PROCESS FOR TREATING AN AGRICULTURAL USE AREA, DETECTION AND SPRAYING DEVICE FOR AN AGRICULTURAL VEHICLE, AND COMPUTER-READABLE NON-TRANSITORY STORAGE MEDIUM
Patent Information
- Application Number
- BR112023023952
- Authority / Receiving Office
- BR · BR
- Patent Type
- Patents
- Current Assignee / Owner
- Publication Date
- 2026-09-08
Smart Images
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Abstract
Description
1 / 11 PROCESS FOR TREATING AN AGRICULTURAL USE AREA, DETECTION AND SPRAYING DEVICE FOR AN AGRICULTURAL VEHICLE, AND COMPUTER-READABLE NON-TRANSITORY STORAGE MEDIUM Technical field
[001] The invention relates to a process for treating a usable agricultural area, preferably by a liquid means, for fertilization purposes, for weed and fungal control, or for other similar applications. The invention also relates to a detection and spraying device for an agricultural vehicle with control devices, which, according to a process according to the invention, communicate with each other in a CAN bus system, as well as a computer program product for carrying out the process or as a component of the detection and spraying device. State of the art
[002] Document DE 102016123539 A1 reveals, in connection with an agricultural spreading machine for treating a useful agricultural area with a preferably liquid medium, the use of a main control device which communicates, via a CAN bus system, to control local control devices associated with metering valves. Details regarding the synchronization of individual control devices for metering valves cannot be derived from the aforementioned step. Furthermore, in connection with automotive applications, document DE 102013020802 A1 reveals the use of temporal synchronization through reference information stored in the CAN bus system and detected by servo control devices on a vehicle's CAN network. Dissemination of the invention
[003] The process according to the invention for treating a useful agricultural area by a preferably liquid medium with the characteristics of claim 1 has the advantage that, in conjunction with image-capturing sensor units for detecting vegetation located in the useful area and dosing valves associated with the image-capturing sensor units Petition 870260074852, dated 07 / 28 / 2026, page 7 / 36 2 / 11 for dispensing the preferably liquid medium, it enables highly precise control of the dosing valves when using a CAN-Bus system. This allows for minimization of medium consumption in the precise local distribution of the medium over the usable area or vegetation.
[004] The invention aims to address the variable delays or running times that arise when providing information or data in said at least one CAN-Bus system, through synchronization between a main control device, local control devices (which are associated with the image-capturing sensor units), and dosing control devices. This occurs because, by initiating a first contactor in the main control device, a second counter in the respective local control device, and a third counter in the respective dosing control device, and detecting the counter state of the first counter through the local control devices and the dosing control devices, taking into account the difference in the counter states of the individual control devices, highly precise control of the dosing valve is made possible through the dosing control device.
[005] Advantageous developments of the process according to the invention for treating a useful agricultural area by a preferably liquid means are cited in the dependent claims.
[006] In a preferred first configuration of the process, it is foreseen that the counter state of the first counter is sent at regular intervals via said CAN-Bus system, and that immediately before sending the counter state of the first counter, a “Callback” is performed to update the first counter state, and that the difference between the counter state of the first counter and the second counter, as well as the difference between the counter state of the first counter and the third counter, is calculated and stored at each reception by the local control device and the dosing control device. In this case, the regular interval between sending current counter states from the main control device is, for example, 100 ms. A regular repetition described so far of current counter states from the device of Petition 870260074852, dated 07 / 28 / 2026, page 8 / 36 3 / 11 The main control minimizes tolerances in transmission duration, thus achieving highly precise synchronization of the individual control devices, which improves dosing accuracy during medium distribution. Furthermore, it compensates for temperature tolerances and dependencies of the individual counters, which run (in reality) at the same speed across the individual control devices.
[007] In a preferred variant of this process, it is foreseen that, upon receiving the counter state of the first counter in the second counter and in the third counter, a Callback is immediately performed to detect the counter state of the second counter and the third counter. This minimizes calculation errors when calculating the difference between counter states, caused by variable internal delays in local control devices as well as in dosing control devices.
[008] To enable a highly accurate calculation of the counter state differences, it is preferably provided that the counter state steps are incremented in a time interval of 1 μs. Specifically, it is provided that the counter is incremented in steps from 0 to 232-1 steps, after which the counter overflows and starts again from zero. For this purpose, the processors of the individual devices have corresponding quartz crystals, which, at the number of steps considered, leads to a time duration of more than 70 minutes, sufficient for usual applications, before the counter overflows or starts again from zero.
