0 cm) can be utilized to
measure the above parameters (exclusive of dielectric constant)
and, in addition, is more suitable for the detection of wind
velocity. It is potentially useful to the measurement of wind
direction and subsurface slope in large bodies of water. Apparatus
to detect the microwave K-Band includes, for example, the S193
Microwave Radiometer/Scatterometer and Altimeter.
The thermal infra-red wavelength region (approximately 10 mm) can
be utilized to detect rock and soil types, soil moisture
boundaries, water courses - in general, any parameter measurable by
way of varying thermal emission.
The intermediate infrared wavelength band (at approximately 0.7-0.9
mm) can be utilized to detect many parameters also measurable using
radiation in the visible wavelength band (about 0.4 to about 0.7
mm), for example, distribution of soil moisture by infrared water
vapor absorption band analysis, terrain roughness by monochromatic
reflection, vegetation types and vegetation vigor by false color
interpretation.
Radiation in the visible wavelength band is particularly useful for
detectng vegetation by multi-spectral reflection and identifying
the type of agent that is causing loss of plant vigor.
If desired, conventional means to sense and analyze radiation of
the above wavelengths can be utilized, the apparatus specifically
set forth is illustrative only, and other equivalent commercial
means will be apparent to one skilled in the art. Suffice it to say
that such apparatus is selected so as to provide an output signal
compatible with the data transmission subsystem and the computing
subsystem of the present invention.
The observational site of the indirect sensing means of the present
invention can be varied in two primary fashions:
1. By altering the altitude of the indirect sensing means from the
ground plane, and
2. By altering the position of the indirect sensing means with
respect to the scene being observed, that is, in the X and the Y
dimensions of the ground plane.
The fourth variable above, that is, the number of indirect sensing
observational points, has already been explained and will not be
discussed in great detail. The fourth variable is important since
it substantially expands the completeness of the data generated
from a particular area. In this regard, while indirect sensing of a
gross nature has been performed both from aircraft and from
satellites in broad daylight, it has never been appreciated that
multiple-viewpoint indirect sensing in a practical, feasible manner
could be conducted from an essentially ground-stabilized position,
thereby enabling high resolution, extremely accurate registration
of successive frames and multiple viewpoints to be achieved, all of
which factors are necessary to obtain sufficient accuracy of
computer controlled feedback loops.
The method of generating the indirect sensing images in accordance
with the present invention will most typically include electronic
scanning and direct human visual observation. At present, the state
of the art of indirect sensing has involved the use of photographic
techniques, for example, in the Earth Resources Technology
Satellite Program (ERTS). Such systems have suffered from a lack of
resolution, registration, color repeatability, fidelity and time
delay in the feedback control loop. Accordingly, such is not
preferred in the agricultural system of the present invention.
Rather, the use of flying spot scanners and television technology
is preferred, for instance, as later explained with reference to
FIG. 5. One substantial advantage of the use of flying spot
scanners and television technology is, of course, that at the
initial stages establishing the agricultural system of the present
invention a human operator can identify the first templates and
thereafter such can be appropriately inserted into the computer
programming for use by the computer for the interpretation of
succeeding images.
Briefly turning to methods of image interpretation as earlier
alluded to, absolute interpretation by direct visual observation
can be practiced or absolute determination by computer pattern
recognition can be used; alternatively, either direct visual or
computer comparison can be practiced with a reference image, i.e.,
using templates.
In the situation where absolute determination by computer pattern
recognition is practiced (pure pattern recognition), it is, of
course, necessary to program the computer to recognize a particular
scene or objects within the scene relative to some decision rule
that specifies what action is to be taken.
In the situation where computer comparison to a template is
practiced, it is necessary to pre-record a scene, for example, to
pre-record the infrared emission from ground when it is saturated
after a rain, and to make this scene the norm or standard template
for the computer. The decision rule is then written to the effect
that when the soil moisture falls to, for instance, 40 percent of
the value present on the template, irrigation should be started in
that area.
The time required for feedback for image generation and utilization
of the data which can be derived from that image for control
purposes can be vary substantially with the agricultural system of
the present invention; it can range from real time to a delay time
of X, where the value of X is determined to be less than the time
in which some irreversible patholgoy would occur without some
exertion of the required control measure.
The frequency of image generation from an area (frame rate) has
been earlier described in some detail; this is, obviously, a
continuous variable.
The degree of cross-correlation of data generated by the indirect
sensing means of the present invention with the data generated by
the direct sensors in an important variable. For many instances,
the use of direct sensors will be most advised, while for other
purposes remote sensing will be most preferred. While the reliance
upon indirect or direct sensors can vary, in the agricultural
system of the present invention it is absolutely necessary that
both direct and indirect sensors be utilized. The variable will be
the degree of each type of sensor which is used, the degree being
determined by economics and the state of the art consideration. For
instance, readings from direct moisture sensors are highly
correlated with the readings from indirect infrared moisture
sensors, so that readings from the former can be utilized to
calibrate templates from the latter. This improves the precision of
temperature measurement by the infrared indirect sensors for which
there is little correlation, for instance, in determining insect
infestation.
One of the most important differences between the agricultural
system of the present invention and indirect sensing techniques
used in the prior art is that in accordance with the present
invention artificial visible light sources can be used to
illuminate the scene to be sensed. In the prior art, artificial
illumination has been used by only for relatively long
(non-visible) centimeter waves, e.g., radar. In the present
invention, radar sensing can be used, but it is not preferred
because the resolution obtainable may be less than required to
identify plant pathologies. Shorter wavelengths, and narrow-bands,
of artificial radiation may be utilized to secure the desired
resolution and more positive spectral signatures.
Variables particularly amenable to indirect sensing by the
agricultural system of the present invention include, for example,
plant temperature, identification of undesired plant species, e.g.,
weeds, identification of insects and plant diseases, soil moisture
contours, thickness of ground cover, determination of some chemical
deficiencies or chemical excesses, estimation of crop yield and
mapping of ground temperatures. As will be apparent to one skilled
in the art, the above listing is not all inclusive but does include
some of the most important variables amenable to indirect
sensing.
While the majority of the direct sensing means used in accordance
with the present invention are relatively inexpensive, in
contradistinction the indirect or remote sensing means utilized in
the present invention tend to be of higher cost. Accordingly, it is
important that the indirect sensing means be utilized for purposes
of gathering data from a plurality of homogeneous areas in the
agricultural area to minimize the cost of indirect sensing per
homogeneous agricultural area.
The particular "signature" generated by an indirect sensor, is, in
a preferred embodiment of the agricultural system of the present
invention, compared to a standard which is stored in the computer.
For instance, in determining the amount of soil moisture by
infrared radiation, standards can be set for various homogeneous
areas in the overall agricultural area. Once this standard has been
set, the infrared response of various soils can be correlated with
the amount of moisture contained therein. The amount of infrared
radiation generated by a particular homogeneous agricultural area
can then be sensed by indirect sensing, for example, by a tower
mounted infrared detector, and the information generated compared
to the standard and variations therefrom which have been stored in
the computer sub-system.
The above concepts of "signatures" comparison are essential to the
effective utilization of indirect sensing in accordance with the
present invention. The data bank which can be accumulated in a
computer serves, of course, as an excellent means to store
literally millions of "templates" or "signatures" to which the data
generated by indirect sensing can be compared.
Soil moisture detection by measuring the infrared radiation
therefrom is one of the simplest forms of remote detection. As
example of such will now be described.
Assume an agricultural area with a plurality of individual
homogeneous agricultural areas therein. The topography of the
agricultural area is, in this instance, generally assumed to be
flat. A tower can be installed in the approximate center of the
agricultural area, a rotatable turntable provided with means
adapted to adjust the plane of the infrared detector in both a
horizontal and vertical plane being mounted on the tower. Such
apparatus is known in the art and can be constructed so as to be
adjustable upon computer command in the horizontal and vertical
directions. Communication with the computer can be by way of
electronic communication cable, radio, or the like.
The timing of indirect sensing of soil moisture can be selected on
predetermined in a number of fashions. For example, the infrared
detector can be trained upon a preselected homogeneous agricultural
area and, when the soil moisture content as indicated by infrared
radiation falls beneath a certain minimum value, such would be
detected by the infrared detector and an appropriate signal
forwarded to the computer sub-system. This would initiate an
overall scanning of the total agricultural area. Rather than
continuous scanning, infrared scanning could be, of course,
initiated on a periodic basis, for example, hourly. Alternatively,
the computer could be programmed to initiate indirect sensing of
infrared radiation for the entire number of homogeneous
agricultural areas on a timed basis, for example, hourly.
The former procedure reduces the use of the infrared sensor, but
the latter procedure is more accurate in gaining an overall
determination of the moisture content of the agricultural area.
An important use for the infrared detector would be, of course, to
detect the temperature of growing plants in the homogeneous
agricultural area. It is an established fact that an unhealthy
plant will often have a temperature which varies from that of a
healthy plant. In this case, the "template" or normal value lodged
in the computer memory would have to be initially determined for
the particular plants in the homogeneous agricultural area.
However, thereafter an infrared scanning of a particular
agricultural are a could be utilized to indicate if that particular
agricultural area contains a plant whose temperature varies from
the normal or healthy value. By reference to its file of templates
the computer will attempt to determine the cause of the deviation.
As a last resort, the computer can alert and request the farmer to
view the scene over the television link to diagnose the trouble and
report back to the computer by keyboard for determination of the
necessary treatment.
As another example of template formation, the formation of
templates for determining the growth stage of corn will be given.
The first step in establishing the templates for the growth stage
of corn will be for the farmer to train an appropriate indirect
sensor, for example, a television camera, flying spot scanner or
the resulting image is then stored in the computer's memory bank
and, by way of the input keyboard, information is fed to the
computer that the storage image is representative of corn at the
known stage of growth. Subsequent images are taken at any desired
interval to permit an adequate representation of the corn at all
growth stages of interest.
Thereafter, when corn of an "unknown" age is subjected to visual
scanning, the computer makes a rapid comparison of the instant
image to the "prerecorded" images or templates until the "unkonwn"
image can be matched to a prerecorded image or template. In this
manner, it is possible, utilizing the computer, to determine the
age of the corn.
A schematic representation of an indirect sensor subsystem for
multispectral imagery pattern recognition is shown in FIG. 5.
Referring to FIG. 5, there is shown computer 10 in electrical
communication with monochromatic television camera 110 by way of
data transmission line 111 and in electrical communication with
controller 112 by way of data transmission line 113, controller 112
being shown in electrical communication with camera 110 by way of
data transmission line 114 and in electrical communication with
stepper motor 115 by way of data transmission line 116.
Stepper motor 115 is adapted to rotate filter wheel 117 which
contains filter means 117a to 117f in the periphery thereof. By
selectively rotating the filter wheel 117, any of filter means 117a
to 117f can be inserted into the path of radiation detected by
camera 110. To permit accurate registration of the filter means
with the camera it is, of course, necessary that stepper motor 115
and filter wheel 117 be securely attached to camera 110 so that
misregistration cannot occur.
Controller 112 is also shown in electrical communication with light
array 118 comprising radiation sources 118a to 118d by way of
control wires 119.
The radiation sources 118a to 118d are adapted to selectively
impinge radiation upon agricultural area 120.
For purposes of illustration, computer 10 is shown in communication
with frame storage means 121 by way of line 122 and in
communication with comparator 123 by way of lines 124. Frame
storage means 121 is in communication with comparator 123 by way of
line 125. Signature (or template) file 126 is shown in
communication with comparator 123 by way of line 127. It will be
appreciated by one skilled in the art that the computer, frame
storage means, comparator and signature file will, in actuality, be
part of the computer, and the above illustration is for purposes of
explanation.
CRT display 128 is shown in communication with computer 10 by way
of data transmission line 129.
Also shown in FIG. 5 are field sensors 130 in communication with
computer 10 by way of data transmission line 131 and effectors 132
in communication with computer 10 by way of data transmission line
133.
Turning to the method of use of the indirect sensors, controller
112 receives an appropriate digital code instruction from computer
10 via line 113 and can translate the same in a conventional manner
into a high power output which activates camera 110 via line 114,
activates stepper motor 115 via line 116 to permit rotation of the
filter wheel 117 to insert a selected one of the filter means
117a-117f into the viewing path of camera 110 and which can, if
desired, activate radiation generating means 118 via line 119.
Camera 110, a species of indirect sensor, is in this example a line
by line scanning device. Since multispectral use is contemplated,
it is preferred that the pickup tube of the camera, or any remote
sensor, have a broad spectral response, for example, 300-1,000
nanometers. An alternative to the television camera would be a
flying spot scanner or like device. When camera 110 is activated, a
constant data output is provided to computer 10 by way of data
transmission line 111.
If desired, the signals from camera 110 can be routed by the
computer 10 to a short-term buffer memory 121 via line 122. For
example, the short-term buffer memory can comprise a magnetic tape
recording means wherein blocks of one television frame can be
stored. The one television frame can then be compared with a frame
stored in signature file 126 in comparator 123 and differences
above certain thresholds utilized to initiate corrective action.
The rule for comparison will depend on the parameter being sensed.
For conditions requiring the highest resolution, point-by-point low
resolution, such as sensing moisture contours, moving averages of
many points will generally be compared.
If desired, the computer can utilize a plurality of frames in
combination. For example, by displaying red, green and blue images
in rapid sequence, a full-color image of the homogeneous
agricultural area can be obtained, this basic technique being
similar to that used in field-sequential, color television systems
as are known in the art. Full-color viewing would be especially
useful when human visual inspection of the scene is desired, for
example, by way of CRT 128.
For the embodiment illustrated in FIG. 5, the radiation generating
means 118 comprises four sources of artificial radiation: a
monochromatic laser, for example a neon-helium laser, an argon
laser or the like, identified as 118a; a lithium flare 118b; a
flash 118c such as a xenon flash; and a mercury arc lamp 118d. As
will be apparent to one skilled in the art, four radiation sources
shown are illustrative only, and not limiting.
When radiation from such specific sources is reflected from the
homogeneous agricultural area 120 and detected by the camera 110, a
specific condition can be recognized in the homogeneous
agricultural area 120. It is necessary, of course, that a
"template" be pre-recorded or stored in the signature or template
file 126, the pre-recorded scene representing a specific condition
under examination to which the real-time data which is being
generated can be compared in comparator 123. Where artificial
radiation sources are used, it is necessary, of course, that the
"template" be recorded using the same type of artificial radiation.
This permits the computer 10 to compare the data input received to
a scene pre-recorded under conditions which provide a basis for
comparison.
The primary objective of utilizing any specific type of radiation,
or combination of specific types of radiation, in indirect sensing
is to select a particular wavelength of radiation or combination of
wavelengths which permits a unique signature for a specific
condition to be detected and recorded as a template in the
computer. In this regard, laser sources offer a potential means to
identify specific conditions with great accuracy as the specificity
of a signature will be a function of decreasing bandwidth, and
extreme specificity can be obtained when one is essentially
utilizing a band of radiation comprising one line in the
spectrum.
The radiation generating means 118 shown in FIG. 5, however, finds
particular application for use in those hours of the day when
sunlight is insufficient to provide adequate spectral response, for
example, in the early morning hours or in the evening hours. It can
be utilized, however, even in the absence of natural sunlight,
since at these times the artificial light can be impinged upon the
homogeneous agricultural area undergoing indirect sensing to
provide a spectral reflection pattern with little or no
interference to the emission spectra due to natural sunlight.
Filters 117a to 117f are used to remove undesirable spectra
reflected from a homogeneous agricultural area prior to the same
impinging upon camera 110. In the exemplification shown, filter
117a passes blue radiation, filter 117b passes green radiation,
filter 117c passes red radiation, filter 117d passes infrared
radiation, filter 117e is a polarizing filter and filter 117f is a
neutral density filter. These six filters are not limiting; in
practice, a dozen or more filters may be used.
Assuming, for example, that the condition being subjected to
indirect sensing is percent soil moisture and infrared radiation is
utilized, in this instance computer 10 would issue an appropriate
digital code signal to controller 112 by way of data transmission
line 113. The digital code signal is converted by the controller
into an appropriate high power signal to activate camera 110 via
lines 114 and to train the camera upon the desired agricultural
area. In addition, of course, camera 110 would be activated for
radiation reception and transmission to computer 10 by way of data
transmission line 111.
Assuming that it is desired to insert infrared filter 117d into the
viewing path of camera 110, an appropriate high power signal is
also issued to stepper motor 115 via data transmission line 116
whereby filter wheel 117 is rotated until infrared filter 117d is
inserted into the viewing path of camera 110.
Constant data input is then provided to the computer 10 from the
selected homogeneous agricultural area or areas, and thereafter the
comparison to a pre-recorded series of templates retained in
signature file 126 is conducted. Should the closest "template" in
the template or signature file 126 indicate that the moisture level
in the homogeneous agricultural area is low, the computer would,
via an appropriate controller, issue a command to initiate
irrigation in the homogeneous agricultural area and, by continuous
indirect sensing (feedback loop), would terminate irrigation at the
point where the water level in the homogeneous agricultural area
has reached a sufficient level. Alternatively, the termination
point of the irrigation can be determined by computer calculations
of the type to be explained later in connection with the flow
charts of FIG. 16.
It shall be understood by one skilled in the art that the above
apparatus is only illustrative of one indirect sensing means which
can be utilized in accordance with the present invention, and that
the components of the apparatus described with reference to FIG. 5
can be replaced by equivalents.
As will be appreciated by one skilled in the art, lines 111 and 113
in FIG. 5 will generally be interfaced with a plurality of remote
sensing means (array 118, controller 112, camera 110, etc.) by way
of a switching system as shown in FIG. 4 to permit time-division
multiplexing. By use of a switch and switch control combination as
shown in FIG. 4, a substantial number of cameras and controllers
can be selectively brought into communication with the computer. A
simple modification of switch 72 as shown in FIG. 4 will permit a
camera and controller to be simultaneously brought into
communication with the computer.
CONTROL OF RADIATION IN THE AGRICULTURAL SYSTEM OF THE PRESENT
INVENTION
The following discussion describes an important but optional
feature of the present invention and relates to a subsystem for the
control of radiation to achieve various desirable effects. (It
should be noted that the control of radiation discussed in this
section is in addition to that utilized for indirect sensing which,
as will be apparent, can also involve a control of radiation to
achieve maximum data sensing capability as earlier explained.)
The radiation control subsystem of the agricultural system of the
present invention is based upon the use of three sensors which
respond to and integrate sunlight energy in three bands which
provide physiologically active irradiation, namely blue (400-500
nm), red (600-700 nm) and far-red (700-800 nm). For example, the
sensing subsystem can consist of three photocells each responding
in one of the recited bands, or it can consist of the flying spot
scanner (or camera) as shown in FIG. 5 (which has response across
the visible band) equipped with filters for each of the recited
bands above, and the like. In any case, the output response derived
from the sensors is forwarded to the computer by way of a data
transmission line so that the computer can compare the integrated
light with that required by the plant. The computer can then
determine how much, if any, radiation must be provided artificially
in each band to bring the plant under consideration to maximum
growth, if that is the result desired. The resulting decision can
then be translated into switch and timer settings for radiation
generating means as will now be described.
Ideally, three independent sets of field lights are used to control
the five principal photochemical reactions: (1)
chlorphyllsynthesis, (2) photosynthesis, (3) blue reactions such as
phototropisms, (4) photomorphogenetic redinduction, and (5)
photothorphogenetic far-red reversal. On a limited scale, two sets
of field lights may be sufficient: one comprising a fluorescent
source with a bimodal spectral energy distribution (for example, a
Sylvania Gro Lux Lamp) and the other comprising incandescent lamps
for red/far-red/infrared generation.
Several benefits result from the control of radiation as described
for the agricultural system of the present invention, a few of
which are:
initial capital cost is low because of cost-sharing capability with
other subsystems, for example, power cable subsystems, time/sharing
with the computer, and the like;
the computer can trade off the requirements for light, carbon
dioxide, water, and nutrients to minimize production cost and/or
maximize production;
radiation of an appropriate wavelength, (for example, infrared) can
be used to supplement or replace frost protection sprinkler
subsystems.
Some of the specific results achievable by appropriate control of
radiation in accordance with the present invention are:
to increase production per acre by accelerating photosynthesis;
to control the timing of crop maturation to permit the same to
coincide with maximum market demand;
to achieve weed control, for example, using red light to prevent
flowering of cocklebur and ragweed by interrupting their dark
period;
to achieve insect control, for example, using red light to prevent
the cornborer from going into its dormant period.
THE DATA TRANSMISSION SUBSYSTEM
One substantial problem encountered in obtaining a successful
agricultural system in accordance with the present invention is the
problem of data transmission from the sensing subsystem, be it
direct or remote, to the computer, and from the computer to field
effectors.
The purpose of the data transmission subsystem is, of course, to
collect data from sensors at locations remote from the computer,
convey data to the computer and, at the same time, to distribute
data instructions from the computer to effectors in a feedback loop
relationship.
Any of the data transmission systems utilized in the present
invention involve the quantization of the agricultural area
utilizing a Cartesian coordinate system in which the X-coordinate
measures the distance between a designated origin and points in the
field east or west of the origin, the Y coordinate measures the
distance north or south of the origin, and the Z coordinate can be
used to designate which sensor of a sensor package is originating
information at any particular time.
Two alternatives immediately present themselves for possible data
transmission systems. In a first system, each sensor, be it direct
or remote, is connected by wiring to scanning means at the
computer, the scanners essentially directly feeding the computer.
In such an embodiment all scanning is performed at the central
computer location, with the signals being time division multiplexed
at the scanner output. Such systems are well known in the telephone
art and can be directly adapted to the agricultural system of the
present invention; see, for example, B. T. L. Staff, "Transmission
Systems for Communications", 4th Ed. 1970 WE Co., Winston Salem,
North Carolina.
Various embodiments and modifications of systems as briefly
described above will now be described in detail.
To appreciate the magnitude of the data transmission subsystem, if
it is assumed that each field sensor package has M sensors, and
there are N sensor packages in the agricultural area, a total of
M.times.N connections are needed between the field sensor packages
and the computer. Assuming a relatively large agricultural area,
the physical problems of laying a cable network of such magnitude
are substantial, as are the material cost problems; such can, in
fact, render the present invention uneconomical.
One solution to the above problem is to distribute scanners or
samplers to the sites of the field sensor packages, instead of
concentrating the scanner or sampler at the computer per se.
An embodiment of such a scanner or sampler is shown in FIG. 6, and
will be explained with reference to FIG. 6 in some detail.
The general component and data transmission line interrelationships
of FIG. 6 will firstly be explained. Computer 10 is shown linked to
scanner 131 by data transmission line 132 and to address sender 133
by data transmission line 134.
Scanner 131 can be put into temporary communication with a
plurality of field scanners (for purposes of simplicity, only the
first field scanner 135 and the N.sup.th field scanner 136 are
shown) by way of data transmission lines 137 and 138,
respectively.
Address sender 133 is shown linked to scanner 131 by way of line
139 and to field scanners 135 and 136 by lines 140 and 141,
respectively.
Scanner 131 is provided with contacts, each of which permits data
transmission line 132 leading to computer 130 to be put into
communication via switch 142 with a field scanner. Contacts 143a
and 143b are "off" contacts, contact 143c permits communication
with field scanner 135 via line 137, and the four contacts
generally indicated at 143d permit communication with four
additional field scanners (not shown) via data transmission lines
(not shown), and contact 143e permits communication with field
scanner 136 via line 138.
Although in FIG. 6 scanner 131 is shown as a mechanical rotary
switch it will be apparent to one skilled in the art that
equivalents can be used, e.g., diode gates or the like, as is the
case with the field scanners.
Field scanners 135 and 136 function in a manner similar to scanner
131, as will now be explained for field scanner 135, which is shown
provided with switch 144 adapted to step across contacts 145, of
which contacts 145a and 145b are "off" contacts, contact 145c is
shown connected to field sensor package 146 via line 147, contact
143d is shown connected to field sensor package 148 via line 149
and the four additional contacts generally indicated at 143e are
connected to additional field sensor packages (not shown) via lines
(not shown). Since field scanner 136 comprises components
substantially identical to field scanner 135, no detailed
explanation is believed necessary.
Address sender 133, in this embodiment, sends out a sequence of
digital pulses to scanner 131 or the field scanners 135 and 136 to
cause the switching means therein to advance one step upon receipt
of the appropriate pulse signal.
Field scanner 135 is adapted to be put into temporary electrical
communication with any one of a plurality of field sensor packages
(for purposes of simplicity, only field sensor packages 146 and
148, the first and the last of the field sensor packages to be
scanned by field scanner 135, are shown); in a similar manner,
field scanner 136 can be linked to any one of field sensor packages
149 to 150, sensor package 150 being the N.sup.th sensor package in
the agricultural area. Each sensor package contains M sensors.
Computer 10 can "step across" the N sensor package scanners one at
a time and, within each scanner, it "steps across" M sensors. This
system permits the number of data transmission cables to be reduced
to N, or one data transmission cable per package, plus address
leads. The embodiment of FIG. 6 would probably not be used in a
single field as later described means is more efficient. Such an
embodiment would be used, for example, when one set of field sensor
packages must be sampled in one field and a second set of field
sensor packages must be sampled in a widely separated field.
In both of the above cases, sampling is performed according to
sampling theorem so that a complete sensor wave form can be
reconstructed, if desired.
Further, if required for longer distance transmission, the pulse
amplitude modulated signal can be encoded, if desired, in PCM or in
other coded forms such as PWM or PSK.
In the second system, each sensor is separately addressed by the
computer to read the sensor output over a common data wire. Assume
for purposes of exaplanation that there is only one sensor at a
location and that there are 15 or less locations; in order for the
computer to address a sensor using a binary code, four address
wires are required (2.sup.4 =16).
The basic circuit is shown in FIG. 7 for the simple case of one
sensor 160 and four address leads 161. An address decoder 162 is
connected to the address wires 161 for each sensor 160. As is well
known, such a decoder provides a "1" output when the address for
its corresponding sensor is detected. The address leads will
address the sensors one at a time in sequence. When the sampling
gate 163 is enabled by the output of decoder 162, a sample of the
sensor waveform connected to it will be sent to the common data
wire 164. Thus, the samples from the other sensors will be time
multiplexed on the same data wire.
The overall system using this data acquisition circuit is
illustrated in FIG. 8. Here the Address Sender 165 in computer 10
is a binary counter (sequence controller) containing as many stages
as address wires 161, driven by periodic cock pulses from the
computer clock. The Signal Receiver 167 in computer 10 may contain
equalization to compensate for distortions in the transmission
line, and an amplifier. The computer 10 can be programmed to
demultiplex the data, or if the data are to be displayed, the
signal can be distributed (demultiplexed) by a scanner device
similar to that shown in FIG. 6.
It is contemplated that in a practical application of the
invention, the number of sensors will be considerably greater than
15. If, as an example, the number of sensor packages is 100, and
each sensor package contains only one sensor, the number of address
leads that must appear at each location is 7, plus 1 data lead, or
8 leads in all. In general, N+1 wires are required to connect
2.sup.N -1 sensors to the computer. Moreover, the N+1 wires
required for addressing the field sensors can be reduced to one
wire by many forms of encoding. If for illustrative purposes we
assume that pulse code modulation (PCM) is the chosen form of
encoding, then in the example just given, 7 bits, that is 7 "on" or
"off" pulses, will be transmitted on a single wire for addressing a
given sensor. After the 7 bit address is sent, the decoder will
open the sampling gate. The computer then allows a single time slot
following this 7 bit word for the sensor, on the same wire, to
transmit back to the computer the information regarding its state.
The functions of both addressing and of interrogating all sensors
in the field have thus been reduced to one wire.
FIG. 9 builds upon the foregoing by assuming that the data
transmission network 168 has been combined with a 60 Hz power
distribution network connected to a source of 60 Hz power 169. This
is possible since the two networks are congruent, and are,
topologically, tree-structured. The 60 Hz tree may be used for a
variety of purposes, including the provision of power for remote
power packs (such as rectifiers) for direct a.c. operation of
solenold controlled valves and other effectors, for field lights,
etc.
Not shown in FIG. 9 are means which may be required to separate the
a.c. power from the various low-power data signals. One well known
means of doing this simply is to modulate the data signals into a
band of frequencies well above the 60 Hz power and its common
harmonics. Any band above about 400 Hz would make simple the
separation of the data channels from the power channel by the use
of high pass filters in all of the data paths.
FIG. 9 shows the address sender 165 with a capacity of 2,047
separate codes. This sender could send its codes either on 11
separate copper wires in accord with the scheme shown in FIG. 7, or
it can send its address by means of 11 bits on a simple wire, as
shown. In this case, a register 170 is required to supply the
address in a set of parallel leads to decoder 171. These codes may
be used to identify any mixture of sensors or effectors, since each
effector package and each effector within the package would be
assigned a unique code.
As an explanation of why we might need this many codes, if we
assume a 50 acre field with sprinklers spaced 50 feet by 50 feet,
and if we assume that one sprinkler is controlled by one effector,
then 850 sprinklers would be required, we have one sensor package
per acre, each with 8 sensors in it, then 400 additional codes
would be required for addressing the sensors. The total of 400 and
850 is 1,250. The next larger number of bits in the address word
required is 11, and this will give almost twice as many codes as
required for this size of system, i.e., 2.sup.11 =2048. Since one
of the codes is eleven zeroes, and must be ruled out, the available
code capacity is 2047. Thus, the system has ample capacity for
growth, in number of variables sensed, or in number of variables
controlled.
Some field locations will contain effectors 172 but not sensors
160, and vice versa. If a location does not contain a sensor, FIG.
9 would be just the same except that the sensor 160 and the
sampling gate 163 would be omitted from the diagram. If the
location did not contain an effector 172, then the effector and its
controller 173, shown in FIG. 9 as a valve control device, would be
omitted. The power pack would be necessary in both cases. If,
however, the data transmission system were not multiplexed with the
power transmission system, the rectifier 174 would not be
necessary, since d.c. power for the sensor and effector packages
could be provided over the data transmission system.
A new function shown in FIG. 9 is analog-to-digital conversion.
Remembering that the data wire contains a series of PAM pulses, and
that computer 10 normally will accept only two-valued digital
pulses, we see that an A-D Converter 175 is necessary to match the
transmission line 168 to the computer.
A modification of the addressing scheme shown in FIG. 8 recognizes
that sensor/effector units are located in a two-dimensional plane
so that each location can be specified by an X and a Y coordinate.
In addition, if there is more than one sensor and/or effector at a
location, these may be identified with a Z coordinate as will be
explained in greater detail hereinafter. The basic arrangement is
illustrated in FIG. 10, wherein a plurality of sensor/effector
units 176 are arranged in a grid pattern. Each unit is identified
by an X address and a Y address wherein the X address identifies
the row of the grid and the Y address identifies the column of the
grid. All units are connected by a common data signal wire 164 to
computer 10 as before. However, the address sender is divided into
an X addressor 165a with its associated X address wires 161x and a
Y addressor 165b with its associated Y address wires 161y. To
address a specific unit 176(i,i), only one X address wire 161x and
one Y address wire 161y are energized corresponding to the row and
column, respectively, of that particular unit.
