Method for controlling a field sprayer

Abstract

The invention relates to a method for controlling a field sprayer (1) comprising the following steps: - Reading out at least one preset limit (O, U) for a duty cycle of at least one valve (6) of the field sprayer (1), - Reading the current duty cycle of all valves (6), - Forming a duty cycle difference (X) between the current duty cycle of each valve (6) and at least one preset limit (O, U) for the duty cycle, - in the event that the duty cycle difference (X) formed is negative for at least one valve (6), or - in the event that the current duty cycle is greater than or equal to at least one preset limit (O, U) and the duty cycle difference (X) calculated for at least one valve (6) is positive, - Changing the current duty cycle to at least one preset limit (O, U) for at least one valve (6).

Description

[0001] The invention relates to a method for controlling a field sprayer.

[0002] It is known from the state of the art to treat fields with a field sprayer or with a plant protection machine in order to prevent fungi and / or pests that can reduce the crop yield.

[0003] Because fields have different contours, it is necessary to drive around curves with the sprayer. This reduces the application of spraying fluid or pesticide on the inside of the curve and increases it on the outside.

[0004] This process requires maintaining a consistent system pressure, which supplies spray fluid or spray agent from a tank to the valves and thus to the nozzles on the valves, to ensure homogeneous droplet formation. State-of-the-art systems reach their limits when cornering sharply.

[0005] Therefore, the object of the present invention is to provide a method, a device or a system for data processing as well as a computer program product which, during tight turns of a field sprayer, maintains the pressure for spray liquid or spraying agent at a level which ensures homogeneous droplet formation of the spray liquid or spraying agent.

[0006] This problem is solved by the features of the independent patent claims. Further advantageous developments are the subject of the dependent claims.

[0007] A first aspect of the present invention comprises a method for controlling a field sprayer. This method may be a computer-implemented method.

[0008] Furthermore, a field sprayer can be understood to be a crop protection machine. Additionally, in this description, spraying fluid or spraying agent can refer to, for example, plant protection products, pesticides, or the like. Spraying fluid or spraying agent in this description can also include, for example, fungicides, herbicides, pesticides, liquid manure, and / or fertilizers.

[0009] The field sprayer comprises a boom, in particular mounted to pivot about a longitudinal axis, with one boom section and another boom section, whereby a tractor or carrier vehicle can be arranged at the meeting point of the boom sections.

[0010] Furthermore, the field sprayer includes at least one valve per boom section for the application of spray liquid or spraying agent, which is arranged on the respective boom section.

[0011] Furthermore, the meeting point of the linkage sections preferably refers to a central section and / or frame of the linkage to which the respective linkage sections are coupled and / or connected. The linkage sections can alternatively also be referred to as booms. In particular, it is provided that a linkage section or boom on the left (as viewed in the direction of travel) is located on the left side of the meeting point or central section, and a right-hand linkage section or boom is located on the right side of the meeting point or central section.

[0012] Returning to the procedure, it comprises the following steps.

[0013] A first process step involves reading at least one preset limit for a duty cycle of the at least one valve. One or more nozzles can be arranged on the at least one valve. The reading can take place, for example, from a memory of the field sprayer or a tractor. The at least one preset limit can include an upper limit and / or a lower limit. The lower limit can have a value of 30 percent and / or the upper limit a value of 90 percent for a duty cycle of the at least one valve.

[0014] The term duty cycle (also called duty factor) can, according to standards (see DIN 5483-1:1983-06 Time-dependent quantities - Designation of time dependence; DIN EN 60469:2014-02 Transitions, pulses and associated vibration patterns - Terms, definitions and algorithms), specify the ratio of the pulse duration to the period of a periodic sequence of pulses. The duty cycle can be expressed as a numerical ratio with a range of 0 to 1 or 0 to 100%.

[0015] The at least one valve is preferably designed as a pulse width modulation valve or PWM valve, pulse width frequency modulation valve or PWFM valve or the like, on which the respective duty cycle is particularly preferably adjustable.

[0016] A further process step involves reading the current duty cycle of all valves, e.g., from a valve control unit or from a memory where this data can be stored, for example, by a valve control unit. This allows the current duty cycle of each valve to be read during the application of spray liquid or pesticide.

[0017] One step of the procedure involves forming a duty cycle difference between the current duty cycle of each valve and at least one preset duty cycle limit.

[0018] In the event that the calculated duty cycle difference for at least one valve is negative, or in the event that the current duty cycle is greater than or equal to at least one preset limit and the calculated duty cycle difference for at least one valve is positive, the method includes, as a further step, a change in the current duty cycle to the at least one preset limit for the at least one valve. Thus, the duty cycle can be set to an upper or lower limit if the upper limit is exceeded or the lower limit is not reached. As a result, when a field sprayer is turning sharply, the pressure of the spray liquid or pesticide can be maintained at a level that ensures homogeneous droplet formation of the spray liquid or pesticide.

