Precise application of liquids to cultivated plants in field

Abstract

The invention relates to the technical field of precision agriculture. The subject matter of the present invention is a system and method for precisely applying liquid for cultivated plants in a field.

Description

Technical Field

[0001] The present disclosure relates to the field of precision agriculture technology. The subject of the present invention is a system and method for accurately applying liquids to growing plants in a field. Background Art

[0002] The term "precision farming" refers to the on-site differentiated and targeted management of agricultural land.

[0003] Using remote sensing data and / or sensors within the field and / or sensors on processing machines moving through the field, it is possible to detect a variety of characteristics such as crop yield, terrain features / topography, organic matter content, moisture, nitrogen content, pH, soil conditions, weed distribution, etc. for different sub-areas in an agricultural area with high spatial resolution.

[0004] Furthermore, targeted measures can be taken in sub-areas or even for individual plants in a field.

[0005] For example, US20210299692A1 discloses an agricultural spraying facility including a plant feature sensor. The spraying facility is configured to apply a plant protection agent specifically to plant parts identified by the plant feature sensor.

[0006] US20220117151A1 discloses a method for applying a liquid on a field, wherein the position of each individual nozzle of an agricultural spraying installation is determined. A prescribed flow rate is set for each of the nozzles according to the position of the corresponding nozzle on the field. A field map containing information about plant requirements and application restrictions is used. The flow rate of each nozzle is set according to a comparison of the nozzle position with the field map.

[0007] When applying liquids to cultivated plants in the field, pulse width modulation (PWM) controlled valves are usually used. These valves are usually installed upstream of each nozzle. During pulse width modulation, a square wave voltage signal with a specified period is generated. As a result, the valves are opened and closed in rapid succession. The ratio of the opening time to the closing time is variable and determines the average valve flow. The flow can therefore be controlled independently of the pressure. The amount of each nozzle can be adjusted individually. The use of pulse width modulation controlled valves in the agricultural sector is described, for example, in WO2020 / 245025A1, WO2008 / 112930A1, US9635848 and DE102018208156A.

[0008] In order to save resources, increase the efficiency of the application agent and prevent application to undesired areas, the application of liquids to cultivated plants in the field needs to be increasingly precise. When eliminating companion plants growing next to cultivated plants in the field, for example, only the companion plants need to be treated with herbicides, without applying any herbicides to the cultivated plants or the cultivated land between the plants.

[0009] By means of a large number of nozzles mounted close to one another, it is possible to achieve an increased positional accuracy during application. However, in the case of a large number of nozzles, equipping each individual nozzle with a pulse width modulation-controlled valve would require considerable investment.

[0010] It is proposed in DE102018221442A1 and US2019232304A1 to install a three-way valve upstream of the nozzle outlet. Depending on the position of the three-way valve, the liquid is transported toward the target object through the nozzle outlet, or the liquid returns to the storage container through the reflux pipe. Pressure is generated upstream of each nozzle outlet to transport the liquid through the nozzle outlet. Switching the three-way valve back and forth on a pipeline under pressure will cause pressure fluctuations in the connected pipeline. If the three-way valve is switched upstream of the nozzle outlet, this will cause pressure fluctuations at adjacent nozzle outlets. Pressure fluctuations may cause liquid to be discharged unevenly from adjacent open nozzle outlets. Summary of the invention

[0011] These and other problems are solved by the subject matter of the independent claims. Preferred embodiments can be found in the dependent claims, the description and the drawings.

[0012] A first subject of the invention is a system for applying liquids to cultivated plants in a field, comprising:

[0013] - control unit;

[0014] - at least one storage container for containing a liquid;

[0015] - at least one nozzle;

[0016] - at least one collecting container;

[0017] - means for conveying liquid from at least one storage container towards at least one nozzle;

[0018] - means for conveying liquid from at least one collecting container towards at least one storage container;

[0019] - at least one deflection device;

[0020] It is characterized in that the control unit is configured to switch at least one deflection device between a first state of at least two states and a second state of at least two states, wherein in one of the at least two states, the liquid discharged from the at least one nozzle is applied toward the target object, and in the other of the at least two states, the liquid discharged from the at least one nozzle is applied to at least one collection container.

