Agricultural spreading machine and method for applying liquid active ingredients

Abstract

The invention relates to an agricultural spreading machine for applying liquid active ingredients. The invention further relates to a method for applying at least one liquid active ingredient to a crop with multiple tramlines using an agricultural spreading machine. The agricultural spreading machine (1) for applying liquid active ingredients (2) comprises a carrier vehicle (3) having at least two wheels (4); and a spray boom (10) arranged on the carrier vehicle (3). Several spaced-apart nozzle carriers (14a, 14b, 14c) are arranged on the spray boom, each designed to receive at least one spray nozzle (15a, 15b, 15c) for distributing the active ingredient (2) to be applied. The agricultural spreading machine (1) further comprises a control device (20) designed to control the spray nozzles (15a, 15b, 15c) held in the nozzle carriers (14a, 14b, 14c).Here, the multiple nozzle carriers (14a, 14b, 14c) comprise multiple first nozzle carriers (14b) in each of which at least one asymmetrically operating spray nozzle (15b) is held, wherein the first nozzle carriers (14b) are arranged in areas (16) of the spray boom (10) which - viewed in the direction of travel (F) of the spreading machine (1) - are arranged laterally adjacent to a track (5) provided for the running wheels (4) of the carrier vehicle (3).

Description

[0001] The invention relates to an agricultural spreading machine for applying liquid active ingredients. The invention further relates to a method for applying at least one liquid active ingredient to a crop with multiple tramlines using an agricultural spreading machine.

[0002] Agricultural spreading machines, or so-called field sprayers, are used for spreading or applying liquid active ingredients, e.g., plant protection products and / or fertilizers. Such field sprayers, with a spreading device oriented transversely to the direction of travel and moved over a crop, usually formed by a spray boom, are known in various designs and are described by way of example in documents EP 3 007 553 B1 or EP 2 591 657 A1.

[0003] The purpose of such field sprayers is to apply a defined volume of liquid containing plant protection products and / or fertilizers evenly and with a definable intensity to a crop, with the distribution of the liquid volume ideally depending on the specific plant protection product being applied. Various methods for achieving the most even distribution possible are known from the prior art.

[0004] The spray boom of the distribution device features nozzle holders (nozzle assemblies) arranged at intervals, each with at least one spray nozzle attached. The spray nozzles each produce a spray cone directed towards the ground or the plants to distribute the active ingredient as desired. Different nozzle profiles can be configured depending on the number and type of spray nozzles used.

[0005] A nozzle assembly to which several spray nozzles with different properties are assigned is disclosed, for example, in document DE 10 2011 053 420 A1. Depending on the desired droplet or application spectrum, different spray nozzles can be controlled or different nozzle profiles can be generated. In addition to the selected nozzle profile, the height (i.e., the distance of the spray boom from the crop) and the spray pressure at which the liquid active ingredient is applied can also be varied to control the applied active ingredient.

[0006] German patent application DE 10 2012 101 013 A1 discloses an approach for treating so-called row crops, which are planted in rows with large distances between them, by switching off the corresponding spray nozzles. A disadvantage of this approach is that switching off the nozzles results in the edges of the rows not being treated with the active ingredient as intended, which in turn can lead to incorrect treatment of the plants.

[0007] From the patent application DE 10 2014 112 441 A1, an agricultural distribution machine for applying liquid active ingredients is known, by means of which it is possible to automatically switch from a first to a second spray profile based on predefined criteria.

[0008] To achieve the most precise treatment possible even at field boundaries, and especially to avoid overspraying beyond these boundaries, it is common practice to install so-called edge nozzles or boundary nozzles at the outer edges. Edge nozzles differ from standard spray nozzles in that they have an asymmetrical spray profile; that is, they do not have a uniformly downward-directed spray cone, but rather a spray cone that is limited to one side, thus ensuring precise treatment even at the edges.

[0009] To avoid damaging crops when driving over them, tramlines are typically established during sowing. This means that certain areas of the field are left unplanted, preventing the growth of plants that could be damaged by a tractor, whether towed by a vehicle, attached to a tractor, or operated by a self-propelled sprayer. The spacing and width of these tramlines are tailored to the track width and tire width of the sprayer. This allows for a variety of tramline configurations. The number of tramlines can be adjusted to match the width of the sprayer boom.

[0010] A disadvantage of the known state-of-the-art approaches is that the areas of the tramlines are usually also sprayed, sometimes resulting in a wider area being treated than desired and pesticides being applied to places where they are not needed. This leads to increased costs and increased environmental impact.

[0011] It is therefore an object of the invention to provide an improved approach to the application of liquid active ingredients using an agricultural spreading machine, thereby avoiding the disadvantages of conventional techniques. In particular, the object of the invention is to provide an improved method for the application of liquid active ingredients using an agricultural spreading machine, enabling more cost-effective and environmentally friendly application of plant protection products and / or fertilizers.

[0012] These problems are solved by agricultural spreading machines and methods with the features of the independent claims. Advantageous embodiments and applications of the invention are described in the dependent claims and are explained in more detail in the following description with partial reference to the figures.

[0013] According to a first general aspect of the invention, the aforementioned problems are solved by an agricultural distribution machine for applying liquid active ingredients. Liquid active ingredients are preferably plant protection products and / or fertilizers. In the present context, the term "liquid active ingredients" is intended to include not only liquids, such as liquid plant protection products and / or fertilizers, but also solid active ingredients dissolved in liquids, e.g., granules, or solid active ingredients provided with a carrier liquid.

[0014] The agricultural spreading machine, preferably a field sprayer, comprises a carrier vehicle having at least two wheels and a spray boom arranged directly or indirectly on the carrier vehicle. Several spaced-apart nozzle holders are arranged on the spray boom. The nozzle holders are each designed to accommodate at least one spray nozzle for distributing the active ingredient to be applied. At least one spray nozzle is preferably held in each nozzle holder, also referred to as a nozzle assembly or nozzle head. The agricultural spreading machine further comprises a control device designed to actuate the spray nozzles held in the nozzle holders.

