text:
US20070267524A1 - Gps control system and method for irrigation systems - Google Patents
Gps control system and method for irrigation systems Download PDF
set forth
LINDSAY CORP
2006-05-18 Application filed by LINDSAY CORP filed Critical LINDSAY CORP
2006-05-18 Assigned to LINDSAY MANUFACTURING CO. reassignment LINDSAY MANUFACTURING CO. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MACK, DAVID
2007-04-12 Assigned to LINDSAY CORPORATION reassignment LINDSAY CORPORATION CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: LINDSAY MANUFACTURING CO.
A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
A01G25/00—Watering gardens, fields, sports grounds or the like
A01G25/09—Watering arrangements making use of movable installations on wheels or the like
A01G25/092—Watering arrangements making use of movable installations on wheels or the like movable around a pivot centre
An irrigation system includes a central pivot connected to a source of fluid; at least one mobile intermediate tower; a mobile end tower; a plurality of support sections spanning the main tower, the intermediate tower, and the end tower; a fluid distribution conduit supported by the support sections and coupled to the source of fluid; and a plurality of water-emitting devices supported along the length of the fluid distribution conduit for delivering fluids from the conduit to crops beneath the irrigation system. A main controller is positioned at the main tower for controlling speed, direction, and fluid application functions of the irrigation system. An independent GPS controller is positioned at the end tower and includes a GPS receiver and a computing device. The GPS receiver receives satellite signals from a plurality of GPS satellites and determines a current location of the end tower as a function of the received satellite signals. The computing device is coupled with the GPS receiver for controlling operation of selected ones of the water emitting devices based on the current location of the end tower and independent from the main controller.
The present invention relates to agricultural irrigation systems. More particularly, the invention relates to a center pivot irrigation system with a GPS controller which controls selected functions of the system independently of a main controller.
Agricultural irrigation systems are commonly used to irrigate crops. One type is a center pivot system which includes, among other things: a central pivot communicating with a pressurized water supply; a series of moveable support towers connected to the central pivot and one another by truss sections; an elevated water distribution conduit supported by the truss sections; and a number of sprinkler heads, spray guns, drop nozzles, or other fluid emitting devices spaced along the length of the conduit. The support towers are supported on wheels that are driven at slow speeds to move the towers in a generally circular path about the central pivot to irrigate a large tract of land.
Center pivot irrigation systems also often include high pressure sprayers, or end guns, mounted on their end towers. The end guns are activated at the corners of a field or other designated areas to increase the amount of land that can be irrigated. Booster pumps may be coupled with the end guns to increase the water pressure to the end guns for providing an even larger watering pattern.
Center pivot irrigation systems also often include a main controller positioned at or near the central pivot for controlling speed, direction, and fluid application functions. These controllers can be used to adjust the towers' speed and/or direction, turn on or shut off selected towers or nozzles at predetermined locations in a field, and perform other control functions. To control functions of the irrigation system based on location, the main controller must be coupled with a location-determining mechanism.
A common location determining mechanism for central pivot irrigation systems is an encoder mounted at the central pivot. The encoder moves when a shaft at the central pivot moves and thus provides an indication to the main controller that the entire irrigation system is moving. Unfortunately, the encoder cannot sense actual movement of any of the towers other than the one closest to the central pivot. This is a problem because some center pivot irrigation systems are equipped with an articulating pivoting joint at one of the mobile towers that permits the mobile towers downstream of the pivoting joint to continue moving after the central pivot and the mobile towers upstream of the pivoting joint have stopped. Because an encoder is incapable of providing the main controller an accurate indication of the position of any mobile towers that move independently of the central pivot, the main controller cannot always activate the end guns on the end tower and water emitting devices on any intermediate towers at the proper time. Moreover, it is difficult to accurately stop, reverse and/or change the speed of any mobile towers whose exact locations are not known.
Recently, irrigation systems have been equipped with Global Positioning System (GPS) receivers to more accurately determine the position of their end towers and other mobile towers. For example, U.S. Pat. No. 6,928,339 discloses an irrigation system including a GPS-based controller positioned on its end tower and a main controller positioned at its central pivot. The GPS controller determines the current coordinates (latitude and longitude) of the end tower and compares these coordinates to the known fixed coordinates of the central pivot. Based on this comparison, the GPS controller determines the azimuth between the central pivot and the end tower and transmits the azimuth value to the main controller. The main controller then uses the azimuth value to control one or more functions of the irrigation system. For example, the azimuth value can be compared to reference azimuth values to determine when to start and stop an end gun on the end tower.
Although the GPS control scheme disclosed in the '339 patent accurately calculates the position of the end tower in many applications, it suffers from several disadvantages. For example, the GPS controller and the main controller must work together to control operation of the end tower end guns, necessitating a communication path between the two controllers (the '339 patent discloses a twisted pair). This increases the cost and complexity of the control system and increases the chance of failure should either controller or the communication path therebetween malfunction. Moreover, as with encoders positioned at the central pivot, the GPS control scheme in the '339 patent does not work well with irrigation systems equipped with pivoting joints at any of the mobile towers. This is because the control system of the '339 patent controls functions of the irrigation system based on the azimuth between the central pivot and the end tower, and azimuth alone cannot accurately determine the position of the end tower when one of the mobile towers is equipped with an articulating pivot joint. For example, the position of the end tower at an azimuth of 30° when the end tower is aligned with the central pivot is different from the position of the end tower at the same azimuth when the end tower is articulated relative to the central pivot.
Accordingly, there is a need for an improved system and method for determining the position of the end tower and other mobile towers of a center pivot irrigation system that move independently of the central pivot.
The present invention solves the above-described problems and provides a distinct advance in the art of irrigation systems. More particularly, the present invention provides a GPS control system and method for a center pivot irrigation system that controls selected functions of the irrigation system independently from a main controller and/or encoder positioned at the central pivot.
One embodiment of the invention is an irrigation system comprising a central pivot connected to a source of fluid; at least one mobile intermediate tower; a mobile end tower; a plurality of support sections spanning the main tower, the intermediate tower, and the end tower; a fluid distribution conduit supported by the support sections and coupled to the source of fluid; and a plurality of water-emitting devices supported along the length of the fluid distribution conduit for delivering fluids from the conduit to crops beneath the irrigation system. A main controller is positioned at or near the main tower for controlling speed, direction, and fluid application functions of the irrigation system. The main controller is preferably coupled with an encoder or other position sensing mechanism. An independent GPS controller is positioned at or near the end tower and includes a GPS receiver and a computing device. The GPS receiver is operable for receiving satellite signals from a plurality of GPS satellites and for determining a current location of the end tower as a function of the received satellite signals. The computing device is coupled with the GPS receiver for controlling operation of selected ones of the water emitting devices based on the current location of the end tower and independent from the main controller. For example, the computing device may receive current location readings from the GPS receiver, compare the location readings to known reference positions, and then turn on an end gun when the current location reading matches a first known reference position and turn off the end gun when the current location reading matches a second known reference position.