[0019] Before changing the current duty cycle, the method may include determining the linkage section on which the at least one valve with the duty cycle difference is located.

[0020] The procedure may also include determining the position of at least one valve on the identified linkage section, e.g., relative to the meeting point of the linkage sections, before changing the current duty cycle.

[0021] Furthermore, after changing the current duty cycle, the method can include determining at least one valve on the further linkage section by transferring the determined position of the at least one valve from the determined linkage section to the further linkage section. During this transfer, the determined position of the at least one valve of the determined linkage section at the meeting point of the linkage sections can be mirrored onto the further linkage section.

[0022] Furthermore, after changing the current duty cycle, the procedure can include a reduction of the current duty cycle of at least one specific valve on the further linkage section by the duty cycle difference formed.

[0023] In this way, an average value for the duty cycle of at least one valve can be calculated, which, for example, ensures correct dispensing of spray liquid or pesticide at a correct system pressure when cornering, where the droplet formation of spray liquid or pesticide is optimal or homogeneous.

[0024] As a further step, the procedure can include storing a preset limit for a duty cycle of at least one valve in a memory before reading the current duty cycle. This storage can be done manually by user input. Alternatively, it can be done automatically via an interface to another procedure or via an interface to a memory in which data for the at least one valve can be stored. The field sprayer and / or a tractor can also have a memory for storing and / or saving at least one preset limit for a duty cycle of the at least one valve and / or the current duty cycle.

[0025] Furthermore, the method may, as a further step, include displaying the boom section and the further boom section and / or displaying the at least one preset limit for a duty cycle of the at least one valve and / or displaying a current duty cycle of all valves and / or displaying the duty cycle difference on a display of the field sprayer and / or on a display of a tractor.

[0026] Alternatively or additionally, it can be provided that one or more valves, which are jointly assigned to a linkage section, are switched on and / or off, or activated or deactivated, when the preset limits are reached. It is particularly preferred that, in addition, one or more valves, especially the same number of valves, on the respective other and / or opposite linkage section are also switched on and / or off, or activated or deactivated. In other words, the valves of the respective linkage sections are preferably switched on and / or off in a mirror-symmetrical manner (with respect to the meeting point or central section).

[0027] A second aspect of the present invention comprises a device or system for data processing.

[0028] It is expressly pointed out that the features of the method for controlling a field sprayer, as mentioned under the first aspect, can be applied individually or in combination to the device or system.

[0029] In other words, the features mentioned above under the first aspect of the invention relating to the method for controlling a field sprayer can also be combined with further features under the second aspect of the invention.

[0030] Thus, a device or system for data processing includes means for carrying out the procedure according to the first aspect.

[0031] A third aspect of the present invention comprises a computer program product.

[0032] It is expressly pointed out that the features of the procedure for controlling a field sprayer, as mentioned under the first aspect, can be applied individually or in combination to the computer program product.

[0033] In other words, the features mentioned above under the first aspect of the invention relating to the method for controlling a field sprayer can also be combined with further features under the third aspect of the invention.

[0034] Thus, a computer program product includes instructions that, when the program is executed by a computer, cause it to perform the procedure / steps of the procedure according to the first aspect.

[0035] The invention concept presented above is expressed again and in addition in other words below.

[0036] This idea concerns – in simplified terms – a method or a computer-implemented method for a field sprayer in which, during sharp turns and when a minimum limit is reached, exactly the same number of valves or nozzles are switched off on both boom sections of the field sprayer in order to achieve a symmetrical mean.

[0037] The invention is explained in more detail below with reference to an exemplary embodiment in conjunction with an accompanying drawing. The drawing schematically shows: Fig. 1 a side view of a field sprayer on a tractor and a diagram showing the touch sensitivity of the valves of the field sprayer at a distance from the tractor.

[0038] Fig. Figure 1 shows a side view of a field sprayer 1 mounted on a tractor 5, as well as a diagram showing the duty cycles DC of the valves 6 of the field sprayer 1 at a distance from the tractor 5. As an alternative to the depicted embodiment, the field sprayer 1 can also be self-propelled or mounted on the tractor 5. Furthermore, the tractor 5 can alternatively be referred to as a carrier vehicle.

[0039] A more detailed illustration shows Fig. 1 a method for controlling a field sprayer 1.