FIG. 11 shows that for each row in the layout one wire represents
the X address, and for each column in the layout one wire
represents each Y address. Thus, the intersection of any row and
any column provides a unique address for a given geographical
location. Once a given location is addressed, the signal sampled
from the sensor at that location is impressed on a single wire 164
which visits every sensor site, in the same manner as before. With
this system, each sensor site needs to be served by only three
wires, one each for the X and Y address inputs, and one for the
data output, as shown in more detail by FIG. 11. The decoder 162 is
simply a two input AND gate.
In case a given geographical location has two sensors, or
effectors, a Z coordinate address lead may be used as shown in FIG.
12.
To address a sensor, the X addressor 165a places a signal on a wire
161x corresponding to the X coordinate of the sensor. The Y address
165b places a signal on a wire 161y corresponding to the Y
coordinate. Then the Z addressor places a signal on a wire 161Z
corresponding to the Z coordinate. In practice, the X addressor
would signal each of its wires so that all sensors of a row would
be addressed. Then the Y addressor would address its column wires,
and the process would be repeated for the Z addressor. When a
sensor 160 is addressed by a coincidence of signals on each of the
three coordinate wires to decoder gate 162, thesensor signal
condition is read out to the signal wire 164 by the sampling gate
163. The computer coordinates the sequence of the operation. As
before, where the data are to be used by a digital computer, there
must be an analog-to-digital converter in the data path, as shown
in FIG. 9, to convert the PAM data signals to binary form.
For a simple system, in which the addresses are not encoded so as
to be put on a single address lead, the coordinate system clearly
has advantages over the systems shown in FIGS. 8 and 9 in point of
number of feet of wire used to cable the field, and also in terms
of simplicity required to decode the address at the site of the
sensor. However, the FIGS. 8 and 9 systems have an advantage in
that the number of pairs in the cable required to actually lay out
a rectangular field is constant and does not vary in cross-section
as would be the case with the coordinate system. Further, to secure
the minimum number of feet of wire that is possible with the
coordinate system, one would have to lay cables both in rows and in
columns in the field, wherein in the other systems the cable can be
laid out in a tree network congruent with the power distribution
network, and with the fluid flow distribution network, and this
offers advantages in terms of combining the functions of these
three systems.
When the address leads ae reduced to one by binary coding, the
relative advantages and disadvantages of the FIG. 9 system and the
coordinate system of FIG. 10 are not so plain. In general, the
coordinate system will be better than the former system when the
number of sensors required is large.
Having this described representative and generally useful sensor
interrogating means, it is appropriate to turn to several types of
data transmission cable systems and installation methods therefor
which can be utilized to interconnect the sensors/scanner and
effector packages to the computer.
It will be apparent to one skilled in the art that, as substantial
distances are involved in the agricultural system of the present
invention, it would be desirable to minimize the capital cost of
cable connections and the cost of installing the same.
In one embodiment of the present invention it is possible to use
telephone or power cables to link the sensor/scanner and effector
package(s) to the computer. Such can be installed utilizing a
conventional telephone or power cable plow which can be used to
bury flexible plastic pipes up to about 4 inches in diameter.
Apparatus is now available to lay up to three pipes simultaneously,
and, if desired, in addition to laying the data transmission
subsystem cable, an a.c. power cable can be simultaneously laid
with the data transmission subsystem cable.
If desired, the data transmission subsystem cable and the a.c.
power cable, plus miscellaneous control pairs for effectors and
sensors, can be combined in one cable and laid.
An alternative approach is to combine the data transmission
subsystem with fluid distribution means into a single cable/pipe
combination. This may be accomplished in several fashions as
described below.
For example, a standard commercially available plastic pipe can be
processed through a wire stranding machine, available in most cable
factories, which will apply to the plastic pipe as many wires as
are required to service effectors and sensors. Of course, an a.c.
power cable can also be added. The thus formed assembly can then be
processed in a standard extrusion die to deposit a plastic
protective sheath on the wire, and the combined cable/pipe assembly
can be deposited throughout the agricultural area utilizing a
standard telephone cable plow.
Primary advantage of such a cable/pipe system is that it can be
utilized both for the delivery of fluids (fluid delivery subsystem)
and as the data transmission subsystem. Another benefit is that the
wiring for the data transmission system, imbedded in the walls of
the cable/pipe assembly, serves to strengthen the overall assembly
so that it is capable of withstanding higher pressures, the wire
serving as a reinforcing agent. Still another benefit is that it is
simple to remove signals from the embedded wires by means of
conventional slip rings on the hydromotor platform to be described
later.
In the above embodiment, the pipe is essentially a hollow conduit
of circular cross section. As a modification thereof, the circular
cross section of cable/pipe can itself be compartmented, and such a
modification is shown in FIG. 13.
Referring to FIG. 13, the overall cable/pipe assembly is identified
as 180, data transmission signal pairs are identified as 181, and
power leads, be they a.c. or d.c., are identified by 182. The
interior pipe is shown as 183; it can be formed of any plastic
material resistant to the materials to be transported, and such
materials are well known in the chemical process industry. In this
particular embodiment, four interior compartments 184 are shown
formed by interior strut member 184a which, of course, extends the
full length of the cable/pipe assembly. If desired, and such will
generally be the case, strut member 184 is generally of the same
material as interior pipe 183, e.g., polyethylene. The extruded
protective coating which contains the signal pairs 181 and power
leads 182 is identified as 185. The protective coating, of course,
serves to render the cable/pipe assembly resistant to underground
placement and to contain the signal pairs 181 and power leads 182.
It can be formed of the same material as interior pipe 183 or of a
different plastic material, e.g., PVC or one of the
polyolefins.
It will be apparent to one skilled in the art that, if desired,
strut member 184a can be omitted to provide one large
single-compartment cable/pipe assembly. This embodiment finds
particular utility in combination with the later described
hydromotor platform serving as an "umbilical" cord to provide fluid
thereto from the fluid delivery subsystem via the interior pipe 183
and, if desired, power via power leads 182 and/or instructions from
the computer via signal pairs 181. In such a case, the assembly
should be formed of a relatively flexible material, e.g., a natural
or synthetic rubber.
If desired, of course, either or both of the power leads 182 or
signal pairs 181 can be omitted from the cable/pipe assemblies as
shown. For example, one might wish to provide only power, not
signal transmission capability.
The embodiment shown in FIG. 13 can be utilized to achieve several
unique effects. For example, individual compartments in the
cable/pipe identified by 204 might be utilized to contain fluid at
three different pressure levels so that it would not be necessary
to send pressure signals through a single pipe. This permits one to
avoid the utilization of a variable-speed motor at the head end of
the system, which would be a rather expensive component. In
addition, pressure-detecting sequence valves as are later described
could be avoided since pressure would be individualized in various
compartments of the cable/pipe assembly.
In a further modification, one compartment in the cable/pipe as
shown in FIG. 13 could be used for gases, such as carbon dioxide,
air or the like, or for inflammable gases for field heating as a
means of frost protection. A second compartment could be utilized
for sprinkler or trickler irrigation as later described, and a
third compartment could be utilized for chemical distribution.
Finally, it will be apparent to one skilled in the art that more
than each individual compartment could be utilized to handle the
same fluid, for example, water, and the compartments could be
combined at the end of a line to provide large volumes or high
pressure, where necessary.
Rather than dividing a single pipe into a plurality of cavities as
shown in the embodiment of FIG. 13, it is also, of course, possible
to utilize a large pipe which contains a plurality of individual
pipes and/or cables, for example, a large pipe which would contain
three separate smaller pipes, one for water, or one for corrosive
chemicals and one for air and gases in the interior thereof. Power
cables could also be disposed therein in combination with the data
transmission control pairs. This latter structure is similar to a
multi-unit telephone cable assembly, except, of course, that the
multi-unit telephone cable assembly does not contain fluid flow
pipes as is the case with the above embodiment.
An embodiment of this latter type of apparatus is shown in FIG. 14
as comprising a circular exterior protective conduit 190 carrying
therein conduit 191 for the transmission of water, conduit 192 for
the transmission of corrosive chemicals, and conduit 193 for the
transmission of air and gases. Also shown in the embodiment of FIG.
14 are power cables 194, for the transmission of a.c. or d.c.
power, and control pairs 195, the control pairs 195 leading to
various sensor and/or effector passages in the agricultural
area.
In the embodiment above, a commonly used material of construction
for the various conduits is polyethylene.
Since in the agricultural system of the present ivention it is
highly preferred to use a single cable/pipe assembly as described
above, the following discussion will be in terms of such single
cable/pipe assembly. It should be understood, however, that the
present invention is not limited thereto.
A typical installation sequence for a combined cable/pipe assembly
as described above would be as follows:
A tractor mounted auger would pass over the desired path of the
cable and would drill holes in the ground about two feet in
diameter at predetermined distances. Keepng in mind that the
combined cable/pipe assembly is to serve as part of the fluid
delivery subsystem to be later described, it will be apparent that
the holes are also to serve as take-off areas for fluid.
The above path would then be traced by a cable plow which would
intersect each hole while placing the combined cable/pipe assembly
therein.
At the predetermined holes the fluid carrying conduit will be
drilled and tapped for fluid risers, obviously avoiding data
transmission wires.
Field sensors and/or effectors can then be spliced into the data
transmission cables.
Holes will be back-filled and effectors and/or fluid take-off
valves attached to the risers coming from the combined cable/pipe
assembly.
The risers can be attached via threads in the cable/pipe assembly
or by any conventional means, for instance, using commercially
available fast-setting adhesives.
THE FLUID DELIVERY SUBSYSTEM
Having thus generally described the sensing subsystem and data
transmission subsystem, the data transmission subsystem in the
described preferred embodiment also serving as a part of the fluid
delivery subsystem, it is appropriate to turn to the fluid delivery
subsystem, and the same will be generally explained with reference
to FIG. 15, illustrating in detail various aspects thereof,
including the chemical distribution aspects of the fluid delivery
subsystem.
For sake of convenience, sprinkler heads or tricklers as are
described in the present specification and claims, whether they be
utilized to accomplish the functions of irrigation, chemical
spraying, frost protection or a combination of such functions, will
hereaftr often be referred to as "fluid ejectors" or "fluid
ejection means". This generic term should hereafter be understood
to include any or all of the above types of devices.
As earlier explained, the fluid delivery subsystem of the present
invention is not limted to chemical delivery, delivery of water,
delivery of air or like materials but, rather, it can be used to
perform a diverse number of functions in the agricultural system of
the present invention. A number of such functions will be
exemplified after the description of the fluid delivery subsystem
which will be initially offered with reference to FIG. 15.
The fluid delivery subsystem exemplified in FIG. 15 is best
understood by following a typical fluid application procedure from
beginning to end, and this approach will be used to describe the
system of FIG. 15.
Let it be assumed that initially a direct sensor package 200 in the
homogeneous agricultural area 201 containing fruit trees 202 is
capble of measuring the nitrate/phosphate/potassium level in the
soil. At an appropriate time, the computer 10 samples the direct
sensors 200 in the homogeneous agricultural area 201 and, by way of
data transmission line 203 receives the nitrate/phosphate/potassium
readings from the direct sensors 200.
The computer, of course, compares the nitrate/phosphate/potassium
readings from the direct sensors to its program to determine if the
level of these components in the soil is sufficient.
Assuming that the level is not sufficient, the computer initiates a
nitrate/phosphate/potassium distribution cycle.
Firstly, via an appropriate controller 204 the computer causes
meter valves 205a, 205b and 205c to open, permitting nitrate,
phosphate and potassium, respectively, to be taken from chemical
storage containers 206a, 206b and 206c, respectively, and delivered
via lines 207a, 207b and 207c to mixing tank 208 which is provided
with mixing blades 209 driven by motor 210. Motor 210 is activated
by computer 10 via data transmission line 211 and controller 212.
Since generally the chemicals present in the chemical containers
206 will be in a concentrated form usually a simultaneous
introduction of water via line 213a/213b is conducted into the
mixing tank 208 by the computer opening meter valve 214 by way of
data transmission line 215 and controller 216, thereby permitting
water to be withdrwn from reservoir 217 due to the action of pump
218, which is activated by computer 10 via data transmission line
219 and controller 220. There is thus obtained a nutrient solution
of the proper concentration to "make up" the deficiencies of
nitrate/phosphate/potassium in the homogeneous agricultural area
201. Concentration of all nutrients in mixing tank 208 is
constantly monitored by computer 10 by way of data transmission
line 221; sensors in mixing tank 208 can be selected from those
earlier recited direct sensors capable of sensing the components
involved. It is to be specifically noted that the sensors in the
mixing tank 208 provide positive feedback control. As an
alternative, the computer could precalculate, in open loop fashion,
the amount of time metering valves should remain open, the
requisite time the water introduction valve should remain open, and
the like. Existing systems of material application utilize such an
open loop approach.
After the system is well agitated, the contents of mixing tank 208
are removed via line 222a/222b by a pump (not shown) and passed to
solenoid valve 223 via meter valve 224 by way of line 227.
Controller 226 is activated by computer 10 via data transmission
line 225 to effect this flow. Since the solenoid valve 223 would be
opened by the computer upon the initiation of the chemical
distribution cycle by way of data transmission line 228 and
controller 229, the nutrient solution passes into sub-lines 230 and
231 and into sequentially operated fluid ejection means 232, whose
operation will later be explained in detail, whereafter the
nutrient solution would be sprayed onto the trees and/or ground in
the homogeneous agricultural area.
The amount of nutrient applied can be precalculated to bring the
nitrate/phosphate/potassium level in the soil to the desired or, of
course, can be constantly monitored by a direct sensor in the
homogeneous agricultural area and halted when a requisite amount of
the nutrient is present. It is highly preferred that both
precalculation and constant monitoring be utilized. Precalculation
is needed, for example, to estimate when available chemicals or the
like will be completely used; the computer, based on such
precalculations, can decide to delay any or all of the needed
applications until additional chemicals or the like can be obtained
except in, of course, emergency situations when the computer might
override a precalculation indicating potential material shortage.
Constant monitoring is, of course, preferred for the reasons
heretofore advanced, viz: it enables a real time analysis of the
homogeneous agricultural area under treatment. When the desired
amount of nutrient is present, the computer then closes metal
valves 205a, 205b and 205c, halts the input of water to the mixing
tank 208 and returns the fluid delivery system to its pre-chemical
distribution cycle state.
Although the above exemplification has only been for
nitrate/phosphate/potassium, it will be apparent to one skilled in
the art that other materials as are generally shown in containers
206 can be applied in an analogous manner.
Data transmission line 233 is generally shown in FIG. 15, whereby
computer 10 can constantly monitor the contents of containers 206,
generating a signal when replacement is necessary, as is three-way
valve 234 which permits water of varying temperature to be
withdrawn from reservoir 217. Valve 234 is controlled by computer
10 via data transmission line 235 and controller 236.
The fluid ejection means used in FIG. 15 can be selected from among
those as later described with reference to FIGS. 17, 18, 19, 20,
21, 23 and 25, if desired, modifying the fluid delivery subsystem
as explained with reference to the recited Figures where
necessary.
The fluid delivery subsystem of the present invention does, of
course, accomplish many other functions including, for example,
irrigation. There are five general types of irrigation systems
commonly used today:
1. controlled floor irrigation in which the entire field is covered
with water for a very short time;
2. furrow irrigation, where small canals cover the entire field,
which canals are flooded by gating from a supply ditch;
3. sub-irrigation in which a pipe is run through the agricultural
area and a section directly under the plant to be irrigated is
perforated to allow water to escape;
4. sprinkler irrigation, utilizing sprinkler heads set into lateral
pipes which contain water under pressure. The lateral pipes are
joined to a main line, and the lateral pipes can be portable,
self-propelled, of the boom type, solid set and the like; and
5. trickler irrigation.
Although the agricultural system of the present invention can
utilize any of the above types of irrigation systems, it is
generally preferred in accordance with the present invention to
utilize the solid-set sprinkler type of irrigating system or a
combination of sprinklers and tricklers as the fluid ejection
means, as the solid-set type sprinkler system or combination of
sprinklers and tricklers can be utilized to perform all of the
following functions: pH control, provision of nutrients, plant
growth control, temperature control of both air and soil, control
of insects and diseases, plant thinning, weeding, control of soil
permeability, moisture control, control of unwanted animal species,
control of carbon dioxide, planting of seeds, automatic recycling
and distribution of plant and animal wastes, preventing premature
dropping of fruit, ensuring simultaneous maturity of crop, and like
functions.
Since solid set sprinkler type systems are generally preferred for
use in the agricultural system of the present invention, the
following description will largely be with reference thereto. It
should be understood, of course, that the description below is not
limiting.
An irrigation sequence will generally begin when a soil moisture
sensor, typically a direct sensor, is sampled by the computer and
the data input is that the available soil moisture is low. In
actuality, the data input to the computer will be merely an
indication of the soil moisture content and the computer itself
will compare the minimum desirable moisture level to the moisture
level actually read by the direct sensor and, if the value is
approaching the minimum desirable value, at that stage will
initially cross-check the indication of moisture need from the
direct sensor against current meteorological data and
evapotranspiration data for the crop being grown to determine, for
example, if rain is forecast.
Assuming that indications are that no foreseeable precipitation is
to be expected, the computer will then calculate the amount of
water needed to bring the water level in the soil of the
homogeneous agricultural area under consideration to the optimum
level, and will then initiate the actual irrigation sequence,
exemplified below.
Firstly, considering the amount of water needed, the appropriate
water absorption rate characteristics of the soil, the computer
will then select an appropriate pump speed, open appropriate
valving as later explained and thereafter monitor the performance
of the pump and the application of the water.
An important feature of the agricultural system of the present
invention is that fluid, e.g., water, be available at different
temperatures. A good source of water at varying temperatures is a
lake or pond, since natural thermal stratification in the lake or
pond ensure the presence of water at relatively low temperatures in
the bottom layer of water in the lake or pond and the presence of
water at relatively high temperatures in the top layer of water in
the lake or pond. Needless to say, the water taken from the lake or
pond can be heated or cooled artificially before delivery, and in
many instances this may be necessary when dissolution of certain
chemicals is required at higher temperature, for purging of the
fluid delivery system of residual corrosive chemicals, for
air/ground temperature control, fruit cleaning or the like.
A specific irrigation sequence will now be explained with reference
to FIG. 15, which earlier served as the basis for an explanation of
the application of chemicals to a homogeneous agricultural
area.
Referring to FIG. 15, a source of water at varying temperatures,
i.e., in this case a lake, is represented by 217. Upon initiation
of the irrigation cycle, the three-way valve 234 is open to
withdraw water from the lake 217 at the desired temperature.
Thermal monitoring means (not shown) such as a thermometer may be
immersed in the lake and water withdrawn from the desired stratum.
The water will flow from valve 234 via pump 218 through line 227 to
solenoid valve 223. After the desired pressure is reached, acting
under instructions of the computer 10, the solenoid valve 223 is
opened, water flowing from main line 227 into lateral lines 230 and
231. As the lines 230 and 231 fill with water, low angle sprinklers
232 are activated by the water pressure, and irrigation is
conducted in accordance with the time schedule determined by the
computer.
At the completion of the elapsed irrigation time, solenoid valve
223 closes and pressure actuated sequence valves associated with
the low angle sprinklers 232 unlatched in response to the drop in
pressure. In a few seconds the solenoid valve 223 is again opened,
and when the pressure returns to normal, the sequence valves
associated with sprinklers 232 are closed and the sprinkling action
is advanced to the second set of sprinklers downstream in the
lateral line, whereafter the above sequence is repeated until the
total homogeneous area has been irrigated and the direct soil
moisture sensor indicates that the desired moisture capacity has
been reached, the irrigation sequence terminating when terminal
irrigators have completed the irrigation cycle. This final stage of
the cycle is the only time during which water fills all lateral
lines in the total homogeneous area, and hence is the only stage in
the sequence when a treatment, such as frost protection sprinkling,
can be applied to the whole area at once. How this is accomplished
will be described in connection with FIG. 17.
Sequence valves as described above are generally necessary only
when the homogeneous agricultural area to be irrigated is so large
that the total homogeneous agricultural area cannot be irrigated at
one time due to, for example, insufficient pump capacity.
Sequence valves as described above are commercially available from
F.M.C. Corporation under the trade name "SequaMatic" valves.
Although the above exemplification has been for the situation when
irrigation is initiated upon data input from a direct sensor, it
will be obvious to one skilled in the art that indirect or remote
sensors can also be utilized to initiate the irrigation sequence.
For instance, an indirect moisture sensor as earlier described
could be used to initiate the irrigation sequence. Obviously, human
observation can be used to override any of the sensing systems used
in the present invention, and, if desired, irrigation can be
conducted purely on an elapsed time basis.
The amount of water and the rate of applications of the water can
be accomplished in a well-known manner and can be programmed into
the computer; for example, see Jensen et al, Scheduling Irrigation
Using Climate-Crop-Soil Data, Journal of the Irrigation and
Drainage Division, I.R.I., Mar. 1970, pages 25 et seq.; Jensen,
Scheduling Irrigations With Computers, Journal of Soil and Water
Conservation, Volume 24, No. 5, Sept./Oct. 1969, pages 193 et seq.;
and like publications. However, existing programs do not envision a
large number of areas, each having different irrigation
requirements, nor do the existing programs envision that a computer
is in direct control of the irrigation process through feedback
control loops consisting of sensors, a data transmission system,
and automatically controlled effectors, as in the present
invention.
IRRIGATION COMPUTER PROGRAM
A preferred embodiment of the irrigation computer program is shown
in flow diagram form in FIGS. 16A to 16H to illustrate the
principles involved in the practice of the invention. For
concreteness, a specific system of the type given by FIG. 15 has
been assumed.
A. Introduction
The program is designed to automatically irrigate an entire farm.
There are S.sub.max homogeneous production areas, each having one
sensor and one or more effectors. Each of the sensors and effectors
can be individually addressed. Also, each sensor and effector has a
special storage area (one or more memory locations) in the computer
which contains pertinent data for the sensor or effector.
Data concerning available water (reservoir level and rain forecast)
are also stored in the computer. The program is designed to
activate measurement of soil mositure in each field, make a
decision to irrigate and control the effectors until irrigation is
accomplished. The operation is real-time and controlled through a
task queue procedure.
Normally, when the sensors show a shortage of water, the system
responds to restore the field to capacity. However, two
complications can arise for which the computer program provides.
First, the reservoir may not contain enough water to restore all
fields to capacity. In this case the computer must invoke decision
rules for rationing the supply. Certain fields may have priority
based on crop value. Assuming no priorities all fields will be
allocated enough water to sustain growth. A further fall back
position is to allocate only enough water to ensure survival of the
plant, even though the current crop must be sacrificed. Second, a
weather forecast may call for rain. In this event the computer will
calculate an allocation for irrigation which, together with the
forecasted rainfall, will bring each homogeneous area to its
moisture capacity.
B. Sensor Table Description
The following data are stored for each sensor:
1. The field address for each sensor.
2. N.sub.max measurements of soil moisture and time of each
measurement.
3. The soil moisture capacity, f.sub.c.sbsb.s.
4. The soil moisture decision level, f.sub.d.sbsb.s.
5. The memory index of the first effector for field, s.
6. The maximum number of effectors for field s, E.sub.s.
7. The water rationing factor for field s, R.sub.s.
The table is indexed by the variable s which runs from 1 to S,
i.e., 1.ltorsim.s.ltorsim.S.
Effector Table Description
The following data are stored for each effector in field s:
1. The field address for the effector.
2. The memory index of the next effector in field s.
This table is indexed by the variable e which runs from 1 to
E.sub.s, i.e., 1.ltorsim.e.ltorsim.E.sub.s.
D. Reservoir and Weather Data
The water level for the reservoir and projected rainfall are
required.
E. Operation of the Task Queue
The control of the operation is the following:
1. A time-ordered list of required actions is stored in the task
queue.
2. The computer delays action until the highest priority task (task
with the earliest time) is ready for servicing.
3. The appropriate subprogram is executed to service the task.
4. The task queue entries are created (or generated) as a result of
servicing previous tasks.
For example, sensor tasks are continually generated for a given
field until that field requires irrigation. At this time a task is
generated to initiate the first effector for the field. The first
effector initiation then generates a task for the second, the
second for the third, etc. until all effectors for the field are
initiated. Tasks to stop the given effector are generated as the
effectors are turned on. When the last effector for a given field
is turned off a new check sensor task is generated.
The task queue can have a few entries as the number of sensors (or
fields) and as many as the total number of effectors for all
fields.
This principle of computer control is common and readily lends
itself to the addition of other functions.
The following is a list of definitions of the variables used in the
computer program:
e--effector table index
E.sub.s --maximum number of effectors for field s
e.sub.s --a counter for the number of active effectors in field
s
f.sub.c.sbsb.s --soil moisture capacity for field s
f.sub.D.sbsb.s --soil moisture decision level for field s
f.sub.s.sbsb.s nth sensor moisture measurement for field s
n--sensor measurement index
n.sub.max --maximum number of measurements for any given field
R.sub.s --water rationing factor for field s
s--sensor table index
S--maximum number of sensors
t--time
t.sub.now --present time
t.sub.s,e --time to stop the eth effector in field s
t.sub.s.sbsb.n --time at which the nth sensor measurement is taken
for field s
V.sub.s,e --volume control for the eth effector in field s W.sub.Ps
--water to be pumped to field s
W.sub.RES --reservoir water level
W.sub.s --water required to bring field s to soil capacity
W.sub.TOT --sum of W.sub.s for all s
T.sub.c --cold sensor temperature
T.sub.w --warm sensor temperature
.DELTA.t--estimated time between sensor measurements
.DELTA.t.sub.e --time between attempts to start an effector that
has been delayed
.DELTA.t.sub.min --minimum time allowed between sensor
measurements
.DELTA.t.sub.max --maximum time allowed between sensor
measurements
.DELTA.t.sub.r --maximum time allowed between reservoir
measurements
The basic irrigation computer program is shown in FIG. 16A, and the
subroutines which are included in the basic program as shown in
FIGS. 16B to 16H. Referring to FIG. 16A, upon starting the
irrigation program, the computer builds a task queue using the
subroutine shown in FIG. 16B. Once this is accomplished, at the
appropriate time t the first task in the queue is called up. If the
first task is to check the sensors, then the subroutine shown in
FIG. 16C is used and, when completed, the next task in the queue is
called up at its assigned time. The other tasks in the queue which
are accomplished by separate subroutines are initiate effectors
shown in FIG. 16D, terminate effectors shown in FIG. 16E, and
resource allocation shown in FIG. 16F.
The subroutine for building the task queue shown in FIG. 16B begins
with the sense subroutine shown in FIG. 16G. In that subroutine,
the moisture content of the soil is first sensed and then the
amount of water required to bring the soil in the area of each
sensor to capacity is computed. Once this has been done for every
sensor, the tasks for resource allocation and check sensors are
scheduled.
The resource allocation subroutine shown in FIG. 16F begins by
initiating the sensor table index and accumulating the total amount
of water required to raise all fields to capacity. Next, the
current volume of water in the reservoir is checked, and from this
data, the computer can compute a rationing factor R.sub.s for each
field in order to properly allocate the water available.
The check sensor subroutine shown in FIG. 16C initiates the sense
subroutine shown in FIG. 16G. If at each sensor the moisture
content of the soil is above the decision level requiring
irrigation, then the time .DELTA.t between sensor measurements is
computed using the subroutine shown in FIG. 16H, and the sensor is
rescheduled for checking at t+.DELTA.t. Otherwise, i.e., the
moisture content of the soil is low enough to require irrigation,
the rain forecast is checked, and the amount of water to be
provided for each field is computed by subtracting the amount of
water required to bring the soil to capacity. The computer then
schedules the initiate effector task.
The initiate effector subroutine is shown in FIG. 16D and employs
both the effector table index and the sensor table index. From the
volume control factor for each effector and the amount of water to
be provided to a particular field, the time each effector is on is
computed. The pump capacity is then checked, and if it does not at
this time have the capacity for an effector, that effector is
rescheduled for a later time. Assuming the pump has sufficient
capacity, the effector is started and its termination scheduled.
This sequence is repeated until all effectors have been operated.
The terminate effector task is performed according to the
subroutine shown in FIG. 16E.
FIGS. 47 and 48 illustrate preferred circuitry for sensing soil
moisture and soil temperature. Referring first to FIG. 47, the
sensor 800 is of known type and includes a P-N junction diode 801
surrounded by a heating coil 802 and embedded in a porous ceramic
medium 803. The diode 801 is connected in one arm of a bridge
circuit which includes resistors 804, 805 and 806 and potentiometer
807. A voltmeter 808 is connected across one diagonal of the
bridge, and more specifically between the wiper arm of
potentiometer 807 and the junction between resistor 804 and diode
801. A battery or other source of voltage 810 is connected across
the other diagonal of the bridge, and more specifically between the
junction of resistors 804 and 805 and the junction of resistor 806
and diode 801. The heating coil 802 is connected in series with a
source of voltage 811 and a variable resistor 812. An ammeter 813
may also be connected in the series circuit with the heating coil
802 to provide a measure of the current throught the coil and hence
the heat generated by it.
To interrogate the sensor 800 by the computer, a 2-sensor
configuration is used. That is to say, signals on the X and the Y
leads locate the sensor geographically, while a signal over the
effector lead activates the sensor, and the sensor response is read
over the sensor data lead. The specific circuit is shown in FIG.
48. In this circuit the diode current is sampled by the computer
when it is cold, thus measuring soil temperature. The current is
converted to a voltage using the bridge circuit of FIG. 47. Then
the heater current is applied over the transmission line, and a
hundred seconds are allowed to elapse. Then the diode current is
read again, and converted to voltage with the bridge. The
difference between these two voltage readings now is converted by
means of a calibration table stored in the computer into the
percent soil moisture existing at the site of that sensor package.
The translation between the voltage difference and the soil
moisture is a simple matter since the voltage across the diode is
linear with temperature.
The fluid delivery sybsystem of the present invention can also be
utilized for insecticide spraying, which will be briefly
illustrated below.
SPRAYING COMPUTER PROGRAM
Spraying would be initiated by the direct sensors, remote sensors
or by direct human observation of the presence of harmful insects
or fungi in a homogeneous agricultural area. For instance, an
infection of apple scab would be detected by a high-resolution
remote infrared scanner by its characteristic black patches on an
otherwise flat colored fruit.
At early stages of use, generally an initial identification of a
specific insect will be made by a human being, whereafter the area
will be inspected by remote sensors and the observation of the
homogeneous agricultural area which is infested will be permanently
recorded in a template in the computer. Thereafter, of course, the
computer can automatically scan other homogeneous agricultural
areas and, upon comparison to the template, will be able to
thereafter recognize that particular source of infestation.
Since insecticides effective against a particular insect are well
known and established in the art, such information will be
preprogrammed into the computer along with the necessary
concentration of chemical required.
Prior to initiating the spraying of insecticide, the computer will
perform various internal checks to determine the elapsed time since
the last spraying for the particular insect involved, will
determine that wind velocity does not exceed a certain value and
finally will ascertain that sufficient time exists between spraying
and harvesting to insure meeting legal residue requirements.