Importantly, the GPS controller of the present invention can accurately determine the position of the end tower, or any other mobile towers which sometimes move independently of the central pivot, without communicating with or receiving assistance from the main controller or the encoder at the central pivot. This provides more accurate and reliable position sensing and control in all applications, even when one or more of the mobile towers are equipped with articulating pivot joints.
These and other important aspects of the present invention are described more fully in the detailed description below.
BRIEF DESCRIPTION OF THE DRAWING FIGURES
A preferred embodiment of the present invention is described in detail below with reference to the attached drawing figures, wherein:
FIG. 1 is an isometric view of a center pivot irrigation system with which a GPS control system in accordance with the present invention may be employed.
FIG. 2 is a schematic plan view of the irrigation system showing some of its spans articulated around an obstruction.
FIG. 3 is a schematic diagram of a GPS system which may be used to implement certain aspects of the present invention.
FIG. 4 is a block diagram of a GPS controller constructed in accordance with a preferred embodiment of the present invention.
The drawing figures do not limit the present invention to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the invention.
The present invention is susceptible of embodiment in many different forms. While the drawings illustrate and the specification describes certain preferred embodiments of the invention, it is to be understood that such disclosure is by way of example only. There is no intent to limit the principles of the present invention to the particular disclosed embodiments.
The irrigation system 10 selected for purposes of illustration in FIG. 1 is a center pivot irrigation system that includes a central pivot 12 having access to a well, water tank, or other source of fluids. The fluid source may be coupled with a tank or other source of agricultural products to inject fertilizers, pesticides and/or other chemicals into the fluids for application during irrigation. The irrigation system 10 also includes a number of interconnected spans 14, 16, 18, 20 supported by mobile towers 22, 24, 26 (also referred to herein as "intermediate" towers) and an end mobile tower 28. Those skilled in the art will appreciate that the irrigation system 10 may include any number of spans and mobile towers. It will also be recognized that the principles of the present invention are not limited to use with a center pivot system but may also be employed with other types of irrigation systems, including for example, lateral move systems and other types which do not employ a fixed center pivot tower.
The wheels 30 of the mobile towers 22, 24, 26, 28 are driven by suitable drive motors. Although not required, some or all of the towers may be equipped with steerable wheels pivoted about upright axes by suitable steering motors so that the towers can follow a predetermined track presented by a buried cable or the like. U.S. Pat. No. 4,508,269 in the name of Davis et al. is hereby incorporated by reference into the present specification for a disclosure of ground drive motors and steering motors associated with an irrigation machine. As is also well known, the drive motors for the towers are controlled by a suitable safety system such that they may be slowed or completely shut down in the event of the detection of an adverse circumstance, all of which is disclosed, for example, in U.S. Pat. No. 6,042,031 to Christensen, et al. incorporated herein by reference.
Each of the spans 14, 16, 18, 20 also includes a conduit section 32, 34, 36, 38 or other fluid distribution mechanism that is connected in fluid communication with all other conduit sections of the system to provide water along the length of the system to numerous sprinklers or other water emitting devices (not shown). The conduits 32, 34, 36, 38 are slightly arched or bowed when empty and are supported in such condition by truss-type frameworks 40, 42, 44, 46 or other supports.
One or more high pressure sprayers or end guns 48 may be mounted to the end tower 28. The end guns 48 are activated at the corners of a field or other designated areas to increase the amount of land that can be irrigated. Booster pumps may be coupled with the end guns to increase their range.
The irrigation system 10 also preferably includes an articulating pivot joint 50 positioned at one or more of the mobile towers to permit towers downstream from the pivot joint to continue moving after the central pivot 12 and towers upstream of the pivot joint 50 have stopped. For example, as illustrated in FIGS. 1 and 2, an articulating pivot joint 50 may be positioned at the mobile tower 24. When the mobile tower 24 reaches a predetermined location in a field or other area to be irrigated, a post 52 or other contact member attached to the mobile tower contacts a fixed barricade 54 which triggers a switch to automatically stop movement of the central pivot 12 and the mobile towers 22, 24 while permitting continued movement of the mobile towers 26, 28. This allows the spans 18, 20 downstream of the pivot joint 50 to articulate or bend around buildings 56 or other obstructions and move up to 165° in either direction relative to the mobile tower 24 to irrigate land which could not be reached without the articulating pivot joint. The articulating pivot joint is preferably a Zimmatic™ FieldPLUS Articulated Pivot™ provided by Lindsay™ Manufacturing Company, but may be any other pivot joint that permits the same articulating movement.
The irrigation system 10 also includes a main controller 58 positioned at or near the central pivot 12 for controlling certain speed, direction, and fluid application functions of the irrigation system. For example, the main controller 58 can be used to adjust the speed and/or direction of the mobile towers 22, 24, 26, 28, turn on or shut off selected towers or nozzles at predetermined locations in the field, and control other functions of the irrigation system. The main controller 58 preferably receives positional information from an encoder mounted at the center of the central pivot 12 inside a slip ring assembly.
In accordance with one aspect of the present invention, the irrigation system 10 also includes a GPS controller 60 positioned at or on the end tower 28 for controlling selected functions of the irrigation system 10 independently from the main controller 58. The GPS controller 60 can be implemented with hardware, software, firmware, or a combination thereof, but preferably includes the components illustrated in FIG. 4. Specifically, a preferred embodiment of the GPS controller 60 comprises a location determining component 62, a computing device 64, one or more relays 66, 68, a plurality of inputs 70, an input port 72, and an output port 74, all enclosed in or supported on a weatherproof housing which protects the controller components from moisture, vibration, and impact. The GPS controller 60 may also include a display screen and a power source such as a battery pack or solar cell, or it may be hardwired to a power source associated with the main controller 58.
The location determining component 62 is preferably a global positioning system (GPS) receiver, and provides, in a substantially conventional manner, geographic location information for the GPS controller 60 and hence the end tower 28 to which it is attached. The location determining component 62 maybe, for example, a GPS receiver much like those provided in products by Garmin Corporation, Inc. of Olathe, Kans.
The GPS receiver 62 may include one or more processors, controllers, or other computing devices and memory for storing information accessed and/or generated by the processors or other computing devices. The GPS receiver is operable to receive navigational signals from GPS satellites to calculate a position of the GPS controller 60 as a function of the signals.
The GPS receiver also includes an antenna to assist in receiving signals. The antenna is preferably a GPS patch antenna or helical antenna but may be any other type of antenna that can be used with navigational devices. The antenna may be mounted directly on or in the GPS controller housing or may be mounted external to the housing. The antenna is preferably protected from adverse conditions, such as those described above, by being entirely enclosed within the housing. Additionally, any harmful physical contact that can occur from a user's accidental contact with a conventional, pointed, antenna is eliminated as the antenna has no sharp points protruding from the housing.
