Agricultural sprayer and method for applying spray liquid to an agricultural area

Abstract

Agricultural sprayer (10), in particular field sprayer, comprising at least one capture device (20) which is configured to capture a plant stand (N2, N3), in particular in the form of weeds and / or wild vegetation, on an agricultural area, at least one first and second application element (30, 40) which are arranged on a spray boom (11) and are configured to apply spray liquid depending on an operating state (B1-B3) on the agricultural area (N1), in particular on its plant stand (N2, N3), and at least one adjustment device by means of which the impact area (A) of the spray liquid that can be applied by the at least one first and / or second application element (30, 40) can be adjusted.wherein the spray liquid can be applied in a first operating state (B1) via the at least one first application element (30) and in a second operating state (B2) via the at least one second application element (40), wherein the at least one first and second application element (30, 40) each have different spray profiles, and wherein the operating state (B1-B3) can be selected depending on the detected plant population (N2, N3), characterized in that the speed of the sprayer (10), in particular of at least one application element (30, 40), can be detected and the operating state (B1-B3) can be selected depending on the speed.

Description

[0001] The invention relates to an agricultural spraying device according to the preamble of claim 1 and a method for applying spray liquid to an agricultural area according to the preamble of claim 6.

[0002] In numerous applications, particularly in agriculture, sprayers are used to apply spray liquids to agricultural land. Depending on the application, these include weed control products and / or plant protection products, such as herbicides, fungicides, and / or insecticides, and / or fertilizers for the growing crop. Sprayers of this type comprise at least one reservoir from which the spray liquid can be applied to the agricultural land via at least one supply line and downstream application elements, especially nozzles. Typically, at least part of the supply line and / or the application elements, especially nozzles, are arranged on a boom consisting of several sections, preferably extending substantially transversely to the direction of travel.Especially during the application of the spray solution, adjusting the application rate to the required level is of paramount importance in order to achieve both good application results and significant yield increases. Furthermore, due to constantly increasing environmental regulations, it is becoming ever more crucial to reduce the use of herbicides and / or pesticides as much as possible.

[0003] Besides various parameters that depend on the sprayer, the condition of the agricultural land, especially its crop and / or weed population, is of crucial importance for the application rate of the spray solution. To achieve the most demand-controlled application rate possible, modern agricultural sprayers typically include several application elements that can be selectively controlled and / or regulated along the boom.

[0004] According to WO 2018 / 154490 A1, an agricultural sprayer with at least one first and second application element is arranged on a spray boom and configured to apply spray liquid to agricultural land, in particular to the crop, depending on an operating condition. Furthermore, the sprayer includes at least one detection device configured to detect crops, in particular weeds and / or wild growth, on the agricultural land. Finally, the sprayer has at least one adjustment device by means of which the impact area of ​​the spray liquid that can be applied by the at least one first and / or second application element can be adjusted.

[0005] A disadvantage of this device is that only a particularly large area of ​​the agricultural land can be wetted with spray solution using the respective application elements. Therefore, at least some areas with little or no weed and / or wild growth are also exposed to spray solution.

[0006] US Patent 2015 / 0245565 A1, on the other hand, discloses a sprayer for the on-demand treatment of individual plants, in particular individual weeds and / or wild growth. In addition to a detection device for capturing the plant population, especially at least one individual plant, the sprayer also includes an adjustment device for setting the impact area of ​​the spray liquid applied by the application elements. The application elements, in particular nozzles, have a spray pattern with a particularly acute angle, which is suitable for wetting only a very small area of ​​the agricultural land, in particular a single plant.

[0007] Furthermore, such an agricultural spraying device and / or method is already known from publication DE 10 2018 126 586 A1.

[0008] However, it has become apparent that comparatively low working speeds are only achievable with such a sprayer for treating agricultural land. To ensure that at least nearly the entire crop is covered with spray solution and / or to avoid overloading the application elements and / or adjustment mechanisms, either a particularly large number of application elements or particularly low working speeds of the sprayer are currently required.

[0009] The object underlying the invention is therefore to design a spraying device in such a way that the spray liquid can be applied with increased efficiency to agricultural land, in particular to its crops. The invention further aims to provide a method for applying spray liquid.

