Method for determining calibration parameters of an agricultural spreading machine

Abstract

Method for determining calibration parameters of an agricultural spreading machine, comprising the following process steps: a) Spreading of material using the spreading machine with predefined setting parameters of the spreading machine, b) Determination of second measurement parameters using a second measurement system to characterize the actual distribution parameters of the distribution machine, c) Comparing the determined actual distribution parameters with the desired target distribution parameters, d) Repeat steps a) - c) adjusting the setting parameters of the distribution machine until the actual distribution parameters at least approximately match the target distribution parameters, e) At least if the actual distribution parameters match the target distribution parameters: Determine first measurement parameters using a first measurement system and determine at least one material-specific calibration parameter for the first measurement system from a comparison of the first and second measurement parameters and / or from the first measurement parameters taking into account the set target distribution characteristic.

Description

[0001] The invention relates to a method for determining calibration parameters of an agricultural distribution machine according to the preamble of patent claim 1.

[0002] A combination of two measuring methods for determining calibration parameters of an agricultural spreading machine is described, for example, in EP 2 883 436 A1. This discloses a linear arrangement of containers equipped with load cells as a second measuring system for characterizing the distribution characteristics of a centrifugal spreader. A first container is arranged near the centrifugal spreader and each subsequent container is arranged along a straight line pointing away from the centrifugal spreader. This document also discloses a first measuring system arranged on the centrifugal spreader for contactless detection of the centrifugal spreader's spreading pattern, for example, using radar sensors.To determine the setting parameters of the centrifugal spreader, the first measuring system is initially used to set the setting parameters of the centrifugal spreader. The spreading pattern is characterized using the first measuring system and the setting parameters are selected such that the maximum quantity of the spreading pattern lies above the linearly aligned second measuring system. A spreading test is then conducted, and measurement data is recorded with the first and second measuring systems to determine the setting parameters.

[0003] A disadvantage of this approach is that when combining two measuring principles, very detailed knowledge of the spreading characteristics of the respective spreading material and the spreading behavior of the respective centrifugal spreader is required. Otherwise, it may happen that while the maximum quantity is correctly located, the distribution within the spreading fan is incorrectly determined or calculated due to faulty and / or inadequate models. However, it is known that the spreading behavior of different types of spreading material can vary greatly, which can only be taken into account with great effort, if at all, using the above-mentioned approach. However, if this is not taken into account during the measurement, it leads to deviations between the determined and the optimal setting parameters of the centrifugal spreader.

[0004] The object of the present invention is to provide a method for determining calibration parameters that eliminates the disadvantages of the prior art.

[0005] This object is achieved by the characterising part of claim 1 and thus comprises the method steps: a) Spreading of distribution material using the distribution machine with specified setting parameters of the distribution machine, b) Determination of second measurement parameters using the second measurement system to characterise the actual distribution parameters of the distribution machine, c) comparing the determined actual distribution parameters with the desired target distribution parameters, d) Repeat steps a) - c) by adjusting the setting parameters of the distribution machine until the actual distribution parameters at least approximately match the target distribution parameters, e) At least if the actual distribution parameters match the target distribution parameters: determining first measurement parameters by means of the first measuring system and determining at least one distribution-specific calibration factor for the first measuring system from a comparison of the first and second measurement parameters.

[0006] It is therefore provided that the actual distribution parameters of the distribution characteristic are recorded using a second, stationary measuring system. The distribution characteristic is thus characterized completely, or at least to the extent desired, by the second measuring system. If necessary, the setting parameters of the distribution machine are then adjusted, and the distribution characteristic of the distribution machine is determined again using the second measuring system. This process is repeated until a desired target distribution characteristic characterized by a set of target distribution parameters is set. At least once the desired target distribution parameters have been set, measurement data is also recorded using the first measuring system, and from this, at least one calibration parameter is determined, which reflects the distribution properties specific to the material being distributed.The first measuring system can record data continuously or only when the second measuring system indicates that the desired target distribution parameters and thus the desired target distribution characteristics have been set.

