Method for controlling a field sprayer

Abstract

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, - 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) - 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) - 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), characterized in that during transmission 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 on the further rod section (4).

Description

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

[0002] It is known from the prior art to treat fields with a field sprayer or with a crop protection machine, as described, for example, in the document DE 10 2021 108 731 A1, in order to prevent fungi and / or pests that can reduce crop yields.

[0003] Due to the fact that fields have different contours, cornering is necessary with the field sprayer. The application of spray liquid or spray agent is reduced on the inside of the curve and increased on the outside.

[0004] With this approach, the system pressure, with which the spraying fluid or spray agent is fed from a tank to the valves and thus to the nozzles on the valves, must be maintained at a level to ensure homogeneous droplet formation of the spraying fluid or spray agent. State-of-the-art systems reach their limits when cornering tightly.

[0005] It is therefore an object of the present invention to provide a method, a device or a system for data processing as well as a computer program product which, when a field sprayer is cornering tightly, maintains the pressure for the spray liquid or spray agent at a level which ensures homogeneous droplet formation or droplet formation of the spray liquid or spray 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. The method may be a computer-implemented method.

[0008] Furthermore, a field sprayer can be understood as a crop protection machine. Furthermore, in the present description, spray liquid or spray agent can be, for example, plant protection products, pesticides, or the like. In the present description, spray liquid or spray agent can also be understood as, for example, fungicides, herbicides, pesticides, liquid manure, and / or fertilizers.

[0009] In this case, the field sprayer comprises a boom, in particular mounted so as to swing around a longitudinal axis, with one boom section and with another boom section, wherein a tractor or a carrier vehicle can be arranged at the meeting point of the boom sections.

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

[0011] Furthermore, the meeting point of the rod sections is preferably understood to be a center section and / or center frame of the rod, to which the respective rod sections are coupled and / or connected. The rod sections can alternatively also be referred to as booms. In particular, it is provided that a left-hand rod section or boom, as viewed in the direction of travel, is arranged to the left of the meeting point or center section, and a right-hand rod section or boom is arranged to the right of the meeting point or center section.

[0012] Back to the procedure, it has the following steps.

[0013] A first method step comprises 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 comprise 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 known as duty cycle) can be used to specify the ratio of the pulse duration to the period duration for a periodic sequence of pulses according to standards (see DIN 5483-1:1983-06 Time-dependent quantities - Identification of time dependence; DIN EN 60469:2014-02 Transitions, pulses and associated oscillation models - Terms, definitions and algorithms). The duty cycle can be specified as a ratio of the numerical dimension with a value range from 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, at which the respective duty cycle is particularly preferably adjustable.

[0016] A further method step involves reading the current duty cycle of all valves, e.g., from a valve control system or from a memory in which these values ​​can be stored, for example, by a valve control system. This allows the current duty cycle of each valve to be read during the application of spray liquid or spray agent.

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

[0018] If the duty cycle difference formed for at least one valve is negative, or if the current duty cycle is greater than or equal to the at least one preset limit and the duty cycle difference formed for at least one valve is positive, the method comprises the further step of changing 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 undershot. As a result, when a field sprayer is cornering tightly, the pressure for the spray liquid or spray agent can be maintained at a level that ensures homogeneous droplet formation of the spray liquid or spray agent.

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

[0020] Before changing the current duty cycle, the method may also include determining the position of the at least one valve on the determined rod section, e.g., relative to the meeting point of the rod sections.

[0021] Furthermore, after changing the current duty cycle, the method comprises determining at least one valve on the further rod section by transferring the determined position of the at least one valve from the determined rod section to the further rod section. According to the invention, during the transfer, the determined position of the at least one valve of the determined rod section is mirrored at the meeting point of the rod sections to the further rod section.

[0022] In addition, after changing the current duty cycle, the method may comprise reducing the current duty cycle of the at least one specific valve on the further rod 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 ensures, for example, when cornering, correct application of spray liquid or spray agent at a correct system pressure at which the drop formation of spray liquid or spray agent is optimal or homogeneous.

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

[0025] Furthermore, the method may comprise, as a further step, 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 rod section, are switched on and / or off, or activated or deactivated, when the preset limits are reached. Particularly preferably, it is provided that one or more valves, in particular the same number of valves, on the other and / or opposite rod section are additionally switched on and / or off, or activated or deactivated. In other words, the valves of the respective rod sections are preferably switched on and / or off in a mirror-symmetrical manner (relative to the meeting point or central section).

[0027] A second aspect of the present invention includes an apparatus 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 used individually or in combination with one another in 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 here with further features under the second aspect of the invention.