[0015] According to the invention, the multiple nozzle carriers comprise several nozzle carriers, hereinafter referred to as first nozzle carriers, in each of which at least one asymmetrically operating spray nozzle is held. The first nozzle carriers are arranged in areas of the spray boom which—viewed in the direction of travel of the spreading machine and / or in a top view of the spreading machine—are laterally adjacent to the tramline and / or to a track provided for the wheels of the carrier vehicle. It is assumed here that the spray boom is in the extended state, i.e., its longitudinal axis runs transversely to the direction of travel of the agricultural spreading machine. The spray boom (in the extended state) extends many times beyond the width of the field sprayer.In other words, the first nozzle carriers can be arranged in sections of the spray boom which—viewed in the direction of travel of the spreading machine—are located to the left or right of a track intended for the wheels of the carrier vehicle. Such sections are hereinafter referred to simply as "sections." Asymmetrically operating spray nozzles, hereinafter also referred to simply as asymmetric spray nozzles, produce an asymmetrical spray pattern and are also known as edge nozzles or boundary nozzles.

[0016] This arrangement and use of asymmetrical spray nozzles offers the particular advantage of reducing the unwanted application of plant protection products and / or fertilizers onto the surfaces of tramlines, while simultaneously enabling effective application to the areas of the crop stand adjacent to the tramlines or tracks. This allows for more cost-effective and environmentally friendly application of the liquid active ingredient when driving in tramlines. Preferably, the asymmetrically operating spray nozzles of the first nozzle carriers are each arranged such that their side with the smaller spray angle faces the adjacent tramline or track. This results in a more defined spray pattern towards the tramline and track, and a sharper cut-off edge.Thus, the asymmetrical spray angle of the nozzle(s) of the first nozzle carrier allows for precise treatment of the vegetation adjacent to the wheel track and / or tramline, significantly reducing spray spillage onto the wheel track or tramline. The wheel track or tramline adjacent to a first nozzle carrier is the one with the shortest distance to the respective spray nozzle or nozzle carrier.

[0017] The first nozzle carriers, or at least a portion thereof, can preferably each be designed as multiple nozzle carriers, for example, as double or quadruple nozzle carriers. The multiple nozzle carrier can be equipped with at least one symmetrically operating spray nozzle and at least one asymmetrically operating spray nozzle. This offers the advantage that it is possible to switch between an asymmetrically operating and a symmetrically operating spray nozzle, depending on whether, for example, the lane or tramline is to be sprayed or not.

[0018] Furthermore, the multi-nozzle carrier can be equipped with at least two asymmetrical spray nozzles producing different spray cones. This is particularly advantageous, for example, for using spray nozzles with different asymmetrical spray cones when dealing with different lane widths or tramline widths, in order to vary the edge area up to which spraying occurs.

[0019] According to a preferred embodiment, each of the sections of the spray boom that are arranged laterally adjacent to one of the tracks provided for the wheels of the carrier vehicle, viewed in the direction of travel of the spreading machine, can comprise at least two adjacent first nozzle carriers. According to this embodiment, not only those nozzle carriers that have the smallest distance to a track or to an area directly above the tracks, compared to those nozzle carriers not arranged directly above the tracks, have an asymmetrically operating spray nozzle, but also at least the nozzle carrier adjacent to each of these.

[0020] This, in turn, offers the advantage of enabling precise spraying of the edges of the lane or tramline, even with varying lane or tramline widths. For narrow tramlines, for example, asymmetrically operating nozzles on those nozzle carriers located furthest from the tramline's edge could be used for precise spraying. Conversely, for wider tramlines, particularly those not aligned with the width of the tramline (i.e., the tire width of the carrier vehicle), asymmetrically operating nozzles on those nozzle carriers positioned further away from the nearest tramline on the spray boom could be used for precise spraying.

[0021] According to an alternative embodiment, each section of the spray boom that is laterally adjacent to one of the lanes provided for the wheels of the carrier vehicle – viewed in the direction of travel of the spreading machine – can comprise only one first nozzle carrier. This is particularly advantageous if it can be assumed that the lane width is always matched to the track width.

[0022] According to a preferred embodiment, the control device is configured to detect a value of at least one of the following driving parameters: the tire width of the wheels, the set track width of the carrier vehicle, and the tramline width of a field to be sprayed. According to this embodiment, the control device is further configured to determine a partial selection of the asymmetrically operating spray nozzles of the first nozzle carriers, depending on the detected value of the at least one driving parameter.

[0023] A particular advantage of this embodiment is that the spray profile of the spray boom can be flexibly adapted during operation to different tramline widths, tire widths, and / or track widths of the carrier vehicle. This embodiment is particularly advantageous if each first nozzle carrier has at least two asymmetrically operating spray nozzles that produce different spray cones, and / or if each of the areas has at least two first nozzle carriers, each with at least one asymmetrically operating spray nozzle. Accordingly, the selection of the spray pattern can be determined by the control unit, for example, such that one of several available asymmetrically operating spray nozzles is selected and assigned to each area.Preferably, for each area, the asymmetrically operating spray nozzle is selected which, for the specified value of at least one driving parameter, enables the best possible edge-sharp spraying of the vegetation adjacent to the edge of the lane or track, due to its position on the spray boom or due to its spray angle.

[0024] For this purpose, the control unit can contain an assignment rule, e.g., in the form of a table or matrix, which assigns a subselection of the asymmetric spray nozzles to each of the possible values ​​of at least one driving parameter. This assignment rule can, for example, be determined experimentally beforehand. The value of the at least one driving parameter can be detected sensorially, i.e., by means of a suitably designed sensor. An example of this could be an optical sensor that determines, for example, the tramline width. However, the value of the at least one driving parameter can also be detected by manual entry by an operator, e.g., via an input terminal on the agricultural spreading machine, or by retrieving a value stored in a memory, e.g., a database.

