Agricultural spreading machine and process

Abstract

The invention relates to an agricultural distribution machine (1) for distributing agricultural material, at least comprising: - a distribution rod (2) with at least two distribution sections (11, 12) movable relative to each other and with distribution units (3) arranged on the distribution sections (11, 12) for distributing the material to be distributed; - a sensor device (4) which is set up to detect a plant population (P) and to generate measured values. The invention is characterized by a determination unit (5) which is configured to determine at least one plant stand characteristic, preferably a plant stand density, based on the measured values ​​of the sensor device (4).

Description

[0001] The invention relates to an agricultural distribution machine according to the preamble of claim 1. The invention also relates to a method.

[0002] Spreading machines for distributing agricultural material are known from the prior art. These often have sensors that can detect the agricultural area. The measured values ​​relate, for example, to the distance to the soil surface of the agricultural area, in order to set the correct height position of the spreading machine, especially of the spreading boom. Several different sensors are used for this purpose to detect the agricultural area and derive various measured values. The provision of these different sensors involves considerable computational effort and costs.

[0003] The object of the invention is therefore to eliminate the described disadvantages of the prior art. In particular, an agricultural distribution machine is to be provided to make the recording of agricultural land more efficient.

[0004] These problems are solved by an agricultural spreading machine with the features of independent claim 1 and by a method with the features of independent claim 10. Advantageous embodiments and further developments of the invention are disclosed in the claims and the following description with partial reference to the figures.

[0005] The invention describes an agricultural distribution machine for distributing agricultural material, at least comprehensively: - a distribution rod with at least two distribution sections movable relative to each other and with distribution units arranged on the distribution sections for distributing the material to be distributed; - a sensor device designed to detect plant populations and generate measured values.

[0006] Preferably, the agricultural material being distributed is any material that can be spread on agricultural land. Preferably, the agricultural material being distributed is a spray liquid, a fertilizer (preferably a solid, liquid, and / or liquefied fertilizer), seeds, and / or any combination thereof. This list is merely exemplary and not exhaustive.

[0007] In principle, the distribution boom can be a structure to which distribution units for distributing the material are attached or to which distribution units for distributing the material are coupled. The distribution boom can also be referred to as a spray boom, for example, particularly when spraying agents are to be applied. The distribution boom may be height-adjustable. Preferably, the distribution machine comprises a support frame to which the distribution boom is mounted, and the support frame is preferably configured to allow the distribution boom to be moved vertically. More preferably, the distribution boom can be rotatably mounted about at least one axis of rotation. Preferably, the distribution boom can also be designed to be laterally displaceable.The height adjustability and, if necessary, the rotatability and / or relocation capability allow the distribution boom to be well adapted to the geographical requirements of the agricultural area.

[0008] The distribution linkage is designed to comprise at least two distribution sections that are movable relative to each other. Preferably, the two distribution sections movable relative to each other are designed to be foldable, in particular foldable together. For this purpose, at least one hinge is provided, which is configured so that the two distribution sections can be moved relative to each other. Preferably, the distribution linkage comprises three or more distribution sections, with one distribution section preferably being designated as a central distribution section, and the other distribution sections being coupled directly or indirectly, for example by means of further distribution sections, to the central distribution section. Preferably, the central distribution section may be coupled to the support frame.

[0009] The distribution units can be designed according to the material being distributed. For example, and this list is not exhaustive, distribution units in a field sprayer can take the form of distribution nozzles or spray nozzles. In a fertilizer spreader, especially a pneumatic fertilizer spreader, the distribution units can include deflector plates or similar devices, which distribute the material being spread, particularly solid fertilizer.

[0010] Preferably, the sensor device can detect at least one measured quantity. Based on the detection of this quantity, the sensor can generate a measured value. The measured value corresponds to the value of the measured quantity.