[0021] Another subject of the present disclosure is a method for applying a liquid to cultivated plants in a field, comprising the following steps:

[0022] - mobile spraying equipment in or over fields with cultivated plants;

[0023] - conveying liquid from at least one storage container towards at least one nozzle during the movement;

[0024] -Switching the deflection device from a first state of at least two states to a second state of at least two states, wherein in one of the at least two states, the liquid discharged from the at least one nozzle is applied toward a target object, and in another of the at least two states, the liquid discharged from the at least one nozzle is applied to at least one collecting container, wherein the conveying mechanism conveys the liquid from the at least one collecting container to the at least one storage container.

[0025] The present invention is described in more detail below without distinguishing the subject matter (system, method) of the present invention. Specifically, the following description is intended to be applicable to all subjects of the present invention in a similar manner, regardless of the context (system, method) in which it is described.

[0026] A mechanism for applying liquid to growing plants in a field is disclosed.

[0027] The liquid may be water or an aqueous solution or suspension. The aqueous solution or suspension may contain one or more nutrients and / or one or more plant protection agents and / or one or more seed treatment agents.

[0028] The term "nutrients" refers to inorganic and organic compounds from which plants can obtain the elements that make up their "bodies". These elements themselves are often also called nutrients. In this case, they are mostly simple inorganic compounds such as nitrates (NO 3- ), phosphate (PO4 3- ) and potassium (K +). In addition to the core elements of organic matter (C, O, H, N and P), K, S, Ca, Mg, Mo, Cu, Zn, Fe, B, Mn, Cl, Co, Ni, etc. in higher plants are also essential elements for life. Different compounds can exist for various nutrients, for example nitrogen can be provided as nitrate, ammonium or amino acids.

[0029] The term "plant protection agent" refers to an agent (e.g., growth regulator) used to protect plants or plant products from or prevent the effects of harmful organisms, to destroy unwanted plants or plant parts, to inhibit undesirable plant growth or prevent such growth, and / or to affect plant life processes in a manner other than nutritional substances. Examples of plant protection agents include herbicides, fungicides, and other pesticides (e.g., insecticides).

[0030] Growth regulators are used, for example, to increase the firmness of cereals by shortening the stem length (internode shorteners), to improve the rooting of cuttings, to reduce plant height by dwarfing in horticulture or to prevent sprouting in potatoes. Growth regulators may be, for example, plant hormones or synthetic analogs thereof.

[0031] The term "field" means a spatially definable area of ​​the Earth's surface used for agricultural purposes, where cultivated plants are grown, supplied with nutrients when necessary and harvested.

[0032] "Cultivated plants" refers to plants that are purposefully cultivated through human intervention to become useful plants or ornamental plants.

[0033] The liquid is applied to one or more target objects in a field where plants are grown. In this specification, a field or a part of it is also referred to as a target area.

[0034] The target object(s) may be one or more plants or plant parts, one or more areas of a field, pests, or other objects.

[0035] In a preferred embodiment, the target objects are individual cultivated plants or (parts of) individual cultivated plants, or populations of individual cultivated plants.

[0036] In another preferred embodiment, the target objects are various seeds or seed groups to be or have been sown in a field of cultivated plants.

[0037] In another preferred embodiment, the target objects are individual companion plants, or parts of individual companion plants, or groups of individual companion plants.

[0038] The term "companion plants" (often also called weeds) refers to plants that are spontaneous companion vegetation in cultivated plant stands, meadows or gardens and which are not intentionally cultivated there but grow up, for example due to the seed potential of the soil or by air transport.

[0039] In another preferred embodiment, the target objects are plant parts infested by pests. These pests may be animal pests, fungi, viruses or bacteria.

[0040] The liquid is present in a storage container before application. There may be multiple storage containers. Multiple (different) liquids may be applied.

[0041] The liquid is applied to the target object through one or more nozzles. In one embodiment, at least one nozzle is a component of an inkjet printhead. In this embodiment, the liquid is applied to the target object using the technology used by inkjet printers. For example, the document "Structure, Functionality, Compatibility with Pesticides and Beneficial Microbes, and Potential Applications of a New Delivery System Based on Ink-Jet Technology, Sensors 2023, 23 (6), 3053" by M.-Idbella et al. describes the application of inkjet printer technology in agriculture.

[0042] For application, the liquid is conveyed from at least one storage container toward at least one nozzle by a conveying mechanism. For conveying the liquid, a pump can be used, for example.

[0043] The deflection device ensures that the liquid emerging from the at least one nozzle is applied towards a target object or towards a collecting container.

[0044] There can be a deflection device for each nozzle.