[0025] According to a preferred embodiment, the control device is configured, in a first operating mode for generating a first spray pattern, to switch on the asymmetrical spray nozzles of the first nozzle carriers or at least a selection thereof, and to switch off or deactivate spray nozzles, preferably symmetrically operating spray nozzles, which are arranged above the tracks provided for the wheels of the carrier vehicle.

[0026] This first operating mode is particularly advantageous for enabling precise treatment of the vegetation bordering the tramline and / or tramline when driving through a tramline, with significantly reduced spray coverage in the tramline area compared to operation using only symmetrically operating nozzles. The control unit can be operated in this first mode and at least one other operating mode.

[0027] According to another aspect, the control device can be configured to switch off or leave deactivated the asymmetrical spray nozzles of the first nozzle carriers in a second operating mode to generate a second spray pattern. Furthermore, according to a variant of this aspect, the control device can be configured to switch on symmetrically operating spray nozzles in the second operating mode. These nozzles are located in the first nozzle carrier in addition to the asymmetrically operating spray nozzles and / or are located in the areas of the spray boom that are laterally adjacent to one of the tracks provided for the wheels of the carrier vehicle, viewed in the direction of travel of the spreading machine. The control device can also be configured to switch on symmetrically operating spray nozzles in the second operating mode that are located directly above the tracks provided for the wheels of the carrier vehicle.Furthermore, the control unit can be configured to preferably activate all symmetrically operating spray nozzles in the second operating mode. The second operating mode thus corresponds to an operating mode in which the driving lanes and / or tramlines are also sprayed.

[0028] According to another aspect, the control unit can be configured to detect the value of a first operating parameter, where the value of the first operating parameter indicates, and / or can be derived from, whether the agricultural spreader is operating in a tramline during spraying, e.g., whether it is operating on a headland instead of in a tramline. According to this variant, the control unit is further configured to make a decision regarding the selection of the first operating mode depending on the detected value of the first operating parameter. For example, the control unit can be configured to select the first operating mode if the detected value of the first operating parameter indicates that the agricultural spreader is operating in a tramline.The control unit can be configured to deactivate the first operating mode and / or select the second operating mode if the detected value of the first operating parameter indicates that the agricultural spreading machine is driving on the headland.

[0029] To further reduce the costs of the liquid active ingredient and the environmental impact, the control unit can be designed to determine a reduction in the application rate of the liquid active ingredient when the first operating mode is selected. In the first operating mode, no application occurs onto the tramlines or tracks, thus reducing the amount of liquid active ingredient required per unit of travel by the spray boom. The reduction in the application rate can preferably be determined according to the smaller area treated in the first operating mode, for example, according to the percentage of the width of the two tramlines or tracks relative to the total width of the spray boom.

[0030] According to another aspect, the control device can be configured to detect the value of a second operating parameter, where the value of the second operating parameter indicates a type of plant protection product. According to this aspect, the control device is further configured to make a decision regarding the selection of the first operating mode depending on the detected value of the second operating parameter.

[0031] For example, when using weed control products, i.e., to control plants that are not the crop, it may be desirable to also apply plant protection products in the tramlines. Accordingly, the control unit can be configured to select the second operating mode if the detected value of the second operating parameter indicates that the plant protection product is a weed control product that is also to be applied to the tramlines. The control unit can also be configured to select the first operating mode if the detected value of the second operating parameter indicates that the plant protection product is a product against harmful organisms and / or against harmful fungi and spores that preferably only damage the crop.

[0032] According to another aspect, the control unit can be configured to detect a third operating parameter, where the value of the third operating parameter indicates a height distance between the crop and the spray boom and / or a growth stage of the crop to be sprayed and / or a measure of the height distance or growth stage can be derived from it. According to this aspect, the control unit can be configured to make the decision to select the first operating mode depending on the detected value of the third operating parameter. This allows for an improved selection decision between the first operating mode, in which the tramline is not sprayed, and the second operating mode, in which it is sprayed.For example, the control unit can be configured to select the first operating mode only if the height difference and / or growth stage falls below a predefined threshold. In other words, the asymmetrical spray nozzles can be controlled depending on the growth stage of the crop, so that, for example, the asymmetrical spray nozzles are not activated for very tall plants, but are for small plants, since the applied liquid can reach the tramline via the tips of the small crops.

[0033] The control device can therefore also be designed to activate symmetrically operating spray nozzles that are arranged in the areas of the spray boom which - viewed in the direction of travel of the spreading machine - are laterally adjacent to a track provided for the wheels of the carrier vehicle, if the value for the height difference and / or the growth stage reaches or exceeds the specified threshold value.

[0034] According to another aspect, the control unit can be configured to detect a fourth operating parameter, where the value of the fourth operating parameter indicates a measure of pest and / or weed infestation in the lane and / or aisle to be sprayed. According to this aspect, the control unit can be configured to make a decision regarding the selection of the first operating mode depending on the detected value of the fourth operating parameter.

[0035] The recorded value of the first operating parameter can be a sensor-detected value, a value manually entered by an operator, a value stored in memory (e.g., a database), and / or a value received via a data interface. The same applies to the recorded values ​​of the second, third, and fourth operating parameters.

[0036] For example, the first operating parameter can be detected sensorily using a steering angle sensor or at least one acceleration sensor mounted on the spray boom. Alternatively or additionally, an input option for an operator can be provided, allowing the operator to directly enter the value of the first operating parameter, i.e., whether the spreading machine is operating in a tramline or on a headland to apply the liquid active ingredient.

[0037] The control unit can be configured to select the first and / or second operating mode based on the measured value(s) of the first, second, third, and / or fourth operating parameter(s). Using these operating parameters, the optimal spray pattern of the liquid active ingredient for the current operating and / or application situation can be determined for the majority of typical operating scenarios of the agricultural spreading machine. This pattern specifically determines whether or not the tramlines are sprayed.