[0011] The measurand can be a directly measured quantity, a quantity indirectly determined from a directly measured quantity, or a derived quantity. The measurand is the quantity being measured or the quantity to be measured. The measurand can be a spatial distance, also called a distance, for example, a distance to an agricultural area, especially the crop, and / or objects, and / or a time, and / or a speed, for example, of the agricultural machine and / or parts thereof; a position, for example, of the agricultural machine and / or parts thereof; an angle to a reference, for example, the agricultural area, and / or the like.

[0012] According to a preferred embodiment, the sensor device may be configured to detect the plant population without contact using electromagnetic waves. Preferably, the sensor device is configured to detect the plant population based on the radar principle.

[0013] Preferably, the sensor device may be designed to detect the plant population based on a single measurement principle, preferably the radar principle.

[0014] According to a preferred embodiment, the sensor device may include at least one sensor.

[0015] In particular, the sensor device, especially the at least one sensor, is at least partially or to a large extent or even completely robust against environmental influences that may occur in agriculture, such as differences in light, lack of light, excessively bright light, dust, fog, rain, vibrations, strong wind and / or the like.

[0016] Preferably, the at least one sensor is a non-contact sensor. Further preferably, the at least one sensor is a beam-based sensor and / or an electromagnetic sensor. Most preferably, the at least one sensor is a radar sensor.

[0017] Preferably, the sensor device comprises at least two sensors. Preferably, the at least two sensors are arranged along the distribution rod, and in particular, evenly spaced.

[0018] Preferably, the at least two sensors are of the same type. Preferably, the at least two sensors are essentially identical in construction and / or based on the same measuring principle. Preferably, the at least two sensors are radar sensors. Preferably, all sensors of the sensor system are radar sensors.

[0019] According to a preferred embodiment, the sensor device is configured to detect the measured values ​​or the measured quantity at a measuring point, preferably exactly one measuring point, wherein preferably the measuring point has at least one measuring point and / or measuring range, more preferably different measuring points and / or measuring ranges.

[0020] A measuring point comprises at least one measuring point and / or a measuring area, for example to record the plant population using the associated measurement parameter.

[0021] The measuring point can be the area that can be detected by the sensor device. The measuring point of the sensor device can depend on the type of sensor.

[0022] The measuring point, in particular its spatial extent, of the sensor device can depend on the distance to the measurement target, in this case the plant population.

[0023] According to a further preferred embodiment, the sensor device may be configured to detect the plant population in at least one measuring direction, preferably in different measuring directions.

[0024] A measurement direction can be a direction in space, originating from the sensor device and / or the respective sensor, in which and / or along which the sensor device can detect the measured quantity or the measured values.

[0025] The term "plant population" can refer to the vegetation growing on agricultural land. For example, the plant population may include one or more types of cultivated plants, such as corn, soybeans, rapeseed, sunflowers, cereals, and / or the like.

[0026] The invention is characterized by a determination unit which is set up to determine at least one plant stock property based on the measured values ​​of the sensor device.

[0027] The term "plant composition property" can describe characteristics that further describe or specify the plant composition.

[0028] According to a preferred embodiment, at least one plant stand characteristic can be plant stand height, plant stand density, and / or plant stand moisture.

[0029] The plant stand height can, for example, be the surface area formed by the plants within the stand. The distance of the sensor device and / or the distance of the distribution boom to the surface can be understood as the plant stand height. Alternatively or cumulatively, the plant stand height can also be the actual height of the plants. The height can be determined by calculating the difference between the measured values ​​that are assigned to and / or assignable to the surface area of ​​the plant stand and the soil of the agricultural area.

[0030] Plant density indicates the density of the plant population. This means, for example, how many plants are in a specific area, how much plant mass is present in that area, and / or similar characteristics.

[0031] Plant moisture content indicates how moist the plants are in a specific area. This can refer to the moisture of the plant itself and / or the moisture on the plant.

[0032] According to a preferred embodiment, a control device may be provided which is configured to control the agricultural distribution machine based on the determined at least one plant stand characteristic.

[0033] Using the example of a field sprayer, this can be explained as follows. Based on the plant height, the control device can be designed to control and / or regulate the height or position of the distribution boom relative to the crop to ensure optimal application of the spray solution.