In general, the GPS is a satellite-based radio navigation system capable of determining continuous position, velocity, time, and direction information for an unlimited number of users. Formally known as NAVSTAR, the GPS incorporates a plurality of satellites which orbit the earth in extremely precise orbits. Based on these precise orbits, GPS satellites can relay their location to any number of receiving units.
The GPS system is implemented when a device specially equipped to receive GPS data such as the GPS controller 60 of the present invention begins scanning radio frequencies for GPS satellite signals. Upon receiving a radio signal from a GPS satellite, the device 60 can determine the precise location of that satellite via one of different conventional methods. The device 60 will continue scanning for signals until it has acquired at least three different satellite signals. Implementing geometrical triangulation, the device 60 utilizes the three known positions to determine its own two-dimensional position relative to the satellites. Acquiring a fourth satellite signal will allow the receiving device 60 to calculate its three-dimensional position by the same geometrical calculation. The positioning and velocity data can be updated in real time on a continuous basis by an unlimited number of users.
Although GPS enabled devices are often used to describe navigational devices, it will be appreciated that satellites need not be used to determine a geographic position of a the device 60 since any receiving device capable of receiving the location from at least three transmitting locations can perform basic triangulation calculations to determine the relative position of the receiving device with respect to the transmitting locations. For example, cellular towers or any customized transmitting radio frequency towers can be used instead of satellites. With such a configuration, any standard geometric triangulation algorithm can be used to determine the exact location of the receiving unit. In this way, the GPS controller 60 and the end tower 28 can be readily located geographically, if appropriately equipped to be a receiving unit.
FIG. 3 shows one representative view of a GPS denoted generally by reference numeral 76. A plurality of satellites 78 are in orbit about the Earth 80. The orbit of each satellite is not necessarily synchronous with the orbits of other satellites and, in fact, is likely asynchronous. A GPS receiver device such as the GPS controller 60 described in connection with preferred embodiments of the present invention is shown receiving spread spectrum GPS satellite signals from the various satellites 78.
The spread spectrum signals continuously transmitted from each satellite 78 utilize a highly accurate frequency standard accomplished with an extremely accurate atomic clock. Each satellite, as part of its data signal transmission, transmits a data stream indicative of that particular satellite. The GPS receiver 62 must acquire spread spectrum GPS satellite signals from at least three satellites for the GPS receiver device to calculate its two-dimensional position by triangulation. Acquisition of an additional signal, resulting in signals from a total of four satellites, permits the GPS receiver 62 to calculate its three-dimensional position.
The computing device 64 is coupled with the GPS receiver 62 for obtaining current location readings from the GPS receiver 62 and for controlling certain functions of the irrigation system 10 as a function of these location readings. As described in more detail below, the computing device 64 compares the current location readings from the GPS receiver 62 to reference positions to determine when to control certain functions of the irrigation system. The computing device 64 may be a processor, microcontroller, ASIC, or any other conventional programmable device.
The computing device 64 stores or has access to a computer program which performs the control functions describe herein. The computer program preferably comprises an ordered listing of executable instructions for implementing logical functions in the computing device. The computer program can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device, and execute the instructions. In the context of this application, a "computer-readable medium" can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electro-magnetic, infrared, or semi-conductor system, apparatus, device, or propagation medium. More specific, although not inclusive, examples of the computer-readable medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a random access memory (RAM), a read-only memory (ROM), an erasable, programmable, read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disk read-only memory (CDROM). The computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
The relays 66, 68 are activated by the computing device 64 for controlling operation of certain functions of the irrigation system 10. In a preferred embodiment, the relays 66, 68 are coupled to the end guns 48 on the end tower 28. Additional relays can also be provided for controlling other functions of the irrigation system such as operation of the powered wheels of the towers 26, 28, or valves for spray nozzles or other water-emitting devices supported on the conduit sections 36, 38.
The inputs 70 are provided for receiving data from the main controller 58. For example, the computing device 64 may receive a safety signal from the main controller which ensures safe alignment of the various spans of the irrigation system. The computing device 64 may also receive data which assists it in estimating the location of the end tower 28 when GPS signals are unavailable or when correction signals used to improve the accuracy of the GPS signals are not available. For example, the computing device may receive a % Timer signal which indicates the speed of the drive wheels of mobile towers 26, 28, and FWD and REV signals which indicate the direction of travel of mobile towers 26, 28. The computing device 64 may analyze these signals to determine how far the mobile towers 26, 28 have moved from a position at which GPS signals were lost. It is important to note, however, that the main controller inputs 70 to the GPS controller 60 are not required, as the GPS controller 60 can independently determine its location, and hence the location of the end tower 28, and can independently control certain functions of the irrigation system, such as the operation of the end guns 48.
The GPS controller 60 may also include a number of other inputs. The inputs may be buttons, switches, keys, an electronic touchscreen associated with the display, voice recognition circuitry, or any other elements capable of inputting information to and/or controlling the operation of the GPS receiver 62 and/or computing device 64.
The input and output (I/O) ports 72, 74 permit data and other information to be transferred to and from the computing device 64 and/or the GPS receiver 62. The input port 72 is preferably a serial port for receiving an irrigation control program from an external source as described in more detail below. The output port 74 is preferably a parallel port for controlling additional relays or other outputs should it be desired to expand the control functions of the GPS controller 60. The I/O ports may also include a TransFlash card slot for receiving removable TransFlash cards and a USB port for coupling with a USB cable connected to another computing device such as a personal computer.
The device 10 may also include a cellular or other radio transceiver for wirelessly receiving and transmitting data from and to remote devices. For example, the radio transceiver may permit the GPS controller 60 to communicate with the main controller 58 or a remote server, although such communication is not required.
The components shown in FIG. 4 and described above need not be physically connected to one another since wireless communication among the various depicted components is permissible and intended to fall within the scope of the present invention.
The housing of the GPS controller 60 is preferably constructed from a suitable vibration- and impact-resistant material such as, for example, plastic, nylon, aluminum, or any combination thereof. The housing preferably includes one or more appropriate gaskets or seals to make it substantially waterproof or resistant. The housing may include a location for a battery, or other power source for powering the electronic components of the GPS controller 60.
Operation of the irrigation system 10 in a field 80 or other area to be irrigated is now explained with reference to FIGS. 1 and 2. The illustrated field 80 is rectangular, but the present invention works equally well with any sized and shaped field or other area to be irrigated. The illustrated field has four corners 82, 84, 86, 88 and a series of buildings, tanks or other obstructions 56 which at least partially block movement of portions of the irrigation system. The irrigation system 10 pivots about its central pivot 12 to irrigate the field 80 in a generally circular pattern, save for the area occupied by the obstructions 56. The end guns on the end tower may be activated at the appropriate time to irrigate the corners 82, 84, 86, 88 of the field 80 in a conventional manner. The pivoting joint 50 at the mobile tower 24 permits the spans 18, 20 to bend around the obstructions 56 as described above.