[0038] According to another aspect, the nozzle carriers can be arranged on the spray boom such that the distance between two first nozzle carriers, located on opposite sides laterally adjacent to one of the tracks provided for the wheels of the carrier vehicle, is a) at least 25 cm, at least 50 cm, or at least 60 cm, and / or b) corresponds to at least the width of a wheel and / or at least the width of a tramline. Furthermore, the distance between two first nozzle carriers, located on opposite sides laterally adjacent to one of the tracks provided for the wheels of the carrier vehicle, can be a maximum of 100 cm.

[0039] The asymmetrical spray nozzles can be arranged at various points and distances from each other to accommodate different tramline widths. The control unit can be configured to allow the input of a wheel or track width, and the control program will then automatically select the spray nozzles required for that width. Alternatively, the control unit's program could store different wheel widths, allowing for automatic selection.

[0040] Furthermore, the tramlines can have different spacings, for example, 2.25 m, 2.5 m, or 3 m. Another aspect is that nozzle carriers, each with at least one asymmetrically operating spray nozzle, can also be positioned at these intervals or at least these distances from each other, thus enabling appropriate responses to different tramline widths and wheel widths. Finally, the control of the spray nozzles can also be based on the spray cones they produce; that is, the larger or smaller the spray cone, the more or fewer spray nozzles are activated. Similarly, the vertical distance between the crop and the spray boom can be adjusted based on the spray cones.

[0041] In order to also be able to use the field sprayer for row crops, it may also be provided that the spray boom has further nozzle holders with at least one asymmetrically operating spray nozzle, the distances between these nozzle holders corresponding to the distances between the rows of the row crops.

[0042] The spray nozzles can be switched by the control unit in a manner known per se by means of associated actuating elements, in particular pneumatic valves and / or solenoid valves. Furthermore, the spray nozzles can be designed as spray nozzles controlled by a solenoid valve actuated by PWM (pulse width modulation). The distance between two adjacent nozzle carriers can be 25 cm or 50 cm. The first nozzle carriers can also have asymmetrically operating spray nozzles whose spray cone is variably adjustable, in particular by a control unit. The asymmetrically operating spray nozzles can be so-called edge nozzles or boundary nozzles, but these are not arranged at an outer end region of the spray boom as is usual, but rather in the areas adjacent to the lanes.

[0043] The agricultural spreading machine can be designed in a manner known per se as a self-propelled field sprayer or as a trailed agricultural field sprayer. A self-propelled field sprayer or a trailed field sprayer also has a carrier vehicle to which the spray boom is preferably attached directly, particularly at the rear. The agricultural spreading machine can also consist of a towing vehicle, for example a tractor, and an agricultural field sprayer designed as a three-point linkage sprayer or mounted field sprayer. In this case, the towing vehicle forms the carrier vehicle to which the three-point linkage sprayer or mounted field sprayer is attached, and which in turn has a spray boom. In this embodiment, the spray boom is therefore preferably only indirectly attached to the carrier vehicle.

[0044] The control unit can be programmed to perform the functions described in this document. The control unit can be a central control unit or any number of electronic processing units, storage units, and / or other known components for controlling the spray nozzles and nozzle holders. For example, the control unit can be integrated into a control unit that controls and / or regulates the height of the spray boom and its rotation about a longitudinal axis of the carrier vehicle, and / or into a control unit that controls the spray pressure at which the liquid active ingredient is applied.

[0045] According to a second general aspect of the invention, the aforementioned problems are solved by a method for applying at least one liquid active ingredient to a crop having several tramlines using an agricultural spreading machine.

[0046] The method comprises the provision of an agricultural spreading machine that can travel along the tramlines. The agricultural spreading machine comprises a carrier vehicle having at least two wheels spaced apart from each other transversely to the direction of travel, corresponding to the distance between the parallel tracks of the tramline. The agricultural spreading machine further comprises a spray boom arranged directly or indirectly on the carrier vehicle, on which several spaced-apart nozzle holders are arranged, each designed to receive at least one spray nozzle for distributing the active ingredient to be applied. The agricultural spreading machine further comprises a control device designed to actuate the spray nozzles held in the nozzle holders depending on at least one first operating parameter.

[0047] The multiple nozzle carriers comprise multiple first nozzle carriers, each of which holds at least one asymmetrically operating spray nozzle, wherein the first nozzle carriers are arranged in areas of the spray boom which are laterally adjacent to a track provided for the wheels of the carrier vehicle and / or to a lane in the direction of travel of the spreading machine.

[0048] To avoid repetition, features disclosed purely in relation to the device or in connection with the agricultural spreading machine shall also be deemed disclosed and claimable as disclosed in the process, and vice versa. The aforementioned aspects and features of the invention, particularly with regard to the design and arrangement of the asymmetrically operating spray nozzles and their control by the control unit, therefore also apply to the process.

[0049] The preferred embodiments and features of the invention described above can be combined in any way desired. Further details and advantages of the invention are described below with reference to the accompanying drawings. These show: Fig. 1 a schematic side view of an agricultural spreading machine with a spreading device attached to it; Fig. 2 A schematic top view of an agricultural spreading machine traveling in a tramline Fig. 3 a schematic representation of the liquid dispensing in a first operating mode according to an exemplary embodiment; Fig. 4 A schematic block diagram illustrating the operation of the control unit for controlling the spray nozzles according to an exemplary embodiment, Fig. 5 a flowchart to illustrate a method for applying at least one liquid active ingredient to a crop according to an exemplary embodiment and Fig. 6 a schematic representation of the liquid discharge in a first operating mode according to a further embodiment example.

[0050] Identical or functionally equivalent elements are designated with the same reference symbols in all figures and are sometimes not described separately.

[0051] The schematic side view of the Fig. Figure 1 shows a variant embodiment of a self-propelled agricultural spreading machine 1, which can also be referred to as a field sprayer for applying liquid plant protection products and / or fertilizers. The field sprayer 1 is designed as a self-propelled machine and comprises a carrier vehicle 3 with its own drive and a frame 1a for supporting the individual components, a reservoir 7 for carrying the liquid active ingredient to be applied, and a spray boom 10, which is height-adjustable by means of adjusting elements 11 arranged at the rear of the carrier vehicle 3. The spray boom is also pivotably mounted to the carrier vehicle 3 about a longitudinal axis. The spray boom, the carrier vehicle, and the coupling of the spray boom to the carrier vehicle can only be designed by way of example, as described in the patent applications EP 3 007 553 A1 and EP 2 591 657 A1.