[0045] There can be a collecting container for each nozzle. There can be a collecting container for each group of two or more nozzles.

[0046] The deflection device can assume at least two states. In one of the at least two states, the deflection device ensures that the liquid discharged from the at least one nozzle is applied in the direction of the target object. In another state, the deflection device ensures that the liquid discharged from the at least one nozzle is applied into the at least one collecting container. The deflection device can be switched between states. Other states may exist.

[0047] In a preferred embodiment, there are exactly two states and the deflection device ensures that the liquid discharged from the at least one nozzle is applied either towards (preferably onto) the target object or towards (preferably into) the collecting container.

[0048] The deflection device can be a device for moving at least one nozzle. The deflection device can be, for example, a combination of a movably designed nozzle and an actuator, which moves the nozzle from a first position, in which the nozzle points toward the target object, to a second position, and / or vice versa, from the second position to the first position.

[0049] The deflection device can, for example, comprise a hydraulically movable piston connected to a nozzle. A hydraulic system ensures that the piston moves in a piston guide mechanism. Two positions of the piston can be provided in the piston guide mechanism, between which the two positions can be switched by applying pressure from different sides of the piston guide mechanism. The piston connected to the nozzle can transmit its movement in the piston guide mechanism to the nozzle, which can also be switched between two positions. Here, the nozzle can perform a translational movement and / or a rotational movement (e.g. a tilting movement). The nozzle can, for example, switch from a position in which the nozzle is directed toward the collection container with the nozzle outlet to a second position in which the nozzle is directed toward the target object with the nozzle outlet. Instead of a hydraulic system, the piston can also be moved by a motor (e.g. a stepper motor).

[0050] The deflection device can, for example, comprise an electromagnet which, in the energized state, holds the at least one nozzle in a first of two positions, while in the deenergized state of the electromagnet, a loaded spring moves the at least one nozzle into the second of the two positions and holds it there. If the electromagnet is energized again, it moves the at least one nozzle into the first position and holds it there. Instead of a combination of electromagnet and spring, two electromagnets can also be used, one of which is always energized and the other deenergized, wherein the correspondingly energized electromagnet pulls the nozzle toward itself and holds it there. In such an embodiment with one or two electromagnets, the nozzle can also perform a translational and / or rotational movement.

[0051] The deflection device may include, for example, an air nozzle, through which an air flow may be directed toward at least one nozzle. For example, compressed air generated by a compressor may be directed from the air nozzle to at least one nozzle. The air flow may impact at least one nozzle, which impacts the nozzle relative to a target object or at least one collecting container in a specified position. After the air flow is cut off, a spring may move at least one nozzle to its starting position again. There may also be two air nozzles, which respectively direct the air flow to at least one nozzle, wherein the air nozzle impacts at least one nozzle from different sides by the air flow, so that the air flow from one air nozzle positions at least one nozzle relative to at least one collecting container, so that the liquid discharged from at least one nozzle is applied to the collecting container, and the air flow from another air nozzle positions at least one nozzle relative to the target object, so that the liquid discharged from at least one nozzle is applied toward and / or applied to the target object. The two air nozzles may be connected, for example, to a three-way valve, which ensures that the air flow is discharged only from one of the two air nozzles. By switching the three-way valve, at least one nozzle may be moved from one position to another position accordingly. In order to avoid a permanent air flow that keeps at least one nozzle in one position, a locking mechanism may be used. The locking mechanism can ensure that at least one nozzle brought to a defined position by the air flow remains in this position. Such a locking mechanism can include, for example, a hook and an eyelet, wherein one of the elements is arranged on the at least one nozzle and the other element is arranged in the position where the at least one nozzle is to be fixed. If the air flow brings the at least one nozzle to the position, the hook can slide into the eyelet and hold the at least one nozzle in this position. There can also be a release mechanism, which releases the at least one nozzle from its fixed position. The release mechanism can, for example, push the hook located in the eyelet out of the eyelet, for example by means of an actuator.

[0052] The solutions described here for moving / positioning the at least one nozzle can also be combined with one another. For example, it is conceivable that one or more electromagnets ensure that the at least one nozzle is held in one or more positions, while one or more air nozzles ensure that the at least one nozzle is moved from one position to another. Also possible are further / other mechanisms for positioning the at least one nozzle relative to the at least one collecting container and / or the target object.