The irrigation system 10 and GPS controller 60 must first be set up prior to operation. To do this, the boundaries of the field 80 are determined through the use of GPS marking of the corners 82, 84, 86, 88 and other key boundary points of the field 80. Alternately, a map of the field 80 may be obtained from a database of existing imagery to determine the outline of the field. Through the use of the Lindsay Manufacturing Smart Design program or similar program, a custom irrigation design program is then created. The custom irrigation design program permits the irrigation system 10 to be designed to effectively fit the field to be irrigated. The program also determines the precise locations at which the end guns should be activated to maximize the end gun wetted area. Multiple end guns or other water-emitting devices can be selected and controlled with the program.
After the custom irrigation design program has been created to determine where the control areas of irrigation, chemigation, or fertigation applications should occur, the control program is uploaded to the computing device 64 of the GPS controller 60 through the serial port 72. While the irrigation system 10 is operational, the computing device 64 reads the current position of the end tower 28 from the GPS receiver 62 and determines when to control the relays 66, 68 in accordance with the custom irrigation design program. The additional inputs 70 may assist the computing device in determining the precise location of the end tower in the field when a differential correction signal is unavailable or when GPS signals are unavailable.
The following is one example of a control scheme for the irrigation system 10. When the system is first activated, all of the spans 14, 16, 18, 20 are aligned as shown in FIG. 1. The main controller 58 can thus accurately estimate the location of all the mobile towers 22, 24, 26, 28 with the signal from the encoder. At this point, the main controller 58 may control all of the water emitting devices, or the main controller 58 may control some and the GPS controller 60 may control some.
When the mobile tower 24 first reaches the barricade 54 shown in FIG. 2, the mobile towers 22, 24 stop moving, but the mobile towers 26, 28 may continue to move because of the articulating pivot joint 50 at mobile tower 24. Once the mobile towers 26, 28 begin to move independently of the central pivot 12, the main controller 58 turns off the water emitting devices on spans 14 and 16 and relinquishes control of the water emitting devices on spans 18 and 20 to the GPS controller 60. The computing device 64 of the GPS controller 60 reads location data from the GPS receiver 62, compares the current location of the end tower 28 to known references locations with the aid of the custom irrigation design program, and then activates and deactivates the water emitting devices on the spans 18 and 20 at the appropriate time. For example, the computing device 64 may activate all the downwardly directed sprayers on the spans 18 and 20 the entire time the mobile towers 26, 28 are moving and activate the end guns 48 only at the corners 82, 84, 86, 88 of the field to increase the amount of land that is irrigated. Once the portions of the field 80 adjacent the obstructions 56 have been irrigated, the mobile towers 26, 28 may reverse direction and re-align the spans 18, 20 with the spans 14, 16. Thereafter, all of the spans may move in alignment with the central pivot 12 until the irrigation system reaches another portion of the field 80 adjacent the obstructions 56.
Although the invention has been described with reference to the preferred embodiment illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims.
1. An irrigation system comprising:
a central pivot connected to a source of fluid;
at least one intermediate tower;
an end tower;
a plurality of support sections spanning the central pivot, the intermediate tower, and the end tower;
a fluid distribution conduit supported by the support sections and coupled to the source of fluid;
a plurality of water-emitting devices supported along the length of the fluid distribution conduit for delivering fluids from the conduit to crops beneath the irrigation system;
a main controller positioned at or near the central pivot for controlling functions of the irrigation system; and
a controller positioned at or near the end tower and including
a location-determining component for determining a current location of the end tower, and
a computing device coupled with the location-determining component for controlling operation of selected ones of the water emitting devices based on the current location of the end tower and independent of control functions of the main controller.
2. The irrigation system as set forth in claim 1, wherein the location-determining component is a GPS receiver operable for receiving satellite signals from a plurality of GPS satellites and for determining a current location of the end tower as a function of the received satellite signals.
3. The irrigation system as set forth in claim 1, further including a pivoting joint at the intermediate tower which permits the end tower, the second support section and the second section of the conduit, to continue moving after the intermediate tower has stopped moving.
4. The irrigation system as set forth in claim 1, wherein the source of fluid is a water well.
5. The irrigation system as set forth in claim 1, wherein the selected ones of the water emitting devices include at least one end gun positioned on the end tower.
6. The irrigation system as set forth in claim 1, wherein the computing device is a processor.
7. The irrigation system as set forth in claim 1, wherein the controller positioned at or near the end tower includes at least one relay interposed between the computing device and the selected ones of the water emitting devices.
8. The irrigation system as set forth in claim 1, wherein the support sections are truss-type frameworks.
9. The irrigation system as set forth in claim 3, wherein the controller positioned at or near the end tower continues to operate the selected ones of the water emitting devices after the intermediate tower has stopped moving.
10. An irrigation system comprising:
a stationary central pivot connected to pressurized water source;
at least one mobile intermediate mobile tower;
a first support section spanning the central pivot and the intermediate tower;
a mobile end tower;
a second support section spanning the end tower and the intermediate tower;
a fluid distribution conduit coupled to the water source and including a first section supported by the first support section and a second section supported by the second support section;
a pivoting joint at the intermediate tower which permits the end tower, the second support section and the second section of the conduit, to continue moving after the intermediate tower, the first support section and the first section of conduit have stopped moving;
a plurality of water-emitting devices connected to the first section of the fluid distribution conduit and at least one water emitting device connected to the second section of the fluid distribution conduit;
a main controller positioned at or near the central pivot for controlling speed, direction, and fluid application functions of the irrigation system; and
a GPS controller positioned at or near the end tower and including
a GPS receiver for receiving satellite signals from a plurality of GPS satellites and for determining a current location of the end tower as a function of the received satellite signals,
a computing device coupled with the GPS receiver for determining when the current location of the end tower matches a location at which the water emitting device connected to the second section of the fluid distribution conduit should be activated, and
a relay controlled by the computing device for activating the water emitting device connected to the second section of the fluid distribution conduit when directed by the computing device and independent of the main controller.
11. The irrigation system as set forth in claim 10, wherein the GPS receiver receives a calibration signal from a calibration source.
12. The irrigation system as set forth in claim 10, wherein the pivoting joint permits the end tower, the second support section and the second section of the conduit, to articulate up to 165° relative to the central pivot after the intermediate tower has stopped moving.
13. The irrigation system as set forth in claim 10, wherein the source of fluid is a water well.
14. The irrigation system as set forth in claim 10, wherein the water emitting device connected to the second section of the fluid distribution conduit includes at least one end gun positioned on the end tower.