[0007] In contrast to the prior art, this does not involve merely determining part of the actual distribution parameters of the distribution characteristic using a second measuring system and another part of the actual distribution parameters of the distribution characteristic using a first measuring system in order to generate setting parameters or calibration parameters. The reason for this is that it has been recognized that computing models are typically necessary for combining the actual distribution parameters of a stationary second measuring system with those of a mobile first measuring system arranged on the distribution machine. In other words, for example, the actual distribution parameters as measurement data from the first measuring system are converted into a model of the distribution characteristic using a computing model and combined accordingly with the actual distribution parameters of the second, stationary measuring system in order to obtain a complete picture of the distribution characteristic.However, since the specific distribution characteristics and in particular the measured values ​​of the first measuring system are in many cases dependent on the respective distribution material, the combination of the actual distribution parameters of the first and second measuring systems can lead to errors that depend on the respective distribution material.

[0008] A significantly more precise way to generate calibration parameters for a first measuring system is to use a second, stationary measuring system to determine the distribution characteristics of a specific material to be distributed completely or to the desired extent and to set a target distribution characteristic based on the second measurement parameters. Once this target distribution characteristic has been determined and set, the first measuring system, which is designed for use during field work, also records measurement parameters that reflect the set target distribution characteristic.

[0009] These initial measurement parameters can serve as calibration parameters for the first measuring system with respect to this specific distribution material. The target distribution characteristics for the corresponding distribution material can then be adjusted using the first measuring system by adjusting the setting parameters of the distribution machine until the measurement parameters of the first measuring system indicate the desired target distribution characteristics.

[0010] The calibration factors can be determined by comparing the measurement parameters of the first and second measuring systems, for example by forming a quotient or a difference between the measurement parameters or other data derived from these. Alternatively, the target distribution characteristics can be considered and the corresponding calibration parameters determined from this. For example, using the second measuring system in the form of a linear arrangement of collection containers for a rotary spreader, it can be determined that the average throwing distance of the respective spreading disc is 15 m and the average discharge angle is 10°, measured clockwise against an imaginary direction of travel, for a specific distribution material and a set of setting parameters of the rotary spreader. The calibration parameters of the first measuring system can then be derived from these actual values ​​for the respective distribution material used.

[0011] In an advantageous development of the invention, the at least one determined distribution-specific calibration factor is stored in a control unit of the agricultural distribution machine, and the distribution parameters of the agricultural distribution machine are controlled by the first measuring system, taking the at least one calibration factor into account. In this way, the calibration factors determined by applying the method can advantageously be used by the control unit during field work to reproduce the distribution parameters set by the second, stationary measuring system, or to adjust distribution characteristics derived therefrom, for example, adjusted in terms of quantity, working width, etc.For this purpose, the first measuring system, for example a radar measuring system, which is preferably arranged, in particular mounted, on the agricultural machine, is used during field work to set the desired distribution parameter within the framework of a control system implemented by the control unit and using the determined calibration parameter. This can be done, for example, within the framework of the control system by adjusting the setting parameters of the distribution machine, such as the dosage rate, the point at which the spreading material is applied to a spreading disc, the speed of a pump, the speed of a centrifugal disc, etc. Such calibration factors for different distribution materials can be stored in the control unit.

[0012] In an advantageous development of the invention, the first and second measurement parameters are determined simultaneously, so that when the desired actual distribution parameters are set, the corresponding first measurement parameters are directly available and the calibration factor(s) can be determined therefrom.

[0013] In an advantageous embodiment of the invention, an exemplary set of target distribution parameters is selected for each material to be spread, and at least one calibration factor is determined for these. For target distribution parameters that deviate from these, further calibration factors are determined using a simulation process and stored in the control unit. The respective distribution parameters can vary greatly for specific distribution materials. For example, the distribution characteristics of a fertilizer spreader depend heavily on the slip properties and, in particular, the flight properties of the spreading material used. If a specific first calibration factor is determined for an exemplary set of target distribution parameters for a specific distribution material, this calibration factor already takes the specific material properties of the distribution material into account.For another set of target parameters, the respective calibration parameter can then be reliably determined by means of a simulation from the first calibration factor, since the material properties of the spreading material are already taken into account in the first calibration factor.