[009] It is also provided, in a particularly preferred manner, that the information from the local control devices be stored individually in a fixed sequence and at fixed intervals in said at least one CAN-Bus system. This reduces the bus load required or the system expense. Typical repetition rates when taking images through the sensor units are 15 Hz.
[010] Because synchronization occurs between the counter states of the control devices, it is not necessary to start the counter of the control devices connected to a network at the same time, thus saving time. Petition 870260074852, dated 07 / 28 / 2026, page 9 / 36 4 / 11 system and software requirements are further reduced. Thus, a control device that supports and "boots up" without additional cost can participate in precise synchronization within a much shorter time.
[011] It may also be foreseen that the duration of a notification sent by the main control device in relation to the first counter state between the sending of the notification and the reception is detected by the local control device and / or the dosing control device and, when calculating the difference between the first counter state and the second counter state as well as between the first counter state and the third counter state, is taken into consideration. Therefore, running times of a temporal notification from the main control device may be considered in the consideration of the local “offset”.
[012] For time control of individual dosing valves, it is also advantageous that the calculation of the dosing valve activation time occurs through the dosing control device with the aid of the geometry and / or arrangement of the detection region of the sensor unit and the dosing valve in relation to the agricultural working area, the travel speed of an agricultural vehicle carrying the detection and spraying device in the direction of travel, as well as the parameters of the dosing valve.
[013] In addition, the invention comprises a detection and spraying device for an agricultural vehicle, wherein the detection and spraying device has several sensor units, preferably image-capturing units, several valves associated with the image-capturing sensor units, and several dosage control devices associated with the dosage valves. Furthermore, the detection and spraying device comprises a main control device, wherein the main control device, the local control devices, and the dosage control devices for data transmission via at least one CAN-Bus system are linked together by data technology, and wherein the main control device, the local control devices, and the dosage control devices are configured to perform a process according to the invention described above. Petition 870260074852, dated 07 / 28 / 2026, page 10 / 36 5 / 11
[014] Finally, the invention also comprises a computer program product, especially a data carrier or a data program, which has an algorithm for carrying out at least one procedural step of a process according to the invention, or which serves as a component of a detection and spraying device.
[015] Other advantages, features and details of the invention result from the description below of preferred embodiments of the invention as well as with the aid of the drawings. Brief description of the drawings
[016] Figure 1 - shows, in a simplified top view, an agricultural vehicle for treating a useful area using a spraying agent, preferably liquid, Figure 2 - a representation of the arrangement of an image receiving sensor unit and a dosing valve and Figure 3 - a flowchart to clarify a time synchronization in a detection and spraying device. Ways of carrying out the invention
[017] Identical elements or elements with the same function are provided with identical reference numbers in the figures.
[018] Figure 1 shows, in a simplified way, an agricultural vehicle 1, which moves in a direction of travel FR to treat a useful agricultural area NF. In the case of treating the useful agricultural area NF, it is preferably a treatment of plants or weeds found in the useful area NF with a special liquid spraying agent S. Depending on the type of treatment, it may be a fertilizer, a pesticide, a fungicide or another spraying agent or medium S.
[019] Furthermore, the spraying agent S or liquid medium is stored, as is known and therefore not shown, in the agricultural vehicle 1 in the region of a reservoir.
[020] The agricultural vehicle 1 has, for example, in a rear region, a detection and spraying device 10, which has a support element. Petition 870260074852, dated 07 / 28 / 2026, page 11 / 36 6 / 11 in the form of a frame 121 that extends transversely to the direction of travel FR of the agricultural vehicle 1. In the region of the frame 12, a plurality of image-capturing sensor units 14 in the form of cameras 15 are arranged in the longitudinal direction of the frame 12, preferably at regular intervals from each other. Usually, between 24 and 36 of these sensor units 14 or cameras 15 are provided across the entire width or length of the frame 12, all of which are specially configured identically. In this case, a sensor unit 14 or camera 15 typically has a working width, observed in the longitudinal direction of the frame 12, of 1.0 m or 1.5 m. This results, in the case of the indicated plurality of sensor units 14 or cameras 15, in a frame length 12 in the longitudinal direction of typically 36 m, with the frame length 12 being between approximately 15 m and 50 m.
[021] According to the representation in Figure 2, a sensor unit 14 has a detection region 16 in the direction of travel FR where vegetation of plants or weeds can be detected by means of cameras 15 or the sensor unit 14 in the useful area NF. Each sensor unit 14 is also associated with a local control device 18, which serves especially for evaluating camera images by means of a corresponding algorithm 19. A sensor unit 14 or camera 15 is arranged, together with the local control device 18, preferably in a common housing (not shown).