[0052] The spray boom 10 comprises a preferably rotatably mounted central section 12 and lateral boom arms 13 projecting on both sides of the carrier vehicle 3, which may optionally be designed to be foldable in one or more places in order to be brought into a compact arrangement suitable for road or transport journeys.

[0053] A distribution device 30 for applying a liquid active ingredient 2, for example a plant protection product and / or fertilizer, to a crop 8 is provided on the spray boom 10. The distribution device 30 comprises several nozzle holders (nozzle arrays) arranged at intervals on the spray boom 10 and spray nozzles held therein, which is also referred to as a spray boom assembly. The spray nozzles are supplied with the liquid active ingredient (spraying fluid) to be applied via a liquid supply line in a manner known per se.

[0054] The nozzle holders are mounted lengthwise along the spray boom 10 at intervals of, for example, 25 cm or 50 cm. Each nozzle holder contains at least one spray nozzle for the even distribution of the plant protection and / or fertilizer liquid. The nozzle holders are generally designed as multi-nozzle holders and accommodate more than one spray nozzle. The spray nozzles 30 produce a spray cone directed towards the crop 8.

[0055] The field sprayer 1 further comprises a control device 20, e.g., a control unit, for controlling the individual machine elements, the spray boom, and the distribution device 30 for applying the liquid active ingredient. The control device 20 can be designed in a manner known per se to control the distribution device 30 depending on various parameters, such that different spray profiles can be selectively generated, as described by way of example in the patent application WO 2016 / 030368 A1.

[0056] The spray nozzles can be controlled individually, in groups, and / or together by means of the control unit 20. For this purpose, valves for switching the spray nozzles on and off are assigned to the spray nozzles in a manner known per se, the actuating elements being controllable by the control unit 20. The spray pressure present in the liquid supply line and thus at the spray nozzles can also be controlled by the control unit 20 in a manner known per se to control the quantity of active ingredient applied and to generate different spray profiles, as described by way of example in the German patent application WO 2016 / 03 0368 A1.

[0057] Fig. Figure 2 shows a schematic top view of an agricultural spreading machine traveling in a tramline 6, which is different from the one shown in Fig. The distribution machine shown in Figure 1 is a distribution machine pulled by a towing vehicle (not shown here). 1. The wheels 4 of the two-track carrier vehicle 3 travel along one of the two lanes 5, which in Fig. 2 is clearly recognizable. In other words, the area traversed by the left-hand wheels forms a first track, and the area traversed by the right-hand wheels forms a second track. It has already been established that it is common practice to create so-called tramlines 6, meaning that certain areas of the field are not cultivated. No crops grow in these areas, so that when the field is driven on using the tramlines, the respective crops are not damaged by the tracks of the agricultural machine. The spacing 9 and width 21 of these tramlines 6 are each matched to the so-called track width of the sprayer and its tire width, and thus to the width of the track 5, which in Fig. 2 is also recognizable.

[0058] Fig. Figure 3 shows a highly schematic partial view of the spray boom 10 and the distribution device 30 for applying the liquid active ingredient 2 and simultaneously illustrates a liquid application in a first operating mode. Here, Fig. 3 a view in the direction of travel of the carrier vehicle 3 to the spray boom. The crop stand 8 has tramlines 6, whereby the distance 9 of the two tramlines 6 and the width 21 of the tramlines 6 are each matched to the so-called track width of the field sprayer and to its tire width, and thus to the width of the tramline 5. The two tramlines 5 therefore correspond to the two tramlines 6 in Fig. 3.

[0059] The in Fig. The partial view shown in Figure 3 depicts a central section 12 of the spray boom 10, extending above and between the two tramlines 6 or tracks 5. As previously stated, nozzle carriers 14a, 14b, 14c are mounted along the length of the spray boom 10 at intervals 18 of, for example, 25 cm or 50 cm. These carriers hold at least one spray nozzle 15a, 15b, 15c, but usually several spray nozzles for the uniform distribution of the plant protection and / or fertilizer liquid. The nozzle carriers can be designed, for example, as double or quadruple nozzle carriers. Fig. Figure 3 shows an example of a nozzle arrangement in which the nozzle carriers are arranged at a distance of 18 by 25 cm.

[0060] A special feature of the in Fig. The feature of the schematically illustrated spray nozzle arrangement shown in Figure 3 is that in sections 16 of the spray boom 10, which – viewed in the direction of travel F of the spreading machine 1 – are arranged laterally adjacent to a track 5 provided for the wheels 4 of the carrier vehicle 3, nozzle carriers 14b are arranged, each holding at least one asymmetrically operating spray nozzle 15b. These nozzle carriers are referred to in this document as the first nozzle carriers 14b. The section 16 with the first nozzle carriers 14b is therefore not located directly above the track 5 or lane 6, but rather in the view of the Fig. 3 laterally to the left or laterally to the right. For better emphasis, spray nozzles 15b of the first nozzle holders 14b are marked with black and white hatching, and spray nozzles 15c, which are held in a nozzle holder 14c located directly above lane 5 or lane 6, are marked with black and white dots.

[0061] The at least one asymmetrically operating spray nozzle 15b of the first nozzle carrier 14b is arranged in it such that its side 19 with a smaller spray angle faces the adjacent lane 5. This is shown in Fig. 3 is represented by the asymmetrical spray cone 17b of the spray nozzles 15b, wherein the smaller spray angle of the asymmetrical spray cones is on the side of the nearest tramline 6 in order to enable the application of the liquid active ingredient with the sharpest possible edges and the most precise treatment of this area on the area of ​​the crop stand adjacent to a tramline.

