Method for adjusting the lateral distribution of fertilizer when cornering
Patent Information
- Application Number
- DE102023120732
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-08-04
- Publication Date
- 2025-02-06
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
The invention relates to a method for discharging fertilizer during cornering and to a fertilizer spreader.It is known to apply fertilizer by means of a fertilizer spreader. In particular, centrifugal fertilizer spreaders can be used, e.g. centrifugal fertilizer spreaders with two disks, which comprise scattering disks in order to distribute fertilizer applied to the scattering disk.By applying fertilizer by means of the scattering discs, a scattering image is formed which is composed of, in particular, two partial scattering images, which are each applied by a scattering disc.A scatter image represents the image of scattering material, in particular fertilizer, as is generated by such a centrifugal fertilizer spreader when it is standing. If the fertilizer spreader travels, the superposition of the scattering images generated thereby forms a fertilizer distribution on the field, in which, in particular, the transverse distribution (perpendicular to the direction of travel of the fertilizer spreader) is typically set or formed such that, when traveling along a plurality of travel lanes, a uniform fertilizer distribution forms in itself on a field as a result of the superposition of the different transverse distribution.Typically, the scattering discs are set during straight-ahead travel in such a way that a fertilizer distribution is formed, which results in a constant fertilizer distribution on the field when superimposed with the fertilizer distribution discharged in adjacent lanes. In particular, the resulting transverse distribution of the fertilizer during straight-ahead travel can be a triangular or trapezoidal shape.However, it is sometimes necessary to drive curves during the application of fertilizer; in particular, this may be necessary at the field boundaries and / or in the case of obstacles on the field, e.g. trees, utility poles or the like. When cornering, however, if the parameters of the fertilizer spreader are not changed, an uneven fertilizer distribution, in particular an uneven transverse distribution of the fertilizer in the curve, occurs. This effect occurs in particular because the fertilizer falls to the ground only clearly, in particular approximately half a working width, behind the fertilizer spreader; thus, when the fertilizer spreader is turning, there are already oscillations of the scatter image with respect to the current direction of travel if the fertilizer spreader should still scatter the scatter image of the straight-ahead travel, and also further oscillations of the scatter image with respect to the current direction of travel in the course of the curve. In addition, the parts of the fertilizer spreader arranged on the inside of the curve can travel a shorter or different path depending on the curve radius and the characteristic of the scatter image, e.g. whether the scatter images overlap during a travel to a trapezoidal or triangular transverse distribution than the parts of the fertilizer spreader arranged on the outside of the curve, so that more or less fertilizer per area is discharged at points on the inside of the curve than on the outside of the curve. Thus, even when the resulting fertilizer distributions of a plurality of lanes are superimposed, an uneven fertilizer distribution is obtained in the area of the curve, e.g. an over-fertilizer can be obtained on the inside of the curve with a large shedding angle with a small overlap between the fertilizer distributions of different lanes due to trapezoidal fertilizer distributions.This is disadvantageous in particular because the under-fertilizing resulting therefrom (e.g. on the outside of the curve) and over-fertilizing (e.g. on the inside of the curve) lead to uneven growth in the various regions.It is an object of the invention to improve the transverse distribution of the fertilizer during cornering.The invention comprises a method according to claim 1 and a fertilizer spreader according to claim 14.The invention comprises a method for applying fertilizer with a fertilizer spreader during cornering. A fertilizer spreader can be in particular a centrifugal fertilizer spreader, in particular a centrifugal fertilizer spreader with two spreader disks. Such fertilizer dispensers can comprise, for each dispensing disk, metering means which measure the amount of fertilizer to be applied to the dispensing disk and an introduction system which is designed to apply the (measured) amount of fertilizer to the application points of the associated dispensing disks. The dosage amount, the feed points and / or the rotational speed of the scattering disks can be adjustable, in particular individually for each scattering disk. The application point can be adjustable in particular radially (i.e. inwardly (towards the center of the lens) and / or outwardly (away from the center of the lens)) and / or from the angle range, i.e. in particular adjustable in or against the direction of rotation of the lens.The method for discharging fertilizer during cornering can comprise in particular determining the offset of the center of a scatter image to the lane.As the center of a scattering image, a point can be considered in particular which lies at the distance of the throw distance from the center point between the two scattering discs on a line perpendicular to the connecting line of the center points of two scattering discs. The center point between the two scattering disks is in particular in the center of the connecting path which extends from the center point of the first scattering disk to the center point of the second scattering disk. The throw width is the width (again at a distance from the center between the two scattering disks) where the median of the fertilizer distribution is located, i.e. at which 50% of the amount of fertilizer lands further away from