EP3624579A1 - Procédé de commande d'une unité de distribution et/ou d'une machine de travail agricole dotée de l'unité de distribution - Google Patents

Procédé de commande d'une unité de distribution et/ou d'une machine de travail agricole dotée de l'unité de distribution

Info

Publication number
EP3624579A1
EP3624579A1 EP18723525.4A EP18723525A EP3624579A1 EP 3624579 A1 EP3624579 A1 EP 3624579A1 EP 18723525 A EP18723525 A EP 18723525A EP 3624579 A1 EP3624579 A1 EP 3624579A1
Authority
EP
European Patent Office
Prior art keywords
liquid
characteristic
dispensed
dispensing unit
discharged
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18723525.4A
Other languages
German (de)
English (en)
Inventor
Udo Schulz
Fred PROEGER
Gregor Schwarzenberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3624579A1 publication Critical patent/EP3624579A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007—Metering or regulating systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
    • A01C23/047—Spraying of liquid fertilisers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting

Definitions

  • the invention relates to a method for controlling a dispensing unit and / or an agricultural machine with the dispensing unit, a control device for carrying out the method and a machine-readable storage medium on which the computer program is stored.
  • the subject of the present invention is also a dispensing system with the dispensing unit and the agricultural machine with the dispensing unit.
  • the present invention is a method for controlling a dispensing unit and / or an agricultural machine with the dispensing unit, wherein the dispensing unit comprises at least one nozzle member, wherein the nozzle member is adapted to deliver a liquid, in particular a pesticide or a fertilizer to deliver following steps:
  • the subject of the present invention is also a control device for
  • an agricultural working machine can be understood to mean a working machine that can be used in agriculture.
  • the agricultural work machine may be an agricultural utility vehicle such as a tractor or a self-propelled sprayer. It is also conceivable that the agricultural machine is an agricultural flight or an agricultural helicopter.
  • a dispensing unit can be understood to be a unit by means of which a liquid, in particular a liquid containing a pesticide or a fertilizer, can be dispensed.
  • the dispensing unit may be, for example, a crop protection device or a
  • the dispensing unit may be at the agricultural
  • the dispensing unit can be mounted on a hydraulic device of the agricultural machine. It is also conceivable that the dispensing unit is constructed on a loading surface of the agricultural machine. Alternatively, the
  • Dispensing unit are attached to the agricultural machine.
  • a nozzle element can be understood to be an element by means of which the dispensing unit discharges the liquid.
  • the nozzle element may be a spray nozzle.
  • the nozzle element can deliver the liquid as a spray or as a liquid jet.
  • a liquid characteristic can be understood as meaning properties of a liquid which are suitable for the
  • the liquid characteristic can be, for example, a degree of atomization or turbulence of the Liquid, in particular by a size or a size distribution of liquid droplets or the liquid jet act. It is also conceivable that the liquid characteristic is a spatial distribution, a
  • the liquid characteristic is a chemical composition of the liquid, for example a mixing ratio of water and a crop protection agent or
  • a plant protection agent can be understood as meaning an active ingredient which is designed to protect a plant from a harmful organism, to regulate a growth of a plant or to destroy an undesired plant or to inhibit its growth.
  • the crop protection agent may be an insecticide, a growth regulator or a herbicide. Under a fertilizer can in the
  • a nutrient agent which is delivered to a plant or soil around the plant to promote growth of the plant.
  • the fertilizer may be an inorganic mineral fertilizer or an organic fertilizer.
  • the inventive method and the control device according to the invention make it possible to achieve a defined liquid characteristic of the discharged liquid, taking into account environmental influences on the discharged liquid.
  • a value of the characteristic of the dispensed liquid after dispensing the liquid By detecting the characteristic of the dispensed liquid after dispensing the liquid, a value of the
  • Liquid characteristic of the discharged liquid can be determined, the environmental influences such as air velocity or
  • Air temperature is influenced or disturbed.