[0053] The deflection device can also be a device for moving the at least one collecting container. Then, instead of moving the nozzle relative to the collecting container and positioning it so that the liquid discharged from the at least one nozzle enters the collecting container, the collecting container can also be moved and positioned relative to the nozzle. In this case, the same mechanism as described above for the movement / positioning of the nozzle can be used to move / position the collecting container (designed as a movable piston, an electromagnet and a spring combination, two electromagnets, an air nozzle and a spring combination, a locking and / or releasing mechanism, two air nozzles or a combination thereof). Likewise, the collecting container can also perform a translational movement and / or a rotational movement.

[0054] Furthermore, it is possible to move both the nozzle and the collecting container by means of a deflection device, which movement positions the nozzle relative to the collecting container in such a state that liquid emerging from the nozzle outlet is diverted into the collecting container, or alternatively in such a way that liquid emerging from the nozzle outlet is diverted onto a target object.

[0055] The deflection device may also be a device for deflecting the liquid discharged from at least one nozzle. The deflection of the liquid may be achieved, for example, by means of an air flow. The air flow may, for example, be directed transversely to the direction of the liquid discharged from the nozzle (for example, at an angle of 90°). In one of at least two states, the air flow may be cut off; in a second of the at least two states, the air flow may be turned on and an impact may be applied to the discharged liquid, which impact deflects the discharged liquid in a specified direction.

[0056] The deflection of the liquid can also be achieved, for example, by applying an electric field. The liquid can be charged, for example, when it is discharged from the nozzle. In the absence of an electric field, the direction of movement of the liquid is determined by the direction of gravity and the impact direction of the liquid discharged from the nozzle outlet and the discharge speed of the liquid. By means of the electric field, the charged liquid can then be deflected in a specified direction.

[0057] Combinations of the measures described here for deflecting a liquid are also possible.

[0058] When switching from one state to the other, the deflection device described herein does not create any significant resistance to the liquid discharged from the nozzle outlet, which resistance could lead to pressure fluctuations in the supply line to the at least one nozzle.

[0059] The switching of the deflection device from one state to another state is caused by the control unit. The control unit may be configured to send a control signal to the deflection device, which causes a changed state (e.g. switching from one state to another state). It is feasible that the control unit controls the current flowing through one or more electromagnets, or controls the hydraulic pressure, or controls the electric field, or switches a gas flow on or off.

[0060] It is conceivable that a single control unit controls a plurality or all deflection devices belonging to the system. It is conceivable that a plurality of control units are present in the system. Each deflection device may have its own control device. Preferably, the system comprises a single control unit for controlling all deflection devices present in the system.

[0061] Preferably, all deflection devices are controllable independently of one another, so that, for example, one nozzle applies liquid toward the target object and an adjacent nozzle applies liquid simultaneously toward the collecting container.

[0062] Preferably, the control unit is connected to one or more sensor units.

[0063] The sensor unit includes at least one sensor.

[0064] A "sensor" is a technological component that is able to detect certain physical and / or chemical properties and / or material properties of its environment as measurement parameters, either qualitatively or quantitatively. These parameters are detected by physical or chemical effects and converted into signals, usually electrical or optical, that can be further processed.

[0065] The sensor unit may comprise means for processing signals, which are provided by the at least one sensor. The sensor unit may comprise means for transmitting and / or forwarding signals and / or information, for example to a control unit.

[0066] One or more sensor units may be integral to the system and / or connected thereto via a communication link, for example by radio.

[0067] The sensor unit or units may be configured to transmit one or more signals continuously or at defined time intervals or upon the occurrence of defined events to the control unit, based on which the control unit controls the at least one deflection device.

[0068] At least one sensor unit may, for example, include a receiver for a satellite navigation system, commonly known as a GPS receiver. The Global Positioning System (abbreviation: GPS), formally known as NAVSTAR GPS, is an example of a global satellite navigation system for positioning; other examples include GLONASS, Galileo and Beidou. The satellites of such satellite navigation systems communicate their precise position and time via radio codes. In order to determine the position, a receiver ("GPS receiver") must simultaneously receive signals from at least four satellites. The pseudo-signal propagation time is measured in the receiver and the current position is determined from this.