[0040] The field sprayer 1 has a boom 2 with a boom section 3 and a further boom section 4, wherein the tractor 5 is arranged at the meeting point T or middle section of the boom sections 3 and 4. In particular, it is provided that the boom 2 and the boom sections 3 and 4 are each mounted to pivot and / or pivot about at least one longitudinal axis of the field sprayer 1 that runs at least approximately parallel to the direction of travel.

[0041] Furthermore, the field sprayer 1 has several valves 6 for each boom section 3, 4 for the application of spray liquid or pesticide, which are arranged on the respective boom section 3, 4. It is specifically provided that the valves 6 are designed as pulse width modulation valves or PWM valves or the like. Nozzles or spray nozzles are arranged on the valves 6, through which spray liquid or pesticide is fed from a tank to the valves 6 and thus to the nozzles on the valves.

[0042] In the present case, the tractor unit 5 makes a left turn while applying spray liquid or pesticide.

[0043] During the application of spray liquid or spraying agent, it is essential to maintain the system pressure at which the spray liquid or spraying agent is conveyed from a tank to the valves 6 and thus to the nozzles on the valves 6, at a level that ensures homogeneous droplet or drop formation of the spray liquid or spraying agent. Systems of the prior art reach their limits when cornering sharply.

[0044] To overcome these limitations, a procedure is presented below, comprising the following steps.

[0045] First, the preset limits O and U for the duty cycles of valves 6 are read, e.g., from a memory. The preset limits O and U are an upper limit O and a lower limit U. According to Fig. 1 has a lower limit of 30 percent and an upper limit of 90 percent for a duty cycle of the valves 6.

[0046] Here, the lower limit U marks the value at which homogeneous droplet formation of the spraying liquid or spraying agent can still be guaranteed by the existing system pressure acting on the spraying liquid or spraying agent. Below the lower limit U, correct or homogeneous application of the spraying liquid or spraying agent cannot be guaranteed.

[0047] The upper limit O, on the other hand, marks the value at which further application or the application of a larger quantity of spray liquid or pesticide is almost physically impossible.

[0048] It is important to avoid falling below or exceeding the lower limit U or the upper limit O.

[0049] According to a first embodiment of the method, the current duty cycle A1 of all valves 6 is read, e.g., from a valve control unit or from a memory (both not shown) in which this data has been stored, e.g., by a valve control unit. The current duty cycle A1 is stored in Fig. 1 is represented by a dotted line.

[0050] In a further process step, a duty cycle difference X is formed between the current duty cycle A1 of each valve 6 and the preset lower limit U for the duty cycle DC.

[0051] The linkage section is then, or according to... Fig. 1 the linkage section 3, determined, on which the valve(s) 6 with duty cycle difference X are arranged.

[0052] Furthermore, the position of the respective valve 6 on the determined linkage section 3 is determined relative to the meeting point T of the linkage sections 3, 4.

[0053] Subsequently, if the calculated duty cycle difference for a valve 6 is negative, the current duty cycle A1 is changed to the preset lower limit U for the corresponding valves 6. This is in Fig. 1 from -8m to -18m is the case.

[0054] Subsequently, the valves 6 on the further linkage section 4 are determined by transferring the determined position of the valve 6 from the determined linkage section 3 to the further linkage section 4, and the current duty cycle A1 of the determined valves 6 on the further linkage section 4 is reduced by the calculated duty cycle difference X. This is in Fig. 1. Recognizable from 8m to 18m.

[0055] Basically, during the transfer, the determined positions of the valves 6 of the determined linkage section 3 at the meeting point T of the linkage sections 3, 4 are mirrored onto the further linkage section 4.

[0056] As a result, an average value B1 can be calculated for the duty cycle of the valves 6, which, for example, ensures correct or homogeneous application of spray liquid or spraying agent at a correct system pressure when cornering, thus guaranteeing homogeneous droplet formation.

[0057] According to a second embodiment of the method, the current duty cycle A2 of all valves 6 is read, e.g., from a valve controller or from a memory (both not shown) in which this data has been stored, e.g., by a valve controller. The current duty cycle A2 is stored in Fig. 1 is represented by a dashed line.

[0058] In a further process step, a duty cycle difference X is formed between the current duty cycle A2 of each valve 6 and the preset upper limit O for the duty cycle DC.

[0059] The linkage section is then, or according to... Fig. 1 the linkage section 4 is determined on which the valve(s) 6 with duty cycle difference X are arranged.

[0060] Furthermore, the position of the respective valve 6 on the determined linkage section 3 is determined relative to the meeting point T of the linkage sections 3, 4.

[0061] Subsequently, if the current duty cycle A2 is greater than or equal to the preset upper limit O and the calculated duty cycle difference X for a valve 6 is positive, the current duty cycle A2 will be changed to the preset upper limit O for the corresponding valves 6. This is in Fig. 1. This is the case from 14m to 18m.