  • the dispensing unit and / or the agricultural working machine can be controlled in dependence on this current value of the liquid characteristic such that a disturbance of the liquid characteristic is compensated by environmental influences.
  • a liquid characteristic which is particularly advantageous for dispensing the liquid and / or distributing it to a plant and / or a soil can be achieved or set particularly robustly. It is advantageous if the liquid from the nozzle element as
  • a spray can be understood to mean a liquid which is dispensed or atomized or sprayed into droplets by pressure from a dispensing unit. The liquid is released in
  • Drop splits and forms a liquid mist or an aerosol By dispensing the liquid as a spray, the liquid can be discharged particularly uniformly due to the drops in the discharged liquid. As a result, for example, a plant with a
  • a liquid jet can be understood to be a jet of a liquid, the jet being a jet
  • Beam diameter and a defined preferred direction of beam propagation can be assigned. Unlike the spray, the liquid is in the
  • Liquid jet predominantly not in individual drops before or forms no aerosol.
  • the liquid can be dispensed selectively in a spatially limited area or on a limited spatial area.
  • a fertilizer can be dispensed selectively on a floor next to a plant and a staining of leaves of the plant can be prevented.
  • the parameter is detected by means of an optical and / or acoustic detection unit.
  • an optical and / or acoustic detection unit Under an optical
  • Detecting unit can in the context of the present invention a
  • the optical detection unit is a camera or a combination of a light source and a camera.
  • the optical detection unit can be arranged perpendicular, parallel or inclined to a propagation direction of the liquid emitted by means of the syringe element. Depending on the arrangement of the optical detection unit, only the liquid dispensed or additionally a wetted by the liquid dispensed or moistened plant or a moistened soil.
  • an acoustic detection unit can be understood to be a detection unit by means of which the emitted fluid can be detected acoustically.
  • the acoustic detection unit is, for example, an ultrasound sensor or a combination of an ultrasound transmitter and an ultrasound receiver. In this case, it is advantageous to improve the detection of the characteristic of the liquid dispensed if the wavelength of the
  • Ultrasound is approximately adapted to the determined size of the drops in the dispensed liquid.
  • the determination of the time of flight of the emitted pulses (time-of-arrival) provides information about the spatial extent or limitation of the discharged liquid.
  • Size of the drops and the spatial distribution of the drops in the dispensed liquid can be determined. Further, differences in the speeds of individual received ultrasonic pulses and frequency shifts of the received ultrasonic waves relative to the transmitted ultrasonic waves may be analyzed to determine the spatial distribution of the drops
  • Ultrasonic air frequencies are in the range of 30 kHz to 400 kHz. Accordingly, the wavelengths of the ultrasonic waves at a speed of about 340 m / s assume values of less than one millimeter up to a few centimeters. Ultrasound penetrates objects whose spatial extent is significantly smaller than the wavelength. Liquid droplets behave opposite the ultrasonic waves as point scatterers with very low intensity of reflection. The individual ultrasonic waves reflected from the liquid drop are superimposed and give a total reflection. Higher drops in the liquid cause higher amplitudes in the measured signal
  • the density of the spatial droplet distribution is reflected in the frequency of the measured reflection pulses as a function of the ultrasound frequency and droplet size.
  • the reflection behavior of the liquid drops can be determined in dependence on the Examine the ultrasound frequency. In other words, that the liquid with respect to their reflection behavior as a function of
  • Ultrasonic frequency is screened or scanned. It is also conceivable that a plurality of ultrasonic sensors to spatially
  • the ultrasonic sensor may be a phased array
  • Ultrasonic sensor or a group radiator act for ultrasound.
  • the phased array ultrasonic sensor has a plurality of small ultrasonic sensors.
  • Ultrasonic sensors are arranged, for example, in a common housing unit as a line array. It is also conceivable that the ultrasonic sensors as
  • the ultrasonic sensors can be controlled independently of each other.