[0069] Similar to what is described in US20220117151A1, a sensor unit including a satellite navigation system receiver can be configured to transmit information about the location of the system or the location of each nozzle in a field of cultivated plants to a control unit. The control unit can be configured to determine information about a request to apply liquid from a field map using the location information. For example, it can be indicated in the field map at which locations in the field should and / or should not apply liquid. The control unit can be configured to control the deflection device based on the determined information: at a location in the field where liquid needs to be applied, the control unit can cause the deflection device to apply the liquid discharged from at least one nozzle toward the target object; at a location in the field where liquid does not need to be applied, the control unit can cause the deflection device to apply the liquid discharged from at least one nozzle toward a collection container.

[0070] At least one sensor unit may include one or more cameras. Such cameras may include an image sensor and optical elements. An image sensor is a device that uses light to electrically record a two-dimensional image. They are typically semiconductor-based image sensors, such as CCD (charge-coupled device) or CMOS (complementary metal-oxide-semiconductor) sensors. Optical elements (lenses, apertures, etc.) are used to form an image of the object on the image sensor that is as clear as possible.

[0071] The camera can be caused by the control unit to produce image recordings of the field, field soil, cultivated plants, companion plants and / or pests at specified time intervals or continuously. The control unit can be the control unit of the system according to the invention or a separate control unit. The control unit can be a camera, part of the system according to the invention, or a separate device.

[0072] The generated image record can be transmitted to an analysis unit. The analysis unit can be configured to analyze the generated image record in order to identify specific objects in the image record, such as specific plants (e.g. companion plants) and / or specific plant parts (e.g. leaves) and / or pests and / or plants infested by pests and / or parts of plants infested by pests or other objects. Methods and devices for identifying objects in image records are widely described in the prior art (see, for example: WO2020120802A1, WO2020120804A1, WO2020229585A1).

[0073] The analyzing unit can be a component of the camera and / or a component of the system according to the invention. The analyzing unit can be configured to transmit a recognition signal to the control unit of the system according to the invention when the analyzing unit has recognized the specific object in the image recording. The control unit can be configured to send a control signal to the at least one deflection device in response to the recognition signal, which causes the at least one deflection device to switch states, for example to apply the liquid discharged from the at least one nozzle towards the specific object.

[0074] The system according to the invention can be part of a spraying facility such as an agricultural machine, a robot or an aircraft (e.g. a drone), or can be connected thereto. Such a spraying facility can move autonomously in or over a field, or can be controlled by a person.

[0075] Preferably, the system according to the invention comprises a plurality of nozzles and deflection means. The term "plurality" preferably means more than ten. The nozzles are preferably arranged so that each nozzle applies liquid in an area with a maximum lateral extension of less than 20 cm, preferably less than 10 cm, most preferably less than 5 cm.

[0076] For example, a plurality of nozzles can be arranged side by side along a spray bar extending transversely (for example at an angle of 90°) to the direction of movement of the spraying installation.

[0077] The embodiments of the present invention are:

[0078] 1: A system for applying a liquid to cultivated plants in a field, comprising:

[0079] - control unit;

[0080] - at least one storage container for containing a liquid;

[0081] - at least one nozzle;

[0082] - at least one collecting container;

[0083] - means for conveying liquid from at least one storage container towards at least one nozzle;

[0084] - means for conveying liquid from at least one collecting container towards at least one storage container;

[0085] - at least one deflection device;

[0086] It is characterized in that the control unit is configured to switch at least one deflection device between a first state of at least two states and a second state of at least two states, wherein in one of the at least two states, the liquid discharged from the at least one nozzle is applied toward the target object, and in the other of the at least two states, the liquid discharged from the at least one nozzle is applied toward at least one collection container.

[0087] 2: The system according to embodiment 1, wherein at least one nozzle is designed to be movable, wherein the deflection device is arranged to move the at least one nozzle from a first position to a second position.

[0088] 3: The system of embodiment 1 or 2, wherein at least one nozzle is designed to be tiltable between two positions.

[0089] 4: The system according to any one of embodiments 1 to 3, wherein at least one collecting container is designed to be movable, wherein at least one deflection device is arranged to move the at least one collecting container from a first position to a second position.

[0090] 5. The system according to any one of embodiments 1 to 4, wherein at least one collecting container is designed to be tiltable between two positions.

[0091] 6: The system according to any one of embodiments 1 to 5, wherein at least one deflection device is arranged to deflect the liquid discharged from at least one nozzle by an electric field and / or impact.