15. The irrigation system as set forth in claim 10, wherein the computing device is a processor.
16. The irrigation system as set forth in claim 10, wherein the GPS controller further includes an input port for receiving a custom irrigation control program for use in controlling the computing device.
17. The irrigation system as set forth in claim 10, wherein the support sections are truss-type frameworks.
18. The irrigation system as set forth in claim 16, wherein the GPS controller operates the water emitting devices in accordance with the custom irrigation control program.
19. A control system for an irrigation system including a plurality of mobile towers and a plurality of water emitting devices supported by the towers, the control system comprising:
a main controller for controlling certain speed, direction, and fluid applications of the irrigation system; and
a GPS controller including
a GPS receiver for receiving satellite signals from a plurality of GPS satellites and for determining a current location of one of the mobile towers as a function of the received satellite signals, and
a computing device coupled with the GPS receiver for determining when the current location of the one mobile tower matches a reference position and for activating selected ones of the water emitting devices at that time independently of the main controller.
20. The control system as set forth in claim 19, wherein the mobile towers include an end tower and wherein the computing device activates an end gun on the end tower when the current location matches the reference position.
21. A lateral move irrigation system comprising:
a plurality of moveable towers connected to a source of fluid, wherein one of the moveable towers is equipped with a pivoting joint so that a downstream tower may pivot about the pivoting joint independently of the other moveable towers;
a plurality of support sections spanning the moveable towers;
a main controller positioned on one of the moveable towers for controlling functions of the irrigation system; and
a controller positioned on the downstream tower and including
a location-determining component for determining a current location of the downstream tower, and
a computing device coupled with the location-determining component for controlling operation of selected ones of the water emitting devices based on the current location of the downstream tower and independent of control functions of the main controller.
22. The irrigation system as set forth in claim 21, wherein the moveable towers are operable to move laterally across an area to be irrigated.
23. The irrigation system as set forth in claim 21, wherein the location-determining component is a GPS receiver operable for receiving satellite signals from a plurality of GPS satellites and for determining a current location of the downstream tower as a function of the received satellite signals.
25. The irrigation system as set forth in claim 21, wherein the selected ones of the water emitting devices include at least one end gun positioned on the downstream tower.
US11/419,117 2006-05-18 2006-05-18 Gps control system and method for irrigation systems Abandoned US20070267524A1 (en)
US11/419,117 US20070267524A1 (en) 2006-05-18 2006-05-18 Gps control system and method for irrigation systems
US11/419,117 Abandoned US20070267524A1 (en) 2006-05-18 2006-05-18 Gps control system and method for irrigation systems
US20100274398A1 (en) * 2009-04-28 2010-10-28 Lindsay Corporation Method, apparatus, and computer program for irrigating a field space wtih a center pivot irrigation machine
WO2011011529A1 (en) * 2009-07-22 2011-01-27 Hemisphere Gps Llc Gnss control system and method for irrigation and related applications
US20110188618A1 (en) * 2010-02-02 2011-08-04 Feller Walter J Rf/digital signal-separating gnss receiver and manufacturing method
US20110198193A1 (en) * 2010-02-15 2011-08-18 Reiche Wolfgang Control system of a traveling multi-segment conveyor bridge
US20120053776A1 (en) * 2010-08-25 2012-03-01 Valmont Industries, Inc. Adjustable speed irrigation system and method of use
WO2013006213A1 (en) * 2011-07-05 2013-01-10 Lindsay Corporation System and method for controlling operation of an irrigation system end gun
US20130018553A1 (en) * 2011-07-14 2013-01-17 Valmont Industries, Inc. Variable-speed irrigation system
WO2013019295A1 (en) * 2011-07-29 2013-02-07 Lindsay Corporation Lateral irrigation system with pivoting and z-fold spans
WO2013019294A1 (en) * 2011-07-29 2013-02-07 Lindsay Corporation Lateral irrigation system with z-fold spans
WO2013032541A1 (en) * 2011-08-29 2013-03-07 Lindsay Corporation Methods and systems for aligning irrigation systems
US20130087640A1 (en) * 2011-10-06 2013-04-11 Lindsay Corporation Method and system for orienting solar powered irrigation systems
US20130090766A1 (en) * 2011-10-07 2013-04-11 Lindsay Corporation Method and system for operating irrigation systems motors
WO2013096493A1 (en) * 2011-12-19 2013-06-27 Younis Saed G Remotely sensing and adapting irrigation system
US20130184877A1 (en) * 2010-08-11 2013-07-18 Craig S. Malsam Pumping system and method for controlling it
WO2013176975A1 (en) * 2012-05-24 2013-11-28 Syngenta Participations Ag Continuously calibrating chemigation injection unit
EP2633754A3 (en) * 2012-02-29 2013-12-18 Lindsay Corporation Safety monitor for an irrigation system and methods
US20140110498A1 (en) * 2010-07-21 2014-04-24 Rodney Lee Nelson Area-Programmable Sprinkler
US8803735B2 (en) 2010-11-19 2014-08-12 Agjunction Llc Portable base station network for local differential GNSS corrections
US9374949B2 (en) 2014-06-06 2016-06-28 Irrovation LLC Irrigation system with heat dissipation assemblies
US9661808B2 (en) 2014-06-06 2017-05-30 Irrovation LLC Irrigation system with dual-controller drive assemblies
EP3243371A1 (en) * 2016-05-13 2017-11-15 Deere & Company Automated farming systems
US10048663B2 (en) 2015-08-31 2018-08-14 Precision Circle, LLC Method to maintain base speed of an irrigation system over time
US10070597B2 (en) 2015-10-20 2018-09-11 Precision Circle, LLC Method to cycle the drive motors of an irrigation system
US10130054B2 (en) 2012-10-11 2018-11-20 Irrovation LLC Irrigation system with transient state speeds of movement
US10165741B2 (en) 2012-10-11 2019-01-01 Irrovation LLC Irrigation system with steady state speeds of movement
WO2019040130A1 (en) * 2017-08-23 2019-02-28 Lindsay Corporation Soft start motor control system for an irrigation system