[0062] Subsequently, the valves 6 on the further linkage section 3 are determined by transferring the determined position of the valve 6 from the determined linkage section 3 to the further linkage section 4, and the current duty cycle A2 of the determined valves 6 on the further linkage section 3 is reduced by the calculated duty cycle difference X. This is in Fig. 1 can be detected from -14m to -18m.

[0063] Basically, during the transfer, the determined positions of the valves 6 of the determined linkage section 4 at the meeting point T of the linkage sections 3, 4 are mirrored onto the further linkage section 3.

[0064] As a result, an average value B2 can be calculated for the duty cycle of the valves 6, which, for example, ensures correct / homogeneous application of spray liquid or spraying agent at a correct system pressure when cornering, thus guaranteeing homogeneous droplet formation.

[0065] Regarding both embodiments of the method, it should be added that before reading out the current duty cycle A1, A2, the method includes storing a preset upper and lower limit O, U for a duty cycle of each valve 6 in a memory.

[0066] Data can be stored manually via user input. Alternatively, it can be stored automatically via an interface to another process or via an interface to a memory in which data from valve 6 is stored.

[0067] Furthermore, it is noted that the tractor 5 has a memory for storing and / or saving the preset upper and lower limits O, U for a duty cycle of the valves 6 and / or a current duty cycle.

[0068] In addition, the linkage section 3 and the further linkage section 4, the preset upper and lower limits O, U for a duty cycle of the valves 6, the current duty cycles A1, A2 of all valves 6, and / or the duty cycle difference X can be displayed on a display of the tractor 5. Reference symbol list 1 field sprayer 2 poles 3. Linkage section 4 more linkage sections 5 tractor 6 valve Meeting point Current duty cycle B Average for duty cycle X duty cycle difference O upper limit U lower limit

Claims

[1] Method for controlling a field sprayer (1), - wherein the field sprayer (1) comprises a boom (2) with a boom section (3) and with a further boom section (4), - wherein a tractor (5) can be arranged at the meeting point (T) of the rod sections (3, 4), and - wherein the field sprayer (1) comprises at least one valve (6) for dispensing spray liquid or spray agent per boom section (3, 4), which valve is arranged on the respective boom section (3, 4), the method comprising the following steps: - reading out at least one preset limit (O, U) for a duty cycle of the at least one valve (6), e.g. from a memory, - Reading out a current duty cycle of all valves (6), e.g. from a valve control or from a memory in which these are stored by e.g. a valve control, - forming a duty cycle difference (X) between the current duty cycle of each valve (6) and the at least one preset limit (O, U) for the duty cycle, - in the event that the duty cycle difference (X) formed is negative for at least one valve (6), or - in the event that the current duty cycle is greater than or equal to the at least one preset limit (O, U) and the duty cycle difference (X) formed is positive for at least one valve (6), - Changing the current duty cycle to the at least one preset limit (O, U) for the at least one valve (6). [2] Method according to claim 1, - before changing the current duty cycle, the procedure includes the following further steps: - determining the rod section (3) on which the at least one valve (6) with the duty cycle difference (X) is arranged, and - Determining the position of the at least one valve (6) on the determined rod section (3), e.g. relative to the meeting point (T) of the rod sections (3, 4). [3] Method according to claim 2, - after changing the current duty cycle, the procedure comprises the following further steps: - Determining at least one valve (6) on the further rod section (4) by transferring the determined position of the at least one valve (6) from the determined rod section (3) to the further rod section (4), - reducing the current duty cycle of the at least one specific valve (6) on the further rod section (4) by the formed duty cycle difference (X). [4] Method according to claim 3, - wherein during the transfer, the determined position of the at least one valve (6) of the determined rod section (3) at the meeting point (T) of the rod sections (3, 4) is mirrored onto the further rod section (4). [5] Method according to one of the preceding claims, - wherein the at least one preset limit (O, U) comprises an upper limit (O) and / or a lower limit (U), - wherein the lower limit has a value of 30 percent for a duty cycle of the at least one valve (6), and - wherein the upper limit has a value of 90 percent for a duty cycle of the at least one valve (6). [6] Method according to one of the preceding claims, - the method comprising the following further step: - Displaying the boom section (3) and the further boom section (4), the at least one preset limit (O, U) for a duty cycle of the at least one valve (6), a current duty cycle of all valves (6), and / or the duty cycle difference (X) on a display of the field sprayer (1) and / or on a display of a tractor (5). [7] Data processing system comprising: - Means for carrying out the method according to one of the preceding claims. [8] Computer program product comprising: - instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to any one of the preceding claims.

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