[0030] Thus, a device or a system for data processing comprises means for carrying out the method 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 method for controlling a field sprayer, as mentioned under the first aspect, can be used individually or in combination with one another in 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 here with further features under the third aspect of the invention.

[0034] Thus, a computer program product comprises instructions which, when executed by a computer, cause the computer to carry out the method / steps of the method according to the first aspect.

[0035] In the following, the inventive concept presented above is expressed again and additionally in other words.

[0036] This idea concerns - in simplified terms - a method or a computer-implemented method for a field sprayer in which, when cornering sharply 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's boom in order to achieve a symmetrical mean.

[0037] The invention is explained in more detail below using an exemplary embodiment in conjunction with the accompanying drawings. The drawing shows schematically: Fig. 1 a side view of a field sprayer on a tractor and a diagram showing duty cycles of the field sprayer valves 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. Alternatively to the illustrated embodiment, the field sprayer 1 can also be self-propelled or mounted on the tractor 5. Furthermore, the tractor 5 can also be referred to as a carrier vehicle.

[0039] Shown in more detail 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, with the tractor 5 being arranged at the meeting point T or the middle part of the boom sections 3, 4. In particular, it is provided that the boom 2 or the boom sections 3, 4 are each mounted so as to be pendulous and / or pivotable about at least one longitudinal axis of the field sprayer 1 that runs at least approximately parallel in the direction of travel.

[0041] In addition, the field sprayer 1 has several valves 6 for dispensing spray liquid or spray agent per boom section 3, 4, which are arranged on the respective boom section 3, 4. In particular, it is 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, with which the spray liquid or spray agent is guided from a tank to the valves 6 and thus to nozzles on the valves.

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

[0043] During the application of spray liquid or spray agent, the system pressure with which the spray liquid or spray agent is delivered from a tank to the valves 6 and thus to the nozzles at the valves 6 must be maintained at a level that ensures homogeneous droplet formation of the spray liquid or spray agent. State-of-the-art systems reach their limits when cornering tightly.

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

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

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

[0047] The upper limit O, on the other hand, marks the value at which further application or application of a larger quantity of spray liquid or spray agent is physically almost no longer possible.

[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 out, e.g., from a valve control or from a memory (both not shown), in which these were stored, e.g., by a valve control. The current duty cycle A1 is in Fig. 1 is shown with a dotted line.

[0050] In a further method 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 rod section or according to Fig. 1 the rod section 3, on which the valve(s) 6 with the duty cycle difference X are arranged is determined.

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

[0053] Subsequently, in the event that the duty cycle difference formed 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 shown in Fig. 1 from -8m to -18m is the case.

[0054] The valves 6 on the further rod section 4 are then determined by transferring the determined position of the valves 6 from the determined rod section 3 to the further rod section 4 and the current duty cycle A1 of the determined valves 6 on the further rod section 4 is reduced by the formed duty cycle difference X. This is shown in Fig. 1 can be seen from 8m to 18 m.

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

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

[0057] According to a second exemplary embodiment of the method, the current duty cycle A2 of all valves 6 is read out, e.g., from a valve control or from a memory (both not shown), in which these were stored, e.g., by a valve control. The current duty cycle A2 is in Fig. 1 is shown with a dashed line.

[0058] In a further method 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 rod section or according to Fig. 1 the rod section 4 is determined on which the valve(s) 6 with the duty cycle difference X are arranged.

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

[0061] Subsequently, in the event that the current duty cycle A2 is greater than or equal to the preset upper limit O and the formed 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 from 14m to 18m.

[0062] The valves 6 on the further rod section 3 are then determined by transferring the determined position of the valves 6 from the - in this case - determined rod section 3 to the further rod section 4 and the current duty cycle A2 of the determined valves 6 on the further rod section 3 is reduced by the formed duty cycle difference X. This is shown in Fig. 1 can be seen from -14m to -18 m.

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

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

[0065] With regard to both embodiments of the method, it is additionally noted that before reading out the current duty cycle A1, A2, the method comprises storing a preset upper and lower limit O, U for a duty cycle of each valve 6 in a memory.

[0066] The storage can be done manually via user input. Alternatively, the storage can be done automatically via an interface to another process or via an interface to a memory in which data from the valves 6 are stored.

[0067] It is further 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 boom section 3 and the further boom 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. List of reference symbols 1 field sprayer 2 rods 3 rod section 4 additional rod sections 5 tractor 6 Valve T Meeting Point A current duty cycle B Average 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, - 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) - 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) - 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 duty cycle difference (X) formed, characterized by that during 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). [2] Method according to claim 1, - 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). [3] 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). [4] Data processing system comprising: - Means for carrying out the method according to one of the preceding claims. [5] 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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