US5220876A (en) * 1992-06-22 1993-06-22 Ag-Chem Equipment Co., Inc. Variable rate application system
US5260875A (en) * 1991-08-20 1993-11-09 Micro-Trak System, Inc. Networked agricultural monitoring and control system
US5334987A (en) * 1993-04-01 1994-08-02 Spectra-Physics Laserplane, Inc. Agricultural aircraft control system using the global positioning system
US5341995A (en) * 1990-08-10 1994-08-30 Leatch Alfred T Relocatable irrigator
US5390125A (en) * 1990-02-05 1995-02-14 Caterpillar Inc. Vehicle position determination system and method
US5610815A (en) * 1989-12-11 1997-03-11 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
US5653389A (en) * 1995-09-15 1997-08-05 Henderson; Graeme W. Independent flow rate and droplet size control system and method for sprayer
US5657226A (en) * 1990-02-05 1997-08-12 Caterpillar Inc. System and method for causing an autonomous vehicle to track a path
US5696671A (en) * 1994-02-17 1997-12-09 Waterlink Systems, Inc. Evapotranspiration forecasting irrigation control system
US5740038A (en) * 1996-09-26 1998-04-14 Hergert; C. David System and method for optimized control of moving irrigation systems
US5870686A (en) * 1995-12-13 1999-02-09 Ag-Chem Equipment Co., Inc. Intelligent Mobile product application control system
US5870302A (en) * 1994-02-17 1999-02-09 Waterlink Systems, Inc. Evapotranspiration remote irrigation control system
US5884224A (en) * 1997-03-07 1999-03-16 J.R. Simplot Company Mobile mounted remote sensing/application apparatus for interacting with selected areas of interest within a field
US5919242A (en) * 1992-05-14 1999-07-06 Agri-Line Innovations, Inc. Method and apparatus for prescription application of products to an agricultural field
US5927603A (en) * 1997-09-30 1999-07-27 J. R. Simplot Company Closed loop control system, sensing apparatus and fluid application system for a precision irrigation device
US5955973A (en) * 1993-12-30 1999-09-21 Concord, Inc. Field navigation system
US5961573A (en) * 1996-11-22 1999-10-05 Case Corporation Height control of an agricultural tool in a site-specific farming system
US6045066A (en) * 1998-10-01 2000-04-04 Valmont Industries, Inc. Corner irrigation system
US6095439A (en) * 1998-12-02 2000-08-01 Valmont Industries, Inc. Corner irrigation system including a GPS guidance system
US6230091B1 (en) * 1997-09-30 2001-05-08 Ag-Chem Equipment Co., Inc. Variable flow spray nozzle system
US6236907B1 (en) * 1995-05-30 2001-05-22 Ag-Chem Equipment Co., Inc. System and method for creating agricultural decision and application maps for automated agricultural machines
US6254018B1 (en) * 1999-12-16 2001-07-03 Valmont Industries, Inc. Alignment control for long center pivot irrigation systems
US6290151B1 (en) * 2000-05-02 2001-09-18 Reinke Manufacturing Company, Inc. Swing arm guidance system
US20020008167A1 (en) * 2000-04-24 2002-01-24 Haberland Julio A. Ground based remote sensing system
US20020134868A1 (en) * 2001-02-27 2002-09-26 Hansen Ole Charles Control apparatus for a boom irrigator, and a method and system relating thereto
US6512992B1 (en) * 1999-03-05 2003-01-28 Raven Industries, Inc. Irrigation positioning system
US6539303B2 (en) * 2000-12-08 2003-03-25 Mcclure John A. GPS derived swathing guidance system
US6666384B2 (en) * 2000-12-04 2003-12-23 Santiago Miguel Prandi Apparatus and method for applying variable doses of irrigation and agrochemicals
US6711501B2 (en) * 2000-12-08 2004-03-23 Satloc, Llc Vehicle navigation system and method for swathing applications
US6726132B2 (en) * 2001-06-08 2004-04-27 Valmont Industries, Inc. Corner irrigation system including an ultra wide band (UWB) guidance system
US6732024B2 (en) * 2001-05-07 2004-05-04 The Board Of Trustees Of The Leland Stanford Junior University Method and apparatus for vehicle control, navigation and positioning
US6755362B2 (en) * 2001-10-04 2004-06-29 Neal Krieger Irrigation system with variable speed drive system
US6928339B2 (en) * 2002-11-21 2005-08-09 Reinke Manufacturing Company, Inc. GPS-based control system and method for controlling mechanized irrigation systems
US7007871B2 (en) * 2001-05-03 2006-03-07 Lindsay Manufacturing Company Mobile irrigation machine with underground water application
US7051592B2 (en) * 2003-09-25 2006-05-30 Murata Manufacturing Co., Ltd. Angular velocity sensor
US6108590A (en) * 1996-09-26 2000-08-22 Hergert; C. David Integrated irrigation optimization power control system
US8369996B2 (en) * 2009-04-28 2013-02-05 Lindsay Corporation Method, apparatus, and computer program for irrigating a field space with a center pivot irrigation machine
US8985300B2 (en) * 2010-02-15 2015-03-24 Takraf Gmbh Control system of a traveling multi-segment conveyor bridge
US9179612B2 (en) * 2010-07-21 2015-11-10 Rodney Lee Nelson Area-programmable sprinkler
US9342076B2 (en) * 2010-08-25 2016-05-17 Valmont Industries, Inc. Adjustable speed irrigation system and method of use
US8948979B2 (en) * 2011-07-14 2015-02-03 Valmont Industries, Inc. Variable-speed irrigation system
US8561925B2 (en) 2011-07-29 2013-10-22 Lindsay Corporation Lateral irrigation system with Z-fold spans
US8763937B2 (en) 2011-08-29 2014-07-01 Lindsay Corporation Methods and systems for aligning irrigation systems
US8876026B2 (en) * 2011-10-06 2014-11-04 Lindsay Corporation Method and system for orienting solar powered irrigation systems
US8936208B2 (en) * 2011-10-07 2015-01-20 Lindsay Corporation Method and system for operating irrigation systems motors
US10209720B2 (en) * 2011-10-07 2019-02-19 Lindsay Corporation Method and system for operating irrigation systems motors
US9265204B2 (en) 2011-12-19 2016-02-23 Younis Technologies, Inc. Remotely sensing and adapting irrigation system
US7693659B2 (en) 2010-04-06 Satellite navigation system using multiple antennas
US7504995B2 (en) 2009-03-17 Method and system for circular polarization correction for independently moving GNSS antennas
US7162348B2 (en) 2007-01-09 Articulated equipment position control system and method
JP3602095B2 (en) 2004-12-15 Terrain navigation device for the Yuashi animals that advance the terrain
US6801159B2 (en) 2004-10-05 Device for use with a portable inertial navigation system ("PINS") and method for transitioning between location technologies
US5952959A (en) 1999-09-14 GPS relative position detection system
US6408226B1 (en) 2002-06-18 Cooperative system and method using mobile robots for testing a cooperative search controller
ES2308300T3 (en) 2008-12-01 A method for combined use of a local RTK system and a positioning phase of the regional carrier, large or global area.