[022] Furthermore, each sensor unit 14 is associated with a dosing valve 20, typically several dosing valves 20 spaced approximately 25 cm or 50 cm apart in the longitudinal direction of the frame 12 for distribution or spraying of the liquid medium mentioned S. within a working width of a sensor unit 14 or a camera 15 are associated with it, therefore between 4 and 6 dosing valves 20.
[023] According to the representation in Figure 2, the dosing valve 20 has, for example, a spray cone 22, which connects, at an initial distance a, at the height of the useful area, to the detection region 16. Furthermore, the arrangement of the dosing valve 20 in relation to the sensor unit 14 is such that, between the sensor unit 14 and the dosing valve 20, observing in the direction of Petition 870260074852, dated 07 / 28 / 2026, page 12 / 36 7 / 11 displacement FR, a second distance b is present, such that the arrangement of the dosing valve 20, observed in the direction of displacement FR, is behind the sensor unit 14.
[024] The control of the dosing valves 20 associated with a sensor unit 14, which are connected to the aforementioned storage container for spraying medium or agent S, via a respective pressurized liquid line 23, occurs especially via a respective magnetic actuator of the dosing valve 20, which are controllable, for example, by a dosing control device 25 with corresponding terminal steps (alternatively the terminal steps may also be arranged directly on the dosing valves 20, in which case changes to the construction described below may be necessary).
[025] Both the individual local control devices 18 and the (local) dosing control devices 25 are coupled to a CANBus system 26 via data lines. Alternatively, it is also possible that the sensor units or cameras 15 and the dosing control devices 25 communicate with each other in separate CAN-Bus systems (not shown). Through the CAN-Bus system 26, communication occurs with a main control device 30. In the embodiment, the main control device 30 is represented as a control device separate from the (local) dosing control devices 25. However, it may also be foreseen that one of the (local) dosing control devices 25 additionally exhibits the functionality of the main control device 30.
[026] Specifically, after receiving data or information from the local control devices 18 via a necessary control of corresponding dosing valves 20, for distribution of the spraying agent S or medium, the starting times and control times of the dosing valves 20 are calculated by the main control device 30. This serves to ensure that a dosing valve 20 is controlled by its dosing control device 25, as needed, in such a way as to enable the desired treatment of the corresponding plant and weed vegetation in the useful area NF. Petition 870260074852, dated 07 / 28 / 2026, page 13 / 36 8 / 11
[027] The data exchange between the local control devices 18, the dosing control devices 25 and the main control device 30 in the CAN-Bus system 26 occurs in a fixed sequence, with the data exchange having a variable delay between the reception or transmission of corresponding data in the CAN-Bus system 26.
[028] For time synchronization of the main control device 30, the local control devices 18 and the dosing control devices 25, these are further configured in a special manner. Thus the main control device 30 has a first counter 32, which counts in increments of 1 μs from 0 to 232-1 and then starts again from zero. The current counter state of the first counter 32 is transmitted, for example, every 100 ms by the main control device 30 via the CAN-Bus system 26. In this case, special attention is paid to the fact that the notification of the current counter state of the first counter 32 has the highest priority in the CAN-Bus system 26, and on the other hand, the counter state is updated immediately before being sent again via a so-called Callback. This ensures that the transmission duration tolerances in the CAN-Bus system 26 are minimized.Furthermore, each local control device 18 has a second counter 34, and each dosing control device 25 has a third counter 36. These counters 34 and 36 also count equally in increments of 1 μs from 0 to 232-1, then their counters 34 and 36 also run and restart at zero. It is also essential in this case that counters 32, 34, and 36 do not have to be switched on or start at the same time.
[029] As soon as the local control devices 18 and the dosing control devices 25 receive the counter state of the first counter 32 via the CAN-Bus system 26, a Callback is triggered that detects the counter itself 34, 36 immediately upon receiving the time notification from the main control device 30 or the counter state of the first device 32. Then, the difference between the counter state of the first counter 32 (i.e., the main control device 30) and the counter state of the second counter 34 and between the first counter 32 and the third counter 36 is detected. The corresponding differences Petition 870260074852, dated 07 / 28 / 2026, page 14 / 36 9 / 11 (Offsets) are stored. It is especially advantageous to adjust these differences through appropriate filtering algorithms (Median, PT1, moving average value or similar).