[0062] According to this in Fig. The spray nozzle arrangement shown in Figure 3 thus enables a more efficient and environmentally friendly application of the liquid active ingredient when driving in tramlines 6. When driving in a tramline, the control unit 20 can activate the asymmetrically operating spray nozzles 15b, while simultaneously deactivating the spray nozzles 15c located directly above the tramline. The other spray nozzles 15a, which are held in nozzle carriers 14a located further away from the next tramline than the first nozzle carriers 14b, produce a symmetrical spray cone 17a. Furthermore, optionally, asymmetrically operating spray nozzles, so-called edge nozzles, can also be arranged at the outer end regions of the booms 13 (not shown).

[0063] In this way, a spray pattern S1 is generated in which the area of ​​the tramline 6 is not sprayed or is only minimally sprayed, while at the same time enabling precise application of the active ingredient to the area of ​​the crop stand 8 adjacent to the tramlines. This operating mode is also referred to in this document as the first operating mode M1 of the distribution unit 30, which is stored in the control unit 20 in the form of corresponding control commands.

[0064] In the first nozzle holders 14b, in addition to at least one asymmetrically operating spray nozzle 14b, a symmetrically operating spray nozzle is also mounted. If the agricultural spreading machine 1 is traveling, for example, on a headland without tramlines, the control unit can instead control the distribution unit 30 so that the symmetrically operating spray nozzles in the first nozzle holders, as well as the symmetrically operating spray nozzles 15c, which are arranged directly above the tramlines, are activated. This operating mode is also referred to in this document as the second operating mode M2 ​​of the distribution unit 30, which is also stored in the control unit 20 in the form of corresponding control commands. In this second operating mode, the tramlines are also sprayed with liquid active ingredient, i.e., also the area that is in Fig. 3 is marked as not sprayed.

[0065] Fig. Figure 4 shows a schematic block diagram illustrating the operation of the control unit 20 for controlling the spray nozzles according to an exemplary embodiment. To enable switching between the first and second operating modes, the control unit 20 is designed to acquire current values ​​of several operating parameters at its input.

[0066] For example, the value of a first operating parameter P1 can be recorded, where this value indicates and / or allows for the derivation of whether the agricultural spreading machine is operating in a tramline 6 or on a headland during spraying. The recorded value of the first operating parameter can be a sensor-detected value, a value manually entered by an operator, a value stored in memory, e.g., a database, and / or a value received via a data interface. For example, the first operating parameter can be sensor-detected using a steering angle sensor or by means of at least one acceleration sensor mounted on the spray boom. Larger steering angles and consequently greater accelerations at the spray boom typically occur on headlands, so that sensor-detected headland travel can be detected by recording these values.

[0067] Depending on the detected value of the first operating parameter P1, the control unit 20 decides whether to select the first operating mode (i.e., no spraying of the tramlines) or the second operating mode (i.e., spraying of the track or tramline). According to the selected operating mode, the control unit controls the distribution unit 30 by switching the spray nozzles associated with the operating mode and / or by controlling the spray pressure. For example, the control unit 20 is configured to select the first operating mode if the detected value of the first operating parameter P1 indicates that the agricultural spreading machine is traveling in a tramline 6. Alternatively, this can also be a prerequisite for selecting the first operating mode, with further operating parameters being considered to determine the operating mode and the spray pattern to be produced.

[0068] This is exemplified by: Fig. Figure 5 illustrates a flowchart illustrating a method for applying at least one liquid active ingredient to a crop according to an exemplary embodiment.

[0069] The control unit 20 can be configured to acquire further operating parameters P2, P3, and P4 for controlling the nozzle arrangement and, depending on the acquired values, to switch selectively between the first and second operating modes. Optionally, a further parameter P0, corresponding to the driving parameter, can also be acquired, as described below in connection with Fig. 6 is described.

[0070] For example, the control unit 20 can be configured to detect a value of a second operating parameter P2, where the value indicates a type of plant protection product. The control unit 20 can be configured to detect a value of a third operating parameter P3, where the value indicates a height distance between the plant stand and the spray boom and / or a growth stage of the crop to be sprayed and / or a measure of the height distance or growth stage can be derived therefrom. The control unit 20 can be configured to detect a value of a fourth operating parameter P4, where the value indicates a measure of pest and / or weed infestation in the spraying lane 5 and / or tramline 6.

[0071] The values ​​of the first, second, third, and / or fourth operating parameters can be values ​​determined by appropriately designed sensors, or values ​​entered manually by an operator via an input device, e.g., an operating terminal on the field sprayer 1, or values ​​stored in a memory. The control unit 20 is configured to select the first or second operating mode based on the detected value of the first, second, third, and / or fourth operating parameter, as exemplified by the flowchart of the Fig. 5 is illustrated.

[0072] In step S1, the control unit 20 acquires the values ​​of the input parameters as described above. In step S2, the control unit 20 uses the determined value of the first operating parameter to ascertain whether the carrier vehicle 3 is driving on a headland or in a tramline. If the carrier vehicle 3 is driving on a headland without a tramline, the control unit selects the second operating mode M2 ​​and controls the distribution device 20 accordingly.

[0073] If the carrier vehicle 3 is driving in a tramline, the control unit checks the type of plant protection product in step S3 based on the value of the second operating parameter determined in S1 and, depending on the type, either selects the second operating mode (step S5) or proceeds to step S4. The value of the second parameter is typically entered manually by an operator or retrieved from a memory containing the type of plant protection product currently to be applied to the crop. For example, when using weed control products, i.e., to control plants that are not the same as the crop, it may be desirable to also apply plant protection products in the tramline area.Accordingly, the control unit can be configured to select the second operating mode (step S5) if the detected value of the second operating parameter indicates that the plant protection product is a herbicide.

[0074] The control unit 20 can also be configured to select the first operating mode (step S6) or, according to another embodiment, to first proceed with step S4 if the detected value of the second operating parameter P2 indicates that the plant protection product is a plant protection product against harmful organisms and / or against harmful fungi and spores that only damage the crop.