US6687571B1 (en) 2004-02-03 Cooperating mobile robots
US20130068892A1 (en) 2013-03-21 Flying apparatus for aerial agricultural application
US20190019395A1 (en) 2019-01-17 Position and proximity detection systems and methods
US20030151511A1 (en) 2003-08-14 Passive rfid transponder/reader system and method for hidden obstacle detection and avoidance
US7505849B2 (en) 2009-03-17 Navigation tags
US8018376B2 (en) 2011-09-13 GNSS-based mobile communication system and method
AU2008339636B2 (en) 2013-11-14 Apparatus and method for landing a rotary wing aircraft
US20090289844A1 (en) 2009-11-26 Position monitoring system
US6553311B2 (en) 2003-04-22 Navigational off- line and off-heading indication system and method
CA2544806A1 (en) 2005-05-26 Positional blasting system
EP2098936B1 (en) 2011-08-31 Method and system for coordinated vehicle control with wireless communication
US20160057925A1 (en) 2016-03-03 System and method for controlling and monitoring operation of an autonomous robot
US20120312250A1 (en) 2012-12-13 Pet Restraint System
WO1995009348A1 (en) 1995-04-06 Position-finding and navigation equipment with satellite back-up
US8738238B2 (en) 2014-05-27 Coordination of vehicle movement in a field
WO2003069363A2 (en) 2003-08-21 Animal containment system having a dynamically changing perimeter
Owner name: LINDSAY MANUFACTURING CO., NEBRASKA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MACK, DAVID;REEL/FRAME:017639/0060
Owner name: LINDSAY CORPORATION, NEBRASKA
Free format text: CHANGE OF NAME;ASSIGNOR:LINDSAY MANUFACTURING CO.;REEL/FRAME:019147/0628
Owner name: LINDSAY CORPORATION,NEBRASKA


Wind and waves batter the fragile little ship, threatening to sink her. All elements seem to celebrate here their violent feast SOS! – Save Our Souls! This call for help appears to go from the ship in distress. And it will not sink! Mysterious hands folded in prayer come from the dark. Protecting the guiding light of a candle, they bring help to desperate seamen. Ship in storm is a symbol of man struggling through the turbulent sea of adversities of life; the safe harbor symbolizes the Savior.


Around the clock support, affordable prices, and the quality you know you can count on from Blazing SEO. Get your dedicated server today!
Blazing SEO Dedicated Servers are available in 4 different locations. With locations across the United States, you will be able to pick the best location to fit your needs. We are continuing to expand our locations offerings to include more cities as well!
We offer everything you would need from a server provider!
Already a Blazing SEO proxy customer? Our server products are located in the same data centers in order to provide the optimal speed for your proxy+server setup.
All of our servers use Solid-State Drives to ensure the best possible performance for you!
Our servers are all optimized to ensure the fastest possible performance for any needs you may have!
Numerous hardware configurations available for all budgets and needs.
We own 100% of our hardware. This ownership combined with our in-house engineering staff allows use to ensure the best performance from all of our hardware.
Our Customer Support Representatives are always available to answer any questions you may have about your dedicated server. Our Technical Team is also always standing by to provide support and assistance in case problems arise with your server.
We provide numerous configurations for all budgets so that you can find the server that will fit your budget and needs. Need something special? Just contact us for a more customized solution! Our Customer Support Team can assist you in setting up the exact server that you need!
Our server locations match our proxy locations. This combination allows you to create the optimal speed for your server and proxy setup since you will be in the same datacenter as your proxies. Don't settle for someone else's server in a different location. Grab them both right now from us!
Starting as low as $90 a month!
Don't settle for less than the best.
Get your Blazing SEO dedicated server today!


We're climbers! Adam Gaulin, rock climbing enthusiast, started Rope-A-Dope in 2007 when he realized he can go where few else can in Calgary! Adam is a Level Three Sprat Certified Technician, and a leader in rope access, work at height safety, and technical expertise. Window cleaning and building maintenance in Calgary are competitive industries, and Rope-A-Dope leads the way by continually refining techniques and methods. Our team is highly trained and highly experienced. Experience why Calgary's most prominent builders and most recognizable structures work with Rope-A-Dope for all their window cleaning, building inspection, and building maintenance needs!
Are you the owner of Rope-A-Dope Windows Inc?


text:
Since The Day You Left X: I Can't Be Your Past
Fiction By Madalyn Clare // 11/7/2016
She couldn't remember if she screamed.
"Quit pacin', Your Highness, you'll burn a hole in the ground with your heels," Aloysius remarked, leaning against a gnarled tree, arms crossed over his chest.
Her stomach hadn't settled. Her body was sent in another tempest; this time it was a tempest of confusion, not of sorrow.
This man was Finnian O'Glesey. She yelled it at the top of her lungs and tried to hug him, but he pushed her away. Obviously, he hadn't remembered her. How could he not? She thought of him every day of her life. The least he could have done was reciprocated her motion.
"He is Finnian O'Glesey," she urged as she stopped pacing for a second. After a moment of thought, she returned to walking halfway to Aloysius then back to her horse. "How come he didn't remember me?"
"Maybe he didn't want to remember," mused Aloysius.
That thought, though she should have been open to its possibility, made her tear up. She swallowed hard and shook her head. "After all these years I worried about him? Nay! Won't be true."
Aloysius looked at her with concern, but said nothing.
Caislín sat down with her back to the waning fire and held her face in her hands. "I'm so confused. I thought I'd be reunited with Finn on a happy note. Look what I got: he doesn't even remember me! To make things better, he has a grudge against me as well!"
The captain seated himself by her, at a restrained, royal distance, and rubbed his tired face. He glanced at his queen, who held either side of her face, exhausted. She could have very well walked a mile the way she was pacing, he thought.
"Your Highness," he started. "I don't know what words to use."
"Don't employ any, my dear captain," Caislín ordered as she tucked a stray behind her ear, too taken by seeing Chance - no, Finn - tied to a tree, being guarded by Cairbre. Shay had gone back to Baric-Tref District, the training grounds of the Solitary, to send for a fresh section to hunt down the remaining terrorists. Niall, always the one to prefer the company of horses to men, rubbed down his stallion quietly. "I'm too confused to listen to words."
Aloysius nodded and watched Cairbre guarding, though it did nothing.
Chance was tied to the tree by his cuffs, allowing him the torture of inspecting his hand as he sat, propped against his prison tree. He fingered the ring that the queen found on his hand, confused. There was nothing special to it, a simple silver band with a miniscule stamp of an eagle on the face. It was nothing exotic from the slavers of Úda or from the venerable fingers of the lords of the houses of Venéra, just a peasant's one piece of value.
So the queen saw it and thought he was her long-lost love?
The last few hours left Chance's head in a painful position. Anger and screaming confusion pounded against his temples, and his jaw tightened.
His guard, a young man obviously named Cairbre, had the looks of Venéran, but the attitude, accent, and name of a Northern Sábháiltean. He was strong and smart in fists and never wanted to settle down.
"Whatcha lookin' at, ya snide dog?" Cairbre spat.
Chance rolled his eyes and inspected his ring more closely.
"Could I have an audience with your queen?"
Caislín opened her eyes to Aloysius softly shaking her to wake.