[030] Counters 32, 34 and 36 of the main control device 30, of the local control devices 18 and of the dosing control devices 25 all run on the basis of a processor compass quartz and are very stable. Therefore, within a time frame of a few minutes, it is assumed that the values of the individual “offsets” are quite stable.
[031] As soon as a sensor unit 14 takes an image of the useful area NF, it detects its local timestamp (counter state) based on the counter 34 itself. This it converts by adding the offset into a corresponding count state of the first counter 32. The image detected by the sensor unit 14 is processed in the local control device 18 with variable computer run time, after which, when a spraying agent S or medium distribution is required, this information is sent to the main control device 30 via the CAN-Bus system 26. In this case, the moment of image detection by the sensor unit 14 is recorded in the CAN-Bus system 26 according to the counter state of the first counter 32. The news is sent with normal CAN transmission via the CAN-Bus system 26, i.e., with variable run time.The main control device 30 receives the notification and calculates, for said at least one dosing valve 20 associated with the sensor unit 14 in the image (excerpt), the moment in the future (relative to the counter state of the first counter 32) when the corresponding dosing valve 20 has to be switched on, as well as its switch-on duration. From this, a requirement notification is calculated for the respective local dosing control device 25, which includes the start time and the spray duration. The corresponding dosing control device 25 receives the notification and converts the moment into its own local time according to the counter state of the third counter 36 by subtracting its own local offset from the start time received by the main control device 30. After that, the dosing control device 25 waits until this moment and then triggers, exactly at the desired moment, the control of said valve. Petition 870260074852, dated 07 / 28 / 2026, page 15 / 36 10 / 11 at least one dosing valve 20.
[032] With a view to the time course described so far, reference is made next to the flowchart in figure 3. In it, the exchange of information between a local control device 18, the main control device 30 and the dosing control device 25 associated with the local control device 18 is explained as follows.
[033] In a first step 102, an image of the useful NF area is detected by a sensor unit 14. Then, in a second step 104, the image information is loaded into the memory of the local control device 18. Then, in a third step 106, the image data is evaluated by algorithm 19 in the local control device 18, deciding whether processing is necessary within a local field of the useful NF area. If so, in a fourth step 108, a corresponding notification is sent from the local control device 18, via the CAN-Bus system 26, to the main control device 30. The notification also includes the counter state of the second counter 34 at the time the image was received by the sensor unit 14. Then, in a fifth step 110, the corresponding notification is received by the main control device 30.In a sixth step 112, a moment (in the near future) is then calculated by the main control device 30, at which a dosing valve 20 required for the treatment of the useful area NF has to be controlled. This is based on the geometry of the sensor unit 14 arrangement, the speed of the dosing valve 20 or the vehicle 1 through the useful area NF, the valve opening time, the spray flight time from the dosing valve 20 to the ground of the useful area NF, and other parameters. Then, in a seventh step 114, a spray application is sent by the main control device 30 to the corresponding dosing valve 20 in the CAN-Bus system 26. In an eighth step 116, the corresponding notification is received by the dosing control device 25. This evaluates the moment at which the corresponding dosing valve 20 should be controlled and waits for that moment until it is reached.Finally, according to a ninth step 118, a control of the valve occurs. Petition 870260074852, dated 07 / 28 / 2026, page 16 / 36 11 / 11 dosage 20, so that the spraying medium or agent begins exactly in the region of a lower edge of image 38 (figure 2) of the image taken at the time of reception. Dosing occurs until the spraying agent S or medium has passed exactly through the height of the image in the direction of displacement FR.
[034] The process described so far can be altered or modified without departing from the inventive idea. Thus, it may be foreseen, for example, to measure an average running time of a time report from the main control device 30 in the CAN-Bus system 26 and take into account, when calculating the offset of the counter states 34 and 36 of the local control devices 18 and the dosing control devices 25. In addition, each participant in the synchronization can also distribute its own adapted difference (offset), via the CAN-Bus system 26, to all other participants. When sending a time-related report, the local time of the transmission and a sender ID are recorded. The receiver, based on the already known offset of the sender and its own adapted offset, performs the transformation to its own time or counter state.Optionally, the sender ID does not need to be sent when the sender is clearly identified via the CAN news ID message.