the center between the two scattering disks and 50% of the amount of fertilizer lands closer to the center between the two scattering disks. A further possibility for determining the center of a scattering image can be determining the throw width (as defined above) and, on a circle having the radius of the throw width around the center point between the two scattering discs, determining the angle along the circle which describes the median of the angle distribution of the fertilizer. The center of the scatter image can also be specified differently, e.g. determined from a scatter table or determined in another way.The determination of an offset can be effected, for example, by means provided on the fertilizer spreader, such as, for example, using one or more cameras, GPS position determination devices, radar measurement means, means for determining a yaw rate, means for determining a combination of steering angle and travel speed and / or other means.The offset can be determined, for example, as an angle between the center of the scattering image to the lane starting from a reference point on the fertilizer spreader, for example the center point between the two scattering slices. In this case, the angle can be measured through the center of the scattering image, in particular on a circle around the center point between the two scattering discs of the fertilizer spreader (the circle around the center point between the two scattering discs with the radius of the throw width, which in turn can be in particular the median of the width distribution), so that it is measured between the center of the scattering image, the center point of the previously described circle and the intersection point of the previously described circle with the lane. Alternatively, the offset of the center of the scatter image to the lane can also be determined by an (absolute) distance of the center of the scatter image to the lane, the distance of the center of the scatter image to the lane along the previously described circle or another direction or in another way. The use of the offset of the center point of the scattering image to the lane can be advantageous in particular because it is thereby taken into account that the changes of the parameters of the fertilizer spreader necessary for an optimum transverse distribution can be of different sizes even when driving a constant curve radius during the driving of a curve, for example in the corner of a field. For example, when entering a curve with a small radius, only slight changes to the scatter image may be necessary in comparison with the throw immediately after entering the curve (which is made clear by the slight offset of the scatter image to the lane), even though the maximum curve radius and also the curve speed are already reached there.The center of the scatter image, which is considered here (i.e. for determining the offset between scatter image and lane), can correspond in particular to the center of the scatter image with the settings of the one or more parameters of the fertilizer spreader, as they are set during straight-ahead travel (i.e. the center of the scatter image relative to the fertilizer spreader during straight-ahead travel). The center of the scatter image, which is viewed for determining the offset between scatter image and lane, can therefore be, in particular, a point arranged in a fixed relationship to the fertilizer spreader, in particular to the scattering discs (which point depends, in particular, on the parameters of the fertilizer spreader set during straight-ahead travel). The center of the scatter image, which is viewed for determining the offset between scatter image and lane, can be arranged in particular on the straight line running perpendicular to the connecting line between the centers of the two scatter disks, which straight line can run in particular parallel to the field (in the plane of the direction of travel), at a fixed distance and fixed angle, e.g. at a specific distance from the center point between the two scatter disks. The center of the scatter image, which is considered for determining the offset between scatter image and lane, can be determined in particular as a function of the set one or more parameters of the fertilizer spreader when driving straight ahead. At the center of the scatter image, which is considered for determining the offset between scatter image and lane, in particular the maximum fertilizer concentration can be achieved when driving straight ahead.Based on the determined offset, according to the invention, one or more parameters of the fertilizer spreader are now changed. The parameters are changed here in particular with respect to one or more parameters of the fertilizer spreader when driving straight ahead. The change is made based on the determined offset and in order to adapt the transverse distribution of the fertilizer, in particular to improve the transverse distribution resulting without a change of one or more parameters of the fertilizer spreader. In particular, the transverse distribution of the fertilizer is to be adapted such that it is formed in cornering more similar to the transverse distribution when traveling straight ahead than without adaptation of the parameters, i.e. for example the transverse distribution extends symmetrically to the axis of the direction of travel. Advantageously, it should be adapted in such a way that, due to the uniform distribution even when passing over a plurality of lanes, the respective transverse distribution also adds up overall in the curves to a uniform fertilizer distribution on the field.The driving lane relates in particular to the actually driven driving lane, i.e. the driving lane actually driven by the towing vehicle of the fertilizer spreader. This can be in particular the lane which covers the center of the towing vehicle (e.g. center point between the (four) wheels or center point between the front wheels or between the rear wheels) of the fertilizer spreader or towing vehicle. The lane may be determined, for example, by GPS positioning, determining