Assuming that all of the above checks are acceptable, thereafter
insecticide spraying will be conducted in a manner similar to the
nitrate/phosphate/potassium application earlier described except
that, of course, in this instance the insecticide will be
introduced from container 206e as shown in FIG. 15, and the sensors
are indirect sensors, feedback being delayed for extensive periods
of time as it may take a number of weeks and two, three or more
separate spray applications to completely eradicate the pest
involved.
By way of example, the following computer sequence is required to
reach a decision for insecticide spraying. The computer will
initiate spraying in the block when:
1. The field sensors, or remote sensors, or direct human
observation, have sounded a trouble alert, and have given all the
locations of the trouble.
2. Remote, or human, observation has identified the specific cause
of trouble.
3. The computer looks up the proper treatment, in its "table of
treatments", including the identity of the chemicals, and their
concentrations.
4. The timer indicates the required elapsed time since the last
spray (several sprays may be needed to eliminate the pest) or
when
5. a heavy rain has washed off the last spray, and when
6. the wind velocity does not exceed a prescribed value, and
when
7. the inventory levels of the liquid chemicals needed is adequate,
and when
8. there is ample time before harvest to satisfy the legal residue
requirements, and
9. other steps related to coordination with irrigation and other
activities.
When the "spray" decision is reached by the computer, it directs
the Controller to operate the meter valves (MV) to discharge the
required amount of spray concentrates into the mixing tank. In FIG.
15 the spray tanks are labeled as herbicide, fungicide,
insecticide, miticide, and spreadersticker. Through a metering
valve connecting the variable speed pump with the mixing tank,
water is taken in from the reservoir 217 (at the proper
temperature) and mixed with the concentrates to reduce the mixture
to the desired concentration for injecting the spray into the main
line. The mixing motor 210 is turned on an may be held on during as
much of the spraying operation as required to prevent separation of
the spray materials.
The invention can accommodate either the traditional technique of
"dilute spraying" or the newer technique of "concentrate spraying"
described, for example, in Editors, "Save Four Ways by Spraying Low
Volume", American Fruit Grower, Sept. 1972. The accommodation is
made by the appropriate selection of dilution in the mixing tank,
delivery pressure, and diameter of the discharge orifices.
The metering and mixing-operation just described can be done either
on a continuous flow operation or a batch operation. In general,
the mixing tank would not be large enough for one batch, unless the
homogeneous agricultural area(s) affected is small. Thus, the
computer will need to monitor the amount of fluid dispensed by
means of a conductivity level detector or a float switch, or other
type of sensor in the mixing tank, so that the next batch can be
mixed before the tank runs out. Further, the computer program must
take into account the different concentrations of the various
chemicals required for different blocks of the field and arrange to
spray in a sequence which avoids either over-concentrations or
under-concentrations as lines are purged and refilled for a new
block. By knowing the delivery rate, the computer is programmed to
schedule the weakest concentrations first, and progress through the
blocks in order of increasing concentrations.
The six flow diagrams shown in FIGS. 16I to 16N, which are designed
to be self-explanatory, describe the spraying operation in much
greater detail. FIG. 16I shows the master flow diagram, and
explains how the operation is divided into five time phases.
Automatic spraying is, of course, much more complex than is
irrigation, owing to less research knowledge of pattern recognition
signatures that may be left by disease and insect conditions for
all plants, the more complex treatments required, etc. This is
allowed for by providing for human checking of the process, by
human intervention and interpretation as necessary, and by constant
checking "ground truth" data coming from those direct sensors whose
outputs are correlated with known pathologies.
While the above description has been primarily in terms of
continuous spraying applications, it should be understood by those
skilled in the art that it is possible to conduct batch spraying in
accordance with the present invention. For batch spraying, of
course, a premetered dosage of insecticide and diluting water would
be introduced into the mixing tank 208 shown in FIG. 15, and
thereafter the entire charge of insecticide applied to the desired
homogeneous agricultural area or areas which require such
treatment. The amount of fluid dispensed from the mixing tank 208
for batch operation can be constantly monitored by the computer by
means of a conductivity level detector, flow level switch or the
like.
Assuming that adjacent homogeneous agricultural areas are both
subject to infestation with the same type of insect pest, but
infestation in one area is more severe, batch operation might be
particularly useful. For example, minimal chemical concentrations
might be required for application to the first homogeneous
agricultural area and maximum insecticide application required for
the second homogeneous agricultural area. The first batch can be
prepared at the required concentration by appropriately computer
controlled metering into the mixing tank 208 and, when the level
control indicates that the batch has been substantially completely
dispensed, thereafter the subsequent batch can be automatically
mixed at the proper concentration and thereafter insecticide
spraying conducted on the second homogeneous agricultural area.
The fluid delivery subsystem of the present invention can also be
used. For seeding, for example, small seeds such as alfalfa, and
the like, can be sprayed in mixture with wood cellulose fiber
mulch, fertilizer and adhesive.
While small seeds can be planted with the fluid delivery subsystem
or by way of the hydromotor platform to be later described, larger
seeds such as corn and soybeans which require considerable cover
still can be planted via the fluid delivery subsystem, delivering
seeds, nutrients and water to the hydromotor platform using
essentially no-till technology.
The application of the fluid subsystem of the present invention for
such seed planting will find particular usefulness in mature
orchards and groves where planting a cover crop can be extremely
difficult utilizing conventional field equipment, which can cause
considerable damage to the trees. Further, since orchards are
frequently planted on steep slopes, conventional field equipment
may not be usable.
Referring again to FIG. 15, the sequence of seeding is similar to
that earlier illustrated for nitrate/phosphate/potassium
application except that generally a batch operation would be used
since seeding would be a rather infrequent function performed on an
agricultural area involving, for instance, fully grown mature trees
or the like.
The fluid delivery subsystem of the present invention could first
be used to clear the ground in the homogeneous agricultural area to
be seeded utilizing a herbicide, for instance, applied in a
continuous flow manner from herbicide container 206f shown in FIG.
15 and therafter the seed mixture as described above utilized.
Preferred seed mixtures are described in the U.S.D.A. Yearbook,
Science for Better Living, GPO, 1968.
The fluid delivery subsystem of the agricultural system of the
present invention can also be used for frost protection. The
requirements for frost protection are quite dissimilar from those
for fluid deliveries as earlier described, and accordingly the
final decision as to whether to adapt the agricultural system of
the present invention to frost protection is an economic one.
However, considering the superior degree of frost protection
control that can be obtained by the addition of such feature to the
agricultural system of the present invention, it will often be the
case that the agricultural system of the present invention will be
adapted to provide frost protection.
Frost protection can generally be accomplished by any of the
following four techniques:
1. By wind machines which mix lower layers of cold air with warmer
air at high levels.
2. By heating air surrounding the plants by means of burning gases,
smudge pots and the like.
3. By spraying the plants themselves with water so that, when the
water releases its latent heat of fusion (80 calories per gram),
the plant is warmed, even though it accumulates a load of ice.
4. By spraying water onto the ground under the plants.
5. By directly heating the plants with infrared lamps, this
technique heretofore having been avoided because of the expense of
field wiring and of electricity.
The first two options recited above are relatively inefficient or,
for air heating, generate dangerous air pollutants.
Directly spraying the plants is efficient in the sense that heat is
directly released to the plant, but it is much simpler to apply
water to the ground surrounding a tree rather than to the tree
itself. Accordingly, in the agricultural system of the present
invention, it is most preferred to conduct frost protection by
spraying the ground around the trees rather than the trees
themselves due to the lower degree of complexity provided by such a
system. This is the case even though such a system is less
efficient than spraying the trees directly. In cases where the
field is provided with lighting, method five can be combined
efficiently with methods three or four, or both.
A potential benefit of ground spraying is that some plants cannot
withstand heavy ice loads without breaking, and in such an instance
ground spraying is mandatory.
As earlier indicated, it is highly preferred in the agricultural
system of the present invention that the fluid distribution system
have access to a source of water of varying temperatures. This is
especially preferred for frost protection because it enables heated
water to be used, whereby ice loading and over-saturation of the
ground, which can lead to water logging, is avoided, as less water
is required.
Frost damage to most plants begins at about 28.degree. F. The
general objective of frost protection is to maintain the
temperature of the parts of the plant susceptible to frost damage
at a temperature just below the freezing point so that water being
applied to the plant is continuously freezing and releasing its
heat of fusion. Typical water application rates to protect a plant
from frost area:
At 251/2.degree. F.--one-tenth of an inch per hour of water;
At 241/2.degree. F.--one-eight of an inch per hour of water;
and
At 221/2.degree. F.--one-fifth of an inch per hour of water.
As an average, water application rates of about 30 gallons per acre
are required. By using water at a higher temperature, the rate of
water application can be substantially lower, thereby decreasing
the possibility of damage to plants susceptible to branch breakage,
such as citrus fruit trees and peach trees.
If direct application of water to the trees is contemplated, the
fluid ejection means should be just above tree height. Typically,
for a citrus grove 40-60 ft. spacing is utilized with 1/3 inch to
5/32 inch nozzles operating at a pressure of about 35 psi, and
hammer-operated sprinklers are used.
To permit adequate frost protection, the fluid delivery subsystem
earlier described with reference to FIG. 15 is slightly modified as
follows:
First, field sensors in homogeneous agricultural areas susceptible
to frost damage must be provided which are capable of low
temperature sensor readings. Thermistor thermometers can be
utilized. The temperature at which the thermistor thermometer
forwards a data pulse to the computer must be adjustable according
to various stages of crop development. Either the thermistor
thermometer itself can be adjusted, or, more practically, the
minimum temperature at which frost protection is indicated can be
programmed into the computer. For instance, to insure frost
protection for blossoms, a typical temperature is 32.degree. F.,
whereas for apple trees in the pink bud stage generally a
temperature of 28.degree. F. is not unduly harmful if some frost
blemish is acceptable.
One advantage of the agricultural system of the present invention
is that by the use of direct and indirect sensors it is possible to
determine precisely where frost protection spraying may be needed.
This is important because frost protection spraying requires about
twice as much water per unit of time as irrigation, and accordingly
if it is necessary to spray large agricultural areas at one time
the fluid delivery subsystem capacity must be increased
substantially beyond that needed for irrigation or like functions.
This is where the cost of field lighting to provide infrared
heating can be balanced off against the cost of increasing the
capacity of the irrigation system.
With the use of direct and indirect sensors which are capable of
analyzing the temperature of the agricultural area of the present
invention, it is possible to determine the exact number of
homogeneous agricultural areas where spraying is needed and to
conduct frost protection spraying only to those homogeneous
agricultural areas. Since it is highly unlikely that all parts of
the agricultural area will simultaneously require frost protection
spraying due to variations of elevations, wind conditions, water in
the soil and other variables, it is seen that computer control will
enable one to avoid over capacity of the fluid delivery sub-system
merely for frost protection purposes.
One important criterion which the agricultural system of the
present invention meets is that is provides a fluid delivery
subsystem which meets the general requirements for chemical
spraying, irrigation and frost protection, all of which differ
substantially from each other. For example, chemical spraying
requires a small diameter orifice which is capable of operating
under fairly high pressure and at a high angle for covering all of
the foliage and branches during application. On the other hand, for
irrigation, a large diameter orifice, a low angle and low pressure
are required to avoid washing beneficial materials already applied
to the tree and to avoid erosion and aid percolation. When using
tricklers, of course, water may be applied only to the ground.
Frost protection may require all fluid ejection means in a large
area to be active simultaneously (see the explanation regarding one
substantial benefit provided by the agricultural system in this
regard), but the water delivery rate is very small, for example,
one-tenth of an inch per hour or less, especially less for heated
water.
A number of different means to achieve the above functions in the
agricultural system of the present invention are further described
below in detail. Exemplary of such means are a fluid ejector with
elevation, angle and orifice diameter being controlled by hydraulic
signals, a similar system controlled by electrical pulses, and the
like.
Systems as described above require either a variable speed pump or
a plurality of single speed pumps.
Such variable flow capacity is necessary for two reasons.
1. First, pressure requirements differ for different operations.
Irrigation generally requires a low pressure, for example, 50 psi,
insecticide spraying may require a high pressure, for example, 200
psi for high angle sprayers, and frost protection, hydraulic
thinning (later explained) and the like may require still other
pressures.
2. Secondly, field elevations may differ widely, and accordingly to
obtain adequate pressure at certain elevations, high pump rates may
be required. To accomplish the functions of irrigation, chemical
spraying and frost protection, one very important element of the
agricultural system of the present invention is the fluid ejector
or sprinkler head. The functions of irrigation, chemical spraying
and frost protection impose different requirements on the fluid
ejection means or sprinkler heads utilized. In accordance with the
present invention sprinkler head control means and novel sprinkler
head designs are provided to enable the agricultural system of the
present invention to achieve full flexibilty in accomplishing all
of these functions at minimum cost and with minimum complexity.
Two essential types of fluid ejection means control for sprinkler
types other than tricklers are contemplated in the present
inention:
1. Control by pressure changes effected primarily by varying the
speed of the pump or prime fluid mover for the fluid delivery
subsystem and/or, of course, utilizing different pumps each capable
of driving at one set speed. In this embodiment, hydraulic signals
are effectively transmitted along the fluid delivery subsystem.
2. Control utilizing electrically controlled solenoid valves, the
solenoid being operated by any desired type of current. In this
embodiment, control is effectively along data transmission lines
from the computer to the solenoid.
Turning firstly to fluid ejector control means by way of pressure
changes, such will be described for a solid set irrigation system
comprising a main fluid delivery line with a series of lateral or
secondary lines extending therefrom. The lateral lines generally
extend between two adjacent rows. Such a system has been shown in
FIG. 15 and reference can be made thereto for a brief review of the
overall schematical layout of the main/lateral fluid delivery line
system for a solid set irrigation pattern in accordance with the
present invention.
In the following discussion, reference will often be made to a
"sequence valve". As earlier explained, such valves are
commercially available under the trademark, for example,
"Sequa-Matic". Upon the introduction of fluid under pressure, such
a valve will permit the entrance of water into a desired device,
for example, a sprinkler head, and then, when the pressure head is
reduced to zero, the sequence valve prevents the entrance of water
into the sprinkler head and permits the water flow to advance to a
point beyond the sprinkler head initially receiving the water. By
using a plurality of sequence valves, the flow of water to various
sprinkler heads in series can be advanced step-by-step down a
lateral line containing a plurality of such sprinkler heads.
Sequence valves as above have two outputs, i.e., one of which
valves water into the sprinkler head during the initial cycle and
the other of which advances the water down the lateral line after
the pressure head is reduced to zero.
Sequence valves are known which can have more than two ports, and
such are also useful in the present invention, for example, the
commercially available Pik-A-Port valve manufactured by Flow Valve
Enterprises of Rochester, New York, which provides up to six ports.
Utilizing such a sequence valve, each port could be used for a
separate sprinkler head, or sub-laterals, or sub-networks of
trickler tubes, which provides considerable flexibility. Rather
than advancing step-by-step down a lateral line, if this type of
sequence valve is utilized, water output advances step-by-step from
one output port to the next each time the water is turned off, that
is, each time the pressure head drops to zero.
Four methods will now be described for utilizing pressure changes
to control fluid ejection means which are capable of accomplishing
the three functions of irrigation, chemical spraying and frost
protection, each of which illustrates different requirements.
No detail is provided on rotation means for any of the fluid
ejection means described in the following disclosure as such is
conventional, e.g., for the sprinkler heads shown and described
with reference to FIGS. 15, 17, 20, 21, 22, 23, and 24. Small
sprinklers and tricklers which cover small areas usually do not
have any means of rotation. Larger sprinklers with intermediate
coverage use Newton's action-reaction principle, in which the
orifice is angled relative to a horizontal diameter line drawn
through the circle of rotation, such that a small force is exerted
perpendicular to the diameter line. Still larger sprinklers as are
common in agriculture, produced, for example, by Rain-Bird
Sprinkler Manufacturing Corp., use a separate drive nozzle to
deflect an impact arm against spring tension, the impact of the arm
against the sprinkler body rotating it several degrees at a
time.
The first method of the present invention is best explained with
reference to FIG. 17. In FIG. 17 there is shown a lateral line 240
feeding to a first sequence valve 241. A first sprinkler head
assembly 242 is shown comprising a "chemical" spraying sprinkler
head 243 on riser 244 and irrigation head 245 on riser 246, both in
fluid flow connection with a pressure operated valve 247.
Downstream of the first sprinkler head assembly 242 is a second
sprinkler head assembly 248, which sprinkler head assembly
comprises a pressure operated valve 249, a pressure reducing valve
250 and a frost protection sprinkler head 251, both carried on
riser 252.
Pressure valve 247 can be set into any one of three states,
depending upon the pressure in the lateral line 240; feed to the
irrigation head 245; feed to the sprinkler head 243; and off. In a
similar manner, sprinkler head assembly 248 is provided with
pressure valve 249 which, in this case, is capable of two
positions: feed to the frost protection sprinkler 251, and off.
The activation pressure for each of the sprinkler heads 243, 245
and 251 is distinct from the others. Accordingly, by introduction
of fluid into the lateral line 240 at an appropriate pressure
(programmed by the computer), one of the three sprinkler heads is
activated. To set the system for frost protection, the computer
must advance the sequence so that water is at the farthest point
from the main line, as depicted in FIG. 15. At this point all
sequence valves in the lateral will be open, and all pressure
valves 247 will be off because the water source will be blocked by
the sequence valves 241, as explained in connection with FIG.
15.
For example, assume that the irrigation head 245 is activated by a
pressure of 35 to 50 psi and the sprinkler head 243 is activated by
a pressure of 60 to 75 psi. By passing fluid into the lateral line
240 at a pressure of 65 psi, the pressure switch 247 will
automatically activate the chemical spraying sprinkler head 243. At
a lower pressure, for example 40 psi, the irrigation head 245 will
be activated. In a similar manner, assuming that the frost
protection sprinkler head assembly 248 is activated at 100 psi,
passing fluid under high pressure through lateral line 240 will
permit the frost protection sprinkler head assembly 248 to be
activated, providing sequence valve 241 is open to it.
Since front protection generally requires sprinkling at low
pressure, the pressure reducing valve 250 on the riser above the
pressure valve 249 reduces the pressure in the line 240 to an
appropriate value.
In those embodiments of the present invention wherein pressure
changes in the fluid delivery subsystem are utilized to initiate
various sprinklers, it is generally necessary that the pressure
activation point of the various valves be preset at the time of the
installation of the system. This will allow for pressure variations
occurring at different parts of the agricultural system due to
variations in, for example, elevation or distance from the pump.
Alternately, pump 218 can be set by the computer to provide the
pressure needed to activate the pressure valves, and the pressure
of activation can be different for each homogeneous agricultural
area.
In a second method, a sprinkler head carried at the top of a
telescoping actuator as shown in FIG. 18 is utilized. In this
embodiment, the pressure in the lateral line 240 is utilized to
extend the telescoping actuator, and, accordingly, to extend
sprinkler head 260 as shown in FIG. 18 to the desired height to
accomplish the functions of irrigation (low angle), chemical
spraying (intermediate angle) or frost protection (high angle) by
extending the telescoping actuator generally indicated at 261 to
permit extension of telescoping members 262 (irrigation), 263
(chemical spraying), or 264 (frost protection), respectively.
Sequence valve 241 functions in a manner similar to the sequence
valves earlier described.
The telescoping actuator 261 is provided with internally spaced
pressure valves which release at varying pressures; for example, at
a pressure of 35 psi telescoping member 262 would be extended but
263 and 264 would not be extended. At a higher pressure, for
example, 50 psi, telescoping member 263 would be extended but 264
would not be extended. Finally, at a high pressure, for instance 75
psi, telescoping actuator 261 would be fully extended with each of
extensible members 262, 263 and 264 being exposed.
Pressure valve 265 is shown in FIG. 18 as connected to lateral line
240 and to telescoping member 261 via line 266. This pressure
switch is activated when frost protection sprinkling is conducted
and all sprinklers along a lateral line will generally be used.
This usually means that all sequence valves along a lateral line
have been initiated, and the sequence has advanced to the end of
the lateral line and, of course, to the end of the homogeneous
agricultural area. When frost protection sprinkling is required,
generally all sprinklers will be in the "off" position. One
practical way to initiate simultaneous frost protection sprinkling
is by way of pressure valve 241 which by-passes sequence valve
265.
The telescoping sprinkler head assembly generally shown in FIG. 18
is presented in detail in FIG. 19, where like numerals are utilized
to identify like members; in FIG. 19, however, pressure switch 265
is omitted for purposes of simplicity and a detailed explanation is
given of various actuating means. As shown in this drawing,
sprinkler head 260 is mounted on telescoping member 264 in a
rotatable manner by bearing 270. The sprinkler head 260 generally
comprises a small fixed diameter orifice 273 and a variable
diameter orifice section 274 having rotatably mounted thereon
rotatable casing 275 adapted to coact with fixed member 276 to vary
the effective diameter of orifice 277 in a manner now to be
explained. The small fixed diameter orifice is set at a reaction
angle to provide thrust for rotation of the head.
Rotatable casing 275 is threaded to variable diameter orifice
section 274 by way of coacting threads 278 in a manner which
permits rotatable casing 275 to move up or down section 274. As
rotatable casing 275 is rotated, contoured wall section 279 of
casing 275 moves so as to increase or decrease the effective flow
diameter 280 through variable orifice 277.
Rotatable casing 275 is rotated, in this embodiment, by rack 281
which is attached to rotatable casing 275 in a manner to coact with
teeth 282 in rotatable casing 275 and is attached to telescoping
member 264 by way of support 283.
Although not shown in detail in FIG. 19, rack 281 can be moved to
increase or decrease the effective diameter or orifice 277 using,
for example, solenoid means as are later described with reference
to FIG. 23, generally represented by 284 in FIG. 19. A wiring
system similar to that utilized in FIG. 23 can be used to affect
movement of the rack 281 with reference to the adjustable casing
275. Solenoid means 284 would, of course, be linked to the computer
by an appropriate data transmission line as generally indicated by
285 in FIG. 19.
In a modification of the device shown in FIG. 19, rack 281 is not
raised by computer control but, rather, is raised or lowered
utilizing the sequential movement of the telscoping members 262,
263 and 264, as follows: in this embodiment, the rack assembly is
fixed to telescoping member 263, it being noted that attachment is
to the exterior of telescoping member 263 so that telescoping
member 264 is permitted to telescope from the interior of
telescoping member 263. At low pressure, where maximum orifice
diameter is required, telescoping members 263 and 264 are not
extended. At intermediate pressure, only telescoping member 263 is
extended. Since rack 281 is fixed to telescoping member 263 and
telescoping member 264 is not extended, at this position member 275
is retracted to permit maximum effective orifice diameter of
orifice 277. At maximum pressure, however, telescoping member 264
extends; since rack 281 is fixed to telescoping member 263, as the
nozzle assembly 260 moves vertically away from telescoping member
263, rack 281, remaining fixed, coacts with rotatable casing 275 so
as to turn the same and, via threads 278, bring tapered wall
portion 280 closer to member 276, thereby minimizing the effective
orifice diameter 277.
As will be appreciated by one skilled in the art, if pressure is
varied periodically from low to high, it is possible, utilizing the
embodiment of FIG. 19, to cover both ground and trees by a
sequential extension and retraction of the telescoping members.
This is a hydraulic analog of the system shown in FIGS. 23 and 24
when it is being driven by a saw tooth signal.
In the above embodiment, the telescoping members, of course, lower
under the influence of gravity once the pressure is lowered or when
the sequence valve turns the pressure off.
A number of means are available to correlate which of members 262,
263 or 264 are exposed with increasing pressure. For example, the
pressure in the line can be correlated with the weights of each of
members 262, 263 and 264 so that minimum pressure is sufficient to
raise only member 262, intermediate pressure is sufficient to raise
both members 262 and 263, and maximum pressure is sufficient to
raise all of members 262, 263 and 264, in sequence.
As will be apparent to one skilled in the art, by utilizing the
telescoping assembly of FIG. 19, it is possible, with one
apparatus, to accomplish the functions of irrigation, spraying and
frost protection merely by computer controlled variations in
pressure change which permit selection of the proper height for the
function which is to be accomplished, and which can also be
utilized to vary the effective diameter of the variable spray
nozzle 277 to achieve distribution at the appropriate pressure for
the function desired.
The third method of the present invention permits combination of
all valving for an individual sprinkler head assembly, except the
sequence valve, into one spool-type four port valve, explained with
reference to FIG. 20.
In FIG. 20, lateral line 240 and sequence valve 241 are shown
feeding into a main fluid delivery line 290, in communication with
secondary fluid delivery line 291. Fluid delivery line 290 permits
fluid to be biased against spool member 296 by way of fluid line
292, urging the same to the right against spring biased pressure
set spring 297. The pressure set spring 297 is capable of at least
three registrations, for example, a low pressure registration which
permits spool member 296 to be biased to the right to permit fluid
flow via distribution conduit 293 to a low pressure, low elevation
sprinkling means, an intermediate pressure registration which
permits the spool member 296 to be biased to the right to permit
fluid flow via fluid distribution conduit 294 to medium pressure,
medium elevation sprinkling means and, finally, a high pressure
registration point which permits the spool member 296 to be fully
biased to the right to permit flow through conduit 295 which feeds
high pressure, high elevation sprinkling means; conduits 293, 294
and 295 would feed, respectively, an irrigation sprinkler head, a
chemical spraying sprinkler head and a frost protection sprinkler
head. Since frost protection is generally accomplished at lower
pressures, a pressure reducing valve (not shown) is required prior
to the frost protection sprinkler assembly.
While the first two methods described above are similar in nature,
the last described above and the fourth method now to be described
involve rearranging the fluid distribution system of the present
invention. In the first two methods above, one sequence valve was
used per sprinkler position. In the third and fourth methods, one
sequence valve is used at the input from a main line to each
lateral line. As shown in FIG. 21, each individual sprinkler
assembly carried on lateral line 240 comprises a medium pressure
valve 301 for feeding irrigation sprinkler head 302 and a high
pressure valve 303 connected thereto by conduit 304. Medium
pressure valve 301 can be in any on of 3 positions: off, irrigate
or pass to high pressure valve 303, as indicated by flow lines
301a, 301b and 301c, respectively. In a similar manner, high
pressure valve 303 can be in any of 3 positions: off, chemical
spray via chemical spray head 305 or frost protection via frost
protection head 306, as represented by lines 303a, 303b and 303c,
respectively.
Main line 307 is shown in FIG. 21 as connected to a source of water
308 via pump 309.
For this method, it will be apparent to one skilled in the art that
an entire lateral line 240 is activated at one time, with a
repetitive activation of lateral lines being effected as opposed to
a repetitive activation of individual sprinkler head assemblies,
which would be the case with the first methods described above.
While fewer sequence valves 241 are required, larger diameter
lateral lines 240 will be necessary since an entire lateral line is
being activated at the same time.
In any of the above methods, when pump speed increases, these are
two causes of pressure increase:
1. increase in pressure head from the pump speed increased per se;
and
2. increase in pressure head from a decrease in the velocity head
due to pressure responsive switches cutting in smaller nozzles.
Having thus briefly described the utilization of pressure changes
to control the fluid flow subsystem of the present invention for
effecting the functions of irrigation, chemical spraying and frost
protection, it is appropriate to briefly turn to means to
accomplish such control by electrically operated solenoid
valves.
In one embodiment, one simply replaces every pressure control valve
and every valve with a solenoid controlled valve. The solenoid
control valves would, of course, be directly controlled by the
computer via the data transmission subsystem and individual
solenoid valves would be operated by different electrical signals
over the line between the solenoid valve and the computer, or
alternatively, separate signals could be impressed on separate
leads.
An illustrative wiring system for a solenoid controlled fluid
delivery system is schematically presented in FIG. 22, in which
computer 10 is shown in communication with function selector 310,
which in turn is in communication with a column selector 311. The
column selector 311 permits opening and/or closing of solenoid
valves 318 in the homogeneous agricultural area 314 by way of data
transmission line 313. A row selector 315 is also in communcation
with the computer 10, and permits activation of valve 312 in the
desired lateral line 316 via data transmission line 317. Lateral
lines 316 are fed by main line 307, thereby permitting fluid flow
into the lateral lines and sprinkling to proceed to the selected
sprinkler. Each area can be covered by just one effector such as a
sprinkler, or it can be a large one requiring a whole network of
sublines and effectors.
Function selector 310, column selector 311 and row selector 315 can
be substantially the same, as is explained with reference to FIG.
24. Alternatively, electromechanical selectors can be utilized, for
example, rotary stepping switches as are shown and described with
reference to FIGS. 6 and 7. Additional alternatives will be
apparent to one skilled in the art. For example, high power diode
gates could be used.
As will be apparent to one skilled in the art, the row and column
selectors can be wired to any number of rows or columns at a time,
not merely one at a time a shown in FIG. 22. For example, if row
selector 315 and associated sequence valves 312 are deleted, then
all areas in any given column can be selected at once. The ability
to "change the wiring" is, of course, inherent in the computer
program, and this is what allows the computer to change the
boundaries of a homogeneous agricultural area as required by the
treatment to be given. This freedom from a fixed field wiring
layout gives the agricultural system of the present invention great
flexibility.
In the instance of utilizing solenoid controlled valves, it is
possible to utilize a sprinkler head whose on/off position, nozzle
diameter and elevation (or angle) are electrically controlled over
one wire by the computer, using solenoid valves to effect the above
purposes as will now be explained with reference to FIG. 23.
Referring to FIG. 23, a lateral line 240 is shown feeding a riser
320 upon which is carried sprinkler head assembly 321. The
sprinkler head assembly 321 comprises shaft 322 carrying a
conventional ball and socket assembly mounted thereon which
comprises socket 323 and hollow ball 324, the ball and socket
assembly having provided at one end thereof a spray nozzle 325.
Socket 323 encloses ball 324 and is provided with an arcuate slot
therein through which nozzle 325 projects to permit movement in a
vertical plane.
The hollow ball 324 is rotatable in socket 323 so as to permit
changes in the elevation of the spray nozzle 325. The assembly 321
can be rotated 360.degree. around shaft 322 by the thrust of the
fluid being ejected from nozzle 325 at a small reaction angle.
Elevator solenoid 326 and nozzle diameter solenoid 327 are shown as
part of the sprinkler of FIG. 23. The elevator solenoid 326 is
secured to the ball and socket by supports 328 in a manner so as to
permit the elevator solenoid 326 to move bell crank 329, causing
the nozzle 325 to be lowered or elevated.
A simple signal imposed upon the elevator solenoid 326 from the
computer (not shown) via conventional slip ring 330 carried on
riser 320 and data transmission line 331, which is linked to the
computer, permits the solenoid to retract or extend, thereby moving
bell crank 329 and decreasing or increasing the angle of nozzle 325
relative to the ground.
At the same time, nozzle diameter solenoid 327, which is supported
in nozzle 325 by supports 332, can also be controlled by signal
wire 331 to permit plug 333 connected to nozzle diameter solenoid
327 to be inserted into nozzle exit 325a, whereby the effective
diameter of nozzle exit 325a can be varied so as to increase or
decrease the pressure of fluid leaving nozzle exit 325a at constant
pump pressure.