[0075] In an optional further step S4, the control unit 20 can determine a measure of the growth stage of the plant stand 8 based on the value of the third operating parameter P3 and, depending on this, select either the second operating mode (step S5) or the first operating mode (step S6). For example, with very large plants, the asymmetrical spray nozzles of the first nozzle carriers cannot be controlled, i.e., the second operating mode is selected in step S5 and not the first operating mode. With small plants, however, the first operating mode is selected in step S6 and the distribution unit is controlled accordingly. The determination of the growth stage can be done sensorily or manually by an operator.

[0076] Fig. Figure 6 shows a schematic representation of the liquid dispensing in a first operating mode according to a further embodiment example. Components with the same reference numerals correspond to the components of the Fig. 3 and are not described separately

[0077] The special feature of this embodiment is that the distribution device 60 for applying the liquid active ingredient has two first nozzle holders 14b with asymmetrically operating spray nozzles in each section 66. In other words, each of the sections 66 of the spray boom 10, which – viewed in the direction of travel of the distribution machine – are arranged laterally adjacent to one of the tracks 5 provided for the wheels 4 of the carrier vehicle, has two adjacent first nozzle holders. The section 66 of the Fig. 6 is therefore wider than area 16 of the Fig. 3. These first nozzle carriers 14b are designed as multiple nozzle carriers, each holding at least one asymmetrically operating spray nozzle and one symmetrically operating spray nozzle. This offers the advantage of allowing more flexible adaptation to different tramline widths and track gauges.

[0078] For example, if the tramline width 7 corresponds to the track width of the carrier vehicle 3, in the first operating mode only the asymmetrical spray nozzles located in the first nozzle holders 14b that are directly adjacent to the tramline and lane are activated. In the adjacent first nozzle holder located further away from the tramline, the symmetrically operating spray nozzles, which produce a symmetrical spray cone 17a, are activated instead. The resulting spray pattern S1 is in Fig. 6 shown.

[0079] In a situation where, for example, the width of the lane 6 is significantly greater than the track width of the carrier vehicle, only the asymmetrical spray nozzles located in those first nozzle holders 14b that are not directly adjacent to the lane, but rather in adjacent first nozzle holders 14b, could be activated in the first operating mode. In contrast, the spray nozzles located in the first nozzle holder 14b directly adjacent to the lane are deactivated in the first operating mode, as they would otherwise spray into the lane. The resulting spray pattern is described in Fig. 6 not shown.

[0080] According to this embodiment, the control unit 20 can be configured to detect a value of at least one of the following driving parameters P0, whether detected by a sensor, entered manually by an operator, or stored in a memory: the tire width of the wheels, the set track width of the carrier vehicle, and the tramline width of a field to be sprayed. Depending on the detected value of such a driving parameter P0, the control unit 20 can then select a portion of the asymmetrically operating spray nozzles of the first nozzle carriers, as described above.

[0081] Although the invention has been described with reference to certain embodiments, it is apparent to a person skilled in the art that various modifications can be made and equivalents can be used as replacements without leaving the scope of the invention.

[0082] In addition, many modifications can be made without leaving the relevant scope. Consequently, the invention is not intended to be limited to the disclosed embodiments, but rather to encompass all embodiments that fall within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and features of the dependent claims independently of the referenced claims. Reference symbol list 1 Agricultural spreading machine 2 Liquid active ingredient 3 Carrier vehicle 4 wheel 5 lanes 6 driving lane 7 storage containers 8 Plant inventory 9 track gauge 10 spray booms 11 Actuator 12 Middle section of the spray boom 13 outriggers 14a, 14c Nozzle holder 14b First nozzle carrier 15a, 15c Spray nozzle 15b Spray nozzle of the first nozzle carrier 16 area 17a symmetrical spray profile 17b asymmetrical spray profile 18 Distance between two nozzle carriers 20 Control unit 30 Distribution device for dispensing liquid active ingredient 60 Distribution device for dispensing liquid active ingredient 66 area S1 spray profile F Direction of travel P0, P1, P2, P3, P4, P5 parameters