"What?" she asked in a very 'waking up' voice. Aloysius stood back up at full height, still not having fallen to sleep to leave the night watch to Cairbre and Niall. He still had even his cape on.
"The prisoner wishes to speak with you," he stated. "Says it's a matter of business."
Caislín sighed. What business could she negotiate when her opponent was a man she loved, though he didn't remember her? No, their conversation could never work. She couldn't negotiate with a hateful face.
Nevertheless, she tugged on her boots and followed Aloysius to the prisoner.
He was no longer the man she once knew.
Finnian O'Glesey was lost. Only a criminal remained where an honorable, integrous soldier would have been and used to be. A hopeless, bitter prisoner sat, clothed in Finn's skin, against the gnarled tree. His thick honey locks were overgrown, tangled, and strewn across his lean face, making him look like a corpse. The man was still and silent, having one believe he was not even there. His wrists were cuffed and tied to the trunk, giving him some leeway.
"Cairbre, Aloysius, leave me," she ordered, not tearing her eyes from Finn.
The captain's brow lowered. "With all due respect, Your Highness, I'd rather-"
"Enough." She halted him with a hand and a dangerous glare.
Aloysius swallowed his reply and, tight-lipped, bowed and practically dragged Cairbre to the other side of camp to pack up and to avoid the queen.
Finn hadn't moved once.
"I've come to ask you why," the queen announced with as much firmness, disbelief, and frustration as she could muster. She knelt in front of the motionless figure before her. "We all thought you were dead for two years and you return as a thief and ruffian, just to steal from me and be implicated with those who killed my father?" Tears spilled out of her eyes with both heartbreak and anger. "I loved you, Finn, and you fail to return it! My love! I can't believe I spent two years mourning you when you never cared to come back to me!"
Nothing. His breath was even, as if he had no negative emotions, which she had in an abundance. Caislín tried with so much effort to pull a word out of him, but to no avail. Soon her tears were spent and the queen, propped up against the tree next to him, tried to meet his gaze.
"What happened to you, Finn?" Caislín breathed, fearing if she raised her voice only a little, it would break. She touched his dark, gaunt cheek tenderly, but he recoiled. She pulled her hand back as he slowly looked up at her.
"I'm not Finn," he said evenly. "Will you please stop calling me that?"
"You're Finnian Rhith of Anglesey," Caislín half shouted. "I met you when you first were brought to Baric-Tref, when you were fourteen. You earned the name Rhith because you were fast and silent, and you climbed up to the rank of commander in a span of five years. I remember because you were half the height and age of all the other leaders of the Primary Companies. My father, the king, took an immediate liking to you and had your company become the Watchmen.
"You took this honor with great humility and you asked my father that, if you were to be around the keep so much, would it be any royal humiliation if the princess courted with you? You confessed your love for me at an archer's tournament, and only a year later you had your prize arrow melted down to make these rings." She took off her promise ring and compared it to Chance's. It was identical. "Then you and the Watchmen, the Grey Company, were ordered to march on the Údaen border to defend our kingdom. You never returned to me, until now."
The last sentence was a dagger in Chance's heart. No, this Finnian, the lost man whom the queen cared so much for, could not have been him. He was a strategic mercenary, not some heroic prodigy. Obviously the queen was desperate. There was no way to know if he even looked like him.
Still, the woman was looking at him in such a way that he was tempted to agree with all of that. She was so very beautiful, with sad, bright blue eyes, and luscious black hair. He was sure that her smile made her all the more captivating.
"What happened?" she asked again, calm now.
Chance sighed. "I've never been in love with a monarch, and if I was, you'd think I'd remember."
Caislín was caught there. "I don't know your story past you disappearance, Finn. If you could-"
"I'm not Finn!" shouted Chance, his expression hard. "My name has been Chance since I can remember!"
That wasn't a lie, but he wished to say it in such a way that she would just stop making him feel worse. He felt almost sorry for the queen, who had lost someone so important to her.
He could almost say that, after his ordeal, he could relate.
Caislín shut her lips and sat down coolly. "You called me over. What do you want?"
Finn - or Chance, whatever he called himself - sighed and adopted an official tone.
"Your Highness, I know we got off on the wrong foot. I'm afraid I don't know this Finnian person you speak of, nor have I heard of him. I can't be your past, but I'm prepared to offer you a deal." He cleared his throat and laced his fingers together. "I know your terrorists personally and I know their mannerisms. I can help you find them and imprison them."
Caislín frowned. "What would you want in return?"
"I'd really, really, really appreciate bypassing jail."
She glanced at her captain and the two others, who spoke lightly and laughed heartily. They heard nothing of the exchange - either that, or they pretended. Caislín thought the latter, for their voice raising had to have woken the eagles.
"Fine," she answered shortly. Her tone was sharper than the tip of a sword and pricklier than a bushel of briars. "I'll consider your offer, Chance."
She stressed the name to make him buckle, and it worked, as if he were guilty.
"Now I know her plans are crazy!" Aloysius again ran a hand through his hair, hazel eyes wide.
Their queen had relayed the deal to them to talk about, and then she went back to sleep on the far end of camp. Aloysius, Cairbre, and Niall had been up for hours arguing both sides of the question whether to trust this waif or to simply imprison him, and they had gotten nowhere as of late. The fire had gone down, but the sky was lighting up just enough to justify continuing their debate.
"What's gotten into our queen's head to trust such a cursed adyn? I can't even trust him with my back!" Cairbre's expressions played an important role in his argument.
Niall nodded slowly. "I trust the queen, though." He looked up with soft brown eyes. "Who wouldn't?"
Aloysius sat and rubbed his scruffy beard. True, the queen had helped all of them along. Shay and Cairbre were refugees from despots in their country of Venéra, and Caislín helped them down to registering them for Destrean Sábháiltean names and even paid for their language learning. Niall's wife and two sons had found themselves dying from the Black Death, and it was Queen Caislín who distributed medicine during that frightening episode. Each of them had a story in which their queen played part. Each of them had nothing and she gave them their lives back.
"Well," Cairbre seemed to search for a reason not to trust their queen's judgement, but he ended up slumping and conceding. "I guess you're right. Proviamolo."
No one understood when Cairbre slipped into Venéran speech.
"Besides," Aloysius said as he came up with a great idea. "This could be an interesting endeavor. I had word from the stables that there were mysterious and suspicious figures there the day before the attack. Perhaps the workers can help."
"Stables?" Cairbre echoed with a laugh. "The only people there are humble milkmaids!"
"Capable humble milkmaids. Just you wait, Cairbre Abatangelo. You'll be surprised."
I could have cried for the
I could have cried for the princess. Poor thing!!! Can't waittttttttt for the next installment. :)))
Damaris Ann | Sun, 11/13/2016
Christmas: Hope
by Grace J.

redpajama_set_name: RedPajamaCommonCrawl