As will be appreciated by one skilled in the art, both solenoids
and all wiring are in water-proof assemblies and the apparatus of
FIG. 23 essentially achieves fluid application at varying pressures
by varying the effective orifice diameter 325a, as opposed to
relying upon variations in internal line pressure. Line pressure
changes can be used to extend coverage.
Circuitry and means to control a solenoid operated sprinkler head
assembly as shown in FIG. 23 are illustrated in FIG. 24.
In FIG. 24 the nozzle diameter solenoid 327 is shown in combination
with the nozzle elevator solenoid 326, both being controlled by the
signal wire 331 which, in this case, is interfaced with the
computer via switch or function selector 340.
The nozzle diameter solenoid is adapted to reciprocate the plug 333
into one of three positions: a fully extended off position, a
partially extended or "small diameter" position and a fully
retracted or "large diameter" position. The nozzle elevator
solenoid 326 is adapted to permit the nozzle 325 to be moved from a
low angle position to a high angle position.
In FIG. 24, switch or function selector 340, controlled by the
computer (not shown), is adapted to move to one of four positions
to engage contacts 341, 342, 343 and 344. This permits the circuit
to be connected to ground 345, a high resistance positive source
346, a high resistance negative source 347 and a low resistance
negative source 348, respectively.
This permits the following four functions to be achieved:
Sprinkler head off, when the nozzle diameter solenoid 327 is in the
off position;
Spraying and frost protection when the nozzle diameter solenoid 327
is in the small diameter position and the elevator solenoid 326 is
in the high position;
Herbicide and fertilizer application when the nozzle diameter
solenoid 327 is in the small diameter position and the elevator
solenoid 326 is in the low position; and
Irrigation when the nozzle diameter solenoid 327 is in the large
diameter position and the elevator solenoid 326 is in the low
position.
It should be noted that ideally spraying is done with droplets
which are very finely divided to maximize coverage and minimize
volume. However, it is possible to highly dilute chemicals to
compromise the ideal spraying function with some other function,
such as frost protection. As earlier explained, frost protection
spraying requires sufficient water to supply the heat of fusion
necessary to maintain temperature constant; obviously, the volume
required varies depending on temperature. Accordingly, it is seen
that for any nozzle of the type described to be able to achieve
ideal spraying and frost protection, some compromise of maximum
result must be accepted.
When switch 340 is in position 341, the entire system is grounded
and no flow occurs. All sprinklers are in the off position.
When switch 340 is in the 342 position, high resistance positive
source 346 is connected, whereby nozzle diameter solenoid 327 is
decreased to the "small diameter" position. The polarity of the
positive source causes the nozzle elevator solenoid 326 to move to
the "high" angle.
When switch 340 is brought to position 343, the current remains the
same as at position 342 so nozzle diameter solenoid 327 remains
unchanged, but polarity is reversed so that the nozzle elevator
solenoid 326 moves to the "low" position.
When the switch 340 is moved to position 344, nozzle angle remains
"low", but the decrease in circuit resistance causes nozzle
diameter solenoid 327 to move to its "large" diameter or maximum
opening position.
Modifications to the above system would include, for example,
replacing nozzle diameter solenoid 327 by a spring-rotary hydraulic
actuator closing down an iris-type nozzle in response to pressure
increases.
If desired, the embodiment shown in FIGS. 23 and 24 can be modified
so as to be provided with a double nozzle, instead of a single
nozzle as shown. The only substantial modification would be that a
pair of solenoids would be required, one for each nozzle, to
increase the water flow, to secure higher rotational velocity or
the like.
As a further modification, it will be apparent to one skilled in
the art that the nozzle diameter solenoid can be caused to
constantly oscillate in a vertical path by varying the resistance
in line 331.
While in the system of FIG. 24 as described one specific set of
signals is utilized to control nozzle angle and nozzle diameter, it
will be appreciated that any comparable set of unique signals can
be used to effect the control described, i.e., any set of signals
which can be differentiated for nozzle angle and nozzle diameter
control. For instance, while polar relays are described which move
from one position to another upon receiving a reversal of battery
signal, marginal solenoids, the electrical counter-part of a
spring-loaded spool valve, could also be used. For instance, two
marginal solenoids could be utilized which are controlled by four
d.c. signals, each of different amplitude. Alternaively, identical
solenoids each with a different spring loading to produce four
different positions when connected in series could be utilized,
though this last embodiment is mechanically more complex than
earlier embodiments.
In a final fluid delivery embodiment, two different types of fluid
delivery systems are used in combination:
a. Sprinkler head assemblies as are described in U.S. Pat. No.
3,123,304 to Sutton. Sprinkler head assemblies of this type require
both a liquid (typically water)/chemical delivery line and a gas
(typically air) delivery line. The use of water and air, both under
variable pressure, enables a superior spraying function, and by
enabling the use of heated air and/or water, a superior frost
protection function as well, to be achieved.
b. "Microtube" tricklers as are commonly available to the art, see
for example Kenworthy, A. L.--"Trickler Irrigation Surges Ahead",
American Fruit Grower, pp. 15-17, April 1972 and Kuykendall, J. R.
et al.--"Trickle Irrigation Proves Its Worth", American Fruit
Grower, pp. 22-25, April 1973.
In the above combination, the sprinkler head assemblies as
described in the Sutton patent would not be used for standard
irrigation purposes or for the dispensing of chemicals intended for
the soil itself, such as nutrients, pH controllers, herbicides,
rodenticides and the like. Rather, the dispensing of water and
chemicals intended for the soil itself would be accomplished by the
microtube tricklers, the sprinkler headers of the Sutton patent
generally being utilized to apply desired materials directly to the
trees in the agricultural area.
Since the sprinkler head assemblies described in the Sutton patent
are directly adaptable to the agricultural system of the present
invention, no detailed discussion need be offered thereon.
With reference to trickler or aeration irrigation, as is known in
the art, the effector devices are extremely inexpensive and are
generally made of plastic, one type being simply a very small
"spaghetti" tube aptly called a "microtube", which leaks water onto
the ground under low pressure at a very low rate such that large
agricultural areas can be simultaneously irrigated. The cost of
such microtube tricklers is extremely low.
An embodiment of the present invention is schematically shown in
FIG. 25, and this embodiment will be explained with reference
thereto, FIG. 25 generally showing fluid delivery, application and
control means in schematic form.
Referring to FIG. 25, there is shown therein water and chemical
delivery line 350 and air delivery line 351, both of these lines
being under pressure. Water and chemical delivery line 350 is shown
connected to spool valve 352 via lateral line 353 and to spool
valve 359 via lateral line 360. Air delivery line 351 is connected
to spool valve 352 via lateral line 354.
Spool valve 352 is utilized to control the flow of fluid to
sprinkler head assemblies 358 as are described in the Sutton
patent.
Upon appropriate activation of solenoid 355, interior flow conduits
356 and 357 can be brought, respectively, into position so as to
inter-connect lateral line 353 with lateral line 353a and lateral
line 354 with lateral line 354a, respectively, which lead to
sprinkler head assembly 358. As will be apparent to one skilled in
the art, spool valve 352 is adapted to permit the passage of either
liquid or gas or both from the water and chemical delivery line 350
and the air delivery line 351 to the sprinkler head assembly 358.
In a similar manner, spool valve 359 permits lateral line 360 to be
brought into communication with lateral line 360a via flow conduit
362 to permit water to flow to microtube trickler assembly 363 upon
activation of solenoid 361. Both solenoid control means are
computer controlled as will later be explained in detail. Spool
valves 352 and 359 are conventional and can be selected from those
known in the art.
In FIG. 25, fluid delivery lateral line 364 and gas delivery
lateral line 365 are shown leading to other sprinkler head
assemblies in the homogeneous agricultural area, which sprinkler
head assemblies are described in the Sutton patent.
Liquid and chemical flow and gas flow in lines 350 and 351,
respectively, are, of course, under computer control as will now be
explained.
Control means in FIG. 25 is broadly identified by the numeral 366,
and is shown as comprising data transmission line 367 in circuit
with rectifier 368, shift register 369, address decoder 370, tree
or plant dispense relay 371 which activates solenoid 355 and ground
dispense relay 372 which activates solenoid 361 upon receipt of an
appropriate digital pulse signal generated by the computer (not
shown) and forwarded along data transmission line 367.
Data transmission line 367 carries a.c. power and signal pulses on
a common power pair as described with respect to FIG. 9. If
desired, of course, separate pairs can be utilized.
For purposes of illustration, the initiation of fluid dispensing in
sprinkler head assembly 358 will be described.
The first step to activation of sprinkler head assembly 358
comprises the initiation of a digital pulse signal from the
computer which is propagated along data transmission line 367. The
digital pulse signal is accumulated in shift register 369, and the
content thereof is outputted to address decoder 370, which
comprises a conventional diode network. The address decoder 370,
when the correct combination of digital pulses to activate
sprinkler head assembly 358 is received, generates a low power
output signal which is sufficient to activate tree or plant
dispense relay 371, shown as comprising electromagnetic coil 373,
switch 374 and power transmission line 375, permitting solenoid 355
to be activated and open or close spool valve 352, where liquid
(with optional chemical) and/or gas (typically air) can be
permitted to pass from lateral lines 353 and 354, respectively,
into sprinkler head assembly 358 via lateral lines 356/353a and
357/354a. As will be appreciated by one skilled in the art, since
the output signal from the address decoder 370 will be a low-power
signal sufficient only to operate a small relay, it is necessary
that relays 371 and 372 be connected to a high-power source which
provides power sufficient to drive solenoids 355 and 361,
respectively.
Ground dispense relay 372 is shown as comprising electromagnetic
coil 373a, switch 374a and power transmission line 375a which
permits a high power source to be linked to solenoid 361, whereupon
spool valve 359 can be activated to permit liquid (typically water
and optional chemicals) to be fed to the microtube trickler
assembly 363 via lateral lines 360/362/360a. Operation is
substantially identical to operation for activation of sprinkler
head assembly 358.
In the embodiment shown, the high-power source is provided by the
common data transmission and a.c. power line 367, the required d.c.
power to shift register 369, decoder 370 and relays 371 and 372
being provided by rectifier 368.
Both solenoids 355 and 361 are double acting solenoids, the
solenoids being activated by an appropriate signal from the tree or
plant dispense relay 371 or the ground dispense relay 372,
respectively. For example, assuming spool valve 352 is moved to the
open position by solenoid 355, it remains in the position until a
further pulse from the tree or plant dispense relay 371 is
received, whereafter the solenoid moves the spool valve to the
closed position. The spool can be held in place in a conventional
manner, for example, by a detent as is known in the art.
As will be apparent to one skilled in the art, utilizing the
embodiment of FIG. 25 it is necessary that the solenoids be either
spring-biased so that they can be locked in position to permit
fluid passage and then automatically released by the release relay
or a solenoid with dual windings should be used to permit movement
between a position which permits fluid flow and a position whith
prohibits fluid flow.
The above described system enables a number of advantageous results
to be achieved. Firstly, the microtube tricklers can deliver hot
water, if desired, simultaneously with spraying to achieve frost
protection with water and air, either or both the water or air
being heated, thereby providing maximum flexibility in achieving
frost protection.
Further, as will be apparent, one is able to completely divorce the
spraying function from the frost protection function using the
embodiment of FIG. 25, thereby avoiding compromising maximum
results achievable as is somewhat the case with the earlier
described embodiment of FIG. 23.
The fluid delivery subsystem of the present invention is also
capable of increasing the concentration of carbon dioxide in a
homogeneous agricultural area. The normal concentration of carbon
dioxide is about 0.03%; it is known that by increasing the
concentration of carbon dioxide three to five times, photosynthesis
is increased, resulting in increased yields, improved product
quality and accelerated product maturity (see USDA Yearbook-Science
for Better Living, U.S. Goverment Printing Office, 1968).
The fluid distribution subsystem of the present invention can be
utilized to increase carbon dioxide concentration in a number of
ways. Typically, carbon dioxide is introduced directly into a main
fluid distribution line at a pumping station where it readily
dissolves in cold water under pressure in a stable manner.
Carbon dioxide is contained in cold water at a pressure of about
3-4 atmospheres, well within the pressure limits of the fluid
delivery system of the present invention.
While the carbon dioxide will remain in the fluid delivery
subsystem while under such elevated pressure, upon being applied to
a homogeneous agricultural area the reduction in pressure permits
the carbon dioxide which is maintained in the form of carbonic acid
in water while under pressure to decompose into carbon dioxide and
water.
Since carbon dioxide is heavier than most other constituents in the
air, it will collect on the ground and, providing that appropriate
baffling is provided surrounding the homogeneous agricultural area,
it can be maintained within the homogeneous agricultural area,
thereby permitting the benefits of carbon dioxide application set
forth above to be achieved.
Obviously the application of carbon dioxide is best adapted to flat
terrains, but it should be understood that a desired terrain can be
terraced by baffles along contour lines of the elevation to retain
the carbon dioxide.
Carbon dioxide can be derived for the agricultural system of the
present invention from a variety of sources, for example:
From commercially available high pressure storage cylinders;
From dry ice;
From the combustion of waste cellulose;
From the decomposition of organic wastes, whereby anaerobic
bacteria produce methane gas which is, in turn, subjected to
combustion to yield carbon dioxide;
By treating limestone with nitric acid, producing calcium nitrate
as a by-product which is useful as a source of liquid fertilizer;
and
From the fermentation of grains and/or plant tops, also producing a
valuable by-product similar to low grade bear.
The carbon dioxide can be introduced to the homogeneous
agricultural area via the fluid distribution system of the present
invention by way of, for example, irrigation sprinklers or
tricklers as earlier described. Since a certain finite amount of
time is required for the decomposition of carbonic acid, generally
the water carrying the carbonic acid will reach the ground prior to
such decomposition, and little if any carbon dioxide is lost by
premature escape while the spray is passing through the air.
Alternatively, a "trickler system" of irrigation could be utilized
for such application of carbon dioxide.
THE FIELD OPERATIONS SUBSYSTEM
As will be apparent to one skilled in the art, it is possible to
accomplish all field operations utilizing manual labor, and such is
contemplated in a non-preferred embodiment of the present
invention. For example, manual labor as is conventionally utilized
at the present time can be used to harvest, convey, grade, store
and pack the fruit, in addition to accomplishing tree care
operations.
Further, if desired, the field operations subsystem of the present
invention can comprise conventional mechanical means to accomplish
the inidividual operations set forth above.
The prsent invention does, however, provide normal means to
accomplish one or more, including all, of the field operations of
fruit harvesting, fruit conveying, fruit grading, fruit storage and
fruit packing, in addition to typical tree care operation such as
pruning, thinning and the like.
In a highly preferred form of the present invention, the field
operations of fruit harvesting and fruit conveying and tree care
operations are performed utilizing a hydromotor platform as has
heretofore been briefly alluded to and which will be described in
detail in the following section.
In a further highly preferred form of the present invention, the
field operations of fruit harvesting, fruit conveying, fruit
grading and fruit storage in addition to some tree care operations
are accomplished utilizing the power of water derived from the
fluid delivery subsystem of the present invention.
THE HYDROMOTOR POWERED PLATFORM
As indicated above, in a highly preferred embodiment of the present
invention a water-powered platform (the hydromotor platform) which
is coupled to the fluid delivery subsystem earlier described is
utilized.
The following description will be entirely in terms of such a
"water-powered" hydromotor platform; however, it will be apparent
to one skilled in the art that the propulsion function per se need
not be by hydromotor. Rather, the platform can be driven by, for
example, a conventional gasoline engine, by electrical power
provided from a central source linked to the platform by a power
cable, by batteries, or by other means.
However, in view of the fact that water power is available in every
part of the agricultural area of the present invention, being
provided by the fluid delivery subsystem, and further in view of
the fact that after the hydromotor has extracted power from the
water to accomplish a propelling function the water is still
functionally useful in the present invention, the following
description will be in terms of such a "hydromotor" platform.
The term "umbilical" will often be used in referring to the
hydromotor platform. In the context of the present discussion, this
refers to the pipe or conduit carried by the hydromotor platform
through which fluid is derived from the fluid delivery subsystem,
which fluid (typically water) can be used to power the hydromotor
platform and to drive various ancillary devices carried thereon. As
earlier explained with reference to the embodiment of FIG. 13
wherein strut member 184 is absent, if desired the "umbilical" can
also carry power leads or data transmission (control) leads. As
will further be apparent, the embodiment as shown in FIG. 13 can be
utilized as the umbilical to provide not only fluid to the
hydromotor platform, but various chemicals, small seeds and the
like.
As will be described in substantially greater detail below, the
hydromotor platform of the present invention can utilize the water
power available from the fluid delivery subsystem to accomplish one
or more of the following major field operations;
Fruit harvesting, in this instance using jets of fluid to remove
the fruit from the trees in the agricultural area;
Fruit conveying, in this instance by way of a water conveyor
mounted on the hydromotor platform and adapted to remove the fruit
from the point of harvesting to any desired point in the
agricultural area;
Tree care operations such as pruning, thinning of fruit, brush
removal and the like, which tree care operations can be
accomplished utilizing either the direct power of water in the form
of, for example, water jay sprays, or using the indirect power of
water to drive ancillary hydromotors which are in turn utilized to
power, for instance, slotting saws, pruning saws and the like.
It will be apparent to one skilled in the art that any or all of
the above functions need not be performed utilizing water power.
For example, only certain of the above functions need be
accomplished utilizing water power, whereas other of the above
functions can be accomplished in a conventional manner. For
instance, the harvesting of the fruit can be accomplished utilizing
manual labor, whereafter the conveying of the fruit is accomplished
using the water conveyor, mounted either on a hydromotor platform
where the water after driving the hydromotor is used to effect a
conveying function or mounted on a conventionally powered platform
where water is supplied to the platform to accomplish primarily the
function of conveying of fruit.
Alternatively, tree care operations can be accomplished in a
conventional manner and both harvesting and conveying of fruit
accomplished using water from the fluid delivery subsystem.
As a modification, tree card operations can be accomplished
utilizing the water power derived from the water in the fluid
delivery subsystem and fruit harvesting and fruit conveying
performed in a conventional manner using, for instance, manual
labor and conventional flatbed trucks.
However, as will be apparent from the later description, the
greater utilization which can be made of water power available from
the water taken from the fluid delivery subsystem, the more
efficient the use of the hydromotor platform becomes. Accordingly,
the following discussion will be in terms of a hydromotor platform
wherein maximum utilization is made of water power, though the
present invention is not limited to such all inclusive use of water
power.
It is possible to accomplish the above field operations utilizing
water power because even with conventional gasoline driven
irrigation pumps which are commercially available it is possible to
deliver to any point along the main line of the fluid delivery
subsystem of the present invention adequate power to not only drive
a hydromotor platform as described but to power ancillary devices
carried thereon. The amount of hydraulic power that can be
delivered to such a hydromotor platform operating up to 1,000 feet
from the main line can range from 10 to 30 hp, or more if
needed.
The following are the main features of the hydromotor platform:
First, water power for the hydromotor, and other devices which may
be mounted on the hydromotor platform if desired, can come from a
pipe or hose connected to the fluid delivery subsystem and unwound
from a reel carried by the hydromotor platform.
Second, the hydromotor is reversible so that the hydromotor
platform can move down a row middle and back to its starting point.
Direction change can be accomplished by a manually operated valve
or a solenoid operated valve in the case of computer control of the
hydromotor platform.
Thirdly, and vital to the optimum use of the hydromotor platform,
water discharged from the hydromotor is further useful because it
is discharged into a water conveyor which is unwound from a reel on
top of the hydromotor platform as the hydromotor platform moves
away from the main line. The water conveyor is an important aspect
of the agricultural system of the present invention, and will later
be described in substantial detail.
Fourthly, the hydromotor platform is adjustable in height, i.e.,
its platform is adjustable from about a foot from the ground to as
high as needed for most users to reach the highest branch of a
tree. While in principle the elevatable portion of the hydromotor
platform can be designed to extend to extreme heights, for most
fruit tree farms a height capability of about 15 feet will
suffice.
Fifthly, the hydromotor platform will have laterally extensible
members or "wings" capable of moving into the space between trees.
For example, four such laterally extensible members could be
provided, two at each end of the hydromotor platform. These
laterally extensible members can be utilized to bring various
devices or men into various positions closely adjacent to the
trees.
In the following discussion, it should be kept in mind that the
"portable" water conveyor, be it reel mounted on the hydromotor
platform or manually installed in sections as the hydromotor
platform proceeds from tree to tree, is generally connected to a
"main line" permanently installed water conveyor. The term "water
conveyor" will often be used to describe the overall system of
"portable" and "permanent" water conveyors in the following
discussion; such use will be clear from context.
Referring to FIG. 26(a), the hydromotor platform is shown as
comprising a lower support member 380 supported by wheels 381
suspended therefrom in a conventional manner, the lower support
member 380 being joined to an elevatable upper member 382 by way of
elevating means generally shown at 383, which elevating means
comprises support members 384 rotatable at their approximate
midpoint about pivots 385a and 385b and rotatable about the upper
and lower support members as shown at points 386. Numeral 387
represents a conventional hydraulic ram joined to pivots 385a and
385b; by extending piston 388 of hydraulic ram 387 upper support
member 382 can be raised, and by opening a conventional release
valve (not shown) in ram 387, upper support member 382 can be
lowered under the influence of gravity. The ram can obtain its
pressure from the unbilical tied to the main line, or a
conventional hydraulic oil pump (not shown) or the like can be used
to hydraulically raise upper support member 382. The oil pump can
be in turn powered from the primary source which is the high
pressure umbilical.
Operator control area 389 is generally shown at the front portion
of the lower support member 380, the operator control area 389
comprising various means as will later be explained in detail.
At one end of the lower support member 380 there is shown pipe reel
390 attached to the lower support member 380 by support 391, the
pipe reel 390 carrying water line 392 (the pipe reel is described
in detail in FIG. 27). Water line 392 in this embodiment is merely
a flexible hose connected to the fluid delivery subsystem of the
present invention; it serves to drive the hydromotor 393. Water
line 392 passes through slot 394 in lower support member 380.
Thereafter it is shown as being permitted to lay on the ground as
it is unreeled from pipe reel 390.
In the embodiment shown, pipe reel 390 is not drawn to complete
scale for purposes of simplicity. For example, where the length of
the lower support member (exclusive of the operator control area
389) is about 20 feet, the pipe reel would be, for example,
generally about 10 feet in diameter. Wound thereon would be water
line 392 which could be, for example, a conduit having an internal
effective flow area of about 2 inches. It will be appreciated by
one skilled in the art that the exact dimensions of the pipe reel
390 and water line 392 are not per se critical, so long as the
water line is capable of carrying sufficient water, under pressure,
to drive the hydromotor (later described) and any ancillary
apparatus carried by the hydromotor platform. In those instances
where the diameter of the pipe reel is larger than the minimum
difference between the upper support member 382 and the lower
support member 380, one merely would offset the water conveyor 403,
conveyor drum 405 and support 406 to either the right or left side
of the support member 382 and remove a portion of the upper support
member so as it reciprocates in the vertical plane it can pass
around the pipe reel 390, as shown in FIG. 29.
As the hydromotor platform moves along its path of travel, the
water line 392 is unreeled from pipe line 390 in a counter
clockwise direction as shown in FIG. 26(a).
When the water is delivered from the fluid delivery subsystem via
water line 392 to pipe reel 390, it passes through the hollow
interior of the pipe reel 390 and exists therefrom via lateral line
396 and is forwarded to a conventional valve 397, which permits the
water to be routed to hydromotor 393 via a water line (not shown)
and thence to vertically extending flexible conduit 398 or directly
to conduit 398 when hydromotor 393 is not being driven. In the
embodiment shown in FIGS. 26(a) and (b), as later explained, a
standard gear box and clutch is utilized to achieve speed control
for the hydromotor platform; accordingly, in this embodiment valve
397 can be a conventional flow control valve which is capable of
three positions: routing water to the hydromotor; routing water to
the vertically extending flexible conduit 398; and off. Valve 397
can be controlled from the control console 409 by conventional
mechanical, hydraulic or electrical means. As will further be
apparent to one skilled in the art, lateral line 396 can be
extended to the control console 409, and valve 397 placed interior
the control console 409, whereby water is thence routed to the
hydromotor or conduit 398. Either alternative is feasible, and will
generally be a matter of design choice.
Hydromotor 393 is essentially a conventional water
pressure-to-mechanical torque converter where flowing water is
utilized to drive a turbine; such devices are well-known in the
art.
As best shown in FIG. 26(b), hydromotor 393 has a conventional
rotor output 399 connected via a flexible sleeve or coupling to
transmission 400, whose output rotor is connected in a conventional
manner to forward wheels to drive the same.
After water is utilized to drive the hydromotor 393, it is passed
via flexible conduit 398, which is connected to the upper support
member 382 at bracket 401, into vertical spout 402 and thence is
introduced into water conveyor 403, shown supported on U-shaped
support members 404 in a slidable fashion.
Water conveyor 403 is carried on conveyor drum 405 which is
attached to the upper support member 382 by way of bracket 406, and
is unreeled in a manner later to be explained from conveyor drum
405 as the hydromotor platform proceeds along its line of
travel.
Returning to the operator control area 389, this is shown as
comprising support frame 407 attached to the lower support member
380 and being provided with windshield 408, control console 409,
steering wheel 410, brake 411 and seat 412. Control cables 413
extend from control console 409, steering wheel 410 and brake 411
to the wheels 381.
The operator control area 389 merely serves as a convenient
location to centralize control means for the various devices
carried on the hydromotor platform, and the above listing of
elements shall be understood to be illustrative. For example,
steerng wheel 410 is linked to wheels 380 in a conventional manner.
As indicated above, for the situation where valve 397 is mounted
adjacent or on the hydromotor 393, mechanical, hydraulic or, if
desired, conventional electrical controls can be used to control
the positioning of valve 397; the exact construction of such
controls and the valve selected form no part of the present
invention. In a similar manner, brake 411 can be conventional and
can be used to control any type of conventional braking means
provided at wheels 381. Although not shown in detail, a
conventional clutch and gear box control are provided in the
operator control area 398 in the embodiment shown in FIGS. 26(a)
and (b).
Ram 387 and various ancillary hydraulically powered devices on the
hydromotor platform can be either controlled by an operator switch
at the site of the ram or, alternatively, can be controlled in a
conventional manner from the operator control area. Again, since
hydraulically powered devices and control means therefore are well
known in the art, such are not described in detail in the present
specification.
The main parameters subject to control are, of course, forward rate
of travel, reverse rate of travel and the direction of the routing
of the water introduced via water line 392.
In addition to controlling the direction of water flow to either
the hydromotor 393 and thence into conduit 398 or directly into
conduit 398, valve 397 can be a variable pressure valve, that is,
the pressure of the water introduced into the hydromotor 393 or
conduit 398 can be controlled by valve 397. In the present
embodiment, such a valve can be relatively simple since a standard
gear box and clutch is utilized to control the direction of travel
of the hydromotor and the rate of travel. Such valves are
well-known in the art and any conventional valve can be utilized
therefor.
FIG. 27 is a detailed schematical view of the relationship between
the pipe reel 390, water line 392 and the hydromotor 393. As shown
in FIG. 27, pipe reel 390 comprises a hollow hub 430 rotatable
about bearings 431 which would be carried on support 391 (not shown
in FIG. 27). Hub 430 is provided with side flanges 432 which
contain water line 392 about hollow hub 430. Assuming that section
392a is the last section of the water line 392 reeled on the hub
430, water will flow through the entire water line 392 and enter
hollow hub 430 at 392a, filling the same and then exiting therefrom
via lateral conduit 396 (sealed by way of sleeve packing 434) and
passing to valve 397. Valve 397 either passes the water to fluid
line 435 and then into hydromotor 393 or by-passes the hydromotor
393 by way of fluid conduit 398; as shown in FIGS. 26(a) and (b),
fluid conduit 398 leads to water conveyor 403.
Laterally extensible members 414 are carried in brackets 415
provided under the upper support member 382; the laterally
extensible support members 414 can be moved from their retracted
positions under the support member 382 to their extended position
as shown in FIG. 26(b), for example, by conventional hydraulic
cylinders (not shown) powered in a manner similar to ram 387. If
desired, the laterally extensible support members 414 can merely be
pivoted about upper support member 382 rather than being carried in
brackets 415 and extending and retracting in a line substantially
perpendicular to the upper support member 382. For example, they
can pivot from a positon parallel to the length of the upper
support member 382 to a position substantially perpendicular to the
upper support member 382. Pivoting can be accomplished, for
example, by a hydraulic cylinder.
In FIG. 26(b), like numerals to those used in FIG. 26(a) are used
to identify like elements. Also shown in FIG. 26(b) are axles 416
utilized to joint wheels 381.
It will be apparent to one skilled in the art that the laterally
extensible support members 414 will require double-acting hydraulic
cylinders, while hydraulic ram 387 need only be single acting
(since the upper support member 382 can be lowered under the
influence of gravity).
The hydromotor platform can, if desired, be adapted to perform an
irrigation function simply by mounting sprinklers or spray guns
thereon and connecting the same to the hydromotor or water
line.
As water conveyor 403 is pulled from conveyor drum 405 as the
hydromotor platform proceeds along its line of travel, the conveyor
drum 405 is held under tension so that the water conveyor 403 will
unwind therefrom without undergoing "backlash" similar to the
effect on a bait-casting fishing reel. Since water conveyor 403 is
supported by a series of portable or fixed supports mounted on the
ground as it unwinds from the conveyor drum 405, and the rate of
travel of the hydromotor platform is very low, this will not prove
to be any problem of significance.
On the other hand, when the hydromotor platform is moving back to a
main line and rewinding the water conveyor 403 on the conveyor drum
405, a power take-up pulley and clutch are geared to the hydromotor
so that the rate of retrieval of the water conveyor 403 is
proportional to the rate of travel of the hydromotor platform.
Alternatively, if desired, the water conveyor 403 can be manually
wound upon the conveyor drum 405.
A similar power take-off pulley and clutch are also geared to the
pipe reel 390 to permit the water line to be rewound upon the pipe
reel as the hydromotor platform is moving back to a main line.
Such devices are conventional in the art and are not described in
detail nor shown in FIGS. 26(a) and (b). Suffice it to say that
they would generally be mounted contiguous to the conveyor drum 405
and the pipe reel 390, and power can be taken off the hydromotor in
a conventional manner.
In the embodiment described, a standard gear box and clutch were
utilized to achieve speed control for the hydromotor platform, such
can also be accomplished by a standard flow-control valve, any
standard valving means being useful which permits the pressure of
the water in line 435 to be varied, whereby the power input to the
hydromotor can be controlled to any desired level. For example,
such a standard flow-control valve in its relationship to the
hydromotor is shown in FIG. 28. In light of the relative complexity
of the valve means shown in FIG. 28, consecutive numerology will be
used except to identify line 396 from the pipe reel, line 398 to
the water conveyor and hydromotor 393, wherein numerology similar
to that used in FIGS. 26 and 27 is used.
In one modification of the present invention, a vehicle location
system is provided. Two basic classes of means by which vehicle
location can be achieved are useful in the present invention. In
one case, the vehicle can radiate the signal and be detected by
surrounding sensors. These sensors can send signals back to the
computer by way of PAM signals as taught by FIG. 6. From these
signals the computer can determine the location of the vehicle by
knowing the location of these sensors from which the maximum
amplitude of the signal is received. This system will work with
either the XY system or the N-1 system, as these two systems have
been described. This system would work by the computer receiving
radiation from the vehicle.