  • the ultrasonic sensors can be controlled in such a way that the
  • Ultrasonic sensors induced ultrasonic waves superimpose constructively and a focus of the ultrasonic waves is generated.
  • Ultrasonic waves also depend on the arrangement of the ultrasonic sensors in the array. This focus of the ultrasonic waves can be spatially shifted by defined control of the individual ultrasonic sensors. Due to the spatial displacement of the focus, a sequential generation of image information via an object detected by means of the phased array ultrasonic sensor is possible. Measurable is both the transmission of
  • Ultrasonic waves by the discharged liquid by means of a spatially distant from a ultrasonic transmitter and suitably arranged
  • Ultrasonic receiver as well as the reflection of ultrasonic waves on the discharged liquid by means of one or more ultrasonic sensors.
  • a detection range of the detection unit of the discharged liquid is not limited by an object such as a plant.
  • the characteristic of the discharged liquid can be detected in a particularly precise and reliable manner.
  • a multimodal imaging can be achieved by a combination of an optical and an acoustic detection unit by means of sensor data fusion.
  • An image information about the dispensed liquid detected by means of the acoustic detection unit can be recorded with the image information acquired by means of the optical detection unit
  • Liquid can be combined.
  • the image information acquired by means of the optical and the acoustic detection unit must be correlated and a spatial reference of the image information to one another identified, for example, by means of a finite element model.
  • Liquid or an estimate of the wear of the nozzle element can be carried out particularly robust.
  • the detection of the characteristic of the dispensed liquid has a step of detecting the dispensed liquid.
  • the liquid can be detected after delivery from the nozzle element by means of a detection unit.
  • a detection unit Upon detection of the dispensed liquid, information about the dispensed liquid is detected.
  • a value of the parameter can be determined. For example, by means of an acoustic
  • Liquid jet or a distribution of liquid droplets are detected in the spray. By detecting the discharged liquid, it is possible to detect different characteristics of the discharged liquid simultaneously.
  • the detection of the parameter has a step of acquiring image information about the dispensed liquid in order to determine a value of the parameter. It is conceivable that by means of an optical detection unit an image recording or a video recording of the discharged liquid is detected. It is also conceivable that an image acquisition or a video recording of the discharged liquid is generated by means of an acoustic detection unit designed as a phased array ultrasonic sensor. The image recording and the video recording can by means of
  • Image processing are analyzed. For example, by means of an extraction characteristics of the image recording or the video recording the value of the characteristic can be determined.
  • Video recording such as plants are similar or have similar features.
  • the drops of the dispensed liquid in a foreground of the image recording or video recording are particularly easy to recognize.
  • the determination of the characteristic can be carried out after delivery of the liquid and before contact of the liquid with a target object such as a plant or a soil.
  • the determination of the parameter after dispensing the liquid and after the contact of the liquid with the target object can take place.
  • the extraction of features can be improved by the image recording or video recording shows both of the liquid dispensed moistened as well as non-moistened objects.
  • image areas with defined plant parts such as, for example, leaves in the extraction of features are taken into account.
  • the spatial position of the plant part can be taken into account. It is conceivable that only horizontally hanging leaves
  • leaf areas are analyzed, for example, a
  • Incident angle polarized If, for example, a polarizing filter is applied to every second pixel on a sensor element of a camera, it can be done via local
  • Brightness differences between two adjacent pixels are determined whether the analyzed image area is wetted or moistened with liquid. It is also conceivable that larger image sections are compared in their gray scale representation in order to determine whether an image area is wetted with liquid or not.
  • the image recording or the video recording is interpreted by machine vision and objects in the image recording or video recording are automatically detected and classified.
  • Detection of the liquid delivered to an environment such as Plant or the soil can be increased, in which the emitted liquid is illuminated by means of a light source.