[0010] This problem is solved according to the invention by the features of claim 1. Furthermore, the problem with regard to the method is solved by the subject matter of claim 6.

[0011] As a result of this measure, application elements with different spray profiles can be used within a single sprayer as needed. Depending on the operating conditions, the spray liquid can thus be applied via application elements, particularly nozzles, with a first or second spray profile. This allows the sprayer to be used for both area and / or row treatment as well as for individual plant treatment, especially weeds and / or wild growth. In addition to enabling particularly economical and / or environmentally friendly individual plant treatment, this also allows for area and / or row treatment at a particularly high sprayer operating speed.

[0012] According to the invention, the at least one first and second application element can be arranged separately and / or together on the boom. Alternatively or additionally, it is conceivable that the at least one first and second application element is arranged at different positions along the boom.

[0013] Particularly preferred are at least two separate supply lines, wherein the at least one first and second application element can each be fluidly connected to different supply lines. The first application element can be connected to a first supply line and the second application element to a second supply line. Furthermore, it is preferred if a first spray liquid with a first, particularly high, active ingredient concentration can be applied from the first application element and a second spray liquid with a second, particularly low, active ingredient concentration can be applied from the second application element. A suitable premixing system and / or different storage containers are conceivable, which are fluidly connected to the supply lines via a suitable conveying system.

[0014] In an alternative or additionally preferred embodiment, the first and second dispensing elements are combined into a nozzle, wherein the spray profile of the nozzle is adaptable.

[0015] Furthermore, the sprayer is equipped with at least one control and / or regulation system configured to select the operating state of the sprayer, preferably automatically, depending on the detectable plant population. Alternatively or additionally, the operating state can be selected by a machine operator using a display and / or control element assigned to the sprayer. The sprayer is therefore suitable for applying the spray liquid via at least one first application element during the first operating state and via at least one second application element during the second operating state.Furthermore, a sprayer is particularly preferred in which several first and second application elements are arranged along the boom, wherein at least one first and one second application element are assigned to each other in groups, in particular sections, and wherein the operating state of each group, in particular a section, is switchable. Thus, the operating state of each individual first and second application element assigned in groups, in particular sections, along the boom is adaptable.

[0016] The detection device can comprise at least one optical sensor and / or at least one optical, in particular image-capturing, camera, preferably arranged in the area of ​​the boom, particularly in the direction of travel in front of the spray nozzles. Furthermore, the crop can be detected by means of the at least one detection device within a detection range dependent on the field of view, particularly the lens. Multiple sensors and / or cameras, each assigned to at least one application element and / or a group of application elements, are particularly preferred. A further preferred embodiment of the detection device is one in which at least one sensor and / or camera is arranged in the direction of travel behind the application elements, with the field of view directed towards an area of ​​the application area located in the direction of travel in front of the application elements.

[0017] In a further preferred embodiment of the spraying device according to the invention, the adjustment device comprises at least one actuator, wherein the at least one first and / or second dispensing element is adjustable by means of the actuator. The adjustment device is preferably configured to adjust the position of the at least one first and / or second dispensing element on the spray boom and / or the orientation of the at least one first and / or second dispensing element. Furthermore, the impact area of ​​the spray liquid that can be dispensed from the at least one first and / or second dispensing element is thus at least partially adjustable. In a particularly preferred embodiment, the position of the at least one second dispensing element is fixed along the boom, while the position and / or the orientation, in particular the impact area, of the first dispensing element is adjustable by means of the adjustment device.Thus, at least one first application element and / or the impact area of ​​the first application element on at least one plant, particularly weeds and / or wild plants, that can be detected by the detection device, is adjustable. The adjustment is preferably carried out via at least one actuator assigned to the first application element. In a further preferred embodiment, the at least one first application element is pivotable, at least partially, about an axis that is at least substantially perpendicular to the spray pattern. With such an embodiment, the application area of ​​the individual application elements is particularly enlarged. The area of ​​the usable surface on which spray liquid can be applied with one application element is therefore dependent not only on the width of the spray pattern but also on the adjustment range of the respective application element.

