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).
| 3039698 | Automatic control for sprinkler system | June, 1962 | Richards | 239/64 |
| 3200539 | Combination heating, irrigating, and fertilizing system | August, 1965 | Kelly | 47/1 |
| 3200575 | Automatic fruit picking machine | August, 1965 | Hurst | 563/28R |
| 3235009 | Traveling irrigation sprinkler and method of irrigation sprinkling | February, 1966 | Nelson | 47/1 |
| 3269099 | Apparatus and method of harvesting berries | August, 1966 | Fricks | 56/1 |
| 3330068 | Tree treatment apparatus and method | July, 1967 | Carson | 47/1 |
| 3578245 | ELECTRICALLY CONTROLLED FLUID DISTRIBUTION SYSTEM | May, 1971 | Brock | 239/66 |
| 3584442 | METHOD AND APPARATUS FOR PICKING CITRUS FRUIT | June, 1971 | White | 56/1 |
| 3590335 | AUTOMATIC CONTROL DEVICE FOR IRRIGATING, SPRAYING AND SPRINKLING | June, 1971 | Tetar | 239/64 |
| 3596455 | FRUIT-HARVESTER | August, 1971 | Adrian | 56/329 |
| 3613308 | October, 1971 | Klein et al. | 47/17 | |
| 3626286 | CAPACITIVE MOISTURE CONTROL SYSTEM HAVING A PEAK DETECTOR | December, 1971 | Rauchwerger | 239/63 |
| 3635004 | ORCHARD MACHINE | January, 1972 | Webb et al. | 56/329 |
| 3721254 | DEVICE FOR AUTOMATICALLY DRIVING AN IRRIGATION INSTALLATION | March, 1973 | Rutten | 137/78 |
| 3728254 | April, 1973 | Carothers | 47/485 | |
| 3777976 | ELECTRONICALLY CONTROLLED WATERING | December, 1973 | Milovancevic | 239/64 |
| 3785564 | APPARATUS FOR TREATING ROWS OF PLANTS WITH OVERLAPPING BRANCHES | January, 1974 | Baldocci | 47/17 |
| 3844305 | MONITOR UNIT | October, 1974 | McCormick | 137/78 |
| 3905153 | Automatic interior environment control | September, 1975 | Enter | 47/58 |
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.
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.
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.
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.
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.
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.
agricultural product removal means in fluid flow communication with said at least one storage area to permit the removal of said agricultural product.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
(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.
(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.
(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.
(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.
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° 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.
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.
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.
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.
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 se