[0092] 7: A system according to any one of embodiments 1 to 6, wherein at least one deflection device includes at least one electromagnet, which moves at least one nozzle and / or at least one collecting container to and / or maintains at least one nozzle and / or at least one collecting container to a specified position when energized, and / or at least one deflection device includes at least one air nozzle, which moves at least one nozzle and / or at least one collecting container to a specified position with the aid of an air flow.

[0093] 8: The system according to any one of embodiments 1 to 7, wherein the control unit is configured to receive an identification signal from the sensor unit and to control the at least one deflection device according to the identification signal.

[0094] 9: A system according to any one of embodiments 1 to 8, wherein the system is part of, or connectable to, an agricultural machine, a robot or a drone.

[0095] 10. The system of any one of embodiments 1 to 9, comprising a plurality of nozzles, wherein the nozzles are arranged such that each nozzle sprays liquid to an area having a maximum lateral extension of less than 10 centimeters.

[0096] 11: The system according to any one of embodiments 1 to 10 further includes a sensor unit, wherein the sensor unit includes a camera and an analysis unit, wherein the camera is configured to generate an image record of the target area, wherein the analysis unit is configured to analyze the image record, identify a specific target object, and transmit an identification signal to a control unit, wherein the control unit is configured to cause at least one deflection device to deflect liquid discharged from at least one nozzle toward the specific target object in response to the transmitted identification signal.

[0097] 12: A method for applying a liquid to cultivated plants in a field, comprising the following steps:

[0098] - mobile spraying equipment in or over fields with cultivated plants;

[0099] - conveying liquid from at least one storage container towards at least one nozzle during the movement;

[0100] -Switching the deflection device from a first state of at least two states to a second state of at least two states, wherein in one of the at least two states, liquid discharged from the at least one nozzle is applied toward a target object, and in another of the at least two states, liquid discharged from the at least one nozzle is applied toward at least one collecting container, wherein the conveying mechanism conveys the liquid from the at least one collecting container to at least one storage container.

[0101] 13: The method according to embodiment 12, wherein the liquid contains one or more nutrients and / or one or more plant protection agents and / or one or more seed treatment agents.

[0102] 14: The method according to any one of embodiments 12 or 13, wherein the target object is a plant or a group of plants, or a part of a plant or several parts of a plant.

[0103] 15: The method according to any one of embodiments 12 to 14, comprising the following steps:

[0104] - moving spraying equipment into or over fields of cultivated plants;

[0105] - conveying liquid from at least one storage container towards at least one nozzle during the movement;

[0106] - receiving a signal indicating the presence of a specific target object;

[0107] - switching the deflection device from a first state, wherein the first state applies the liquid discharged from the at least one nozzle towards the at least one collecting container, to a second state, wherein the liquid discharged from the at least one nozzle is applied towards a specific target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figure 1 and Figure 2 An embodiment of the system according to the invention is shown by way of example and schematically. DETAILED DESCRIPTION

[0109] The system (10) comprises a control unit (11), a storage container (12), a nozzle (13), a collecting container (14), a deflection device (15), a device (16) for conveying liquid (F) from the storage container (12) toward the nozzle (13), and a device (17) for conveying liquid (F) from the collecting container (14) toward the storage container (12).

[0110] exist Figure 1 and Figure 2 In the figure, a sensor unit (S) connected to the control unit (11) is also shown. The sensor unit (S) can be a component of the system (10) according to the invention, or a separate device. Figure 1 In the embodiment, the sensor unit (S) identifies the companion plant (P1) located below the sensor unit (S) and transmits an identification signal to the control unit (11). The control unit (11) causes the deflection device (15) to apply the liquid (F) discharged from the nozzle (13) toward the companion plant (P1). The companion plant (P1) is the target object in this example. Figure 2 In the embodiment, the system (10) moves relative to the companion plant (P1) and the adjacent cultivated plant (P2) toward the adjacent cultivated plant (P2) (at Figure 2 The sensor unit (S) now detects the cultivated plant (P2) and transmits a recognition signal to the control unit (11). The control unit (11) causes the deflection device (15) to direct the liquid (F) discharged from the nozzle (13) toward the collection container (14).