[0014] In an advantageous development of the invention, setting parameters, preferably the degree of opening of a metering device and / or the speed of a metering device and / or the speed of a distribution device and / or the speed of a metering device and / or the degree of opening of a valve, of the agricultural distribution machine are systematically changed, so that the distribution parameters are adjusted until the second measurement parameters indicate desired target distribution parameters with respect to a distributed material, and the then available first measurement parameters and / or the difference between a first and second measurement parameter and / or the quotient of a first and second measurement parameter with respect to this distribution material are used as calibration parameters of the first measuring system. In this way, a desired target parameter set is set using the second measuring system, specifically by systematically adjusting the distribution parameters as part of a control process.After successfully setting the target parameter set, i.e. when the actual distribution parameters correspond to the target distribution parameters, a corresponding calibration parameter can now be determined by comparing the second measurement parameters with the first measurement parameters, so that the desired target distribution parameters can be set simply by using the first measuring system in the field. The first and second measuring systems differ in particular in that the first measuring system is an electronic measuring system carried along with the machine, in particular mounted on the machine and connected to the control device of the agricultural machine, whereas the second measuring system is a stationary measuring system, in particular located at the manufacturer of the agricultural machine.

[0015] In a possible further development of the invention, the calibration parameters determined for one spreading machine are adopted for other spreading machines of the same type. Thus, a calibration factor does not need to be determined individually for each spreading machine. In particular, it can also be provided to use the same calibration factors for spreading machines of different designs, but in which the components determining the distribution characteristics, for example, spreading discs in a fertilizer spreader, and also the first measuring system, for example, radar sensors for monitoring the distribution characteristics in a fertilizer spreader, are identical.

[0016] According to the invention, the method is applied to a fertilizer spreader, wherein the fertilizer spreader has a controllable drive for adjusting the speed of centrifugal discs and / or a controllable metering slide for adjusting a metering opening to change the application rate and / or a device for adjusting the location of the application of the spreading material to the centrifugal disc, wherein the first measuring system comprises sensors, in particular radar sensors, for determining the distribution characteristics and / or application rate and / or throwing distance of the spreading material and / or torque sensors for determining the application rate of the spreading material and the second measuring system comprises a plurality of stationary measuring vessels, preferably combined with weighing devices,for determining the actual application rate, and wherein the calibration parameters comprise the first measurement parameters and / or second measurement parameters relating to a fertilizer type and / or at least one setting parameter of the distribution machine set based on the second measurement parameters, such as preferably the setting of the rotational speed of the centrifugal discs and / or the setting of the metering opening of the metering slide and / or the setting of the location of the point at which the material to be distributed is applied to the centrifugal disc. Thus, in a fertilizer spreader, it is provided to combine a second, stationary measuring system, particularly in a spreading hall, in which the application rate can be determined with spatial resolution, with a first measuring system carried along with the fertilizer spreader, for example, radar sensors for determining the distribution characteristics or torque sensors for detecting the drive torque of the centrifugal discs and thus determining the application rate of the centrifugal discs.

[0017] The calibration factor includes the first and / or second measurement parameters relating to the respective characterized fertilizer type and / or a machine setting parameter that was set based on the second measurement parameters. For example, it can be intended that a specific spreading material should be spread with a predetermined, first distribution characteristic, for example, with a predetermined quantity, working width, and throw distance. The setting parameters and thus the actual distribution parameters are then adjusted based on the second measurement parameters until the desired, first distribution characteristic, i.e., the desired target parameters, are set.One or more setting parameters that were set for adjusting the first distribution characteristic, for example speed and / or metering slide opening and / or position of the fertilizer drop point on the centrifugal disc, can now be stored as calibration factors in the control unit of the agricultural machine. This makes it known which setting parameters should be selected for a specific fertilizer type to adjust the first distribution characteristic. In addition, at least one measurement parameter of the first measuring system is stored as a calibration parameter so that the first distribution characteristic can be readjusted during field work using the measurement parameters of the first measuring system. In this way, calibration factors can be determined for different spreading materials, and the first distribution characteristic can be reproduced during field work for the respective spreading material used using the measurement parameters of the first measuring system.Different, second distribution characteristics can be set for the respective spreading material used by means of simulations and calculation rules from the calibration factor(s) stored for the respective fertilizer used by calculating the first measurement parameters of the first measuring system expected for this distribution characteristic.

[0018] A similar procedure is also conceivable for a seed drill, wherein the seed drill has a first measuring system in the form of at least one preferably optical or piezoelectric seed sensor and the second measuring system comprises a system for determining the quantity, in particular the mass, and / or the application rate of sown seed, and wherein the at least one calibration parameter with respect to a specific seed is determined by a comparison between the measuring parameters of the first measuring system and the measuring parameters of the second measuring system at a set target application rate and / or target application rate. Here, too, the respectively determined measuring parameters depend heavily on the seed used, so that the determination of calibration factors for the respective seed used makes it possible to set the desired target distribution parameters during field work depending on the seed used.