Finally, if desired for certain applications, a vehicle control
system as is disclosed in U.S. Pat. No. 3,468,379, Rushing et al,
can be used in the present invention.
Keeping in mind that the entire agricultural area is "hard wired"
with data transmission lines conducting sensor/effector
information, these data transmission lines actually comprise
"standard tracks" and the vehicle can be servoed to follow only
these standard tracks unless the servo is overridden by manual
control. An electromagnetic field sensor can be placed facing the
ground on the bottom of the platform to receive a unique signal
radiated by the pipe-cable representing the standard track. The
exact nature of the signal is not important but it could, for
example, be a single-frequency tone having the frequency and
amplitude which most readily penetrate the layer of soil between
the pipe-cable and the sensor without excessive attenuation or
distortion. This same tone can be modulated digitally, and the
modulation signals used to carry information which directs the
operations of the vehicle.
Using such a servo system, the location of the vehicle can be
determined as follows. Whenever the vehicle travels over the top of
a sensor package, an electromagnetic detector senses the same and
sends out a coded signal, which is unique to the sensor package and
which identifies the location of the vehicle. For the interval
between sensor packages, the computer can determine the precise
location of the vehicle by knowing the rate of travel of the
vehicle and the time at which it was over the preceding sensor
package.
As there are many branching points in a standard track layout, the
computer must be programmed to select the wanted track at the
various decision points. The computer can make the selection and
then the vehicle can either servo onto the continuing track or
execute a "standard turn", at the end of which it will pick up a
radiated signal from the track.
An alternative method of steering, vehicle location, and instrument
control, that is, an alternative communication system, is to use
conductors which are part of the pipe/cable directly. In this
embodiment, the water line earlier discussed with reference to FIG.
13 is a pipe/cable, or a pipe and a cable on separate reels. If a
unified pipe/cable of the type shown in FIG. 13 is used, then
signals can be taken off the conductors by means of slip-rings
coming out of the end of the pipe reel; alternatively, signals can
be derived by electro-magnetic sensors or shoes placed around the
cable to pick up signals that will readily radiate through the
plastic sheath of the pipe/cable.
Whether electro-magnetic sensors to pick up the control signals or
hard wire slip-rings are used depends primarily on whether electric
power is fed through the pipe/cable. If it is, then it is possible
to multiplex the signals onto the power cable, since the power
cable will have to slip-rings in any case. Electric power for the
platform will be desirable for those operations in which a return
flow of water is either useless or undesirable, for example, when
one is using the platform to dispense chemicals such as herbicides
or when the platform is being used for pruning and the prunings are
deposited as chips under the trees.
If power is not supplied over the unbilical or tether, it may be
necessary that some auxiliary source of power must be provided,
perhaps by batteries, to cover those movements by the vehicle when
it may be convenient to have tethers connected or, alternatively,
to provide for back-up operation to the hydraulic system.
A motor generator set, in which the motor alternatively operates as
a generator, could be clutched to the transmission of the
hydromotor. When the vehicle is coupled to the water supply,
sufficient energy would be taken from the hydromotor to the
generator to keep a set of batteries in the floating condition. A 4
to 8 set of lead-acid batteries might be used, each 100 AH at 12
volts. When the vehicle is not coupled to the water supply the
batteries could drive the motor, now clutched to the transmission
of the vehicle. Such an arrangement could provide sufficient
reserve battery power for the vehicle to operate for several hours,
if necessary.
The choice of AC vs. DC rises. DC provides an advantage in terms of
starting torque available in DC series wound motors, and easy
transfer of energy between the batteries and generator. DC
transmission over the tether would be efficient also, and its use
will avoid the interference problems encountered with AC.
Alternatively, AC can be used, and is more efficient for certain
applications such as fluorescent field lighting. In particular,
high frequency AC greatly increases the efficiency of such
lighting, and makes the cost of ballasts much lower, thus
increasing the practicability of widespread field lighting.
Referring now to FIG. 28, there is shown therein a four-position,
five-way valve which permits one to control the speed of the
hydromotor and, when the standard gear box and clutch is omitted,
the speed of the hydromotor platform.
Valve 440 is in communication with pipe reel via line 396 and is in
direct communication with the water conveyor via line 398.
Water line 443 is shown leading to hydromotor 393 and water line
444 is shown exiting from hydromotor 393.
Valve elements 445-448 are shown in FIG. 28, which valve elements
permit the water flow in the assembly of FIG. 28 to be controlled
as follows:
In the position shown, valve element 445 is introduced between
lines 396/443 and 398/444; in this position the valve is in the
"off" position, and no water passes to hydromotor 393.
By bringing valve element 446 into the position which is occupied
by valve element 445 in FIG. 28 as shown, fluid flow port 446a is
brought into a position to join lines 396 and 443, and fluid flow
port 446b is brought into a position to permit fluid communication
between lines 398 and 444. In this position the hydromotor drives
the hydromotor platform forward by the sequential passage of water
from line 396 via fluid flow port 446a to line 443, through
hydromotor 393, and then returning to the water conveyor (not
shown) via water line 444, fluid flow port 446b and water line
398.
When valve element 447 is brought into the position shown occupied
by valve element 445 in FIG. 28, the hydromotor 393 is driven in
the "reverse" direction as water line 396 is brought into
communication with water line 444 by fluid flow port 447a and water
line 398 is brought into fluid communication with water line 443 by
fluid flow port 447b.
When valve element 448 has been brought into the position shown
occupied by valve element 445 in FIG. 28, water can be bled from
valve element 448 via fluid flow port 448a; in FIG. 28 recycle
water flow line 448b is also shown, as in this embodiment water
under pressure is merely partially bled from fluid flow port
448a.
In the embodiment shown in FIG. 28, casing 449 is provided so that
the valve assembly 440 can be reciprocated therein manually by way
of valve handle 450. Obviously, mechanical assistance or an
electric solenoid can be used to operate valve handle 450.
Generally, the hydromotor platform will travel in the agricultural
system of the present invention following the now to be described
sequence.
The hydromotor platform begins its travel at the intersection of a
row middle (for example, between the first and second rows of trees
in a homogeneous agricultural area) and a main line water conveyor.
The operator will generally first attach the water conveyor mounted
on the hydromotor platform to the main line conveyor so that fruit
coming from the top of the hydromotor platform will be conveyed via
the water conveyor being unreeled from the hydromotor platform as
it drives down the row middle. The operator will also couple one
end of a flexible pipe or hose to the fluid delivery subsystem of
the present invention to ensure a source of water which most
preferably provides the mode of power for the hydromotor platform.
As earlier explained, this flexible pipe or hose is reeled upon a
large reel mounted on the hydromotor platform, providing moving
fluid to drive the hydromotor platform through control valves as
earlier described, whereafter, assuming the fluid is water, the
water is returned to the water conveyor to convey fruit back to the
main line conveyor and eventually to the packing plant.
Utilizing the hydromotor, the hydromotor platform thus initially
moves from its starting point at the intersection of a row middle
and a main line conveyor down the row middle to a point remote from
the main line conveyor.
Once the hydromotor platform reaches the position remote from the
main line conveyor, it is then necessary to move the hydromotor
platform to, most generally, the next adjacent row middle. This can
be accomplished in two fashions.
First, the hydromotor platform can be reversed at high speeds to
its starting point. The trough is then uncoupled, the output of the
hydromotor is connected using a flexible pipe or tube to the main
line conveyor to avoid water waste, and thereafter the operator
steers the machine to the next adjacent row middle.
Upon arriving at the next adjacent row middle, the water conveyor
of the hydromotor platform is then coupled to the main line
conveyor where upon the hydromotor platform proceeds down the next
adjacent row middle.
A second method involves the use of an auxiliary vehicle mounting
two winch-driven drums which permit one to reel-in the extended
water conveyor and flexible tube or pipe from the hydromotor
platform once it has reached a completion point remote from the
main line conveyor.
The auxiliary vehicle can then move the hydromotor platform to,
generally, the next adjacent row middle at a point remote from the
main line conveyor, whereafter the auxiliary vehicle travels along
the predicted line of travel of the hydromotor platform laying down
the water conveyor and flexible pipe so that the hydromotor
platform can be coupled thereto and, in this instance, proceed from
the point remote from the main line conveyor to a point adjacent
the main line conveyor.
The hydromotor platform can, of course, move in and direction under
its own power and for any distance up to the limiting length of the
flexible tube or hose which provides the mode of water power for
the hydromotor platform. At the limiting length, it can either
reverse its direction by reversing the hydromotor and return to its
starting point or, alternatively, the original hose can be removed
and a new hose attached to the fluid delivery subsystem in the
direction in which it is desired that the hydromotor platform
should travel.
Having thus described one basic embodiment of the hydromotor
platform, control means therefor and movement patterns thereof, it
is appropriate to turn to some of the particular operations which
can be accomplished using the hydromotor platform, for example,
pruning, trimming, and brush removal. Trimming and brush removal
together comprise the third most expensive operations in a fruit
orchard, after fruit harvesting, which is the most expensive, and
spraying, which is the second most expensive.
The agricultural system of the present invention improves on
currently available means for accomplishing the above functions as
follows:
Desired components are directly mounted on the hydromotor platform,
e.g., pruning hooks, saws, ladders, hydraulic lift devices, power
chippers, top and side edgers for "hedge rowing" an orchard,
slotting saws, brush catches and brush conveyors.
Secondly, the hydromotor platform can provide common power source
for all tools, either direct water power by partially by-passing
the hydromotor or by using a power take-off from the hydromotor
itself to drive hydraulic oil pumps, an electrical generator or the
like.
Two alternative methods for tree trimming and brush removal are
contemplated:
In the first method, manual labor is used and all men and
components are mounted on the hydromotor platform which is provided
with brush conveyors;
In the second method, following trimming all brush drops to the
ground to be later picked up by a hay baler or the like and
thereafter conveyed to the desired location.
Briefly turning to the first embodiment where the hydromotor
platform is provided with brush conveyors, such an embodiment will
be described with reference to FIGS. 29 (a), (b) and (c), top, side
and rear views, respectively.
Since the hydromotor platform used in the embodiment as shown in
FIG. 29 is essentially a modification of that described in FIG. 26.
Like numerals will be used to identify like elements, noting that
the pipe reel assembly is shown in approximate scale in FIG. 29 (a)
and (b). Several important modifications will now be described,
however.
Firstly, at the extremity of each of the forward laterally
extending members 414 there is provided a slotting saw 460. Each
slotting saw 460 is driven by an auxiliary hydromotor 393a which is
provided with a fluid take-off 461 from the main hydromotor 393;
conventional valving (not shown) is provided as an addition to the
main hydromotor 393 to permit water to be selectively drawn off
from the main hydromotor 393. The amount of water required to drive
the slotting saws 460 is generally relatively low, and after
performing its power function the water is returned to the water
conveyor by piping (not shown) or permitted to fall to the ground.
Two brush chutes 462 are provided, one brush chute being disposed
beneath each slotting saw 460 and having a forwardly extending lip
462a which catches brush as it is cut by the slotting saw 460 and
impelled into the brush chute 462. Brush chute 462 comprises a
smaller diameter rearward section 462b and a slideable forward
section 462c which permits brush chute 460 to extend as, for
example, laterally extensible members 414 are moved outwardly from
the upper support means 382. The brush chutes can be attached to
the lower edge of member 414 in a conventional manner. Though brush
chutes 462 are shown as enclosed conduits, they can be used as true
"chutes", if desired, merely be removing the upper half of the
enclosed conduit.
Brush chutes 462 are adapted to convey brush cut by slotting saws
460 to chipper-blower fan 463. In chipper-blower fan 463, the brush
is comminuted to a small size and expelled directly onto the ground
at the side of the hydromotor platform via exit port 463a or else
conveyed via chipper-blower fan conduit 463b to water conveyor 403.
Comminuted brush can be expelled via exit port 463a or entrained up
chipper-blower fan conduit 463b by a conventional blower in the
chipper-blower fan 463.
If desired, chipper-blower fan 463 can be driven by a hydromotor
mounted adjacent thereto and provided with a take-off line from any
of the points of the fluid flow subsystem which are carried on the
hydromotor platform.
Where the output of the chipper-blower fan 463 is applied directly
to the ground, generally it would be placed on the underside of the
trees to act as a mulch. Where the output of the chipper-blower fan
463 is placed into the water conveyor, generally it will be
forwarded to a central processing point where it can be processed
into pulp. The conveying system can be essentially the same as is
utilized for the passage of fruit since the comminuted brush quite
naturally floats.
It should be specifically noted that a man standing on the rear
laterally extensible members can merely drop clippings into the
chutes if the upper surface of the chutes is omitted, where they
are conveyed by gravity to the chipper or, alternatively, could
merely drop the trimmings directly into the water conveyor 403 if
they are small enough.
In the second method above, all trimmings are merely dropped to the
ground and later picked up by a hay baler or like apparatus. The
hay baler can be provided, if desired, with a chipper as earlier
described. This hay baler type of apparatus can, of course, be
drawn by a hydromotor platform. Essentially this embodiment of the
invention involves adding a hay baler to the rear of the hydromotor
platform.
An alternative to the use of a chipper in any of the above devices
is to, of course, bale the trimmings and treat them as hay. A
standard baler can be used for this purpose and will work quite
well with reasonably small brush. Such a device could find
particular application if the brush is to be transported
substantial distances for disposal or if the brush is to be used in
a chemical process in which it is to be considered as raw cellulose
for producing carbon dioxide, as elsewhere described.
Trimming as described above can, of course, be carried out
automatically under the control of the computing subsystem of the
present invention, either with no men at all in charge or with one
man aboard the hydromotor platform to provide on-site decision
making capability for contingencies not programmed into the
computer.
Computer control would be particularly applicable to mature
orchards for pruning involving a slotting saw, particularly in an
orchard in which the slotting saw operation had been conducted to
the end of the third or the fourth slot (American Fruit Grower, p.
11, Dec. 1972) at the end of the third or fourth years. The orchard
at that stage would be sufficiently stabilized in its growth so
that further operations could be carried out automatically under
computer control.
The program for a mature orchard would be relatively simple, since
essentially the pattern of a preceding year would be repeated. In
light of the complexity of a program needed for a growing orchard,
in such a case generally men will be mounted on the hydromotor
platform or a man would be used in the feedback loops until the
proper positioning of the saws was determined, whereafter computer
control would be initiated.
If desired, the hydromotor platform of the present invention may
also mount a "cherry picker" boom as is conventional in the art to
put a man into the center of a tree which may be inaccessible from
the laterally extensible members 414. Since "cherry picker" booms
are typically hydraulically operated, it will be apparent that the
water power from water line 392 can be utilized directly or, to
permit easy adaption of conventional "cherry picker" booms, the
water from water line 392 can be used to drive a hydraulic oil
pump.
The hydromotor platform described above provides for increased
efficiency of all manual operations in the agricultural area. It
can also be used in conjunction with an automatic picking device
which will later be described. In this case, accessory hooks
mounted on the laterally extensible members 414 are used to lift a
tree-shaped tank, split along its axis, from one tree to the next
in a row, the hydromotor platform being provided with such
tree-shaped tanks on both sides thereof so that two rows of trees
at a time can be subjected to picking. Details of this aspect of
the invention will be later provided.
In addition to trimming as described above, the hydromotor platform
of the present invention can also be utilized to accomplish
thinning operations.
Normally a tree will set more fruit than it is capable of
producing. If it sets too much fruit, part of it will drop during
the growing season and the remainder will be under-sized.
Accordingly, it is common practice to allow the tree to set only as
much fruit as it will be able to support, the objective generally
being to obtain a maximum volume of fruit during a growing season
compatible with obtaining maximum returns over the life-time of the
tree.
Thinning is, of course, partially accomplished by normal putting or
trimming operations by removing a fraction of the fruit-producing
wood. However, the objectives of thinning frequently are
sufficiently different from pruning so that pruning does not
generally accomplish all of the objectives of thinning.
Two methods of thinning are currently in use. The first is manual
for machine thinning and the second chemical thinning. Chemical
thinning is a rather recent development in the art; rpresentative
chemical thinning procedures involve applying naphthalene acetic
acid to apples, and the like.
In accordance with the agricultural system of the present
invention, the hydromotor platform can provide a movable base on
which standard state of the art thinning methods can be practiced,
if desired.
However, with its unique linkage to the fluid delivery subsystem of
the present invention, the hydromotor platform of the present
invention permits hydraulic thinning to be accomplished wherein a
bank of high-pressure jets on each side of the platform is directed
at the tree to accomplish fruit thinning, the physical force of the
water jets removing the desired fraction of the fruit.
If necessary or desired, "touch-up" thinning can thereafter be
accomplished by hand-directed water guns from the rear laterally
extensible members of the hydromotor platform.
As will be apparent to one skilled in the art, the hydromotor
platform finds particular use in hydraulic thinning since the water
pipe which is coupled to the platform can not only drive the
hydromotor but also provides the water necessary for the operation
of the hydraulic thinning jets.
The water can first be flowed through the hydromotor and then
exited through the jet arrays or, alternatively, the water can be
appropriate valving be shunted directly through the hydraulic
thinning jets.
The hydraulic thinning jets can, without substantial modification,
also be used to accomplish chemical spraying operations in those
events where the irrigation subsystem of the present invention does
not prove economically justifiable for a particular location but a
portable system would be economically justified. Spray would be
distributed by pipe only as far as the main line to which the
platform would be coupled.
A modification of the hydromotor platform of the present invention
for thinning operations is shown in FIG. 30 where for purposes of
simplicity the following elements are omitted, as they are
substantially identical to those shown in FIGS. 26 and 29: the pipe
reel 390, support 391, pipe 392 and conduit 396. Since many of the
elements in FIG. 30 are identical to those of FIG. 26, like
numerals will be used to identify like elements. Further, since the
embodiment of FIG. 30 is similar in arrangement to the embodiment
of FIG. 32, only a rear view thereof is presented in combination
with a detail of a jet array support member in FIG. 30(a).
Support assembly 470 comprises members substantially identical to
support assembly 511 in FIG. 32, and no detailed explanation will
be offered other than to note the assembly is pivoted around main
support brace 471 and can be raised or lowered by hydraulic rams
472 which are identical to rams 514 in FIG. 32. Certain
modifications are provided, however, and these will be discussed in
detail. Firstly, support assembly 470 as shown in FIG. 30, carries
hydraulic thinning jet array support members 473.
Each hydraulic thinning jet array support member 473 has disposed
at the interior thereof a plurality of hydraulic jets 474. The
hydraulic thinning jets 474 on each side of the hydromotor platform
are fed by pipe 475 which is linked via a fluid supply conduit 476
to water line 398, whereby water at a suitable pressure can be
directed from valve 397 to the hydraulic thinning jets 474 and
against trees 477 as shown by the arrows in FIG. 30a, whereby the
hydraulic force of the water serves to dislodge fruit from the
trees and thin the same. Each hydraulic thinning jet support member
473 is suspended from support means 470 via pivot joint 478 and
tied to frame 394 by pivoted links 395.
A cross section of a hydraulic thinning jet array support member
473 is shown in FIG. 30 (b) as comprising an aluminum channel 473a
having pipe 475 bonded thereto, from which thinning jets 474
project. Thinning jets 474 can be threaded to conduit 475 via
threads 479. Pipe 475 can be, e.g., PVC.
Using the apparatus shown in FIG. 30, the hydromotor platform
travels between two rows of trees and simultaneously effects
hydraulic thinning (or, if desired, high pressure chemical
spraying) on all sides of the trees in the two rows at once.
Accordingly, the platform need only go down the middle of every
other row to accomplish the hydraulic thinning or chemical spraying
of two rows.
The only substantial difference between thinning and chemical
spraying is that smaller sprayer head orifices would be used for
chemical spraying.
In this regard, it is a specific feature of the present invention
that the hydromotor platform can be provided with nozzles adapted
to blend air and/or gases and/or liquid sprays, instead of just
liquid being emitted by the nozzles. Such an embodiment of the
present invention finds particular application in combination with
the pipe/cable assembly earlier explained with reference to FIG.
13. If gases alone are used, they leave no residue and disease
control close to the harvesting time is therefore permitted.
Defoliation can also be accomplished utilizing such nozzles to make
mechanical picking simpler, e.g., such could be used for tomatoes
or cucumbers trained to grow on vertical strings or trellises as in
a green house.
Insofar as thinning chemical spraying is concerned, it is to be
noted that the apparatus of FIG. 30 could utilize two yokes as
shown generally by FIG. 32; this not only permits two angles of
spray application to be achieved, but enables one to apply
incompatible chemicals in a sequential manner. For example, if two
yokes are utilized one can apply chemicals which, if mixed and
applied via a single yoke, might lead to nozzle clogging.
FRUIT CONVEYING MEANS
Turning now to a more detailed description of the water conveyor
403, as earlier described with reference to FIG. 26, such is
carried on upper support member 382 at the end of the platform
which is opposite the main line of the fluid delivery subsystem of
the present invention. Most preferably, the water conveyor is
carried at about waist height to facilitate the dumping of fruit
into the water conveyor in the case of manual picking.
There are no moving parts in the water conveyor since it works by
gravity. The water conveyor is U-shaped in its extended form, and
is made of prestressed plastic or steel sheet such that it may be
wound upon the conveyor drum 405 while flat and yet, upon being
unwound from the conveyor drum 405, will assume its prestressed or
U-shaped form. If desired, extensions may be provided on the water
conveyor in the area of the hydromotor platform to permit fruit or
the like to be placed directly from the pickers' hands into the
water conveyor.
The water conveyor can, of course, be joined in separate sections
of U-shaped channel which are merely stacked on the platform,
manually removed, joined and placed on supports rather than
provided on a conveyor drum, but such will increase the amount of
labor involved for the provision of the water conveyor. In this
case, a collecting funnel could be provided on the top of the
hydromotor platform, into which picked fruit is placed, the
collecting funnel being constantly supplied with water from the
water line and the water and contents contained therein thereafter
being fed via the downwardly disposed "spout" of the funnel which
leads into the water conveyor.
The platform would straddle the last section of conveyor trough in
a fashion similar to a Hyster logger, and could travel over the
water conveyor along a predetermined path, if desired. If the
hydromotor platform is to travel over such an assembled water
conveyor, obviously devices on the lower support member of the
platform will have to be located in a manner to permit passage of
the conveyor, e.g., offset left to provide clear travel to the
right.
The size of the water conveyor is of relatively secondary
importance so long as, of course, it is adequate to handle the
contemplated fruit and like products. Typically, in its flat
condition the water conveyor will have a width of about 18 inches,
and will have a pre-stressed width of about 12 inches.
Pre-stressed plastic is particularly useful to form the wateer
conveyor, e.g., polyethylene. As a general rule, it is most
preferred to utilize pre-stressed plastics having a thickness of
about 1/16 inches or less to form the section of the water conveyor
which is wound upon the conveyor drum, as at such thicknesses
optimum strength can be achieved in combination with adequate
ability to change the pre-stressed plastic from the "lay flat" or
wound position to the "pre-stressed" or U-shaped conveying
position.
In those instances where the water conveyor is not wound but is
rather assembled, the material of construction is important in that
excess weight is undesirable since large footages thereof must be
rested atop the hydromotor platform; again, polyethylene may be
used or light metals, e.g., aluminum.
The water conveyor of the present invention which is carried on the
hydromotor platform or assembled therebeneath can be considered a
temporary "lateral" line which extends between two rows of trees.
This lateral line is joined to a main line of the water conveyor
system by way of a temporary coupling when it is desired to
accomplish a conveying function between two rows of trees.
The construction of the main line can be of a relatively permanent
nature, typically aluminum or plastic sections 10 to 20 feet long
being used. The sections can be installed overlapped with the top
piece uphill or the sections can be joined in an abutting fashion.
The main line can be layed directly on the ground providing that
the slope is sufficient to provide an elevation head for the water
conveyor which is adequate to move fruit under gravity to the
desired point of delivery. If the slope is insufficient, it will be
necessary to provide artificial supports for the main line of the
water conveyor to provide an adequate elevation head.
If lateral water conveyors are of the type which are assembled
where the hydromotor platform runs thereover, the water conveyor is
merely constructed to ensure rapid erection and take down. Any type
of support which can be rapidly erected and disassembled can be
used.
In the case where the lateral-water conveyor is actually unwound
from a conveyor drum on the hydromotor platform, the first step for
the use thereof is for the worker to remove a slip-on port from the
side of the main line water conveyor and attach the end of the
lateral line water conveyor thereto. As power is supplied to the
hydromotor platform and it passes along its predetermined path the
lateral line water conveyor is unreeled. Generally, every 10 to 20
feet it is necessary for workers to set a support under the lateral
line water conveyor due to the weight of water which will be
flowing thereto and, of course, to ensure the necessary slope is
maintained. Alternatively, supports can be left standing at their
proper elevations. In this case, the supports can be pivoted at
ground level such that when the platform runs over them, they will
be deflected to the ground and restored by spring tension when the
platform has passed over.
In those instances where the water conveyor must describe an
arcuate path, alternate sections of the water conveyor are
separated and joined at their middle by, for example, a small pin;
generally, the up-hill section of the water conveyor will fit
inside the down-hill section so that as water passes from the upper
section to the lower section leakage is minimized; since the two
sections are joined only at the central retaining pin, sufficient
flexibility will generally be provided. Alternatively, a flexible
"accordion-like" joiner can be used which permits flexing of the
water conveyor along an arcuate path. This latter modification is
not preferred, however, due to the higher complexity necessary.
In certain instances, it will be apparent that the slope or
elevation easily achieved for either a main or lateral line water
conveyor will be too great or too small. When the elevation head of
a water conveyor is inadequate, underwater air or water jet assists
in the inside of the water conveyor may be used. Such would
typically be a nozzle or spray head in the bottom of the water
conveyor inserted in a manner to introduce high speed water jets
along the direction of flow. A quick coupling can be made to the
closest riser in the agricultural area and the jet assist directly
attached to the water conveyor.
In those instances where the water conveyor is to be wound on a
conveyor drum, generaly assists will not be used since the line of
travel can be made relatively short to ensure an adequate elevation
head and, in addition, the entrance necessary for the jet assist
will tend to complicate the manufacturing process of the
pre-stressed material.
On the other hand, for assembled lateral water conveyors or the
main water conveyor, the jet assist nozzle or spray head can be
integral with the water conveyor itself and a hose merely attached
thereto or, alternatively, a complete hose/nozzle or spray head can
be inserted into the water conveyor.
It is possible, however, to provide jet assists on a lateral water
conveyor which is carried on the conveyor drum. In this instance
the complete nozzle assembly must be removable for the water
conveyor to be wound on the conveyor drum and, generally, the water
conveyor is drilled for jets at whatever spacing is contemplated
and, in normal use, plugged with thin plastic inserts so as not to
interfere with drum reeling.
In those instances where a severe uphill grade is encountered,
generally fruit that will not flow cannot be conveyed even with jet
assists in a practical manner. Accordingly, in this instance a
physical conveyor is utilized. Power will, of course, be needed in
the agricultural area to drive a physical conveyor, and such can be
obtained from the fluid delivery system by utilizing the flowing
water in the same to drive a hydromotor. Such a physical conveyor
would be inserted at the portion of the conveyor trough where an
excessive incline is encountered. The fruit can be entrained in
paddles or web like members which carry the same from the low
elevation point up the area of excessive slope to the upper
elevation. If desired, the hydromotor which powers the physical
conveyor can also be utilized to force water into a jet assist at
the termination of the conveyor, thereby ensuring complete removal
of fruit from the conveyor termination area.
For short fast grades, generally a conveyor of the endless belt
type will be utilized, the long axis of the belt extending along
the center of the water conveyor and the paddles or web like
members extending in a manner perpendicular from the surface of the
endless belt.
For small but longer grades a similar physical conveyor can be used
except that the endless belt conveyor can be replaced by a powered
"fruit pump" or paddle wheel which is merely inserted into an
enclosed water section of the conveyor. The torque applied to the
fruit pump need be just sufficient to lift the fruit carried in the
water in the water conveyor up the small but long grade, it only
being necessary that the water at the bottom of the small but long
grade be provided with a pressure head which exceeds the column
head over the grade.
Both of the physical conveyors descirbed above are suitable for use
in the field where picking is being done along the route of the
conveyor.
However, the water conveyors described might be too expensive and
might consume too much power for large, long grades where the water
head in the water trough exceeds the power that can easily be
extracted from water line through a hydromotor.
In this case, a water lock which is analogous to a water lock used
in raising ships from one level to a higher level can be utilized
to raise the produce being conveyed the desired level. Such an
apparatus is described below for fruit whose specific gravity is
less than 1, i.e., fruit that will float in water.
Referring now to FIG. 31, a water lock for elevating fruit
substantial distances while it is being transported in the water
conveyor system is shown. Produce, e.g., fruit, is introduced to
the water lock generally indicated by 490 via water conveyor 491
and enters open holding tank 492. At this stage, gate 493 is
closed, whereby the open holding tank 492 fills with fruit and
water.
When open holding tank 492 is filled with fruit and water, float
valve 494 is activated, whereby water from any high pressure source
(the fluid delivery system of the present invention) is admitted to
activate hydraulic cyliders 495 and 496, which are connected in
parallel. Double acting hydraulic cylinders 495 and 496 are
constructed in such a manner that when moved to one end the piston
therein remains fixed until operated by an input line at the
opposite end thereof. Upon activation, hydraulic cylinder 495 opens
gate 493 allowing the contents of open holding tank 492 to be
introduced into the water lock chamber 497. As hydraulic cylinder
495 opens gate 493, it simultaneously closes gate 498, thereby
holding any water which remains in riser pipe 499 from the previous
cycle.
Following the completion of the above operation, hydraulic cylinder
496 opens gate 500 which allows only the water now accumulating in
lock chamber 497 to drain via screen 501a into line 501 and into
drainage tank 502 (screen 501a excludes produce from line 501).
Simultaneous with the opening of gate 500 hydraulic cylinder 496
also closes gate 503, thereby permitting drainage tank 502 to
fill.
The flow of water described above continues until drainage tank 502
fills, which activities float valve 504. Float valve 504 is
connected to gates 495 and 496 in a manner which reverses the
position they have assumed due to the introduction of water from
float valve 504.
Pump 505 is then activated to pump water from drainage tank 502 via
line 506 via screen 501b to lock chamber 497, thereby causing the
fruit to rise through gate 498 which has been opened by float valve
504 and into riser pipe 499 which is on the steep slope over which
the fruit must pass into the water conveyor 499a.
While the pump 505 is completing the cycle of fruit removal from
lock chamber 497, additional fruit and water is entering the open
holding tank 492 via water conveyor 491.
Preferably the interior of the lock is shaped and padded so as to
avoid mechanical damage to fruit entering therein.
The volumes of the lock, open holding and drainage tank are
established so that when the holding tank is full all fruit will
have passed out of the lock. The water level in the lock will
further tend to remain constant due to the input through gate 493
being roughly offset by the output through gate 498.