a yaw rate, determining a combination of steering angle and vehicle speed using one or more cameras, radar measurement means, or otherwise. Alternatively or additionally, the lane of the fertilizer spreader can be deduced from a lane intended for the towing vehicle. For this purpose, stored geometric relationships between the towing vehicle and fertilizer guardian are taken into account, for example. Thus, the actual driving lane of the fertilizer control actually used, self-driving, carried, saddled or towed, can be determined.By changing one or more parameters of the fertilizer spreader, in particular a changed scatter image of the fertilizer spreader (wherein the changed scatter image corresponds to the scatter image of the fertilizer spreader with the changed one or more parameters, which in particular generated a change of the scatter image compared to the scatter image during straight-ahead travel) can occur. These changes to the scatter image can be ignored in particular during the subsequent control steps. The method for applying fertilizer to a curve can thus in particular always start from the offset of the center of the scattering image, as it is arranged with respect to the fertilizer spreader during straight-ahead travel, i.e. the center of the scattering image, as would result without settings with respect to straight-ahead travel being taken into account in one or more parameters of the fertilizer spreader in the curve. The offset of the scattering image can be determined in particular by the offset of a point and the lane, which point is arranged in a fixed relationship to the fertilizer spreader and is determined in particular by the parameters of the fertilizer spreader set during straight-ahead travel.However, by changing one or more parameters of the fertilizer spreader, the center of the scatter image changed in the curve may be located at a different location in the curve than the center of the scatter image considered to determine the offset between the scatter image and the lane (i.e., the center of the scatter image as it would be if the same scatter image were set as when traveling straight ahead). A change in the center of the scatter image can thus result in particular from the change in one or more parameters of the fertilizer spreader, wherein in particular the center of the changed scatter image can lie at least in regions of the curve away from the lane (i.e. in particular not in the lane) during cornering. In particular, the center of the scatter image changed in cornering can be arranged in the curve, in parts or during the entire cornering, on the outer side of the lane. Such an arrangement can counteract, in particular, an over-taper on the inside of the curve and an under-taper on the outside of the curve. Alternatively or additionally, the center of the scatter image changed in cornering can be located in parts or during the entire cornering, in the lane and / or on the inner side of the lane.Changing one or more parameters of the fertilizer spreader based on the offset may in particular comprise changing the application quantity of a spreader disk based on the offset. In this case, for example, the change in the application rate, in particular the difference between the application rate applied during straight-ahead travel through this lens and the application rate applied during cornering or the ratio between the application rate applied during straight-ahead travel through this lens and the application rate applied during cornering, can represent a function of the determined offset, for example a linear function of the determined offset. Alternatively, the function can also be polynomial and / or exponential or assume another form. Alternatively or additionally, the function can be specified as characteristic maps or curve groups which taken into account one or more further variables, e.g. the driving speed.Changing one or more parameters of the fertilizer spreader based on the determined offset may alternatively or additionally comprise increasing the discharge amount of an outer spreader disk and / or reducing the discharge amount of an inner spreader disk based on the determined offset. The two application quantities can be adjusted in particular independently or in dependence on one another. In this text, the outside and inside or the outside and the inside refer in particular in each case to the curve which is to be passed or passed, it being possible for the outside and inside to be viewed in each case with respect to the lane. In particular, the outer lens may cover a longer distance in a part of the curve than the inner lens. In particular, the application rate of the outer scattering disks can be increased based on the determined offset and at the same time the application rate of the inner scattering disks can be reduced.Changing one or more parameters of the fertilizer spreader based on the determined offset may alternatively or additionally comprise changing the application point of a scattering disk based on the determined offset. By changing the application point of a scattering disk, it is possible in particular to change the scattering angle at which scattering is effected by these scattering disks. The scattering angle can correspond here to the shedding angle of the fertilizer spreader, that is to say the angle between an axis parallel to the designated direction of travel of the fertilizer spreader during straight-ahead travel (in the longitudinal direction of the fertilizer spreader; in particular perpendicular to the connecting line between the centers of the spreading disks) through the pivot point of an associated spreading disk of a fertilizer spreader and the axis through the pivot point of the associated spreading disk of a centrifugal spreader and the point of intersection of radial and concentric 50% percentile for the respective spreading disk.The point of application of the inner and / or outer lens(s) can be displaced concentrically and / or radially inward and / or outward, in particular with respect to the rotational direction of the