[0019] The method can also be used analogously with a field sprayer, wherein the field sprayer has a first measuring system in the form of at least one flow sensor, wherein by means of a second measuring system for determining the actually applied mass and / or the actually applied volume, at least one spray-dependent and / or concentration-dependent calibration parameter for setting the delivery pressure required for a desired delivery volume, preferably the speed of a metering pump and / or the degree of opening of a valve, is determined by comparing the measuring parameters of the first measuring system with the measuring parameters of the second measuring system for a set target application rate and / or a set target delivery volume. A calibration factor is therefore to be determined depending on the spray agent used, the respective viscosity or concentration, so that for the respective spray agent used orConcentration desired target distribution parameters can be set in a reproducible manner based on the first measurement parameters during field work.

Claims

[1] Method for determining calibration parameters of an agricultural distribution machine, wherein the agricultural distribution machine is equipped with a first measuring system for determining first measuring parameters for monitoring at least one distribution parameter of the distribution machine, preferably application rate and / or distribution characteristic, for use during field work, wherein the distribution machine is designed to distribute different distribution materials, preferably different types of fertilizer and / or different seeds and / or sprays, and wherein a second stationary measuring system for determining second measuring parameters for monitoring at least one distribution parameter of the distribution machine is provided, in particular at the manufacturer of the distribution machine, characterized by , the procedural steps: a) Spreading of distribution material using the distribution machine with specified setting parameters of the distribution machine, b) Determination of second measurement parameters using the second measurement system to characterise the actual distribution parameters of the distribution machine, c) comparing the determined actual distribution parameters with the desired target distribution parameters, d) Repeat steps a) - c) by adjusting the setting parameters of the distribution machine until the actual distribution parameters at least approximately match the target distribution parameters, e) At least if the actual distribution parameters match the target distribution parameters: determining first measurement parameters by means of the first measuring system and determining at least one distribution material-specific calibration parameter for the first measuring system from a comparison of the first and second measurement parameters and / or from the first measurement parameters taking into account the set target distribution characteristic, wherein the method is applied to a fertilizer spreader, wherein the fertilizer spreader has a controllable drive for adjusting the speed of centrifugal discs and / or a controllable metering slide for adjusting a metering opening to change the application rate and / or a device for adjusting the location of the application of the distribution material to the centrifugal disc, wherein the first measuring system comprises sensors, in particular radar sensors,for determining the distribution characteristics and / or application rate and / or throw distance of the spreading material and / or torque sensors for determining the application rate of the spreading material, and the second measuring system comprises a plurality of stationary measuring vessels, preferably combined with weighing devices, for determining the actual application rate, and wherein the calibration parameters comprise the first measurement parameters and / or second measurement parameters relating to a type of fertilizer and / or at least one setting parameter of the distribution machine set on the basis of the second measurement parameters, such as preferably the setting of the speed of the centrifugal discs and / or the setting of the metering opening of the metering slide and / or the setting of the location of the point of application of the distribution material onto the centrifugal disc. [2] Method according to claim 1, characterized bystoring the at least one determined distribution-specific calibration parameter in a control unit of the agricultural distribution machine and controlling the distribution parameters of the agricultural distribution machine by means of the first measuring system, taking into account the at least one calibration parameter. [3] Method according to claim 1 or 2, characterized by the simultaneous determination of first and second measurement parameters. [4] Method according to claim 2 or 3, characterized by that for each material to be distributed, an exemplary set of target distribution parameters is selected and at least one calibration parameter is determined for these, and wherein for target distribution parameters deviating from these, further calibration parameters are determined by means of a simulation process and stored in the control unit. [5] Method according to at least one of the preceding claims, characterized bythe systematic changing of setting parameters, preferably the degree of opening of a dosing device and / or the speed of a dosing device and / or the speed of a distribution device and / or the speed of a dosing device and / or the degree of opening of a valve, of the agricultural distribution machine, so that the distribution parameters are adjusted until the second measuring parameters indicate desired target distribution parameters with regard to a distributed distribution material and the then existing first measuring parameters and / or the difference between a first and a second measuring parameter and / or the quotient of a first and a second measuring parameter with regard to this distribution material are used as calibration parameters of the first measuring system. [6] Method according to at least one of the preceding claims, characterized by that the calibration parameters determined for one distribution machine are adopted for other distribution machines of the same type.