[0018] In a preferred embodiment of the sprayer according to the invention, the at least one first application element has a spray profile suitable for treating individual plants, and the at least one second application element has a spray profile suitable for treating larger areas. The spray liquid can be applied to the individual plant at least almost precisely via the at least one first application element. A spray profile that is at least partially designed as a round and / or point jet and can be applied from the at least one first application element is particularly preferred. Furthermore, the spray liquid can be applied to at least one individual plant, preferably to several plants simultaneously, via the at least one second application element. The second application element is designed in the form of a flat jet nozzle with a spray pattern that expands at least partially from the application element.This embodiment offers the advantage that the application range of the sprayer according to the invention is particularly flexible. A sprayer designed in this way is therefore particularly well suited for both individual plant treatment and area and / or row treatment.

[0019] In a further development of the spraying device according to the invention, the spray liquid can be applied in a third operating state via the at least one first and at least one second application element. Here, the spray liquid can be applied from the at least one first and second application element at least almost simultaneously. Alternatively or additionally, sequential application of the spray liquid from the first and second application element is also possible. In this case, the application elements can also be selected and / or activated depending on the position of the spraying device, in particular the respective application elements. Furthermore, it is preferred that, in the case of multiple application elements, at least one second application element is assigned to at least one first application element.Thus, the spray device according to the invention enables both particularly high working speeds and particularly high accuracy in the application of the spray liquid.

[0020] In another preferred embodiment of the sprayer according to the invention, the dimensions and / or type and / or number of plants, particularly within a predetermined detection area, can be detected by means of the detection device. The operating state can be selected depending on the dimensions and / or type and / or number of plants, especially weeds and / or wild vegetation. The first operating state is suitable for wetting a small number of plants and / or plants with small dimensions. For a large number of plants and / or plants with large dimensions, which cannot be sufficiently wetted, particularly with the spray profile of the first application element, the second and / or third operating state can be used. Furthermore, the type of plant, in particular the species and / or variety, can preferably be taken into account by means of the detection device and / or the control system.Thus, the application element can be selected based on factors such as the resistance of the respective plant, particularly weeds, and / or the concentration of the active ingredient in the spray solution. Furthermore, in areas with low plant density, especially weeds and / or wild growth, a reduction in the amount of spray solution and therefore particularly high sprayer efficiency can be achieved.

[0021] Furthermore, the position of the vegetation, particularly weeds and / or wild growth, can be detected by means of the detection device. The control system associated with the sprayer is configured to select and / or activate the at least one first and / or second application element based on the detected position of the vegetation, such that the spray liquid, particularly the impact area, at least partially wets the detected vegetation. Furthermore, the at least one first and / or second application element, particularly its impact area, can be aligned with the at least one detectable plant, particularly the weeds and / or wild growth, by means of the adjustment device. The efficiency of the sprayer according to the invention is further increased by means of the targeted application of the spray liquid thus made possible.

[0022] In the sprayer according to the invention, the speed of the sprayer, in particular of at least one application element, can be detected, and the operating state can be selected depending on the speed. The control system is configured to select and / or activate the operating state, and thus the application elements, depending on the speed of the sprayer, in particular the application elements. Furthermore, the number and / or dimensions of the plants within the detectable crop can preferably also be taken into account for selecting the operating state.

[0023] Furthermore, it is conceivable that additional boundary conditions, such as wind speed, can be retrieved by means of a sensor assigned to the sprayer and / or from a provisioning device, in particular a data storage device and / or server, and can be taken into account for the selection and / or activation of the operating state, preferably by the control and / or regulation system.

[0024] The problem underlying the invention is further solved by a method for applying a spray liquid to an agricultural area using an agricultural sprayer according to claim 6, wherein the method comprises at least the following steps: - Selecting the operating state depending on the detected plant population; and - Application of the spray liquid in a first operating state and a first spray profile via at least one first application element; and / or - Application of the spray liquid in a second operating state and a second spray profile via at least one second application element.

[0025] Regarding the advantages and modifications of the method according to the invention, reference is first made to the advantages and modifications of the spraying device according to the invention.