  • a light source particularly suitable for a robust detection of chlorophyll-containing plant parts in the background are
  • discharged liquid is detected continuously. Each time the discharged liquid is detected, a value of the characteristic can be determined.
  • the dispensed liquid may be detected at least at two different times and a total value of the characteristic may be determined from the information about the liquid acquired at the different times. For example, based on a temporal change of the spatial distribution of the drops in the discharged liquid, a drift of the discharged liquid can be determined. That is, in other words, it can be one through a wind speed and one
  • Movement speed of the dispensing unit caused deviation of a propagation direction of the drops of an intended
  • Propagation direction can be determined.
  • a time profile of the parameter and / or the parameter can be determined based on the temporal change of the discharged liquid. It is also conceivable, for example, for the liquid to be detected several times in succession in such a way that adhesion or retention of the liquid dispensed on a plant or unrolling of drops of the liquid dispensed is recognized by the plant.
  • a temporal change of the discharged liquid It is also conceivable, for example, for the liquid to be detected several times in succession in such a way that adhesion or retention of the liquid dispensed on a plant or unrolling of drops of the liquid dispensed is recognized by the plant.
  • Detected change in the liquid characteristics of the discharged liquid and the dispensing unit and / or the agricultural machine for a reaction to the change in the liquid characteristic are driven very fast. It is particularly advantageous if the characteristic of the dispensed liquid is a size and / or a size distribution of drops in the dispensed liquid and / or a spatial distribution of the drops in the dispensed liquid and / or a diameter and / or an angle of the dispensed liquid , By knowing the size and / or the size distribution of
  • Drops in the dispensed liquid can determine a probability of drift of the dispensed liquid.
  • Determination of the drift can be improved by means of a measurement of the temperature and / or a measurement of the wind speed. At high temperatures and low relative humidity, small drops are released in the
  • Plant protection product or fertilizer in the liquid on the plant or the soil By knowing the spatial distribution of the drops in the dispensed
  • Liquid can be determined, for example, the drift of the discharged liquid. It is conceivable that the spatial distribution of the drops in the dispensed liquid under ideal conditions, for example, known from a measurement and is comparable to the actual spatial distribution of the drops in the dispensed liquid. It is also conceivable that the spatial distribution of the drops in the dispensed liquid relative to a target object such as a plant detectable and a targeted release of the liquid is verifiable. It is also conceivable that the wear of the nozzle element can be determined from a homogeneity or inhomogeneity of the spatial distribution of the drops. For example, worn or damaged nozzles have a very uneven spatial Distribution of the discharged liquid.
  • the spatial distribution of the drops in the dispensed liquid is a spatial distribution of the drops on a soil or a plant.
  • the spatial distribution of the drops after moistening with the dispensed liquid can change, for example, by a rolling of drops from the plant. It is therefore advantageous if the parameter comprises information about a rolling of drops from the plant.
  • Working machine are controlled such that the rolling of drops is minimized by the plant.
  • a probability for a drift of the discharged liquid can be determined.
  • Large diameters of the dispensed liquid are advantageous in order to produce large volume flows of the dispensed liquid at low flow velocities of the dispensed liquid.
  • Small diameters of the discharged liquid are in turn advantageous for small volume flows of the discharged liquid at high
  • the dispensing unit may be located a small distance from a plant to be humidified, thereby reducing the likelihood of drift. Large angles of the dispensed liquid or large spray angle also allow greater overlap of adjacent spray elements on the
  • Dispensing unit and a more uniform delivery of the liquid. little one
  • Spray angles are advantageous for a distribution of the discharged liquid, in particular of liquid fertilizer, on a floor next to the plant. If the parameter of the dispensed liquid is one of the stated quantities, the liquid characteristic of the dispensed liquid can be adapted particularly advantageously to the requirements of the liquid characteristic taking into account external influences on the dispensed liquid.