For a given species of fruit or other produce, and with stable
input and output water volumes and pressures, the water lock
described above will operate automatically without human
assistance.
In FIG. 31, the pump 505 is shown being driven by hydromotor 509
via output shaft 509a which is powered by high pressure water line
508. Although not mandatory, hydromotor 509 and pump 505 run
continuously. Except for internal friction losses, the hydromotor
loads down line 508 only when it is pumping drainage tank 502 dry.
Fluid flow lines between various cylinders, gates and valves are
generally indicated by 507.
In the case where the water conveyor encounters too sharp a
downhill grade, this may lead to fruit bruising and various means
can be used to reduce the risk of fruit bruising.
First, the water conveyor can be interrupted and a "buffer storage"
zone for energy dissipation introduced, e.g., a tank for reducing
the downhill velocity to nearly zero.
A further possibility is to provide jet brakes which introduce high
speed water or air streams against the flow of travel of the water
in the water conveyor.
Thirdly, hydraulic spoilers similar to the perforated baffles used
to slow down a jet aircraft or other form of resistance can be
used. For example, deflectable baffles which resist the flow of
both the water and produce.
Fourthly, the water level can be reduced merely by providing holes
in the bottom of the water conveyor and later reintroducing the
water into the water conveyor at a point where the grade is more
appropriate. When water level is reduced, it is preferred that a
soft material be provided at the bottom of the water conveyor, for
example, a soft rubber surface, to slow the flow of the fruit.
One of the most expensive single procedures in fruit growing is
fruit picking or harvesting (hereinafter these terms will be used
interchangeably). In addition to the expense thereof, it is
increasingly) difficult to recruit labor for fruit picking at any
price, the results of these factors being that it is imperative
that fruit picking operations be mechanized.
Certain fruits are now picked almost fully by the aid of hydraulic
shakers which shake the fruit into a canvas catching platform
mounted below the tree, a conveyor being provided to convey the
fallen fruit to bins or boxes. This method can be used successfully
for fruits where bruising is not a problem.
Hydraulic Shaking Machines as mentioned are described in Editors,
"The Long Wait Is Over", American Fruit Grower, August, 1972, pg.
14.
In the agricultrual system of the present invention, the plentiful
supply of water in the agricultural area is utilized to accomplish
fruit picking. Further, fruit picking also utilizes the unique
capabilities of the hydromotor platform earlier described.
It is to be specifically noted that one special advantage of the
picking methods described for use in the agricultural system of the
present invention is that fruit can be selected for picking
depending on its degree of ripeness, an advantage which no
mechanical picker provides.
In accordance with the agricultural system of the present
invention, two highly preferred picking or harvesting methods are
contemplated: continuous harvesting and batch harvesting. In both
methods, an important aspect of the harvesting is that the fruit is
cooled at the moment of picking. It is known in the art that the
storage life of fruit and similar produce is affected by the time
delay between the picking and cold storage. The storage life of
apples, for example, can be reduced three weeks by the normal
practice of temporary storage in the field and by conventional air
cold storage where it may take several days to reduce the
temperature of the apples from ambient to the desired holding or
storage temperature.
In this regard, in the agricultural system of the present invention
harvesting can be accomplished by using recirculated refrigerated
water, thereby maximizing the storage life of the fruit.
Should the agricultural system of the present invention be located
in an area where refrigeration costs are extremely high, whereby
such an embodiment would not be economically feasible, it is
possible to use as the water source the hypolimnion (cold layer) in
the primary reservoir of the agricultural area.
It will be apparent, of course, that it is not necesary to utilize
cold water for the harvesting operation in the agricultural system
of the present invention. However, for the reasons advanced above
such is highly preferred, and the following discussion should be
read with the understanding that water of any required temperature
can be utilized.
CONTINUOUS HARVESTING
Continuous harvesting in accordance with the present invention can
be accomplished utilizing jet arrays of water and/or air similar to
those described for accomplishing hydraulic thinning and/or
chemical spraying with respect to FIG. 30. It is only necessary
that the fluid jets be sufficiently numerous and capable of
delivering fluid at a sufficiently high pressure that they can
dislodge ripe fruit. In fact, by adjusting nozzle pressure, fruit
of the desired degree of ripeness can be selectively dislodged
since the retention force on the fruit is a function of ripeness.
Air and/or water pressure can be adjusted independently to give
additional flexibility in meeting picking requirements.
Assuming successful dislodgment of the fruit, in continuous
harvesting it is then only necessary to catch the fruit as it falls
without damaging the same and thereafter convey it to the water
conveyor on top of the hydromotor platform. The apparatus shown in
FIGS. 32 (a), (b) and (c), side, top and rear views, respectively,
accomplishes all of these functions, and the same will now be
described in detail.
Referring to FIG. 32 (a), the hydromotor platform is described
using like numerals to those used in FIGS. 26, 29 and 30 to
identify like elements. For purposes of simplicity, the pipe reel
390, pipe reel support 391, water line 392 and lateral take-off
line 396 have been omitted. The arrangement of these elements can
be substantially identical to that shown in either FIG. 26 or FIG.
29. In a similar manner, rather than identifying each element of
the elevating means, such is generally identified as 383. Several
modifications adapting the hydromotor platform to continous
harvesting will now be explained in detail.
Mounted on the upper support member 382 of the hydromotor platform
there is shown support assembly 470 which comprises upwardly
extending angled support members 510 pivoted about the upper
support member 382 by way of ball joint 471 and pivotally joined to
upper horizontal vertical support member 511 about points 512. At a
point intermediate the ends of the angled support members 510 lower
horizontal support member 513 is shown connected thereto, lower
horizontal support member 513 being joined by hydraulic ram 514 to
the upper support member 382. Hydraulic ram 514 is identical in
construction, except for size, to earlier shown hydraulic ram 383,
and can be powered and controlled in a conventional manner as can
ram 383, shown in FIGS. 26 (a) and (b).
Suspended from the ends of upper support member 511 about pivot
points 512 there are shown two U-shaped yokes 473, which yokes are
substantially identical to yokes 473 shown in FIG. 30(a) and which
comprise a U-shaped aluminum channel yoke having bonded thereto
circuit 475 from which projects a plurality of nozzles 474 threaded
to conduit 475 by way of threads 479 as shown in FIG. 30(b).
U-shaped yokes 473 extend generally downward and are substantially
perpendicular to the major axis of the hydromotor platform. The
U-shaped yokes 473 are shaped so as to pass over a tree as shown in
FIG. 32(c), and by means of the water and/or air jet nozzles 474
disposed on the inner side of the U-shaped yokes 473 are adapted to
dislodge fruit from the trees by expelling jets of water/air
therefrom against the tree, whereupon the fruit falls under the
influence of gravity into catch basins 515 which are joined to and
carried by the lower portions of the U-shaped yokes 473, each catch
basin 515, as best seen in FIGS. 32(b) and (c) comprising two metal
plates 515(a) and (b) (catch basin halves) hung from the bottom of
the U-shaped yokes 473 and being provided with side retaining means
516 which retain fruit and water therein. The catch basins 515 are
partly filled with water during harvesting due to water draining
from the tree and, in addition, are lined with foam rubber (not
shown) to absorb the energy of the falling fruit and to prevent
bruising.
As best shown with reference to FIG. 32(b), each half 515(a) and
515(b) of the catch basin 515 is separated from the other half by
flexible lips 518. The purpose of the flexible lips 518 is to
permit a tree trunk as shown by 476 in FIG. 32(b) to pass
therebetween during hydraulic harvesting. The line of travel of a
tree during harvesting is generally indicated by the arrow shown in
FIG. 32(b).
The orientation of the catch basin halves 515(a) and 515(b) on each
side of the hydromotor platform is important, and is best
illustrated in the side and rear views as shown in FIGS. 32(a) and
(c). The orientation is such that the fruit and water carried
therein flow toward the rear of the catch basin and, in addition,
toward the hydromotor platform and into telescoping conduit 519,
which most preferably is rigid in nature, and thence to
agricultural product water pump 520, shown in broken away section
as comprising casing 521 and rotatable paddle wheel 522. Rotatable
paddle wheel 522 can be powered by a secondary hydromotor with
water being taken from valve 397, if desired (the drive means is
not shown) or by other conventional means.
Pump 520 is adapted to pass fruit and water received from the
telescoping conduit 519 into vertically extending conduit 523 and
thence into water conveyor 403 via downwardly extending section
523(a).
Returning briefly to the function of hydraulic ram 514, generally
varying tree heights in the agricultural area will be accommodated
by raising the upper support member 382. In those instances where
the agricultural area is planar, i.e., no hills, both U-shaped
yokes 473 can be rigidly attached to the upper support member 382
by support assembly 470, and all pivot points can be omitted as can
hydraulic ram 514. It will, of course, be necessary that
telescoping conduit 519 be provided so that catch basins 515 will
be permitted to raise and lower with respect to the pump 520 as the
upper support member is elevated or lowered. As a practical matter,
U-shaped yokes 473 will be made large enough to handle the largest
trees on the farm, prunning being practiced to insure uniformity of
shapes and tree size.
In those instances where, however, harvesting is to be conducted on
a hillside and one wishes one U-shaped yoke to be higher than the
other, in this case at least one of the two yokes must be
adjustable in height. This is accomplished by activating hydraulic
ram 514 to raise or lower the U-shaped yoke 473 on one side of the
platform.
Referring now specifically to FIG. 32(b), one upper horizontal
support member 511 is shown in a broken away view to permit view of
the flexible lips 518.
Water is supplied to the nozzles 474 in a manner substantially
identical to that earlier explained with reference to FIG. 30(a);
accordingly, flow conduits for the U-shaped yokes 473 are not shown
in FIGS. 32(a), (b) or (c).
As earlier indicated, catch basin halves 515(a) and (b) are not
mechanically coupled to allow trunks of trees undergoing harvesting
to pass therebetween. Passage must be accomplished without
substantial loss of water or fruit and this is accomplished by a
matching pair of flexible lips 518, usually of rubber, which are
"puckered" downward as shown in FIG. 32(c). The leading edge of
each catch basin half 515(a) and (b) is contoured as shown in FIG.
32B in such a manner that a tree trunk is guided into this space
between the catch basin halves and the flexible rubber lips are
forced apart. After the tree trunk completes its passage between
the catch basins, the flexible rubber lips close behind the tree
and restore the substantially flat floor surface of the catch
basins.
As will be apparent to one skilled in the art, pump 520 is
especially sized and padded for handling fruit, and is adapted to
add enough water so that the fruit can be conveyed into the water
conveyor on top of the hydromotor platform. The pump 520 can, of
course, be driven from a power take-off on the hydromotor platform
(not shown).
In the embodiment shown in FIG. 32, both yokes on one side of the
hydromotor platform are provided with water jet arrays. This is not
always necessary and, if desired, only one of the yokes need be
provided with a hydraulic water jet array, and this will generally
be the leading yoke. The second yoke, in such a case, provides
cantilever support for each catch basin pair. While in theory only
one yoke would be necessary, high strength materials are needed in
such a case and generally the extra cost will not be warranted.
The water jets in the apparatus of FIG. 32 can be replaced by air
jets or a combination of water jets and air jets. In such a case,
the pipe cable shown in FIG. 13 could be used as the pipe connected
to the fluid delivery subsystem wherein an air line in the pipe
cable would deliver compressed air. Of course, compressed air can
be delivered either through the umbilical to the platform, or it
can be manufactured directly on the platform, since the platform
has a large power supply, namely the water pipe which drives the
platform hydromotor, and this hydromotor can be coupled to an air
compressor tank mounted directly on the platform. If air jets are
used, this is potentially the most efficient way of manufacturing
the tremendous quantities of compressed air that would be required
for such an application.
The operation or use of the above continuous harvesting device is
as follows: the harvesting device is brought to a point between two
rows of trees: the flexible lips between the catch basins are
aligned with the base of the first tree in each line. The water
conveyor having been assembled, thereafter the continuous
harvesting device shown in FIG. 32 is driven between the rows of
trees whereby trees in two rows are simultaneously subjected to
harvesting, the fruit automatically being conveyed to the desired
delivery point via the water conveyor.
The yokes are adjustable in and out from the hydromotor platform by
means of slide adjustments in the supporting braces to provide for
a variety of row spacings (not shown).
BATCH HARVESTING
A second procedure contemplated for harvesting in the present
invention is a batch procedure where a tree is completely covered
with a container that is sufficiently strong to withstand the
pressure when the container is full of water. As the container is
filled with water from the bottom, ripe fruit is twisted off and
rises to the top.
The batch harvesting procedure of the present invention is an
improvement on that described in U.S. Pat. No. 3,584,442, White, in
the following aspects: the use of a floating annular ring as will
be described; capability of automatic unloading by direct
connection to the water conveyor; and capability for connection to
the fluid delivery subsystem to make up for water losses.
A typical batch harvesting in accordance with the present invention
will now be explained with reference to FIG. 33.
Tanks 530 and 531 are shown in FIG. 33. As an example, for a dwarf
apple tree each tank is approximately 10 feet tall and 10 feet in
diameter, having a volume of approximately 3,000 cubic feet. The
tanks are cylindrical in nature and are provided with a flexible
bottom 532 having a centrally disposed opening 533 to fit around
the trunk of a tree 534. Generally, the tanks are formed of two
"semi-cylindrical" halves hinged at the top to permit them to be
opened, placed around a tree and then resealed. Alternatively,
however, the tanks can be lifted onto a tree by the hydromotor
platform; in such a case the flexible bottom 532, which can be
formed of a strong rubber material, can be pulled by ropes to the
bottom rims of the tank to permit passage of the tree.
At the top of each tank is provided fluid connection means 535
which permits each tank to be coupled with the water conveyor
system of the present invention.
Disposed within each tank is a floating annular ring 536 which is
adapted to be free floating within the tank. Floating annular ring
536 is connected by way of flexible conduit 537 to a source of
water.
As shown in FIG. 34, each floating annular ring 536 comprises a
polyfoam float section 538, a water conduit 539 carried within the
polyform float section 538 and water jets 540 connected to the
water conduit 537. Water introduced via line 537 into the water
conduit 539 thus passes from the water jets 540, which are disposed
inwardly, into the interior of the tank when the floating annular
ring is in place.
Briefly explaining the use of the floatinf annular ring, when a
water tank is empty the annular ring rests on the bottom of the
tank. As water is introduced into the tank via line 537, it fills
conduit 539 and is ejected from the water jets 540. As the water
level rises the floating annular ring, of course, rises at the top
of the water line. Water jet 540(a) is disposed above the water
line and water jet 540(b) is disposed below the water line. Thus,
as the water level rises the floating annular ring continuously
impinges a high pressure stream of water directly against the tree
from water jet nozzle 540 and simultaneously agitates subsurface
water by a high pressure jet of water from water jet 540(b).
Following the completion of batch harvesting in one tank, as the
water is drained therefrom the floating annular ring drops with the
water level, until, at the emptying of the tank, it again rests
against the flexible bottom of the tank.
One substantial benefit of the use of a floating annular ring as
described above is that the use of hydraulic shakers can be
avoided; the use of hydraulic shakers often leads to fruit damage
when the fruit strikes the branches of the tree after having been
dislodged.
In the batch harvesting procedure illustrated in FIG. 33, two tanks
are used. Two tank operation is extremely preferred when trees are
being harvested in order to control filling time. for small bushes,
for example, grapes, blueberries, raspberries and the like, one
tank operation is feasible.
The batch harvesting sequence is best explained by beginning at the
point where tank 530 is empty and tank 531 is full of fruit. At
this stage, port 541 of 3-position valve 542 is closed. This
prevents water from entering the by-pass line 543 and by-passing
tank 530.
Valve port 546 is then opened to permit water to enter the tank 530
via line 544, water being supplied to valve 542 via line 545 from
the hydromotor on the hydromotor platform generally indicated at
546 or via line 545a from some other water source, such as an
autoloading tank truck to be described later in connection with
FIG. 35.
Simultaneously with the above, valve 547 is also opened and pump
548 is activated. Pump 548 is preferably located on the hydromotor
platform and is driven by the hydromotor thereof.
Pipe 549 interconnects tanks 530 and 531. The diameter of pipe 549
and the capacity of pump 548 are chosen to achieve the desired
water transfer time, which should be on the order of 1 to 3
minutes.
With the above sequence of valving, tank 530 is filled with water
from tank 531 due to the action of pump 548 and with water from the
input via line 544. The connection from line 544 need be only of
nominal size since the primary function of the water added via line
544 is to restore water losses. As will be apparent from the
following description, the primary source of water used to fill an
empty tank is from the other tank which is full, thereby minimizing
requirements for fresh water introduction. It should be noted, of
course, that gravity serves to effect the transfer to half of the
water from a full tank to an empty tank.
As tank 530 fills, floating annular ring 536 rises in the tank and,
due to the action of the high pressure water streams impinged
against the tree, fruit is harvested from the tree.
When the tank is full, floating fruit may be drawn off the tank via
coupling 535 which is joined by way of conduit 551 to a water
conveyor (not shown).
When tank 531 is empty, valve 547 is closed. Tank 531 may then be
opened and moved by the hydromotor platform to another tree. Valve
550 is then opened and valve 547 opened to permit passage of fluid
in a direction opposite to that used to fill tank 530 and tank 531
is filled by a repetition of the above cycle. The tanks are
"hopscotched" down adjacent rows of trees until harvesting is
completed.
The tanks can be lifted and placed into position over the trees by
lifting power supplied from the hydromotor platform or, if desired,
from a conventional tractor. While in the above embodiments two
rows of trees are being picked simultaneously, it will be apparent
that two adjacent trees along the same row can also be picked, or
both, working four tanks in all.
The pumping operation described above can be automated to a certain
extent by utilizing float valves near the upper portion of the
tanks to initiate the valving changes and pump direction changes as
described above, though in fact level controllers of any type can
be used. The passage of fruit through the output ports 535 can be
detected by eye, by photocell or by mechanical members, and the
cessation of fruit delivery used to initiate the valving changes
and pump direction changes as described above. The exact degree of
automation will, of course, be economically decided. Modifications
of the picking procedure described above include:
Attaching a hydraulic shaker to the tree, for example through a
side portion in the tank which is provided with a seal to stop
water loss around the hydraulic shaker arm. Such a procedure is
described in U.S. Pat. No. 3,584,442, White.
One or more sonic or ultrasonic transducers can be utilized whose
frequency is chosen to resonate with the stems of the fruit in
question, the frequency being chosen to select the desired size of
fruit. Then, the amplitude of vibration is chosen to achieve the
desired selectivity of the fruit by degree of ripeness.
When it is necessary to pick fruit on a hillside, adjustable legs
are provided on the sides of the tanks and in such a case the tank
is provided with a bottom which can flex and extend, for example,
made of rubber latex, so that the bottom of the tank can
accommodate to the contour of the ground.
Considering the above methods of harvesting, the important
advantage of continuous harvesting is that it is relatively rapid
and uses equipment shared in common with other functions. Further,
it appears to be substantially more economical than batch
harvesting.
The advantages of batch harvesting by the two tank method described
above are that it can be more precisely controlled, resulting in
less fruit damage and in greater selectivity by the criteria of
ripeness and size. Further, it can also harvest dropped fruit
separately from the hanging fruit by drawing the flexible bottom of
the tank to the sides of the tank, for example, manually, after
hanging fruit is removed and thereafter filling the tank with water
to permit fruit on the ground to rise. Since the water is in direct
contact with the ground, generally some water loss is encountered
in harvesting dropped fruit. Finally, when used in combination with
tank truck conveyors as later described, batch harvesting can be
used as a stand-alone system independent of the remainder of the
agricultural system of the present invention.
It should be noted that while in the embodiment described in FIG.
33, removal means are provided at the top of the tanks, it is
possible to utilize a pipe provided at the bottom of the tanks. A
pipe at the bottom of the tank would be used if the fruit to be
picked has a specific gravity greater than 1.
TERMINAL CONVEYING SYSTEMS
From the heretofore offered discussion, it is seen that fruit
picked in accordance with the present invention is immediately
introduced into water, which may be refrigerated, and thereafter
conveyed to a delivery point by the water conveyor system of the
present invention. It will be apparent that unless the final
delivery point is relatively close to the area of picking it is
impossible to completely transport fruit to the packing plant or
the cold storage. In those instances where the packing plant or
cold storage area are relatively remote from the area of picking,
terminal or end point conveying beyond that provided by the water
conveyors earlier described is necessary. The following discussion
describes such terminal or end point conveying particularly
amenable for adaption to the agricultural system of the present
invention.
Current technology of conveying is very old. Picking is generally
done manually from ladders into canvas bottomed buckets and the
buckets then carried to either a field box or a crate or a bulk
bin, located on the ground and the fruit dumped therein.
The filled boxes or the like are then carried by hand to a truck
and stacked thereon. As an alternative, larger boxes such as bulk
bins are filled on the ground and hoisted onto a truck using a
fork-lift tractor. Such methods expose the picked fruit to
continual brusing and increase its temperature as the boxes or bins
are left in the sun.
While with the more recent hydraulic shaking equipment conveyors
pass from the catching frame of the hydraulic shaker to a bulk bin
located on the ground or on a truck, an improvement over manual
handling, the fruit is still subjected to bruising and exposure to
temperature rise due to being left in the sun.
The conveying methods described below are all improvements over
conventional methods as listed above.
As earlier indicated, in accordance with the present invention,
fruit or produce is taken directly from the hydromotor platform via
water conveyor or from the top (or bottom) of tank type
pickers.
In those instances where substantial distances are involved between
the picking point and the packing plant, the agricultural system of
the present invention provides proper storage for the picked fruit
in the form of automatically loaded and unloaded water-filled
tanks, various embodiments of which will now be described.
The first and simplest, buffer storage means provided in accordance
with the present invention is a single-bin tank truck conveyor. The
shape of the tank is not overly important except that a slight
upward slope must be provided from the edges of the tank to the
portion of the tank at the top where an entrance/discharge port is
provided. The entrance/discharge port need not be in the middle of
the tank, but can be located at either end or at any point
therebetween. Usually the entrance/discharge port will be located
in the middle since this will tend to maximize the capacity of the
tank.
The entrance/discharge port is provided with coupling means which
can be joined to the water conveyor system of the present
invention, typically a main line water conveyor.
At the bottom, tank valving means is provided which permits water
to be withdrawn from the tank. The valving means can be coupled to
pumping means typically driven by a hydromotor, to permit removal
of water from the tank.
As an alternative to the above, since the single-bin truck conveyor
of the present invention is self-propelled, it can be coupled
directly to the hydromotor platform when the same is used for
continuous harvesting or the tanks when batch harvesting is
practiced.
Such a single-bin tank truck conveyor is used as follows:
The truck is moved into position with a tank full of water;
The input conveyor pipe, trough or the like is attached to the
input port at the top of the tank;
A water hose is attached to the valve at the bottom of the tank.
The other end of the hose may be connected directly to the water
input in a harvesting machine, for example, as shown in FIG. 33, to
provide water thereto, if desired, or can merely be directed to a
disposal area.
It will be apparent that when the input of the truck is connected
to the output of a batch harvesting machine, the water used is in a
substantially closed system, in that the water is conveyed from the
truck to the harvesting machine via pipe 545a and the water output
from the harvesting machine is used to fill the truck via the water
conveyor. In those instances where input water is not so available,
the input water can be taken from any appropriate point in the
fluid delivery subsystem of the present invention.
As fruit enters the truck from the top entrance port, water is
simultaneously pumped out from below using the pump earlier
mentioned keeping the water level in balance with the quantity of
fruit present at a given time so as not to bruise or damage the
fruit.
At the end of filling, the fruit occupies the entire tank and water
fills all of the space between the fruit. This is necessary and
desirable to provide the fruit with some buoyancy, an important
factor in avoiding crushing and bruising.
The output hose from the harvesting machine is then disconnected
from the input to the truck, and the output hose from the bottom of
the truck which leads to the input to the harvesting machine is
disconnected. The next truck is then brought into position for
filling.
The truck is unloaded by reversing the above process, i.e., water
is introduced via the bottom valved port to remove the fruit from
the truck by floating the same to the top entrance/dicharge
port.
A further embodiment of the terminal conveying system comprises a
multi-bulk bin tank truck which will be described with reference to
FIG. 35.
Referring to FIG. 35, fruit is delivered to the multitank assembly
by way of conduit 560. Conduit 560 can be coupled to the various
sources earlier discussed for the single bin tank truck conveyor.
Conduit 560 leads to, and sequentially feeds, as later explained,
conduits 561, 562 and 563 which are disposed above tanks 564, 565
and 566, respectively, and which are sealable by valving means 567,
568 and 569, respectively.
The bottom of each tank comprises a perforated bottom 570 through
which water can pass, a water catch area 571 being disposed below
each perforated bottom 570.
Tanks 564, 565, and 566 each have disposed therebelow valving means
572, 573 and 574, respectively. Below the valving means is a water
conduit 575 linked to valving means 576 and pump 577.
As shown in FIG. 35, each tank is supported by an L-bracket 578,
the bottom thereof being maintained in a water tight relationship
by water seal 579.
Fruit removal is effected via conduit 560a attached to conduit
561.
In a practical embodiment, each single unitized tank would be in a
shape of a cube roughly 5 by 5 by 5 feet, and three such tanks
could be mounted side-by-side on a flat bed truck.
Assuming that a water conveyor carrying fruit is attached to
conduit 560 and a water pipe is attached to pump 577, the operation
of such a conveyor storage system will be described.
Firstly, when fruit and water being to enter conduit 560 from the
water conveyor system, they enter conduit 561. At this stage, gate
567 is in the position to permit entrance into tank 564 but not
into conduit 562. Fruit and water thus begin to enter tank 564.
Valve 572 and valve 576 are both in the open position so that as
fruit and water are conveyed into tank 564 water passes through the
perforated bottom 570 and is drawn off via water catch basin 571
through conduit 575 and thence through valve 576. Input fruit is,
of course, retained by the perforated bottom 570 and the withdrawal
of water is maintained is such a balance that bruising of the fruit
is minimal.
The above procedure is continued until tank 564 fills with fruit.
When tank 564 is filled with fruit, valves 567 and 572 close to
accomplish two purposes: first, the closing of valve 567 permits
fruit to enter conduit 562 and, since valve 568 is opened, to enter
tank 565. The closing of valve 572 permits sufficient water to be
maintained in tank 564 to space the fruit to prevent bruising.
The process sequence as described for tank 564 is then repeated
with tank 565 and 566 until all tanks are filled.
When all tanks are filled, valve 576 is closed, the water conveyor
and pipe attached to conduit 560 and pump 577, respectively,
removed and the assembly is now ready for transportation.
As an alternative to the above, of course, all water can initially
be permitted to be drained from the tanks and then the space
between the fruit filled by reversing the flow of water through
valve 576, if desired.
As will be apparent to one skilled in the art, the fruit can be
transported in the dry condition, if desired.
When the truck is moved to the point of delivery, it can be
unloaded by a process which is the inverse of that just described.
Alternatively, since the individual tanks are separate, the tanks
can be lifted off the truck by means of a fork lift truck, in which
case standard fork-lift slots are provided in the side of the
tanks.
Fork-lift trucks would be used only in the case where a farm was
not completely equipped with the agricultural system of the present
invention. If it were completely equipped, the tank truck would
deliver its cargo to a cold storage house employing bulk bins
similar in design to those carried on the truck.
The total time that foods can be stored under water is limited by
the hydrostatic pressure and the temperature. If desired, storage
time can be increased by spraying or immersing the food in an
edible wax, or other water-repellant, before final storage.
During cold storage, the food can, however, be stored in tanks
which do not contain water, that is, under conventional high
humidity cold storage or, alternatively, with the tanks full and
containing refrigerated water, or with the tanks empty of water but
with refrigerated water being dripped over the fruit. In this
latter case, the inside tops of the tanks can be equipped with
perforated water lines connected to a source of refrigerated water,
and pump 577 can be used to return water to the refrigerating unit.
Valves 572, 573 and 574 all are held open for this operation.
It will be apparent to one skilled in the art that, if desired,
cold storage can be accomplished utilizing a very large number of
tanks as described in FIG. 35. When such is contemplated, most
desirably the overall storage system would be automated, that is,
the operation of the gates and valves would be placed under the
control of sensors which deteect when a particular tank is either
full of fruit or empty of fruit, and which directly effect a valve
closing on a mechanical gate operation, such as float valves or
pressure valves.
Multi-tank trucks as described with reference to FIG. 35 can, of
course, be manually controlled where the input conduit or pipe is
inserted into the input port of each tank before filling it and,
when the tank is full, the input conduit is merely removed and
advanced to the next tank.
FRUIT GRADING, STORAGE AND CONTAINERIZING MEANS
As will be apparent to one skilled in the art, while the present
invention provides the art with a substantial advance in
agricultural production systems to this point, and if desired
conventional grading, storing and containerizing means can be used
in combination with the agricultural system to the present
invention earlier described, nonetheless it would be highly
desirable if the fruit being carried in the water conveyor of the
present application could thereafter be subjected to grading and
storing (storing obviously being optional where the fruit is
directly containerized) utilizing the power of water available via
the fluid delivery subsystem of the present invention.
The following discussion deals with such aspects of the present
invention, i.e., operations which are conducted subsequent to
harvesting the fruit and, generally, removing it from the immediate
point of harvesting.
As will be apparent upon a reading of the following material, in a
highly preferred form of the present invention the grading, storing
and containerizing operations are performed utilizing water both as
a conveying and storing medium. It is thus seen that even this
final aspect of the present invention makes maximum use of water
power.
In the following discussion, the initial steps of cleaning and
polishing of the harvested fruit are classified under the operation
of "grading"; in actuality, they can be viewed as a "pre-grading
operation", but for purposes of discussion they are classified
under the grading operation.
GRADING
Generally, prior to conducting any grading operations, fruit is
cleaned and polished. With the agricultural system of the present
invention, the fruit is immediately introduced into water at the
time of picking, and cleaning and, to a certain extent, polishing
begins immediately at the site of picking. Since the fruit is
conveyed from the site of picking to the point of packing in water,
a further cleaning and polishing affect is achieved during
conveying in the water conveyor system of the present
invention.
In addition, since the fruit is partially cooled immediately upon
introduction into water in a preferred embodiment of the present
invention, and is thereafter maintained cool during passage to the
packing site in the water conveyor system of the present invention,
overall fruit quality is enhanced, i.e., the fruit is firmer and
able to withstand additional handling operations and the storage
life of the fruit is increased.
As will be apparent to one skilled in the art, if a sufficiently
long distance is involved between the site of picking and the
packing area, it is feasible that both cleaning and polishing will
be completed in the water conveyor system of the present
invention.
If desired, the water conveyors of the present invention can be
provided with a variety of brushes, abrasive strips of cloth or
means of various types designed to contact the fruit as it passes
through the water conveyor and gently scrub and polish the fruit.
For example, such might be particularly appropriate for fruits such
as peaches where the fuzz can be removed.
An important function which can be achieved in the water conveyor
subsystem of the present invention is, of course, the removal of
residual toxic chemicals. Such would be an important aspect of the
water conveyor system only where the toxic chemicals have not been
applied sufficiently in advance of picking to permit the toxic
chemicals to naturally degrade into non-toxic compounds. As will be
apparent to one skilled in the art, the computer can be programmed
to apply toxic chemicals to the fruits only a sufficient time prior
to picking to permit such natural degradation, if desired.