Claims

1. A system (10) for applying a liquid (F) to cultivated plants (P2) in a field, comprising: - a control unit (11); - at least one storage container (12) for containing said liquid (F); - at least one nozzle (13); - at least one collecting container (14); - means (16) for conveying the liquid (F) from the at least one storage container (12) towards the at least one nozzle (13); - means (17) for conveying the liquid (F) from the at least one collecting container (14) towards the at least one storage container (12); - at least one deflection device (15); The control unit (11) is configured to switch the at least one deflection device (15) between a first state of at least two states and a second state of the at least two states, wherein in one of the at least two states, the liquid (F) discharged from the at least one nozzle (13) is applied toward the target object (P1), and in the other of the at least two states, the liquid (F) discharged from the at least one nozzle (13) is applied toward the at least one collection container (14), Characterized in that the deflection device (15) comprises at least one air nozzle, wherein the at least one air nozzle is oriented so that the air flow discharged from the at least one air nozzle switches the deflection device (15) from the first state to the second state and / or from the second state to the first state.

2. The system (10) according to claim 1, wherein: The at least one nozzle (13) is designed to be movable, wherein the air flow causes the at least one nozzle (13) to move from a first position to a second position.

3. The system (10) according to claim 2, wherein: The at least one nozzle (13) is designed to be tiltable between two positions.

4. The system (10) according to any one of claims 1 to 3, wherein: The at least one collecting container (14) is designed to be movable, wherein the air flow causes the at least one collecting container (14) to move from a first position to a second position.

5. The system (10) according to claim 4, wherein: The at least one collecting container (14) is designed to be tiltable between two positions.

6. The system (10) according to any one of claims 1 to 5, wherein: The gas flow deflects the liquid (F) emerging from the at least one nozzle (13) towards the at least one collecting container (14).

7. The system (10) according to any one of claims 1 to 6, wherein: The control unit (11) is configured to receive an identification signal from a sensor unit (S) and to control the at least one deflection device (15) according to the identification signal.

8. The system (10) according to any one of claims 1 to 7, wherein: The system (10) is part of an agricultural machine, a robot or a drone, or can be connected thereto.

9. The system (10) according to any one of claims 1 to 8, wherein: The system comprises a plurality of nozzles (13), wherein the nozzles (13) are arranged such that each nozzle (13) sprays a liquid (F) to an area having a maximum lateral extension of less than 10 cm.

10. The system (10) according to any one of claims 1 to 9, wherein: The system further comprises a sensor unit (S), wherein the sensor unit (S) comprises a camera and an analysis unit, wherein the camera is configured to generate an image record of a target area, wherein the analysis unit is configured to analyze the image record, identify a specific target object (P1), and transmit an identification signal to the control unit, wherein the control unit is configured to cause the at least one deflection device (15) to deflect the liquid (F) discharged from the at least one nozzle (13) towards the specific target object (P1) in response to the transmitted identification signal.

11. System (10) according to one of claims 1 to 10, wherein: The at least one nozzle (13) is a component of an inkjet print head.

12. A method for applying a liquid (F) to cultivated plants (P2) in a field, comprising the following steps: - moving the spraying device in or over said field (F) where the plants (P2) are grown; - during said movement, said liquid (F) is conveyed from at least one storage container (12) towards at least one nozzle (13); - switching the deflection device (15) from a first state of at least two states to a second state of the at least two states, wherein in one of the at least two states, the liquid (F) discharged from the at least one nozzle (13) is applied toward the target object (P1), and in the other of the at least two states, the liquid discharged from the at least one nozzle (13) is applied toward at least one collecting container (14), wherein a conveying mechanism (17) conveys the liquid (F) from the at least one collecting container (14) to the at least one storage container (12), Characterized in that the deflection device (15) comprises at least one air nozzle, wherein the at least one air nozzle is oriented so that the air flow discharged from the at least one air nozzle switches the deflection device (15) from the first state to the second state and / or from the second state to the first state.

13. The method according to claim 12, wherein: The liquid (F) comprises one or more nutrients and / or one or more plant protection agents and / or one or more seed treatment agents.

14. The method according to claim 12 or 13, wherein: The target object (P1) is a plant or a group of plants, or a part of a plant or parts of a plant.

15. The method according to any one of claims 12 to 14, wherein: The method comprises the following steps: - moving the spraying device into or over the field where plants (P2) are grown; - conveying the liquid (F) from the at least one storage container (12) towards the at least one nozzle (13) during the movement; - receiving a signal indicating the presence of a specific target object (P1); - Switching the deflection device (15) from the first state to the second state, wherein the first state applies the liquid (F) discharged from the at least one nozzle (13) toward the at least one collecting container (14), and the second state applies the liquid (F) discharged from the at least one nozzle (13) toward the specific target object (P1).

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