[0026] In the method according to the invention, in a first step the vegetation, in particular in the form of weeds and / or wild growth, is detected on the agricultural land by means of the detection device. Furthermore, in a further step, the spray solution is applied to the agricultural land by means of at least one first and / or second application element, which are arranged on the spray boom, depending on the operating state. In another step, the impact area of ​​the spray solution that can be applied from the first and / or second application elements is preferably changed by means of an adjustment device.

[0027] Furthermore, a preferred method according to the invention involves applying the spray liquid in a third operating state via at least one first and second application element. The application is preferably carried out at least nearly simultaneously or sequentially using the first and second application elements. With at least nearly simultaneous application of the spray liquid, the spray profile, in particular the spray pattern, of the first and second application elements can at least partially overlap. With sequential application, the first and second application elements are arranged at least partially offset from one another, particularly in the direction of travel. The first and second application elements are connected to the same or different supply lines in a fluid-conducting manner.With different supply lines, at least partially different spray solutions, particularly those with different active ingredient concentrations, can be applied through the first and second application elements. Furthermore, the quantity of spray solution to be applied from the first and second application elements, especially adjacent ones, is preferably taken into account and / or adjusted. Using this third operating mode, a high working speed of the sprayer can thus be achieved with at least the same or a higher plant spacing, particularly for weeds and / or wild vegetation.

[0028] In the method according to the invention, the dimensions and / or types and / or number of plants, particularly within a predetermined detection area, are detected by means of the detection device, and / or the operating state is switched depending on the detected dimensions and / or type and / or number of plants, particularly by exceeding a predetermined threshold value. A specific sub-area, in particular a section, of the agricultural land, particularly in the direction of travel directly in front of the application elements, is detected and / or taken into account. Thus, the spray liquid is primarily applied from the at least one first application element and only when an overload is reached can it be applied alternatively or additionally from the at least one second application element.An overload in this context represents a threshold value of the number, dimensions and / or types of plants that, especially when the speed of the sprayer and / or the application elements remains at least nearly constant, cannot be sufficiently wetted with spray liquid by means of the first application elements.

[0029] In the method according to the invention, the operating state is further switched depending on a speed detectable by the sprayer, in particular at least one application element. To determine the threshold value required for switching the operating states, the speed of the sprayer, in particular at least one application element, is additionally detected and / or taken into account by the control system. Thus, the threshold value can be lower at higher speeds than at lower speeds.

[0030] In an alternative embodiment, the wind speed, particularly in the area of ​​the sprayer, is also detected and taken into account for the selection and / or activation of the operating state, particularly by the control and / or regulation system.

[0031] Further details of the invention can be found in the description of the example and the drawings. The drawings show Fig. 1 an embodiment of a boom segment of an agricultural sprayer according to the invention; and Fig. 2 a flowchart of a method according to the invention for applying spray liquid with an agricultural sprayer.

[0032] The Fig. Figure 1 shows a portion of a foldable boom 11 attached to an agricultural sprayer 10 for applying spray solution to the vegetation N2, N3 of an agricultural area N1. The boom 11 comprises several first and second application elements 30, 40, which are arranged on the underside of the boom 11 and are configured to apply the spray solution to the vegetation, in particular weeds and / or wild growth N3, depending on an operating state B1-B3. Furthermore, several application nozzles 50 are arranged on the boom 11, which are configured to apply spray solution to the crop plants N2. In addition, the agricultural sprayer 10 comprises at least one detection device 20 which has several camera lenses 21 arranged on the boom 11.The detection device 20 is designed to detect the plant population, in particular crops N2 and / or weeds and / or wild vegetation N3, on the agricultural area N1. The impact area A of the spray liquid that can be applied by the first and second application elements 30 and 40 is adjustable via an adjustment device 32 associated with the sprayer 10, in particular with the application elements 30 and 40.

[0033] In addition, the sprayer 10 is assigned a control and / or regulation system 60, via which the operating state of the sprayer 10 and / or the application elements 30, 40 can be selected and / or activated.