  • the method has a step of comparing the determined value of the characteristic of the dispensed liquid with predefinable values. It is conceivable that in a map of a control unit a Target value of the characteristic of the dispensed liquid is specified. By means of comparing the determined value of the parameter with the nominal value of the parameter, a deviation of the determined value of the parameter from the nominal value of the parameter can be determined. By this configuration, the liquid characteristic of the discharged liquid can be checked and the dispensing unit and / or the agricultural machine in
  • the deviation are controlled to reduce, for example, the deviation between the determined value and setpoint of the characteristic.
  • Liquid characteristic of the discharged liquid by means of variation of at least one element from the list of the following variables is carried out: pressure of the liquid to be dispensed, volume flow of the liquid to be dispensed, concentration of the plant protection agent or fertilizer in the
  • Liquid drop in the discharged liquid is reduced or increased. It is also conceivable that by an automatic change of the current
  • Nozzle element to a nozzle member having a smaller or larger nozzle size the size of the liquid droplets or the diameter of the liquid jet is reduced or enlarged. Furthermore, it is conceivable that increasing or decreasing the volume flow of the liquid to be dispensed increases or decreases the volume flow of the dispensed liquid. It is also conceivable that an increase or decrease in the concentration of the plant protection product or
  • Plant protection product or fertilizer in the liquid to be dispensed increased or decreased is also conceivable that, for example, at high wind speeds and strong drift a nozzle element is activated or deactivated to achieve a defined spatial distribution of the discharged liquid. It is conceivable in particular that, depending on a strength and direction of the drift different nozzle elements are driven in order to achieve a defined spatial distribution of the discharged liquid.
  • the liquid characteristic of the discharged liquid can be adjusted particularly well to specifiable values of the characteristic and adapted to a change in external influences such as air velocity or aging of spray nozzles.
  • Speed of the agricultural working machine distance between the nozzle element and a target object of the discharged liquid.
  • the discharged liquid can be distributed over a larger spatial area or a drift or turbulence of the discharged liquid can be reduced.
  • the wind speed and the wind direction are taken into account in order to control an actual relative speed between the discharged liquid and an ambient air. It is conceivable that when changing a wind speed, a speed of
  • the target object of the dispensed liquid may be, for example, a plant to be humidified with the dispensed liquid or a bottom surface.
  • the agricultural machine can be controlled automatically to a defined liquid characteristic of the
  • a display element information about an operating state of the dispensing unit and / or a nozzle element and / or about a desired value of the speed of the agricultural machine is displayed.
  • the display element for example, at the dispensing unit, to a control unit on a driver's cab be arranged agricultural machine.
  • the display element may be, for example, a display. It is also conceivable that the display element is a display of a mobile phone.
  • the information about the operating state of the dispensing unit and / or the nozzle member may be a
  • Information about wear or clogging of the dispensing unit and / or the nozzle member include. It is also conceivable that the information about the operating state of the dispensing unit and / or the nozzle element indicates information about a deviation of the value of the characteristic of the dispensed liquid from a presettable set value of the characteristic of the dispensed liquid. Thereby, a person performing the method or an operator of the agricultural machine can respond to the displayed information and, for example, by cleaning or repairing the dispensing unit, replacing nozzle elements or adjusting the speed of the agricultural machine to the
  • Target speed perform the discharge of the liquid particularly efficient.
  • This method may preferably be in a computer program
  • This storage medium can, for example, in a
  • FIG. 1 shows a schematic representation of a control device for carrying out a method for controlling a dispensing unit
  • Figure 3a) -h) are schematic representations of the discharged liquid
  • Figure 4 is a schematic representation of an agricultural
  • FIG. 5 is a flowchart of a method for controlling a
  • FIG. 1 shows a schematic representation of a control unit 10 for
  • the dispensing unit 12 has a nozzle element 14.
  • the nozzle member 14 is formed, a liquid, in particular a pesticide or a
  • Fertilizer has to give up.
  • the control unit 10 is electronically coupled to a detection unit 16.