lens. The point of application of the inner and outer lens can be adjusted independently of one another. An offset further concentrically in the direction of rotation of the scattering disk leads to the fertilizer leaving the scattering disk at another position and thus a larger ejection angle (scattering angle) being generated. If the application point is displaced concentrically counter to the direction of rotation of the scattering disk, the situation is reversed, so that the fertilizer is ejected with a smaller ejection angle (scattering angle). Alternatively or additionally, the application point of the inner and / or outer scattering disk(s) can be offset radially inward or outward. In this case, the dwell time of the fertilizer on the scattering disk increases or decreases. Thus, by changing the point of application, the scatter image can be changed.The change in the point of application of the scattering disk(s) can in particular each be a function of the offset. The change of the point of application can in particular represent a function of the determined offset, for example a linear function of the determined offset. Alternatively, the function can also be polynomial and / or exponential or assume another form, e.g. the form of characteristic maps or curve groups which taken into account one or more further variables, e.g. the driving speed. Here, the change of the input point can be specified, for example, as an absolute value or relative change of the input point with respect to the input point.Changing one or more parameters of the fertilizer spreader based on the offset can alternatively or additionally comprise that based on the determined offset, the application point of an outer scattering disk is displaced concentrically to the inner side of the curve, i.e. concentrically counter to the direction of rotation of the outer scattering disk. Alternatively or additionally, the application point of the inner scattering disks can be displaced concentrically with respect to the outside of the curve, i.e. concentrically also in the direction opposite to the direction of rotation of the inner scattering disk. The outer and inner baffles rotate in opposite directions. In particular, changing one or more parameters of the fertilizer spreader, in which, based on the determined offset, the application point of the outer scattering disks is displaced concentrically to the inner side of the curve and at the same time the application point of the inner scattering disk is displaced concentrically to the outer side of the curve, can result in the transverse distribution being particularly uniform.Changing one or more parameters of the fertilizer spreader based on the determined offset may alternatively or additionally comprise changing, in particular increasing or decreasing, the rotational speed of a spreader disk. An increase in the rotational speed of the scattering disk can in particular lead to fertilizer being ejected with a higher impulse (at a higher speed) and thus flying further, conversely a reduction in the rotational speed of a scattering disk can lead to fertilizer being ejected with a lower speed, i.e. flying less far. Thus, by changing a rotational speed, the scatter pattern and thus the resulting transverse distribution of the fertilizer can be further optimized. In particular, the rotational speed of a first lens can be changed independently or depending on the rotational speed of a second lens. In particular, the rotational speed of a first and second, for example an inner and outer, control disk can be changed, in particular increased and or decreased, independently of one another as a function of the determined offset. The change in speed may be a linear function of the determined offset. Alternatively, the function can also be polynomial and / or exponential or assume another form.The changing of one or more parameters of the fertilizer spreader can comprise determining, based on the determined offset, which of a plurality of parameters of the fertilizer spreader are changed, in particular determining for each spreader disk whether the application quantity and / or the application point and / or the rotational speed is changed. In this case, it can be determined in particular that the task set and the task point are changed.The method may further comprise determining the offset, in particular using means attached to the fertilizer spreader. For example, one or more cameras, which can be directed in particular to the rear, can be included on the fertilizer spreader, one or more GPS measuring devices, one or more radar measuring devices, one or more rotation rate sensors, means for determining a combination of steering angle and travel speed or other sensors or measuring devices, which allow determining the offset in real time, i.e. during cornering. Thus, in particular during cornering, further regulation can be effected by the method on the basis of the measured offset. The functions and means used for the regulation can be determined, for example, on the basis of algorithms. Such algorithms can be determined and defined, for example, on the basis of simulations or measurements.A lane can be determined by means of the means attached to the fertilizer spreader. This can be done taking into account travel speeds, travel states, their changes and / or measured time periods. In particular, for this purpose, a yaw rate and / or a change in the yaw rate of the fertilizer spreader and / or of the towing vehicle can be determined by means of the one or more yaw rate sensors.The invention further comprises a fertilizer spreader for discharging fertilizer, or a combination of agricultural towing vehicle and fertilizer spreader for discharging fertilizer. The fertilizer spreader or the combination of agricultural tractor vehicle and fertilizer spreader comprises a controller which is configured to control the fertilizer spreader when cornering in such a way that it carries out a method for discharging fertilizer when cornering in accordance with one of the methods described above. The fertilizer spreader