Assuming that further cleaning or polishing is necessary prior to
packing, i.e., where the passage of the fruit to the water conveyor
system is not sufficient to achieve such results, various devices
can be provided at any point in the water conveyor system prior to
the packing area to complete such operations. Most generally, of
course, additional cleaning or polishing will be in the terminal
area of the water conveyor system just prior to the packing plant,
since maximum cleaning and polishing will thus be achieved in the
water conveyor system.
For instance, brushes can be disposed in the water conveyor system
above a belt conveyor, both the brushes and belt conveyor being
driven in the direction of flow of the water, but the belt conveyor
being driven at a somewhat faster rate than the brushes. The system
could be powered by a small electric motor or by a hydromotor.
The fruit would be guided into the "upstream" end of the conveyor,
the brushes and belt conveyor thus coacting to clean and polish the
fruit as it is impelled through the "downstream" side of the
system.
If desired, the brushes can be provided with spiral grooves which
are slightly offset from a direction directly parallel to the
direction of water flow, alternate brushes being provided with
grooves which are off-set in the right hand direction and off-set
in the left direction, this system of grooves tending to channel
the fruit into a number of parallel paths to go to the number of
grooves and serving to rotate and spin the fruit to expose all
surface areas to the brushes assuring adequate cleaning. This
system of spiral grooves is taught in U.S. Pat. No. 1,955,749,
Jones, cited earlier.
Following the cleaning/polishing operation, if desired the fruit
can then be subjected to drying and, if desired, waxing using an
apparatus as described in FIG. 36.
Referring to FIG. 36, the cleaned and polished fruit 580 is shown
entering input fruit canal 581 while carried in water 582. The
input fruit canal 581 is provided with a drain screen 583 which
leads to a water by-pass 584. This permits the majority of the
water to drain from the fruit and the substantially dry fruit to
pass between belt conveyor 585 and sponge dryers 586. Belt conveyor
585 is provided with soft flexible paddles 587, which paddles
contact the sponge dryers 586 and serve to impel the fruit
therebetween. The sponge dryers 586 remove the majority of residual
water from the fruit as it passes between the belt conveyor 585 and
the sponge dryers 586.
Press rollers 597 are shown disposed beneath the sponge rollers 586
and in physical contact therewith; the press rollers 597 serve to
squeeze the water from the sponge rollers 586, whereafter the water
can pass via conduit 588 into by-pass line 584. The thus treated
fruit passes on support surface 589 beneath hot air blast conduits
590, the hot air passing over the fruit at point 591 and removing
remaining moisture from the fruit, the hot air after contact with
the fruit passing through vent screen 592 into area 593 for venting
via a conduit (not shown).
If desired, the fruit can then be subjected to a wax spray to
deposit a thin layer of wax therearound, the wax serving as a
preservative. In the apparatus shown in FIG. 36, wax spray heads
594 are illustrated as being disposed above fruit tumblers 595. Wax
spray heads are provided with nozzles (not shown) so that as the
fruit passes between the wax spray heads 594 and fruit tumblers
595, a thin spray of wax is deposited therearound.
Wax may be applied to the fruit to control certain diseases or to
control the absorption of water by the fruit during further
processing and/or storage in water.
The fruit tumblers 595, which can be rollers or brushes, serve to
constantly rotate the fruit during the application of wax thereto
ensure complete coverage by the wax.
If desired, the wax spray head/fruit tumbler system can be replaced
by an immersion system which is filled with wax, the fruit simply
being passed through the wax by, for example, apparatus similar to
the roller/belt conveyor system earlier described for effecting
cleaning and polishing. After wax application, the fruit passes
into output fruit canal 596, where the fruit is again carried in
water introduced into the output canal 596 from the termination
point of the water by-pass line 584.
Utilizing apparatus as described, the product of the agricultural
system of the present invention is cleaned, polished and,
essentially, is in a condition amenable to "grading", as this term
is conventionally used.
In the apparatus of FIG. 36, the belt conveyor 585, sponge rollers
586, drying rollers 597 and fruit tumbler rollers 595 can all be
driven in a conventional manner, e.g., by belts and pulleys powered
by a hydromotor deriving its energy from the prime source 218 of
the fluid delivery system, or by independent electric motors.
In the agricultural system of the present invention, three types of
grading operations are contemplated: electronic grading, grading by
means of specific gravity and grading by means of size.
As is known in the art, grading operations refer to classifying and
segregating fruits by size, color and quality. Quality refers to a
great number of variables, for example, U.S. Extra Fancy and Fancy
Grade apples must have proper maturity, and be free from bitter
pit, Jonathan spot, russeting, scald, broken skin and bruises,
internal breakdown, etc.
Requirements for fruit quality are so complex and, to a certain
extent, relatively subjective, that complete automation of quality
grading is an ideal only to be approached.
However, the agricultural system of the present invention lends
itself excellently to the grading of fruits by size, shape, color
and defects, and hence approaches the ideal closer than any known
machine.
Size refers only to one physical dimension: the diameter of the
fruit at its point of greatest circumference; such is amenable to
complete automation. Shape is not generally quantifiable, and hence
shape grading has always been done visually by subjective judgment;
it is automatically accomplished in the present invention. Color
grading can also be automated, and can be accomplished by photocell
detection and integration of light reflected from each fruit
graded. See Mohsenin--Physical Properties of Plant And Animal
Materials; Vol. 1, Gordon and Breach Science Publishers, New York,
1970.
The following discussion describes, as indicated above, electronic,
specific gravity and size grading means.
ELECTRONIC GRADING
Color grading, sizing and eliminating fruit with color
differentiable skin defects can be performed by computer analysis
of the output of a television scanner or a flying-spot scanner, and
using the results to classify and/or reject the fruit according to
the pre-programmed grading requirements. Internal defects can be
detected and classified by adaptations of sonar technology under
which the computer analyzes sound echoes returned from the interior
of the fruit.
Computer grading is performed by comparing the output from the
television scanner or flying-spot scanner against a set of
"templates" stored in the computer.
For example, to grade size the template can be analogous to a metal
gauge having a plurality of openings correlated with desired fruit
size.
In classifying by color, the reflection of radiation of an
appropriate wavelength, for example, visible light, can be
integrated by the computer and compared to pre-established
standards. Taking the color grading of an apple as illustrative,
the computer would integrate the reflected color from the apple,
and, assuming the apple is a type such as red delicious, compare it
to a series of templates which have been pre-recorded for apples
illustrating a desired color. After the apple being examined is
correlated with an appropriate pre-recorded template, it can be
appropriately routed to a desired classification bin.
Other templates can be prepared to recognize evidence of disease or
damage to the fruit undergoing grading, and such will be
particularly appropriate for disease or damage which is visible on
the skin of the apple or like fruit.
Since at the time of fruit packing the growth period in the
agricultural system of the present invention has been completed,
essentially the full capacity of the computer will be available for
grading and packing. Further, if television scanners have been used
for remote sensing of a homogeneous agricultural area, and they are
portable, they can be brought into the packing plant to be utilized
in the electronic grading machine.
The electronic grading machine utilizes circuitry similar to that
earlier explained with reference to FIG. 5 for remote sensing.
Referring now to FIG. 37, an electronic grading machine is shown
therein where the circuitry of FIG. 5 is adapted to accomplish
electronic grading. More specifically, it will be seen that the
apparatus of FIG. 5 can be directly used as scanners 604 to provide
multi-wavelength capability (provided by filter wheel 117 and array
118 in combination with controller 112), though generally control
elements to provide zoom, pan, tilt, etc., will not be necessary
(as the camera can be fixed) unless one is to use portable remote
sensing apparatus as scanning means as shown in FIG. 37. While the
remote sensing means shown in FIG. 5 is usually used with switch
means as shown in FIG. 4, unless a plurality of graders as shown in
FIG. 37 are used, such interfacing switch means for time division
multiplexing will not be necessary.
Referring to FIG. 37, fruit 600 carried in water received, for
example, from a water conveyor (not shown) is channelled by members
601 into conveyor orientation area 602 which comprises, for
example, a belt conveyor with vertically oriented teeth spaced at a
width sufficient to capture one piece of fruit in its naturally
floating orientation. The conveyor 603 can be driven by a small
electrical motor or by a hydromotor powered from the fluid delivery
subsystem of the present invention.
Each individual piece of fruit in water is then passed between
scanners 604, which are linked to computer 10 via transmission line
605; subunits of computer 10 comprising a template file 126, a
comparator 123 and a temporary memory 121 where the stationary
image recorded by scanners 604 is recorded to permit comparison by
comparator 123 to templates in the template file 126 are shown.
Templates in the template file 126 will, of course, have been
prepared in advance of the packing operation to enable a color
image and size comparison to be made, and to recognize surface
defects. No special orientation of the fruit while it is between
the scanners 604 is necessary since the computer can compare the
fruit to a number of templates to allow for various orientations.
For example, assuming that apples are the fruit being graded, three
classes of templates will generally suffice for any grading since
tests have shown that up to 95% of apples floating in water float
with the stem end up, a few percent float with the stem end down
and the balance with the cheek up.
Assuming that it passes comparison to a template in the template
file 126, it then passes from the area between scanners 604.
Immediately following scanner 604 in the direction of travel of the
produce is grading gate area 607, comprising a series of seven
separate grading gates, 608 permitting a first classification, 609a
and 609b permitting a second classification and 610a, b, c and d
permitting a third classification. The grading gates are under
control of grade selector 606 by conventional means, and permit
produce passed by scanner 604 to be classified into one of eight
separate categories at area 611. As will be appreciated by one
skilled in the art, passage along the grading gate area 607 results
in the produce being appropriately channelled in response to its
classification while undergoing passage between scanner 604. No
novelty per se is claimed for the grading gate assembly or the
control means therefore.
The circuitry required to operate grade selector 606 is
conventional insofar as activation of bin classification means is
concerned.
On the other hand, if a fruit fails to match a template image, it
results in rejection means being activated, for example, a gate can
be provided immediately beneath the area between scanners 604 and
the computer can operate a latch to permit the fruit to enter an
exit channel (not shown) below the scanners, and thereafter be
routed to a reject bin.
In a modification of FIG. 37, most internal defects in the fruit
can be detected using reflections of supersonic waves. This can be
accomplished prior to, at, or subsequent to, the scanning means 604
by providing an ultrasonic transducer to generate ultrasonic waves,
for example, immediately above the fruit while it is being carried
in conveyor 603 in combination with a sonic transceiver to detect
the reflected supersonic waves. The sonic transceiver would be
linked to the computer 10 by an appropriate transmission line, the
output from the sonic transceiver being stored in a temporary
memory, if desired, and thereafter compared in a comparator to
appropriate templates in template file 126. In this particular
instance, the templates are prerecorded echo reflection waveforms
from healthy produce as well as prerecorded reflection waveforms
from produce with known defects. Sonar techniques are well known in
the art. In this application, the transmitter generates a
supersonic pulse train, typically at 2 MHz, with a pulse duration
of 2 microseconds, and a pulse repetition frequency of one thousand
per second. Echoes received by the transducer after each pulse of
ultrasonic energy are fed to a conventional receiver for
amplification and detection to provide an output proportional to
the distance from the transducer to the physical features to be
used for classification, such as a bruise just under the skin, a
worm hole, etc. A "template" to be used for purposes of
classification is prepared by passing perfect pieces of fruit,
through the sonar grader, and the resulting "ideal" echo reflection
waveform will be stored in the template file as a standard for
comparison. Other templates used for identifying defects of
interest are prepared in the same way. This process of making
templates requires that human judgment be used by using a video CRT
display of the waveforms so that the ultimate standards of quality
initially can be translated into the form of measurement used here,
i.e., the presence of wanted or unwanted returned echoes, their
locations in time, their amplitudes and widths.
If analysis of internal defects utilizing the supersonic wave
reflection is accomplished at the same time that the fruit is being
subjected to scanning by scanners 604, further mechanical
channellization can be avoided, as can the addition of a second set
of reject means, since the reject means for the scanners can be
also activated by the failure of the computer to match a template
to the fruit being subjected to supersonic analysis.
If desired, ultrasonic analysis can be performed by utilizing a
combined transmitting and receiving transducer which can be brought
into direct contact with the skin of the fruit as the conveyor
moves it into position, the transducer being carried by spring
biasing means, for example. Ultrasonic analysis can occur while the
fruit is out of the water or while the fruit is in the water and,
in fact, for certain applications, ultrasonic analysis will be
performed while the fruit is immersed in the water since better
coupling of the fruit with the transducer is achievable. The video
scanners 604, of course, work equally as well under water as out of
the water.
Illustrative of the types of flaws which can be detected utilizing
ultrasonic analysis as described, using apples as illustrative, are
water core worms, bruising, brown rot, over-ripeness and the
like.
Ultrasonic waves which are detected from a flaw in the fruit are
quite different from the continuous echoes which are reflected from
the floor of the conveyor area 603.
A reflecting plate is provided immediately beneath the upper belt
of the endless conveyor under the piece of fruit which is in
contact with the transducer, the reflection plate being selected to
have known characteristics and to minimize the distance between the
transducer and points of ultrasonic wave reflection in the
apparatus.
The above described electronic grading machine offers several
advantages to the art:
Firstly, many more quality variables are measurable than for any
known grading machine;
Secondly, more grades can be differentiated than with any known
grading machine, thereby increasing the market value of the total
crop;
Thirdly, the information obtained from the computer can be utilized
to predict an expected storage life, generally by measuring the
ripeness of the fruit. It is well known that the "greener" the
fruit, the longer it can undergo storage. Further, fruit with
defects generally will not undergo storage as long as healthy
fruit. Usually, all fruit illustrating similar degrees of ripeness
or similar damages, such as bruises, will be classified together so
that the storage life of the homogeneous mass of fruit that is
obtained will be relatively equivalent. This will permit lowered
spoilage during storage and permit marketing of produce at the time
when such produce can draw its highest price;
Fourthly, the computer can be used to derive an analysis of the
causes of rejection, actually statistical distribution of produce
loss due to various causes such over-ripeness, brown rot, etc., and
such information can be fed back into the computer to permit the
same to reach decisions regarding future treatment to avoid such
causes of rejection.
While the electronic grading apparatus above described enables a
number of functions to be achieved, several single purpose devices
can also be used in the agricultural system of the present
invention, though generally such would not be used in combination
with the electronic grading apparatus just described.
GRADING BY SPECIFIC GRAVITY
With certain fruits and vegetables, the degree of ripeness is
correlated with specific gravity; riper fruits generally having a
lower specific gravity while less ripe fruits have a higher
specific gravity.
Depending upon whether the particular species of fruit or vegetable
involved has a specific gravity range of above 1 (for example,
potatoes) or below 1 (for example, apples), the fruit or vegetable
will either sink (for example, potatoes) or rise (for example,
apples) when released under water at a given elevation.
If the fruit involved is one which can exhibit a specific gravity
less than or greater than 1 (for example, blueberries which can
illustrate a specific gravity of from about 0.70 to about 1.20)
some fruit will rise and some fruit will fall.
In addition to the correlation between ripeness and specific
gravity, certain internal defects, diseases and insects can cause
fruits and vegetables to have a specific gravity substantially
different from that of normal fruit.
Specific gravities of various fruits and vegetables are presented
in Mohsenin--Physical Properties Of Plant And Animal Materials;
Gordon and Breach Science Publishers, New York, 1970, and such will
be useful in permitting one skilled in the art to obtain the wide
application of grading by specific gravity in accordance with the
present invention.
Referring to FIG. 38, apparatus for grading by means of specific
gravity differences in accordance with the present invention is
described therein, the apparatus generally being indicated by 620
as comprising an elongated tank of rectangular shape.
Fruit 621 which is carried in water 622 initially enters the
specific grading apparatus 620 at point 623, being received, for
example from a water trough conveyor as earlier described (not
shown).
The water 622 must be flowing at a constant rate and must be
maintained at a constant level; such can be controlled by a flow
meter and level sensor as is known in the art, generally indicated
at 624. The flow meter and level sensor 624 is linked to the
computer of the agricultural system of the present invention (not
shown) which constantly receives a data input regarding water
velocity and volume and which can be used to increase water
velocity and volume by opening or closing valving means upstream
from the specific gravity grading device. Since water velocity and
volume are controlled for other functions in addition to specific
gravity grading, for example, for use in the polisher, waxer, the
conveyor system and the like, the cost of such control is shared
and effectively pro-rated.
If desired, of course, water velocity may be controlled at no
substantial cost merely by initially adjusting the incline of the
specific gravity grader for gravity flow; for example, utilizing
adjustable hydraulic cylinders under one end of the grader or other
conventional elevating/lowering means as are known in the art.
As the fruit 621 carried in water 622 passes from area 623 of the
specific gravity grader 620, it passes the area of water jet 625
which is adapted to bring substantially all fruit to the same
elevation and thereafter forces the fruit upwardly and over
imperforate water ramp 626, whereafter the fruit is permitted to
disperse either upwardly or downwardly in the water in area 627,
according to its specific gravity, permitting the fruit to disperse
either above or below a separator plate 628. In FIG. 38, relatively
light fruit 621a is shown entering the area above separator plate
628 and relatively heavier fruit 62b is shown entering the area
beneath separator plate 628.
In this particular instance, the relatively heavy or "high density"
fruit is desired, and it is shown being removed from the grading
apparatus by way of belt conveyor 629 driven by motor/pulley
assembly 630 and being forwarded to terminal conveying means 632
which can be, for example, apparatus as earlier described with
reference to FIG. 35.
While in FIG. 38 the separator plate 638 is shown extending over
the entire length of the belt conveyor 629, in fact it is only
necessary that the separator plate occur at the initial portion of
the belt conveyor 629 to permit the division of the dispersed fruit
earlier described.
The relatively light or "low density" product 621a can be removed
from the specific gravity grading apparatus by, for example,
providing another belt conveyor above separator plate 628,
providing a take-off conveyor in the side of the specific gravity
grading device 620 or the like.
The underwater ramp 626 can be adjusted so as to permit specific
gravity grading of various types of fruit, and to accomplish this
adjusting slots 631 are shown provided in the sidewall thereof, the
underwater ramp 626 held by pivotal members 632 in the adjustment
slot and thus being capable of assuming various degrees of
elevation. The degree of elevation of the underwater ramp 626 will,
of course, control the dispersion interval of the fruit, and this
adjustment in combination with a similar vertical adjustment of the
separator plate (which can be accomplished by vertically oriented
adjustment slots, not shown) permits a wide variety of fruits and
vegetables to be graded by means of specific gravity
differences.
For fruits or vegetables where the specific gravity is less than 1,
for example, apples, generally the final portion of the underwater
ramp 626 will be relatively deep in the water to permit sufficient
upward floatation for purposes of dispersion. On the other hand, if
the specific gravity of the fruit or vegetable involved is greater
than 1, for example, potatoes, the end portion of the underwater
ramp 626 will generally be relatively shallow, permitting the fruit
or vegetable involved to disperse as it sinks.
Both underwater ramp 626 and separator plate 628 can be simply
formed from sheet metal.
In addition to the above separation of fruit by utilizing specific
gravity, undesirable solid material such as twigs, stones, etc.,
which are generally outside the specific gravity range of the fruit
or vegetable involved, can be removed from the top or bottom of the
specific gravity grading apparatus, depending on whether the
undesirable solid material floats or sinks, respectively.
The primary advantage of the apparatus described in FIG. 38 is the
extreme simplicity thereof, i.e., the relatively low number of
moving parts. The water jets can, in fact, be omitted if the
forward water velocity in area 623 is sufficient to carry the fruit
or vegetable involved over the underwater ramp 626; in this case,
the only moving part in the system would be the belt conveyor
629.
If the degree of classification due to specific gravity differences
is insufficient in one device as shown in FIG. 38, a plurality of
such devices can be linked in series, each individual specific
gravity separator permitting finer and finer classification, or
alternatively, two or more separator plates can be positioned at
different depths.
GRADING BY SIZE
Since the agricultural system of the present invention enables a
much higher quality of product to be obtained than conventional
farming methods in terms of color, lack of disease, uniformity and
the like, grading according to size will be an important operation
in accordance with the present invention. However, with the lowered
size variation obtainable by the utilization of the agricultural
system of the present invention, even sizing will be a lesser
problem than with products from conventional farms.
Many methods of sizing both by fruit weight and fruit diameter
involving dry fruit are in use. Sizing operations utilizing
flotaion are also known (see, for example, A. B. Stout et al, A
Prototype Hydro-Handling System for Sorting And Sizing Apples
Before Storage, ARS 52-14, USDA, 1966), but such are typically
predicated upon utilizing chain-type sizers under water.
Since in accordance with the agricultural system of the present
invention the fruit or vegetable product is already in the
flotation mode, it is convenient and inexpensive to perform sizing
while the fruit is being transported in a water containing
conveyor.
Four sizing methods are contemplated for use in the agricultural
system of the present invention, which will now be described.
In one embodiment, a water conveyor of rectangular cross section is
provided with perforated holes in the flat bottom of the conveyor,
which holes correspond to the diameter of the fruit to be selected.
The holes can be fixed in size or, if desired, can be of a variable
diameter. As will be apparent to one skilled in the art, the
smallest diameter holes are upstream and the largest diameter holes
are downstream, holes of intermediate diameter being provided
therebetween, if necessary.
Since any individual sizing area functions in a manner
substantially identical to other sizing areas except for fruit or
vegetables of different sizes being permitted to pass through the
holes in the bottom of the water conveyor, explanation will be
offered only for the selection of the fruit or vegetables of the
smallest diameter.
Assuming that the fruit carried in water passes over the smallest
diameter holes, intermediate and large size fruit passes over the
holes because of its size; however, the smallest fruit which has a
diameter less than that of the diameter of the holes passes
therethrough, falling into a secondary water conveyor thereunder
which can be utilized to convey the fruit of the desired size to a
boxing station or for further processing as desired.
Water level is controlled in the water conveyor in accordance with
the average specific gravity; for high specific gravity, it is
high, and for low specific gravity, it is low, to ensure movement
over the pattern of holes in the bottom of the water conveyor and
to replace water which is lost along with the fruit as it passes
through the hole in the bottom of the water conveyor.
Water lost can be minimized, if desired, by using a hinged flap
under each hole, the hinged flap being held closed by spring
biasing means which maintain the flap closed under the low water
head involved but which will open when the weight of a piece of
fruit which is small enough to pass through the hole involved is
directed thereagainst. The hinged flap can be made concave with
reference to the bottom of the water trough and hole so that there
is minimal danger of the fruit passing over the hole, rather, it
will fall into the concave hinged flap and automatically open the
flap.
As will be apparent to one skilled in the art, this embodiment
permits fruit to be graded not only by size but also by weight, if
desired.
Water level can be controlled by float valves mounted in the side
of the water conveyor, and fruit movement at a sufficient velocity
can be assured by water jets disposed either in the side of the
water conveyor or, more preferably, above the water conveyor in a
manner so as to direct the fruit against the holes in the bottom of
the water conveyor.
If desired, sizing by the embodiment described above can be
effected without utilizing water in the conveyor which contains the
holes if the trough is sufficiently inclined to ensure gravity flow
of the fruit or vegetable involved. In such an embodiment, of
course, water level controls or water jets in the conveyor trough
are unnecessary, and input water, after separation from the fruit,
can be merely diverted ahead of the sizing holes directly to the
water conveyor utilized to convey the fruit to the next processing
station.
The second size grading method of the present invention finds
particular application in sizing fruits or vegetables which have a
specific gravity range which brackets a specific gravity of 1, for
example, peaches and blueberries.
Apparatus to effectively size such materials is shown in FIG. 39.
Fruit of varying size 640 enters conduit 641 in a flowing stream of
water, and strikes deflector 642, being directed against mesh 643
as shown in FIG. 39. Fruit of the smallest size generally indicated
as 640a passes through mesh 643 and is removed via conduit 644. The
balance of the fruit passes via conduit 641 and strikes deflector
645, being impelled against mesh screen 646 which permits the next
larger size of fruit or vegetable 640b to be removed via conduit
647.
The remaining fruit than passes via conduit 641 under the influence
of gravity and strikes deflector 648 or is guided by the oppositely
faced wall of conduit 641 against mesh screen 649, sized to permit
the next desired size of fruit 640c to be removed via conduit
650.
The remaining large size fruit 640d is removed via the terminal
portion of conduit 641.
Water level in all conduits can be controlled in any desired
fashion, for example, by float valves.
If desired, spring biased hinged flaps can also be provided behind
the mesh screens of this embodiment in a manner similar described
for the earlier embodiment.
Further, instead of providing convex "deflectors" as shown by
642,645 and 648 in FIG. 39, the deflectors can be omitted and
replaced with spring-biased flaps, biasing being provided in a
manner such that as the travelling fruit strikes the flap it
deflects the flap in the direction of the travel of the fruit,
thereby providing a "moveable" ramp up which the fruit can travel
to be deflected into conduits 644,647 amd 650. Such spring-biased
flaps can be hinged directly to the inner wall of main conduit
641.
The third specific gravity grading method of the present invention
finds particular application with fruits and vegetables whose
specific gravity is less than 1, and such will be explained with
reference to FIG. 40.
Referring to FIG. 40, the sizing apparatus of this embodiment is
generally indicated by numeral 660 and is shown linked to a water
lock 490 (as earlier described with reference to FIG. 51), or a
"fruit-pump" as earlier described, and is suitable for any produce
whose specific gravity is below one. The water lock or "fruit-pump"
receives fruit or vegetables carried in water from a water conveyor
trough 661 as has earlier been described.
Conduit 662 comprises an initial horizontal section 662a and a
terminal graded or inclined section 662b. Extending from the graded
or inclined section 662b are three vertically oriented conduits
663, 664 and 665, the first two conduits having at the bottom
portion thereof vibrating sorting screens 666 and 667,
respectively. Vibrating sorting screen 666 has holes of a diameter
slightly larger than the smallest fruit or vegetable to be graded;
vibrating sorting screen 667 has holes of a diameter slightly
larger than medium size fruit or vegetables to be graded; conduit
665 has no vibrating sorting screen as only the largest fruit to be
graded remains. These screens can be vibrated in a direction
basically parallel to the flow of fruit and water in the inclined
portion of the grading pipe by any conventional means.
Exit conduit 668 receives excess water from which the fruit or
vegetables have been removed.
A typical grading process utilizing the apparatus of FIG. 40 will
now be described.
First, a batch of fruit and water is received in the water lock or
fruit pump 490 from water conveyor trough 661. Secondly, the batch
of fruit and water is discharged into the grading pipe 662.
Vertically oriented conduits 663-665 are at this time filled with
water. The vertically oriented conduits need not be circular in
diameter but can, for example, be rectangular in orientation and
have measurements of 2 feet by 20 feet to allow a large volume of
fruit to be spread out. As the fruit and water passes up the graded
section 662b, the fruit, which has a specific gravity less than 1,
naturally floats to the top of the conduit 662b and sequentially
contacts vibrating sorting screens 666 and 667. At vibrating
sorting screen 666 the smallest fruits pass through the holes of
the smallest diameter and enter vertically oriented conduit 663. A
similar procedure is performed for medium fruit in vertically
oriented conduit 664; large fruit floats into conduit 665,
whereafter the remaining water exits from the specific gravity
grading apparatus of FIG. 40 via exit conduit 668.
A substantial advantage of the apparatus of FIG. 40 is that
substantially the same amount of water can be forced up the
vertically oriented conduits as enters the water lock, whereby the
need for "make-up" water is minimized.
The graded fruit can be removed from vertically oriented conduits
663-665 by any conventional means, but preferably by three water
conveyors of the type described earlier.
In a modification of the apparatus of FIG. 40, conduit 661 and
water lock or fruit pump 490 are omitted, and the balance of the
apparatus placed entirely under water in a large open tank of water
or, for example, a farm reservoir or lake which serves as temporary
storage for the entering fruit.
In this case, horizontally disposed conduit section 662a is removed
and a collecting conveyor discharge directly inserted into the
inclined grading pipe section 662b. The conveyor, which can be a
belt, is provided with members which are adapted to and trap fruit
or vegetables floating in the large open tank of water and deliver
the same into the grading pipe.
Generally, the large open tank of water will be directly fed by a
water conveyor as earlier described. Assuming that a belt conveyor
is used, for fruits which have a specific gravity of less than 1
generally the belt conveyor will be disposed in an upward direction
since fruits will tend to rise and the belt conveyor is utilized to
remove the same from upper portions of the large tank of water and
deliver the same into the inclined section of the grading pipe
662b.
The actual structure of the belt conveyor is not overly important
and can be, for example, a standard belt conveyor provided with
scoops or entrainers which retain the fruit or vegetables during a
downward passage but which permit the fruits or vegetables to
escape once the upward return of the belt conveyor is
initiated.
Any of the grading means earlier described can be located at any
desired point in the agricultural system. However, they will
generally be fixed at a central point in the agricultural system
and, for practical reasons, at the termination of a main line water
conveyor system which receives harvested fruit from various
hydromotor attached water conveyors.
Following any of the above procedures, fruits or vegetables can be
cleaned, polished and graded according to desired quality;
following the completion of the above operations, the fruits or
vegetables are ready for either direct shipping to market, for
direct use, or, alternatively, for storage until ready for shipping
to market or use.
It is thus appropriate to turn to representative storage operations
contemplated for use in the agricultural system of the present
invention.
STORAGE OPERATIONS
Cold storage is essential to any large fruit growing operation for
the following reasons:
1. to control the supply of fruit to the market place, thus
stabilizing prices and, generally, increasing return to the
farmer;
2. farm storage is generally less expensive than commercial storage
at intermediate to large volumes;
3. to permit a decrease in packing plant size by increasing storage
investment instead of extra lines of grading and packing
equipment;
4. smoothing the demand for labor over a longer period by avoiding
periods of high intensity grading and packing, and
5. greatly extending the time of availability of a given type of
fruit.
Fruit or vegetable storage involves three primary variables:
temperature, humidity and ventilation (circulation); pressre is
important, but it has not been considered for conventional air
storage procedures.
The above variables control the speed of the life processes in
fruits or vegetables, fruit respires; it takes in oxygen and
evolves carbon dioxide through the skin. In ripening after picking,
starch changes to sugar, acids and tannins decrease, pectins change
form, esters responsible for flavor and aroma increase, and heat is
given off as a result of these chemical changes.
The rate of ripening of picked fruit varies inversely with the
temperature of storage, which may be anywhere from the freezing
point of the fruit (about 28.5.degree. F. for apples) to
atmospheric temperature, depending upon the desired storage life.
The longest storage life is achieved for many fruits when the fruit
temperature is reduced to about 30.degree. F. as soon as possible
after picking and held there at a humidity of not less than 95%,
though some varieties of fruit should not be held at such low
temperatures. The effect of delay in getting the fruit to storage
temperature also has an important effect on shelf life, e.g., the
softening of fruit proceeds twice as fast at 70.degree. F. as at
50.degree. F., twice as fast at 50.degree. F. as at 40.degree. F.
and twice again as fast at 40.degree. F. as at 32.degree. F.