  • the control unit 10 to an interface, not shown, by means of which the detection unit 16 is connected to the control unit 10 wired electronically coupled.
  • the interface is formed, the
  • Detection unit 16 to the control unit 10 wirelessly to couple electronically.
  • the control unit 10 is formed, a sensor signal Sl of the
  • Dispensing unit 12 to transmit.
  • the sensor signal S1 represents a characteristic of the discharged liquid.
  • the detection unit 16 is a camera for the wavelength range visible to the human eye. It is also conceivable that the detection unit 16 is an ultrasonic sensor 16, in particular a phased array ultrasonic sensor 16.
  • the control unit 10 is designed to compare the determined value of the characteristic of the dispensed liquid with predeterminable, in particular with values stored in the control unit 10.
  • the control unit 10 is designed to control the dispensing unit 12 by transmitting the control signal S2 to the dispensing unit 12 as a function of the detected characteristic of the dispensed liquid in order to set a defined liquid characteristic of the dispensed liquid. It is also conceivable that the control unit 10 is formed, the agricultural
  • Working machine 80 to control to set the defined liquid characteristics of the discharged liquid.
  • control unit 10 has a machine-readable storage medium 17.
  • the inventive method can by a computer program
  • FIG. 2 a shows a schematically illustrated arrangement of the dispensing unit 12 with a detection unit 16.
  • FIG. 2 b) shows an example of an amplitude spectrum detected by the detection unit 16.
  • the dispensing unit 12 has a nozzle element 14 that on a
  • Carrier structure 28 of the dispensing unit 12 is arranged.
  • the nozzle element 14 is arranged on the dispensing unit 12 in such a way that a liquid 30 dispensed from the dispensing unit 12 by means of the nozzle element 14 can moisten a plant 32.
  • the detection unit 16 has an ultrasonic transmitter 18, a
  • Ultrasonic receiver 20 a phased array ultrasonic sensor 22 and a camera 24 on.
  • the ultrasonic transmitter 18, the ultrasonic receiver 20, the phased array ultrasonic sensor 22 and the camera 24 are by mechanical Connecting elements 26 connected to the support structure 28 of the dispensing unit 12.
  • the individual elements 18, 20, 22, 24 of the detection unit 16 are arranged on the support structure 28 of the delivery unit 12 in such a way that the discharged liquid 30 can be detected after delivery by means of the detection unit 16.
  • the ultrasonic transmitter 18 and the ultrasonic receiver 20 are arranged along a line and on opposite sides of the discharged liquid 30. As a result, by means of the ultrasonic transmitter 18 and the
  • Ultrasonic receiver 20 a transmission of ultrasonic waves by the discharged liquid 30 can be detected.
  • image information about the dispensed liquid 30 can be detected by means of the camera 24.
  • phased array ultrasonic sensor 22 a reflection of
  • Ultrasonic waves on the discharged liquid 30 can be detected.
  • FIG. 2 b shows an exemplary amplitude spectrum of ultrasonic waves reflected by the liquid 30 delivered.
  • the amplitude A is shown as a function of the time t.
  • the reflection maximum 34 represents the ultrasonic waves reflected at an outer edge region 36 of the discharged liquid 30.
  • the distance between the discharged liquid 30 and the phased array ultrasonic sensor 24 can be determined .
  • the temporal subsequent to the reflection maximum 34 portion 38 of the amplitude spectrum represents ultrasonic waves reflected in a different from the outer edge region 36 of the discharged liquid 30 region of the discharged liquid 30 and / or multiple at the
  • Liquid determinable Furthermore, information about a distribution of the droplet size at a specific distance from the phased array ultrasonic sensor 24 can be determined by means of a frequency analysis over a selected time interval from the subregion 38 of the amplitude spectrum.
  • FIG. 3 a) -h) shows schematic representations of the liquid 30 dispensed by means of the nozzle element 14.