[0034] The spray fluid can be applied in a first operating state B1 via the first application elements 30 and in a second operating state B2 via the second application elements 40. The first and second application elements 30, 40 each have different spray profiles 31, 41, with the first application element 30 having a spray profile suitable for individual plant treatment and the second application elements 40 having a spray profile 31, 41 suitable for area treatment. The first application elements 30 are designed as round and / or point jet nozzles and the second application elements 40 as flat jet nozzles, in particular with a downwardly expanding spray fan 41. In an alternative embodiment not shown, the first application elements 30 are designed as flat jet nozzles with a particularly acutely angled spray fan 31, which is in particular smaller than that of the second application elements 40.The operating state B1-B3 can be selected depending on the detectable plant population, in particular the weeds and / or wild growth N3.

[0035] Furthermore, the sprayer 10 is configured to apply the spray liquid in a third operating state B3 via the first and second application elements 30, 40. In this state, the spray liquid is applied, in particular at least nearly simultaneously, by the first and second application elements 30, 40. In an alternative embodiment not shown, it is conceivable that the spray liquid is applied sequentially from the first to the second application elements 30, 40 in the third operating state. If the first and second application elements 30, 40 are arranged offset in the direction of travel of the sprayer 10, the spray liquid is applied first via the first application elements 30 and then via the second application elements 40. A reversal of the application sequence is also conceivable in another alternative embodiment.

[0036] The dimensions and / or type and / or number of plants N2, N3, particularly within a predefined detection area E, can be detected using the detection device 20. Furthermore, the operating state B1-B3 can be selected and / or activated depending on the detectable plants N2, N3. The first operating state, B1, is used for a low number or density of plants, especially weeds N3, with small dimensions. The second operating state, B2, is used for a high number and / or large dimensions of plants, especially weeds N3. The third operating state, B3, is suitable for a particularly high number and / or large dimensions of plants, especially weeds N3.

[0037] Furthermore, the speed of the sprayer 10, in particular the application elements 30, 40, can be detected by means of the control and / or regulation system 60, and the operating states B1 - B3 can be selected and / or activated depending on the speed. Thus, a threshold value for switching between operating states B1-B3 can be adjusted. For example, at high speeds the threshold value can be reduced accordingly, and at low speeds it can be increased.

[0038] The adjusting device 32 has at least one actuator (not shown in the figures) on each of the first application elements 30. The adjusting device 32 is configured by means of the actuator to pivot the respective first application elements 30 by an angle substantially perpendicular to the spray pattern 31. Thus, the impact area A of the first application elements 30 is adjustable transversely to the direction of travel of the sprayer 10, in particular the boom 11. In an alternative embodiment not shown, the first application elements 30, in particular their impact area A, are adjustable in a direction that corresponds at least substantially to the direction of travel. In a further embodiment not shown, the second application elements 40, in particular their impact area A, are adjustable in at least a nearly identical manner.

[0039] The Fig.Figure 2 shows a flowchart of a procedure for applying a spray liquid using an agricultural sprayer 10. The procedure is initiated by at least one of the following steps: 100) Recording the plant population N2, N3, in particular in the form of weeds and / or wild growth, on an agricultural area N1 using a recording device 20; and / or 101) Recording the dimensions and / or type and / or number of plants, especially within a specified recording area, using the recording device 20.

[0040] As part of the recording of the plant population N2, N3 on the agricultural land N1, at least one of the following two steps is carried out first: 200) Selecting the operating state B1-B3 depending on the detected plant population N2, N3; and / or 201) Switching the operating state B1-B3 depending on the detected dimensions and / or the type and / or number of plants N2, N3, in particular by exceeding a predetermined threshold.

[0041] After the required operating state B1-B3 has been selected and / or activated at the respective dispensing elements 30, 40, the following step can be carried out: 300) Changing the impact area A of the spray liquid discharged by the at least one first and / or second application elements 30, 40 during the application process by means of the adjusting device 32,

[0042] Once one or more operating states B1-B3 have been selected and / or activated and / or the respective impact areas A have been changed, the following steps are performed: 400) Applying spray liquid to the agricultural land N1, in particular to its crops N2, N3, depending on the operating condition B1-B3, by means of at least one first and second application element 30, 40, which are arranged on the spray boom 11.

[0043] According to the invention, the step of applying the spray liquid via the application elements 30, 40 is supplemented by the following steps: 401) Applying the spray liquid in a first operating state and a first spray profile via the at least one first application element 30; and / or 402) Applying the spray liquid in a second operating state and a second spray profile via at least one second application element 40; and / or 403) Applying the spray liquid in a third operating state via the at least one first and second application element 30, 40.