High humidity (not less than 85%) is required to avoid moisture
loss and shriveling. Ninety-five percent humidity can be maintained
in air storage without fungus growth if the temperature is at
32.degree. F.
Ventilation refers to the introduction of outside air (in the case
of air storage) which is required to remove heat generated from
ripening fruit, and to remove ethylene gas and esters which are
products of ripening and which can cause scald on succeptible
varieties such as apples.
Controlled atmosphere (CA) storage is currently the most advanced
storage technology available. CA storage involves the use of an air
tight storage chamber which permits oxygen levels therein to be
reduced to 10 or 12 percent as oxygen is consumed by ripening, with
a simultaneous retention and build up of carbon dioxide. The carbon
dioxide level is controlled to about 5 to 10 percent by air
scrubbing in water and/or caustic soda. CA storage permits
temperature requirements to be relaxed, and temperatures of about
40.degree. F. can be used.
With all current storage systems the cost of the storage building
is generally the larges single cost item on a conventional fruit
farm. As an example, in Michigan the storage costs for apples in
the mid 1950's was $1.75 per bushel for CA storage; today this cost
has at least doubled. A 40.times.60 foot building with a 20 foot
ceiling equipped for CA storage today costs in the area of
$35,000.
Considering the importance of storage operations to the
agricultural system of the present invention, the disadvantage of
prior art storage procedures as described above and the fact that
the agricultural system of the present invention most preferably
comprises a source of refrigerated water, for example, a natural
lake or the like, water is used as a refrigerating medium in the
agricultural system of the present invention rather than air.
Several advantages are inherently provided by the use of water as
opposed to air:
1. the thermal conductivity of water is more than 10 times greater
than that of air;
2. the specific heat of water is more than 10,000 times the
specific heat of air, these two factors rendering water a much more
efficient refrigerating medium than air.
3. underwater storage approximates the conditions for CA storage
quite closely; a further substantial advantage of underwater
storage is that temperature can be duplicated exactly, under
certain circumstances without refrigeration system merely by
controlling the thickness of the water "cover".
While it shall be understood by those skilled in the art that any
conventional storage procedure known to the art today can be used
in the agricultural system of the present invention, the following
discussion will be in terms of storage procedures unique to the
agricultural system of the present invention, viz:
1. storage where fruit is totally immersed in water, and
2. storage where chilled water is trickled over the fruit while it
is held in a container.
Considering firstly the embodiment of the present invention wherein
the fruit is totally immersed, an extremely inexpensive procedure
of accomplishing is to store the fruit in a naturally occurring or
artificial lake. The following benefits ensue:
1. first, water, temperature at the bottom of the lake is
appropriate for fruit storage. For example, the water temperature
at the bottom of a 15 foot lake in summer is about 40.degree. to
50.degree. F. and in the winter is about 35.degree. to 40.degree.
F.
2. oxygen concentration is extremely low, i.e., the amount normaly
dissolved in water. Natural carbon dioxide levels are also very
low, and any carbon dioxide generated from fruit ripening is
quickly dissolved in the water and removed from the area of the
fruit by convection currents without any requirements for scrubbing
such as is the case with CA storage.
3. the humidity is 100 percent with no danger of frost in the
refrigerating apparatus, for example in cooling coils, since such
apparatus is not required.
4. construction cost is extremely low since water is the insulating
medium; all that is needed to retain the fruit is a container such
as wire mesh or corrugated aluminum.
5. transportation from the picking site to the storage area can be
rapid using the water trough conveyor system of the present
invention.
6. fruit delivery and fruit removal are far less expensive than
with conventional systems, as will be shortly explained.
In the second unique storage procedure of the present invention,
chilled water is trickled over the fruit as it is stored in
containers in a cold storage area, for example, containers as
earlier described with reference to FIG. 35 or the single-bin
embodiment earlier described.
While this second storage procedure of the present invention does
require a refrigerating unit, a disadvantage over storage by
immersion in chilled water as above described, the storage area can
be of much smaller capacity than is required for air storage
because of the relatively high heat capacity of water.
One disadvantage of either of the above storage procedures which
can be used in the agricultural system of the present invention is
the fact that contact with water will, with the passage of
sufficient time, cause water ingestion in the fruit, for example,
with apples particularly at the stem and calyx ends of the fruit,
which can lead to cell injury if hydrostatic pressure is excessive.
In certain instances, or if the desired storage time is long, this
factor will lead one to select conventional storage procedures.
A way to extend storage time either under water or under dripping
water is to coat the fruit prior to storage with an edible wax, for
example, using the apparatus earlier described with reference to
FIG. 36. The edible wax can be applied by spraying or dipping, and
can be selected not only to seal the skin but also the stem and
core ends for fruit such as apples. Edible wax is already in use in
many packing plants to produce an attractive surface sheen on
fruits, and such wax can be used in the agricultural system of the
present invention.
Whatever storage operation is selected, it is necessary that fruit
be introduced and removed from the storage means. The following
discussion will describe several methods which can be used to so
introduce and remove fruit from storage.
In the first method, the apparatus of FIG. 5 is utilized to merely
contain the fruit while it is undergoing conventional cold storage,
to hold the fruit while chilled water is being trickled thereover
or, finally, to contain the fruit while it is immersed in chilled
water.
A second method which can be used in the agricultural system of the
present invention will be described with reference to FIG. 41
illustrating one specific embodiment of underwater storage
procedure where the relatively cool water at the bottom of a lake
is utilized as the refrigerant medium, with or without artificially
provided refrigerating capability.
Referring to FIG. 41, the storage apparatus is generally designated
by 670, shown immersed in lake 671. The storage apparatus
essentially comprises a large water-filled silo 672 immersed in
lake 671 and supported by ballast members 673. The water filled
silo 672 is provided with a conical roof 674 and a chimney 675
fitted with gate valve 676, for example, a gate valve 12 inches in
diameter.
Silo 672 in this instance is provided with opening 677 in the
bottom thereof into which conveyor 678 extends. Conveyor 678 is
provided with a plurality of arms 679 which are L-shaped in cross
section. The upper end of conveyor 678 is adapted to receive fruit
680 from water conveyor 681 and carry the same by counterclockwise
rotation from water trough conveyor 681 to openfing 677 in silo 672
where the fruit, having a specific gravity less than 1, floats to
the top of silo 672 encountering internal baffles 682 during its
upward passage in the silo 672, the internal baffles serving to
control the upward velocity of the fruit to prevent bruising and to
reduce crushing.
When the silo 672 is full, conveyor 678 can be withdrawn and, if
desired, opening 677 closed by appropriate means (not shown). While
in principle closing means are not needed, potential reasons for
using the same include preventing the entrance of unwanted debris,
fish and the like.
When it is desired to withdraw fruit 680 from silo 672, gate valve
676 is opened by any conventional means, permitting the fruit 680
to float to the lake surface indicated at 683 and thereafter be
removed by way of water conduit 684 which is provided with water
jet nozzles 685 fed by water conduit 686. Water jet nozzles 685 are
adapted to propel fruit 680 in conduit 684 away from silo 672.
Once the fruit 680 reaches the shore of the lake 671, it can be
removed from conduit 684 by a conveyor similar to that used to
deliver the fruit to the silo 672 by a conveyor similar to that
used to deliver the fruit to the silo 672, for example, by a water
lock as shown in FIG. 31, or a water pump as earlier described, and
thereafter delivered to the packing plant.
Although the above underwater storage embodiment of the present
invention is exemplified for fruits having a specific gravity less
than 1 underwafter storage can be used for fruits having a specific
gravity greater than 1; essentially by reversing the apparatus 180.
That is, fruit is picked up from the bottom of the lake by the
conveyor, is lifted to the upper portion of the silo (which has
been inverted with reference to the embodiment of FIG. 41,) and for
removal is retrieved from the bottom of the silo.
The silo can be constructed in a very simple and inexpensive
manner, if desired. It can be constructed with the lake drained,
and such is preferred, but it can, of course, be constructed when
the lake is full by underwater diving teams.
The simplicity of the silo is partially due to the fact that the
major force on the silo is the upward buoyant force of the fruit;
this force is not large for any type of fruit that might be stored
in this manner, and the sidewalls can be sloped to the center in
order to control or compensate for any crushing buoyant force
involved in the storage of extremely large amounts of fruit.
For instance, wooden or concrete posts can be set on the lake floor
and wire mesh attached to the inside of the lake floor; in this
embodiment, there are essentially no solid retaining walls.
In the apparatus of FIG. 41 no special interfacing is needed
between water conveyor 681, belt conveyor 678 and silo 672.
Generally, however, the L-shaped members 679 are made of a
relatively flexible material such as natural rubber or a synthetic
plastic while "scoop" the fruit from the terminal edge of the water
conveyor without bruising the fruit. Further, it is preferred that
slots or perforations be provided in surfaces 679a and 679b, giving
a mesh-like effect, to achieve two purposes: first, to reduce the
natural drag due to water; secondly, to permit the fruit 680 to be
assisted from L-shaped members 679 by a jet of water or air from
jet 687 to insure removal/introduction into the silo 672. Jet 687
can be powered by any conventional means or by a line from the
fluid delivery subsystem (not shown).
In a further modification of the above structure, the dead weight
of the silo and attached apparatus can be made slightly greater
than the buoyant force acting upon the silo when it is filled by
the use of attached weights, such being necessary only when the
specific gravity of the fruits being stored is less than 1. The
weights can be made releasable, if desired, to permit the entire
filled silo to float to the surface of the lake, if desired; one
might use such a modification if, for some reason, it is desired to
pull the filled silo to shore.
As will be apparent to one skilled in the art, using an ordinary
farm pond or lake for fruit storage as above requires that good
sanitation be maintained on the water in the lake, and the lake be
suitable for withdrawing water from the top or bottom of the lake
so as to control the temperature of the lake. Assuming adequate
topographical features of the lake, standard state of the art
standpipes as are utilized to draw overflow water from the top of
lakes in most farm ponds can be used to limit or control the
surface temperature of the lake and, in addition, a gated pipe can
be provided a draw water from the bottom of the lake so that the
bottom temperature of the lake can be controlled, and, in addition,
the lake can be drained if desired.
As a modification to the method described above, underwater storage
can be combined with underwater sizing of the fruit. This
essentially represents a combination of the device shown in FIG. 41
and the specific gravity grading apparatus which was earlier
described as adaptable to complete immersion under water. Such
apparatus will now be described with reference to FIG. 42 and 43.
Like numerals are used to identify like apparatus.
Referring first to FIG. 42, underwater storage means is generally
indicated by 690 and underwater specific gravity sizing means is
generally indicated by 691, both means being shown immersed beneath
the surface of a lake represented by 692.
Fruit and water are introduced via conduit 693 which can be, for
example, a water conveyor as earlier described, and received at the
end portion 694 of said conduit by receiving brackets 695 carried
on belt conveyor 696 similar to that shown in FIG. 41. The fruit,
generally identified as 697, is carried by the conveyor rotating in
a counter-clockwise direction into elevated grading conduit 698,
which is provided at its upper surface with vibrating screens 699
and 700 which have holes provided therein of a diameter to permit
the passage of small fruit and medium fruit, respectively. Grading
conduit 698 terminates at opening 701 which is not provided with a
grading screen since, as the only fruit remaining at the point of
opening 701 is large fruit, no grading screen is required.
Grading screens 699 and 700 are adapted to be vibrated by linkage
702 attached to eccentric 703, part of the drive means for conveyor
696.
Grading screen 699 communicates with storage chamber 704 by way of
conduit 705, and in a like manner grading screen 700 communicates
with storage chamber 706 by way of conduit 707. Conduit 698
directly communicates with storage chamber 708 by way of opening
701.
Storage chambers 704, 706 and 708 have provided at the upper
portion thereof gate valves generally indicated by 709 and
withdrawal conduits generally indicated by 710. Above the
withdrawal conduits there is shown a horizontally extending fruit
removal conduit 711. The laterally extending removal conduit 711 is
provided with water jet nozzles (not shown) substantially identical
to those shown in FIG. 41 which are connected to a source of water
under pressure (also not shown) as in FIG. 41.
In operation, fruit 697 is fed into conduit 693, taken by members
695 on conveyor 696 and fed into conduit 698. Thereafter the fruit
having a specific gravity less than 1 (the present embodiment is
limited to the grading/storage of such fruit) being sized by
grading screens 699 and 700 into small and medium sized fruit in a
manner similar to that described for the apparatus of FIG. 40, with
large fruit (the balance) automatically passing into storage
chamber 708 via opening 701.
Fruit is withdrawn from the storage chambers described via conduits
710 by opening gate valves 709 and withdrawn from the system when
storage is to be terminated via conduit 711 in a manner identical
to that explained for the apparatus of FIG. 41.
While the apparatus described with reference to FIG. 42 is designed
to accomplish underwater storage after specific gravity diameter
sizing, the apparatus of 43 is designed to effect underwater
specific gravity diameter sizing after underwater storage. Like
numerals are used in FIG. 43 as in FIg. 42, the following
modifications being noted:
First, silo 720 which is similar to silo 672 shown in FIG. 41 is
designed to store fruit of all sizes. At the termination of
storage, gate valve 709 is opened, whereupon the buoyant force of
the fruit within silo 720 causes it to rise through conduit 721
into elevated grading pipe 698, whereafter small and medium grading
screens 699 and 700, respectively, driven by vibrating means (not
shown) grade the fruit rising along the incline of conduit 698 into
small and medium size fruit, permitting entrance of the same into
conduits 705 and 707, respectively. Removal can thereafter be
affected using a withdrawal conduit which is water jet assisted
substantially identical to withdrawal conduit 711 in FIG. 42, which
apparatus is not shown.
Since after passing conduit 707 only large fruit remains, it is not
necessary to provide a grading screen at the entrance of conduit
722.
In a modification of the apparatus provided with specific gravity
diameter sizing means, it will be apparent that one sizing device
can be used to feed more than one storage bin merely by providing a
mechanical switch inside the conduit immediately above the grading
screens, which can be activated either manually or automatically
when one silo is filled. In such a case, the silos would most
probably be rectangular at their point of contact to make common
use of the wall of adjacent silos.
Release gates as are shown in FIGS. 41, 42 and 43 can be under
conventional manual control, due to their relative infrequency of
use or can, of course, be controlled by way of a computer
controlled double-acting solenoid or hydraulic cylinder capable of
moving the valve from the closed to the opened position and
returning the same to the closed position.
A further storage procedure in accordance with the present
invention will be described with reference to FIG. 44, which
essentially comprises below-ground bulk storage means, similar to a
swimming pool in nature except that the sides thereof are
sufficiently sloped to protect the contents from damage due to
freezing in the winter.
With reference to FIG. 44, ground level is indicated by 730 and the
primary volume of the below-ground bulk storage area is indicated
by 731, the excavation area being provided with sloped walls
generally indicated by 732.
The interior of the below-ground bulk storage volume is lined with
a soft waterproof material such as rubber, plastic or the like
which does not abrade or scuff the fruit contained therein.
The below-ground bulk storage volume is filled with water, the
upper level thereof generally being indicated 733.
The entire below-ground storage volume is enclosed by a canopy 734
to prevent undesirable contaminants of any nature from contacting
the water surface 733.
Fruit can be introduced into the below-ground storage volume by way
of conveying means 735 which can be of any type of conveying as
heretofore described, for example, a water jet assisted conduit, an
enclosed belt conveyor or the like; such would generally be fed by
a water conveyor trough at the above ground level thereof.
A fruit retainer 736, which can be a wire mesh or the like, is
provided in the interior of the below-ground bulk storage volume,
and is generally anchored to the sides thereof by conventional
attaching means 737.
When it is necessary to alter the temperature of the water in the
below-ground bulk storage volume, the water can be withdrawn via
conduit 738 and passed to conventional refrigerator/heating means
739 and thereafter withdrawn and returned to the below-ground
storage volume via conduit 740 and pump 741, which can be
hydromotor powered in a manner as heretofore explained, if
desired.
Water may be drawn off or supplied to the below-ground bulk storage
volume as desired, but in any case sufficient water must be present
to provide buoyance for the fruit to prevent the large mass of
fruit from injury due to the weight of the fruit itself. On the
other hand, insufficient water should be present to raise the
entire mass of the fruit excessively from the bottom of the
below-ground bulk storage volume, and thus cause inefficient
utilization of storage space.
Generally, water and fruit are merely introduced into the
below-ground bulk storage volume until the fruit fills the same,
whereafter the flow of the fruit and water is ceased.
In the case that insufficient water is present to completely fill
the below-ground bulk storage volume to the desired water level
733, water is introduced from any clean source until all
interstices between the fruit are filled.
As a modification to the apparatus shown in FIG. 44, canopy 734 can
be omitted and the entire below-ground bulk storage volume put
under ground.
While it will be apparent that similar apparatus can be constructed
above ground using sufficiently strong retaining walls, for
example, of steel or a like material, generally cost benefits are
achieved with storage means as shown in FIG. 44 to secure
moderation of temperature from the ground itself.
Usually, the thickness of water between the retaining means 736 and
the water level 733 is selected upon a balance of two factors: the
thicker this layer of water, the lesser amount of cool or chilled
water which must be introduced into the below-ground bulk storage
volume to maintain the stored fruit at a proper temperature. On the
other hand, the thinner this layer of water is, the lower the
hydrostatic pressure exerted upon the fruit in storage, which tends
to lengthen storage life.
Fruit can be removed from storage, for example, using apparatus as
described with reference to FIG. 43 by merely reversing the
direction of rotation thereof.
Utilizing the below-ground bulk storage means described above,
several advantages are obtained: first, the temperature of the
water and the fruit can, of course, be more accurately controlled
and, in addition, pure water can be supplied from an outside source
if necessary. However, substantial benefits are achieved as
compared to conventional storage apparatus, even if refrigerating
equipment is needed, as building costs are the major cost of
conventional storage means and, further, there is no dead space to
be cooled as substantially the entire volume is occupied by fruit.
Thirdly, as will be apparent, no expensive storage containers are
required.
CONTAINERIZING
As will be apparent to one skilled in the art, one of the final
steps (other than transportation to market) involved in the present
invention is to place the produce into appropriate containers for
shipment. The following discussion describes various means in
accordance with the present invention which can be utilized to
accomplish such containerizing.
The Boxing Function
The machines and arrangements for containerizing fruit for shipment
to the market depends largely upon the following factors.
1. Whether the fruit is going to the wholesale or to the retail
market. If it is going to the wholesale market, then the bulk
shipping means described with reference to FIG. 35, or equivalent
apparatus earlier described, can be used.
2. Whether the fruit is bruise resistant, e.g., grapefruit or not,
e.g., nectarines and pears. If the fruit is not bruise resistant,
and wholesale shipment is selected, then the means above described
would carry both water and fruit.
3. The style of the package; single layer tray with shrink fit
cover, tray pack, wooden lug, etc.
4. Whether the fruit may be packed wet or dry. This factor is not
considered in a conventional plant since all packing is dry.
5. Whether packing is from "out of storage" or "out of the
orchard". The differences here are mainly those of scale and
location of inputs and conveyors. If the fruit must be dry packed,
the output of the grading maching must first be drained of water
and sent through rolls as shown by FIG. 36, and then conveyed to
any conventional bagger, boxing station for manual boxing, etc.
Wet packing is better suited to the floatation grading methods
earlier described and when fruit is to be delivered to a processor
in bulk bins, for example, wet packing will certainly be
satisfactory.
Wet packing is, in fact, often beneficial for small retail and/or
consumer packages, and plastic bags can be used even with a few
drops of water in them, as this is beneficial to maintain high
humidity in the bag, thus helping preservation.
Conventional packages of wood or paperboard are not satisfactory or
wet packing unless waterproof, as they will stain or disintegrate
if excessively wet. Waterproofing of both wooden crates or paper
boxes of all kinds can be effected simply, however. The use of
oiled paper for individually wrapped fruits could also be used for
wet packing. Providing waterproof trays and boxes of paper and
paperboard for tray-pack methods would probably be more expensive
than first drying the fruit, however.
Providing a hydraulic conveyor, analogous to the return flow belt
found at conventional packing plants, serving the boxing stations
is an obvious device which can be adapted for use in the
agricultural system of the present invention.
Referring to FIG. 40, it will further be apparent to one skilled in
the art that the output from conduits 663, 664 and 665 could be
used for jumble packing in which the graded fruit reservoirs feed
directly to conventional jumble packing stations in which both
fruit and water are gated and chuted directly into a waterproof
jumble pack container. The water can be drained directly from such
a jumble package and the package sealed for market.
In short, the output from any storage means as earlier described
can be subjected to containerizing using conventional state of the
art techniques or any of the modifications described above.
It will, of course, be apparent to one skilled in the art from the
above discussion that it is not necessary to containerize stored
fruits when a readily available market exists. Rather, in such a
case fruit can be taken directly from grading means and subjected
to containerizing.
For practical purposes, most purchasers will require that the fruit
they purchase be cleaned, polished and graded, and, while in theory
cleaning, polishing and grading can be omitted from the
agricultural system of the present invention, as a practical matter
such will invariably be included in processing steps for preparing
the fruit for marketing.
THE ENERGY CONVERSION AND CONSERVATION SUBSYSTEM OF THE
AGRICULTURAL SYSTEM OF THE PRESENT INVENTION
As will be apparent from earlier discussion on the agricultural
system of the present invention, at various points energy input is
required for the efficient functioning of the agricultural system.
For example, energy is required for artificial lighting, to power
the fluid flow subsystem, to power the computer, and for the many
peripheral control devices present in the agricultural system of
the present invention. It will thus be apparent that if local
generation of power in the agricultural system of the present
invention could be accomplished, especially considering the rising
cost of energy, such would be highly desirable.
The following material describes an optional but preferred energy
conversion and conservation subsystem particularly adapted for use
in the agricultural system of the present invention which will be
described with reference to FIGS. 45 and 46.
Referring firstly to FIG. 45, FIG. 45 schematically illustrates a
hydroelectric system comprising a primary reservoir 750, which can
be a lake, a secondary reservoir 751, which can be a tank mounted
in an elevated position with respect to the primary reservoir 750,
and various interconnections therebetween which permit usage of the
hydroelectric capability thereof.
Referring to FIG. 45, fluid flow lines are generally identified by
the numeral 752; valves V1, V2, V3, V4, V5 and V6 are also shown,
which valves are adapted to be opened or closed under computer
control (by means not shown) to permit fluid flow in various
directions in fluid flow line 752. Turbine/pump 753 is shown in
portion 752a of fluid flow line 752, turbine/pump 753 being in
communication with motor/generator 754 by way of shaft 755.
Motor/generator 754 can be connected by way of bus bars 756 to
appropriate power storage means when motor/generator 754 is
performing a generating function and to power delivery means when
motor/generator 754 is acting as a motor.
Rather than offering a detailed lengthy explanation of the various
valving sequences and the alternatives as to whether
motor/generator 754 is used as a motor or a generator per se, the
following table is offered to give the various combinations for six
applications of interest for the hydroelectric system of FIG. 45.
In the following table, "1" signifies that the valve is closed and
"0" signifies that the valve is open. The abbreviation R is used to
signify the secondary reservoir and the abbreviation L is used to
signify the primary reservoir.
__________________________________________________________________________
Application V1 V2 V3 V4 V5 V6 T/P* M/G**
__________________________________________________________________________
Generate elec. from R 1 1 0 1 0 0 T G Generate elec. from L bottom
0 1 1 1 0 1 T G Generate elec. from L top 1 0 1 1 0 1 T G Pump from
L bottom to R 0 1 1 0 1 1 P M Pump from L top to R 1 0 1 0 1 1 P M
Pump from L bottom to L top 0 0 0 0 1 1 P M
__________________________________________________________________________
*T = turbine; P = pump. **M = motor, G = generator.
As will be apparent to one skilled in the art, while two separate
turbine blades 757 are schematically shown for turbine/pump 753,
both turbine blades rotate in the same direction whether use is as
a pump or as a turbine or whether motor/generator 754 is serving as
a motor or generator.
As will further be apparent to one skilled in the art from the
heretofore offered discussion, the water level in the primary or
secondary reservoirs, the weather conditions and other factors are
monitored by the computer (not shown) in reaching a decision to
generate power utilizing the hydroelectric system of FIG. 45.
The sixth application above, wherein pumping is conducted from the
bottom of primary reservoir to the top of primary reservoir 750,
can be used to break up thermal stratification in the primary
reservoir 750, to oxygenate the cold layer of the primary reservoir
750 or simply to ventilate underwater storage, if used, as has
earlier been exemplified. The hydroelectric system of FIG. 45 would
find particular use when for example, a large rainfall has occurred
to generate electrical power for storage, in this instance using
turbine/pump 753 as a turbine and motor/generator 754 as a
generator.
Rather than storing the electric power generated, the electric
power can be used in d.c. form to decompose water in an
electrolysis cell; the resulting gases can be used directly, or
stored, if desired. The gases can be during any particular demand
period to produce d.c. power in a fuel cell, or hydrogen gas
resulting from the decomposition of water can be used for direct
burning or the like and oxygen gas can be used to enhance chemical
oxidation processes.
Turning now to FIG. 46, a multi-function tower is shown which is
particularly applicable for use in the agricultural system of the
present invention.
In this embodiment, the multi-function tower is shown as comprising
a base section 760 and a tower section 761.
Base 760 essentially comprises a large truncated cone, for
instance, on the order of 40 feet high and 50 to 100 feet in
diameter. As shown in FIG. 46, the bottom of the base 760 can
comprise water storage zone 762 and fruit storage zone 763. If used
for fruit storage, means as earlier described with reference to
FIGS. 41 or 44 could be utilized. In addition, water storage zone
762 provides thermal insulation for the fruit storage zone 763.
In instances where extra cooling is required, a small amount of
water can be pumped to the portion of the base 760 above the fruit
storage zone 763 and distributed to a ring sprinkler (not shown)
which encircles the base 760. The water will drip down the base 770
and, by evaporation, tend to cool the base. If desired, metal
evaporation trays 765 can be provided at the area of the base 760
exterior the fruit storage zone 763, thereby increasing the cooling
effect due to evaporation.
If additional thermal control is required, the entire base can be
painted with a silicated zinc oxide silicone elastomer coating as
is utilized in space craft with primary thermal control (see NASA
Technical Briefs, B72-10596 and B72-10711).
The upper portion of base 760 is provided with a sun shield 766; if
desired about one third of the upper surface of the sun shield 766
can be covered with conventional solar cells 767. In such case,
preferably sun shield 766 is rotatable about the base 760 by way of
roller track/motor assembly 768 and lower roller track 764 so as to
permit the solar cells to face the sun. If desired, the sun shield
766 can be pivotable around point 769, for example, by
conventionally driven piston 770, so that the solar cells can
always be maintained perpendicular to the sun. Control of the sun
shield will be effected by the computer (not shown) which
accomplishes this function by calendar and time-of-day
information.
The upper portion of base 760 can contain storage compartments for
gases as shown by 771 a, b, c and d, in this case containing carbon
dioxide, methane, oxygen and hydrogen, respectively, of which the
latter two can be derived from the electrolysis cell 772. Fuel cell
773 is shown to permit maximum utilization of gases stored in the
indicated compartments.
Tower 761 is shown mounted atop base 760 and, in this instance, is
provided with windmill 774 which can be utilized to power the
generator 775. One highly efficient windmill assembly which can be
used is described in Kidd, S. Princeton Alumini Weekly, April 24,
1973.
Mounted atop the tower 761 are lights 776, indirect sensor 777, for
example, a flying spot scanner, communications antennas 778 and,
due to the height of the tower, aircraft warning light 779. In the
embodiment shown, the tower is about 100 feet tall.
At the bottom of the base 760, conduit 780 is shown which is
adapted to receive water from the fluid flow subsystem of the
present invention, and conduit 781 is shown which is adapted to
remove water from, for example, the water storage zone 762 or the
fruit storage zone 763. Conduit 781 can also be utilized to remove
fruit from the fruit storage zone by means as earlier
described.
Ground level in FIG. 46 is generally indicated at 782.
OPTIONAL WASTE UTILIZATION AND METHANE GENERATION
If desired, especially in those instances where the agricultural
system of the present invention is utilized to raise livestock or
the like, waste utilization means can be provided therein. For
instance, waste utilization systems are commercially available from
Agpro, Inc. of Santa Rosa, California and Chattanooga, Tennessee.
Such systems are generally utilized to remove manure, hay and straw
from the floor of a dairy barn or the like by means of a periodic
water flush.
In the following discussion, it will be understood that not only is
such an embodiment included but, more generally, plant cuttings and
wastes of all types from the agricultural system of the present
invention can be delivered by the water conveyor system of the
present invention to the system to be described below.
In any case, all waste products from the agricultural system are
delivered to a cutter, chopper and grinder system by way of any
appropriate conduit or collecting trough in a dairy barn. Not only
can natural products be fed to the cutter/chopper/grinder, but
garbage and other waste products from the agricultural system of
the present invention can be fed thereto.
The cutter/chopper/grinder can generally comprise a large tank or
underground area wherein a series of comminuting blades are
provided to substantially reduce the size of any large particles of
waste introduced into the system. A conventional motor or a fluid
driven turbine can be used to power the cutter/chopper/grinder.
To this point, the system is essentially identical to the Agpro
System described above.
After appropriate processing of the waste products, the waste
products can be forwarded by a conventional pump to a storage tank
or an outside storage area. Thereafter, if desired, the comminuted
product can be diluted with water, if necessary, to form a slurry
which is pumpable in the fluid delivery subsystem of the present
invention to various parts of the agricultural area for utilization
as, for instance, fertilizer. If necessary or desired, additional
fertilizer can be added to the thinned slurry, the slurry can be
chlorinated if necessary, and the slurry thereafter forwarded to
the field for utilization as an agricultural fertilizer.
In a modification of this system in accordance with the present
invention, the elements of the system are controlled automatically
by the computer. The necessary means for control are basically an
adaption of the earlier described control means, for example,
appropriate solenoid control for an input valve to the cutter/
chopper/grinder is provided, a data transmission line leads to the
motor to activate the cutter/chopper/grinder and, thereafter,
simple data transmission lines are used to initiate the pump and
other appropriate valving to remove the comminuted product from the
comminution area to the storage tank. Valving and control means
similar to that illustrated in FIG. 15 can be utilized for the
introduction of thinning water, fertilizer and chlorine, as
desired.
In addition, the storage tank for the slurried waste product will
generally contain sensors, one for temperature and one for pH
measurement, for those instances where the slurried waste is to be
utilized to generate methane, and the residue used as a fertilizer.
The pH control can be utilized to measure the pH and by appropriate
chemical introduction means as exemplified in FIG. 15, introduce
acid or basic material to control the pH of the slurried waste.
It will be understood from the above discussion that any cellulosic
or biodegradable products can be utilized.
Methane gas produced by anerobic decomposition of the waste
materials can be compressed and stored in cylinders. It can be used
for the production of heat, electricity, or carbon dioxide, as
needed by the system of the present invention. Carbon dioxide is
produced by combustion of methane in a closed burner unit.
While the invention has been particularly shown and described with
reference to the preferred embodiment thereof, it will be
understood by those skilled in the art that various changes in form
and details may be made therein without departing from the spirit
and scope of the invention.
* * * * *