  • the dispensed liquid 30 is at least in a partial area of the liquid shown here
  • Liquid jet 40 delivered It is advantageous if the characteristic of the liquid jet 40 a beam diameter 44 or a
  • Propagation direction 46 of the liquid jet 40 represents.
  • the liquid jet 40 has a larger compared to the liquid jet 40 shown in Figure 3a)
  • the liquid is by means of the nozzle member 14 as
  • Liquid jet 40 delivered It is advantageous if the characteristic of the liquid jet 40 an angle 48 of the liquid jet 40th
  • the liquid is discharged by means of the nozzle member 14 as a spray 42. It is advantageous if the characteristic of the spray 42 represents an angle 48 or a particular drop size of the drops 50 in the spray 42.
  • the liquid is dispensed by means of the nozzle element 14 as spray 42.
  • the angle 48 and the drop size of the drops 50 in the spray 42 are smaller in comparison to the spray 42 shown in FIG. 3d).
  • the liquid is dispensed by means of the nozzle element 14 as spray 42. It is advantageous if the characteristic of the spray 42 represents a spatial distribution of the drops 50 within the spray 42. In comparison to the spray 42 shown in FIG. 3e), the spatial distribution of the drops is spatially inhomogeneous.
  • the liquid is dispensed by means of the nozzle element 14 as spray 42.
  • the characteristic variable of the spray 42 represents a spatial distribution of the drops 50 relative to a position of the nozzle element 14.
  • Nozzle elements 14, 14 ' are delivered as spray 42.
  • the nozzle element 14 "is in a deactivated operating state and does not emit any liquid
  • Deactivation of the nozzle member 14 advantageous to prevent unwanted spatial distribution of the discharged liquid. It is conceivable that the liquid discharged by the nozzle elements 14, 14 ', 14 "is detected by means of a single camera 24. Alternatively, a separate camera 24 can be assigned to each nozzle element 14, 14', 14".
  • Figure 4 shows a schematic representation of an agricultural
  • the agricultural machine 80 is a field sprayer 80.
  • the field sprayer 80 is designed as a trailer, which can be attached to a tractor, for example.
  • the Field sprayer 80 has a tank 82 with a liquid which is to be distributed by means of the delivery system 11 on a floor 84 with plants 30.
  • the dispensing system has a dispensing unit 12 with four nozzle elements 14, a detection unit 16 and an unillustrated control unit.
  • Detecting unit 16 has four cameras 24.
  • the four nozzle elements 14 and the four cameras 24 are arranged on a support structure 28 of the dispensing unit 12.
  • the support structure 28 is a
  • the jib device 28 has two arms 29 that extend transversely to a direction of travel of the field sprayer 80.
  • the cameras 24 are arranged on the jib device 28 such that by means of the cameras 26, a parameter of the liquid 30 dispensed by means of the nozzle elements 14 is detected.
  • the dispensing unit 12 and / or the field sprayer 80 can be controlled such that a defined
  • Liquid characteristic of the discharged liquid 30 is adjusted.
  • FIG. 5 shows a flowchart of a method for controlling a
  • Dispensing unit 12 by means of the controller 10.
  • the method is provided in its entirety by the reference numeral 100.
  • step 110 the method begins.
  • step 120 the agricultural utility vehicle 80 is driven by the dispensing unit 12.
  • step 130 the characteristic of the dispensed liquid 30 after discharge of the liquid 30 is detected to the liquid characteristic of the dispensed
  • Step 130 includes steps 132, 134, and 136.
  • step 132 the discharged liquid 30 is detected.
  • step 134 image information about the discharged liquid 30 is detected.
  • step 136 by means of the Image information about the discharged liquid 30, a value of a characteristic of the discharged liquid 30 is determined.
  • step 140 the determined value of the characteristic of the dispensed liquid 30 is compared with a predetermined value in order to determine a deviation of the liquid characteristic of the dispensed liquid 30 from a defined liquid characteristic.