can be designed in particular as a centrifugal fertilizer spreader described above (in connection with the method), in particular a centrifugal spreader, in particular with two spreader disks. In particular, the controller may be configured to change one or more parameters of the fertilizer spreader during cornering, in particular to change one or more parameters of the fertilizer spreader during straight-ahead travel, based on the determined offset, in order to adapt the transverse distribution of the fertilizer.Further details of the invention will become clear from the following figures, which explain further aspects of the invention only schematically and not to scale. The following shows: FIG. 1 shows a transverse distribution during cornering without any change in one or more parameters; FIG. 2 is a transverse distribution of fertilizer when a method according to the invention was used, FIG. 2a is an improved transverse distribution when using the method according to the invention and FIG. 2b is an optimum transverse distribution when using the method according to the invention; FIG. 3 schematically shows the offset of a scatter image to a driving lane; FIG. 4 schematically shows how the transverse distribution is produced by superposition of a plurality of scattering images, specifically FIG. 4 afor fertilizer which has not been applied using a method according to the invention and FIG. 4 billustrates a method in which fertilizer has been applied using a method according to the invention; FIG. 5 shows exemplary steps of a method.In FIG. 1, the transverse distribution of a curve curve is as it results when fertilizer is being discharged, if no change of parameters is made at the fertilizer spreader compared to straight-ahead travel. Imaginary boundary lines are drawn at the distance of a working width of the fertilizer spreader 1 a, 1 b, which in this case form a 90° curve by way of example. Also depicted is the lane 2, as the path which the fertilizer spreader or its towing vehicle actually covers, in particular the center point of the fertilizer spreader or towing vehicle, in particular the center point between the front or rear wheels or the (four) wheels. The quantity of fertilizer per area is shown in dotted lines, which results when driving along the driving lane and discharging fertilizer without changing the parameters of the fertilizer spreader. Regions with a higher fertilizer concentration are marked by more points, i.e. darker, than regions with less fertilizer. As can be seen from FIG. 1, the superposition of scatter images achieves a relatively symmetrical transverse distribution, which can represent a trapezoidal distribution by way of example, when driving straight ahead. By superimposing the scatter images with the scatter images of adjacent lanes, an overall uniform fertilizer distribution can result from such a trapezoidal transverse distribution. In the region of the curve, however, in the example shown, an over-fertilizing occurs on the inner side in a region 3, since the application quantity applied per time remains the same there, but fertilizer is applied for a longer time during cornering. Likewise, under-tapering occurs on the outside in a region 4. If the transverse distributions of a plurality of scatter images now overlap in the desired manner in the region of straight-ahead travel in order to form a uniform fertilizer distribution on the field, local misdispersion of fertilizer occurs in the region of the curves, so that too much fertilizer is present in the inside of the curve and too little fertilizer is present on the outside. In other examples, a different distribution of fertilizer may also resultFIG. 2 ashows an example of a resulting fertilizer distribution for the application of fertilizer along a lane when the fertilizer is applied according to the described method. Again imaginary boundary lines 1 a, 1 band lane 2 as above and the fertilizer distribution are drawn in, wherein the transverse distribution of the fertilizer is more advantageous here due to the adaptation of the one or more parameters of the fertilizer spreader. In particular, in the example shown, a slight overditution still occurs in an inner region 5, but at the same time, a slight overditution in the region 6 is also achieved there as a result of the quantity of fertilizer increased in the outer region of the curve; a slight underditution occurs in a region 7 only in the vicinity of the lane on the outside of the curve in the example. Overall, the distribution of fertilizer is more uniform due to the method, so that, in particular by superimposing the different transverse distributions in the desired manner, the overall resulting fertilizer distribution is more uniform on the field than without application according to the method according to the invention. In other examples, a different pattern of fertilizer distribution, e.g., a slight over-fertilizer on the outside of the curve and a slight under-fertilizer on the inside of the curve, may form. Overall, the transverse distribution during cornering is adapted, in particular optimized, in a method according to the invention such that a uniform fertilizer distribution results in the desired overlap of scatter images of a plurality of lanes. An optimum, uniform fertilizer distribution is shown in Fig. 2b, which shows a uniform fertilizer distribution over the entire working width. In addition, FIG. 2 bshows that the method according to the invention can be used for improved scattering of the outer curve region 8. FIG. 3 schematically shows, by way of example, how the offset of the scatter image to the lane can be determined or indicated.Also shown there are, by way of example, the three-point of the tractor 9, the center 10 between the two scattering discs, the lane 11, the center 12 of the scattering image, a circle 13 with a radius of the throw distance around the center 10 between the two scattering discs through the center 12 of the scattering image (which can be, in particular, a circle with a radius of the length of the median of the distance