[035] Agricultural vehicle 1 was also described and represented with a detection and spraying device 10 arranged in its rear region. However, agricultural vehicles 1 in which the detection and spraying device 10 is configured or arranged, for example, in the form of a towed trailer or similar, should also fall within the scope of the invention. Independent vehicles 1 should also be understood by the disclosure of the patent application. Petition 870260074852, dated 07 / 28 / 2026, p. 17 / 36
Claims
1 / 3 CLAIMS 1. Process for treating a useful agricultural area (NF) by means of a spraying medium or agent (S), preferably liquid, CHARACTERIZED in that the useful area (NF) to be treated is detected when passing through the useful area (NF) transversely to a direction of travel (FR) of a detection and spraying device (10), by means of several image-capturing sensor units (14) that have a respective detection region (16), wherein image information from a sensor unit (14) is processed by means of a local control device (18) associated with the sensor unit (14), wherein the information, when it is necessary to control at least one dosing valve (20) associated with the respective detection region (16) for the spraying medium or agent (S) between the local control device (18) and a main control device (30), is transmitted in at least one CAN-Bus system 26,The main control device (30) calculates a moment for controlling the dosing valve (20) and transmits the moment to a local dosing control device (25) associated with the dosing valve (20) through said at least one CAN-Bus system 26, and synchronization between the main control device (30), the local control device (18) and the dosing control device (25) occurs for precise time activation of the dosing valve (20) by starting a first counter (32) in the main control device (30), a second counter (34) in the local control device (18) and a third counter (36) in the dosing control device (25), the counter state of the first counter (32) being detected by the other two counters (34, 36) and the difference between the counter states, when controlling the dosing valve (20), being taken into account by the dosing control device (25).
2. Process, according to claim 1, CHARACTERIZED in that the counter state of the first counter (32) is sent at regular intervals through said at least one CAN-Bus system 26, and that, immediately before sending the counter state of the first counter (32), a callback is made to update the first counter state, and that the difference between the counter state of the first counter (32) and the second counter Petition 870260074852, dated 07 / 28 / 2026, page 18 / 36 2 / 3 (34) as well as the difference between the counter state of the first counter (32) and the third counter (36), when received through the local control device (18) and the dosing control device (25), are calculated and stored.
3. Process, according to claim 2, CHARACTERIZED in that, when the counter state of the first counter (32) is received in the second counter (34) and in the third counter (36), a callback is immediately made to detect the counter state of the second counter (34) and the third counter (36).
4. Process, according to any one of claims 1 to 3, CHARACTERIZED in that the counters (32, 34, 36) have a dimension of 232-1 steps before they overflow and start again from 0, wherein, when the counters (32, 34, 36) are incremented, a time interval of preferably 1 μs is provided between two steps.
5. Process, according to any one of claims 1 to 4, CHARACTERIZED in that the information from the local control devices (18) is stored individually in a fixed sequence and at fixed intervals in said at least one CAN-Bus system (26).
6. Process, according to any one of claims 1 to 5, CHARACTERIZED in that the starting of the three counters (32, 34, 36) occurs at different times.
7. Process, according to any one of claims 1 to 6, CHARACTERIZED in that the duration of a message sent by the main control device (30) relating to the counter state of the first counter (32) is detected between the sending of the message and its reception by the local control device (18) and / or by the dosing control device (25) and is taken into account when calculating the difference between the counter state of the first counter (32) and the counter state of the second counter (34) as well as between the counter state of the first counter (32) and the counter state of the third counter (36).
8. Process, according to any of claims 1 to 7, CHARACTERIZED in that the calculation of the activation point of the dosing valve (20) occurs through the dosing control device (25) with the aid of the geometry and / or arrangement of the detection region (16) of the sensor unit (14) and the dosing valve (20) in relation to the agricultural use area (NF), of a travel speed of an agricultural vehicle (1) carrying the detection and spraying device (10) in the direction of travel (FR) as well as of parameters of the dosing valve (20).
9. Detection and spraying device (10) for an agricultural vehicle (1), CHARACTERIZED in that it has several image-capturing sensor units (14), several metering valves (20) associated with the sensor units (14), several local control devices (18) associated with the image-capturing sensor units (14) and several metering control devices (25) associated with the metering valves (20), as well as a main control device (30), wherein the main control device (30), the local control devices (18) and the metering control devices (25) are connected to each other for data transmission by means of at least one CAN-Bus system (26), and wherein the main control device (30), the local control devices (18) and the metering control devices (25) are configured to perform a process as defined in any one of claims 1 to 8.
10. Computer-readable non-transient storage medium CHARACTERIZED in that it comprises a set of instructions which, when executed by a computer, performs the method defined in any of claims 1 to 8, or in that it is a component of a detection and spraying device (10) as defined in claim 9. Petition 870260074852, dated 07 / 28 / 2026, p. 20 / 36