  • step 150 If the determined value of the parameter agrees with the predetermined value except for a defined deviation, the method ends in step 150. If the determined value of the parameter deviates more strongly from the predefined value than the defined deviation, the method is continued in step 120. In this case, the agricultural utility vehicle 80 is actuated with the delivery unit 12 as a function of the detected characteristic of the dispensed liquid 30 in order to set the defined liquid characteristic of the dispensed liquid 30.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Soil Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Fertilizing (AREA)
  • Catching Or Destruction (AREA)
  • Special Spraying Apparatus (AREA)

Abstract

La présente invention concerne un procédé (100) pour commander une unité de distribution et/ou une machine de travail agricole dotée de l'unité de distribution, l'unité de distribution présentant au moins un élément buse, l'élément buse étant conçu pour distribuer un liquide contenant en particulier un produit phytosanitaire ou un engrais. Le procédé comprend les étapes suivantes : détection (130) d'une grandeur caractéristique du liquide distribué ; et commande (120) de l'unité de distribution et/ou de la machine de travail agricole en fonction de la grandeur caractéristique détectée du liquide distribué afin d'obtenir une caractéristique de liquide définie du liquide distribué.
EP18723525.4A 2017-05-19 2018-05-09 Procédé de commande d'une unité de distribution et/ou d'une machine de travail agricole dotée de l'unité de distribution Withdrawn EP3624579A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017208577.0A DE102017208577A1 (de) 2017-05-19 2017-05-19 Verfahren zur Ansteuerung einer Abgabeeinheit und/oder einer landwirtschaftlichen Arbeitsmaschine mit der Abgabeeinheit
PCT/EP2018/062073 WO2018210669A1 (fr) 2017-05-19 2018-05-09 Procédé de commande d'une unité de distribution et/ou d'une machine de travail agricole dotée de l'unité de distribution

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DE102018125205B4 (de) * 2018-10-11 2021-09-23 Aom Systems Gmbh Verfahren und Vorrichtung zur Ermittlung des Verschleißgrades einer Spritzdüse
US20210244010A1 (en) * 2020-02-12 2021-08-12 Martin Perry Heard Ultrasound controlled spot sprayer for row crops
US20230356249A1 (en) * 2020-07-10 2023-11-09 Precision Planting Llc Sprayer system
DE102020215875A1 (de) 2020-12-15 2022-06-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausgeben eines Steuersignals und/oder Informationssignals in/von einer landwirtschaftlichen Spritzvorrichtung
US11793187B2 (en) 2021-01-15 2023-10-24 Cnh Industrial America Llc System and method for monitoring agricultural fluid deposition rate during a spraying operation

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US6669105B2 (en) * 2000-09-13 2003-12-30 Adapco, Inc. Closed-loop mosquito insecticide delivery system and method
DK2658370T3 (en) * 2010-12-29 2017-06-19 Dow Agrosciences Llc SPRAY SYSTEMS AND PROCEDURES
US10827739B2 (en) * 2014-03-20 2020-11-10 Mackenzie Research Group Limited Calibration device, a spraying system and a method of calibration
DE102014112441B4 (de) 2014-08-29 2023-12-28 Horsch Leeb Application Systems Gmbh Landwirtschaftliche Verteilmaschine mit einem System zur automatisierten Ansteuerung von Spritzprofilen
DE102015111889B4 (de) * 2015-07-22 2020-02-27 Andreas Reichhardt Verfahren zur Prüfung einer landwirtschaftlichen Sprüheinrichtung
WO2017079366A1 (fr) * 2015-11-04 2017-05-11 Nordson Corporation Procédé et système permettant de commander un motif de fluide d'un fluide distribué

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WO2018210669A1 (fr) 2018-11-22
RU2019141225A3 (fr) 2021-06-22
RU2019141225A (ru) 2021-06-21
BR112019024247A2 (pt) 2020-06-02

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