[0044] The procedure optionally includes the additional step for selecting and / or activating the respective operating state B1-B3: 202) Switching the operating state depending on a speed detectable by the sprayer 10, in particular at least one application element 30, 40.

[0045] All the steps described above can be repeated continuously during the application and / or spreading process. Reference symbol list 10 Agricultural sprayer 11. Booms, spray booms 20 Recording device 21 Camera, camera lens 30 First application element 31 spray fans of the first application elements 32 Adjustment device 40 Second dispensing element 41 spray fans of the second application elements 50 application nozzles 60 Control and / or regulation system A impact area B1 First operating state B2 Second operating state B3 Third operating state E detection area N1 Agricultural land N2 crop plant, plant population N3 Weed growth, wild growth, plant population

Claims

[1] Agricultural sprayer (10), in particular field sprayer, comprising at least one capture device (20) which is configured to capture a stand of plants (N2, N3), in particular in the form of weeds and / or wild vegetation, on an agricultural area, at least one first and second application element (30, 40) which are arranged on a spray boom (11) and are configured to apply spray liquid depending on an operating state (B1-B3) on the agricultural area (N1), in particular on its stand of plants (N2, N3), and at least one adjustment device by means of which the impact area (A) of the spray liquid that can be applied by the at least one first and / or second application element (30, 40) can be adjusted,wherein the spray liquid can be applied in a first operating state (B1) via the at least one first application element (30) and in a second operating state (B2) via the at least one second application element (40), wherein the at least one first and second application element (30, 40) each have different spray profiles, and wherein the operating state (B1-B3) can be selected depending on the detected plant population (N2, N3), , characterized by , that the speed of the sprayer (10), in particular at least one application element (30, 40), can be detected and the operating state (B1-B3) can be selected depending on the speed. [2] Agricultural sprayer (10) according to claim 1, characterized by , that at least one first application element (30) has a spray profile suitable for single-plant treatment and at least one second application element (40) has a spray profile suitable for area treatment. [3] Agricultural sprayer (10) according to at least one of the preceding claims, characterized by , that the spray liquid can be applied in a third operating state (B3) via at least one first and at least one second application element (30, 40). [4] Agricultural sprayer (10) according to at least one of the preceding claims, characterized by , that the dimensions and / or type and / or number of plants, in particular within a specified detection area (E), can be detected by means of the detection device (20). [5] Agricultural sprayer (10) according to at least one of the preceding claims, characterized by , that the adjustment device comprises at least one actuator, wherein the at least one first and / or second dispensing element (30, 40) is adjustable by means of the actuator. [6] Method for applying spray liquid to an agricultural area (N1) using an agricultural sprayer (10), in particular an agricultural sprayer (10) according to one of the preceding claims, comprising the steps: - Recording a plant population (N2, N3), in particular in the form of weeds and / or wild growth, on an agricultural area (N1) using a recording device (20), - Recording the dimensions and / or type and / or number of plants, in particular within a specified recording area (E), using the recording device (20); and / or - Switching the operating state (B1-B3) depending on the detected dimensions and / or the type and / or number of plants, in particular by exceeding a predetermined threshold, and - Application of spray liquid to the agricultural land (N1), in particular to its crops (N2, N3), depending on an operating condition (B1-B3) by means of at least one first and second application element (30, 40) which are arranged on a spray boom (11), and - Changing the impact area (A) of the spray liquid discharged by the at least one first and / or second application element (30, 40) during the application process by means of an adjustment device, and - Selecting the operating state (B1-B3) depending on the detected plant population (N2, N3); and - Application of the spray liquid in a first operating state (B1) and a first spray profile via the at least one first application element (30); and / or - Applying the spray liquid in a second operating state (B2) and a second spray profile via at least one second application element (40), characterized by the step: - Switching the operating state (B1-B3) depending on a speed detectable by the sprayer (10), in particular at least one application element (30, 40). [7] The method of claim 6, characterized by the step of: - Application of the spray liquid in a third operating state (B3) via at least one first and second application element (30, 40).

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