of the scattering distribution) and its intersection point 14 with the lane. The offset of the scatter image to the lane can now be represented, for example, as the angle 15 drawn in, which represents an angle between the center of the scatter image (when driving straight ahead) and the lane around the center 10 between the scattering discs. Alternatively, the distance could be indicated as a lot to the lane or otherwise.FIG. 4 ashows, by way of example, individual scattering images from which the transverse distribution results without a change in the parameters of the fertilizer spreader. FIG. 4 bshows individual scatter images from which the transverse distribution results with a change in the parameters according to a method according to the invention. In the region of cornering in FIG. 4 a, the center of the scatter image is not in the lane, so that an offset occurs between scatter image and lane. According to a method according to the invention, one or more parameters of the fertilizer spreader are changed based on this offset in order to adapt the transverse distribution of the fertilizer. FIG. 4 bshows, by way of example, schematically individual scattering images in which fertilizer was applied according to the method, i.e. with one or more changed parameters of the fertilizer spreader based on the determined offset. This results in a different fertilizer distribution. The centers of the scatter images are, for example, still offset outward from the lane in the region of the curve, but the transverse distribution corresponds more to the desired transverse distribution, that is to say a transverse distribution which, overall, leads to a uniform fertilizer distribution on the field when the planned superposition of the traveled lanes next to one another is provided.FIG. 5 shows exemplary steps of a method. In a first step of the method, the offset of the center of the scatter image to the lane is determined during cornering.Subsequently, one or more parameters of the fertilizer spreader are changed based on the determined offset to adjust the transverse distribution of the fertilizer.For example, depending on the offset, the supplied amount of fertilizer of an outer lens may be increased, the supplied amount of fertilizer of an inner lens may be decreased, and the application point of the outer lens may be shifted to the inner side of the curve and the application point of the inner lens may be shifted to the outer side of the curve. The parameter changes necessary for this can in particular represent functions of the determined offset, e.g. linear functions thereof. In addition, the rotational speeds of the inner and / or outer diffuser plate, or further parameters, can optionally be adapted.
Claims
Method for discharging fertilizer with a fertilizer spreader, in particular a centrifugal fertilizer spreader, during cornering, comprising: - determining an offset (8) of the center of a spreading image to the lane (2, 11); - changing one or more parameters of the fertilizer spreader, in particular with respect to one or more parameters of the fertilizer spreader during straight-ahead travel, based on the determined offset (8), in order to adapt the transverse distribution of the fertilizer.The method according to claim 1, wherein the center of the scatter image changed in the curve is located on the outer side of the lane in the curve.The method according to any of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the offset (8) comprises changing the application amount of a spreader disk based on the determined offset.Method according to one of the preceding claims, wherein the change in the application rate is a, in particular linear, function of the determined offset (8).The method according to any one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises increasing the discharge amount of an outer spreader and / or reducing the discharge amount of an inner spreader based on the determined offset (8).The method according to any of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises changing the application point of a scattering disk based on the determined offset (8).Method according to one of the preceding claims, wherein the change in the application point of the lens is a function of the offset (8), in particular a linear function of the determined offset.Method according to any of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the offset (8) comprises displacing the application point of an outer spreader to the curve inner side and / or the application point of an inner spreader to the curve outer side based on the determined offset.Method according to one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises changing, in particular increasing or decreasing, the rotational speed of a spreader disk.Method according to one of the preceding claims, wherein the change in the rotational speed is a, in particular linear, function of the determined offset (8).The method of any preceding claim, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises determining which of a plurality of parameters of the fertilizer spreader are changed based on the determined offset (8).Method according to one of the preceding claims, wherein the center of the scatter image changed in the curve is located in a different location in the curve than the center of the scatter image which was used for determining the offset between the center of the scatter image and the lane, in particular on the outer side of the lane, or remains the same.The method of any preceding claim, wherein the method further comprises: determining the offset using means attached to the fertilizer spreader.Fertilizer spreader, in particular centrifugal fertilizer spreader, or combination of agricultural towing vehicle and fertilizer spreader, in particular centrifugal fertilizer spreader, for discharging fertilizer, comprising a controller which is configured to control the fertilizer spreader during cornering in such a way that it carries out a method for discharging fertilizer during cornering according to one of the preceding claims.