Claims

Agricultural distribution machine (1) for applying liquid active ingredients (2), preferably plant protection products and / or fertilizers, comprising a carrier vehicle (3) having at least two wheels (4); and a spray boom (10) arranged directly or indirectly on the carrier vehicle (3), on which several spaced-apart nozzle carriers (14a, 14b, 14c) are arranged, each designed to receive at least one spray nozzle (15a, 15b, 15c) for distributing the active ingredient (2) to be applied; a control device (20) designed to control the spray nozzles (15a, 15b, 15c) held in the nozzle carriers (14a, 14b, 14c);characterized in that the multiple nozzle carriers (14a, 14b, 14c) comprise multiple first nozzle carriers (14b) in each of which at least one asymmetrically operating spray nozzle (15b) is held, wherein the first nozzle carriers (14b) are arranged in areas (16) of the spray boom (10) which - viewed in the direction of travel (F) of the spreading machine (1) - are arranged laterally adjacent to a track (5) provided for the running wheels (4) of the carrier vehicle (3). Agricultural spreading machine (1) according to claim 1, wherein the at least one asymmetrically operating spray nozzle (15b) of the first nozzle carrier (14b) is arranged such that its side (19) with a smaller spray angle faces the adjacent driving lane (5). Agricultural spreading machine (1) according to claim 1 or 2, a) wherein the first nozzle carriers (14b) or at least a part of the first nozzle carriers (14b) are each designed as multiple nozzle carriers, for example as double or quadruple nozzle carriers; and / or b) wherein the first nozzle carriers (14b) are arranged in areas (16) of the spray boom (10) which - viewed in the direction of travel (F) of the spreading machine - are arranged laterally on the left or laterally on the right adjacent to a track (5) provided for the wheels (4) of the carrier vehicle (3). Agricultural spreading machine (1) according to claim 3, wherein the multi-nozzle carrier a) is equipped with at least one symmetrically operating spray nozzle and with at least one asymmetrically operating spray nozzle; and / or b) is equipped with at least two asymmetrically operating spray nozzles producing different spray cones. Agricultural spreading machine (1) according to one of the preceding claims, wherein each of the sections (16) of the spray boom, which are arranged laterally adjacent to one of the tracks (5) provided for the wheels (4) of the carrier vehicle, a) comprises at least two adjacent first nozzle carriers; or b) comprises only one first nozzle carrier (14b). Agricultural spreading machine (1) according to one of the preceding claims, wherein the control device (20) is configured to: a) detect a sensor-detected value, a value manually entered by an operator, or a value stored in a memory of at least one of the following driving parameters (P0): a tire width of the running wheels, a set track width of the carrier vehicle, and a tramline width of a field to be sprayed; and b) determine a partial selection of the asymmetrically operating spray nozzles of the first nozzle carriers depending on the detected value of the at least one driving parameter (P0). Agricultural spreading machine (1) according to one of the preceding claims, wherein the control device (20) is configured in a first operating mode (M1) to generate a first spray pattern (S1), a) to switch on the asymmetrical spray nozzles (15b) of the first nozzle carriers (14b) or at least a partial selection thereof; and b) to switch off or deactivate spray nozzles (15c), preferably symmetrically operating spray nozzles, which are arranged above the tracks (5) provided for the running wheels (4) of the carrier vehicle (3). Agricultural distribution machine (1) according to claim 7, wherein the control device (20) is configured to determine a reduction in the application rate of the liquid active ingredient (2) when the first operating mode is selected, wherein the reduction in the application rate is preferably determined according to the area less treated in the first operating mode, for example according to the percentage of the width of the two tramlines or tracks in relation to the total width of the spray boom. Agricultural spreading machine (1) according to claim 7 or 8, wherein the control device (20) is configured to: a) detect a value of a first operating parameter (P1), wherein the value indicates and / or can be derived from the value whether the agricultural spreading machine is operating in a tramline (6) or on a headland during spraying operation; and b) make a decision to select the first operating mode depending on the detected value of the first operating parameter (P1). Agricultural spreading machine (1) according to claim 9, a) wherein the control device (20) is configured to select the first operating mode if the detected value of the first operating parameter (P1) indicates that the agricultural spreading machine is driving in a tramline (6); and / or b) wherein the first operating parameter is detected sensorially by means of a steering angle sensor or by means of at least one acceleration sensor arranged on the spray boom. Agricultural distribution machine (1) according to one of claims 7 to 10, wherein the control device (20) is configured to: a) detect a value of a second operating parameter (P2), wherein the value indicates a type of plant protection product; and b) make a decision to select the first operating mode depending on the detected value of the second operating parameter (P2). Agricultural spreading machine (1) according to one of claims 8 to 11, wherein the control device (20) is configured to: a) detect a value of a third operating parameter (P3), wherein the value indicates a height distance between the plant stand and the spray boom and / or a growth stage of the crop to be sprayed and / or a measure of the height distance or the growth stage can be derived therefrom; and b) make a decision to select the first operating mode depending on the detected value of the third operating parameter (P3). Agricultural spreading machine (1) according to one of claims 7 to 12, wherein the control device (20) is configured to: a) detect a value of a fourth operating parameter (P4), wherein the value indicates a measure of pest and / or weed infestation of the track (5) and / or tramline (6) to be sprayed; and b) make a decision to select the first operating mode depending on the detected value of the fourth operating parameter (P4). Agricultural spreading machine (1) according to one of claims 7 to 13, wherein the control device (20) is configured to switch off or leave deactivated the asymmetrical spray nozzles of the first nozzle carriers in a second operating mode to generate a second spray pattern. Agricultural spreading machine (1) according to claim 14, wherein the control device (20) is configured to switch on symmetrically operating spray nozzles in the second operating mode, a) which are arranged in the first nozzle carrier (14b); and / or b) which are held above the tracks (5) provided for the running wheels (4) of the carrier vehicle (3); and / or c) which are located in the areas (16) of the spray boom which - viewed in the direction of travel (F) of the spreading machine - are arranged laterally adjacent to one of the tracks provided for the running wheels of the carrier vehicle. Agricultural spreading machine (1) according to one of claims 9 to 15, a) wherein the value of the first, second, third and / or fourth operating parameter is a sensor-detected value, a value manually entered by an operator, a value stored in a memory and / or a value received via a data interface; and / or b) wherein the control device (20) is configured to make a decision to select the first or second operating mode depending on the detected value of the first, second, third and / or fourth operating parameter. Agricultural spreading machine (1) according to one of the preceding claims, wherein the distance between two first nozzle carriers, which are arranged laterally adjacent to one of the tracks provided for the wheels of the carrier vehicle on different sides, is a) at least 25 cm, at least 50 cm or at least 60 cm; and / or b) at most 100 cm; and / or c) corresponds to at least one width of the wheel and / or at least one width of a tramline. A method for applying at least one liquid active ingredient to a crop having several tramlines by means of an agricultural spreading machine, comprising the provision of an agricultural spreading machine (1) that is movable along the tramlines (6), wherein the agricultural spreading machine comprises: a carrier vehicle (3) having at least two wheels (4); and a spray boom (10) arranged directly or indirectly on the carrier vehicle (3), on which several spaced-apart nozzle carriers (14a, 14b, 14c) are arranged, each designed to receive at least one spray nozzle (15a, 15b, 15c) for distributing the active ingredient to be applied; a control device (20) configured to control the spray nozzles held in the nozzle carriers depending on at least one first operating parameter;characterized in that the multiple nozzle carriers comprise multiple first nozzle carriers (14b) in each of which at least one asymmetrically operating spray nozzle (15b) is held, wherein the first nozzle carriers (14b) are arranged in areas (16) of the spray boom which are arranged laterally adjacent to a track (5) provided for the wheels (4) of the carrier vehicle and / or to a tramline (6) of the crop stand - viewed in the direction of travel of the spreading machine.

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