[0034] Plant density affects the required amount of spray solution and / or the correct concentration of active ingredient in the spray solution. The denser the plant stand, the more of the planted area needs to be sprayed. Less dense plant stands require less spray solution.

[0035] The moisture content of the plant stock is relevant with regard to the use of active ingredients, as some active ingredients develop their optimal effectiveness under drier conditions and others under wetter conditions.

[0036] Preferably, the agricultural distribution machine includes positioning devices which are designed to be controllable by means of the control device based on the plant stand characteristics.

[0037] Preferably, the term "control device" can refer to electronics (for example, implemented as a driver circuit or with microprocessor(s) and data storage) and / or mechanical, pneumatic, and / or hydraulic controls, which, depending on their design, can perform control tasks, regulation tasks, and / or processing tasks. Although the term "control" is used here, it can also appropriately encompass or refer to "regulation" or "feedback control" and / or "processing."

[0038] An actuating device is understood to be one that allows one or more output variables of a system, in this case, an agricultural spreading machine, to be influenced. The actuating device is configured to convert received control signals into movements. Preferably, the actuating device can comprise one or more actuators, which are configured to convert the control signals received from the control unit into movements, thereby enabling the machine functions to be executed. This means that the machine function is carried out by appropriately controlling the actuating device, in particular the at least one actuator. An actuator can, in particular, be a hydraulically operating actuator, a pneumatically operating actuator, and / or an electrically operating actuator.

[0039] Preferably, the control unit is configured to generate control signals. Preferably, the control unit is configured to transmit the generated control signals to the actuators.

[0040] Preferably, the actuators may be configured to execute machine functions based on the control signals. Machine functions refer to the functions and / or functionality of the agricultural machine. The machine functions depend on the design of the agricultural machine.

[0041] The respective actuating device can be an actuator, in particular a hydraulically operating actuator, a pneumatically operating actuator and / or an electrically operating actuator.

[0042] According to a preferred embodiment, the determination unit may be configured to determine at least one plant stock property based on absolute values ​​and / or a statistical distribution of the received measured values.

[0043] The absolute values ​​can, for example, describe the measured distances. Values ​​that are relatively small or minimal can be attributed to the plant height, and values ​​that are relatively large or maximum can be attributed to the distance to the ground. Intermediate values, i.e., values ​​between the maximum and minimum values, can be attributed to the plant's spread.

[0044] Statistical distribution allows for an assessment of plant density. The denser the plant stand, the more radar signals are reflected by the plants, resulting in a clustering of measurements towards the minimum values. Conversely, if the plant stand is less dense, radar signals penetrate it more effectively, leading to a clustering of measurements towards the maximum values.

[0045] Depending on the moisture content of the vegetation, the wavelength of the radar signal shifts accordingly. Due to the high relative permittivity of water in the frequency range of radar radiation, a corresponding frequency shift occurs in the radar signal, which is detectable.

[0046] Preferably, a corresponding processing unit is assigned to the measurement unit, which is configured to process the measured values. The processing unit can be a component, in particular an integral component, of the measurement unit and / or be located outside the measurement unit and connected to it via signaling.

[0047] Preferably, the detection unit can be a component, in particular an integral component, of the control unit. Alternatively, the detection unit can be located outside the control unit and connected to the control unit via a signal connection.

[0048] According to a further preferred embodiment, the sensor device may be configured to detect the plant population ahead of the spreading boom. Preferably, the sensor device is configured to detect the plant population in front of the spreading boom, particularly in the direction of travel ahead of the spreading boom.

[0049] According to a preferred embodiment, the control device may be configured to proactively control the distribution machine based on the plant population detected in advance.

[0050] If the plant stand in front of the spreading boom can be detected by the sensor system during travel in the direction of travel, especially forwards, the spreading machine can be controlled even before changes in plant stand characteristics occur. This ensures that the correct control of the spreading machine is possible as soon as the detected plant stand is reached. The entire system can therefore be controlled and / or regulated in advance, thus proactively counteracting changes in plant stand characteristics.

[0051] Preferably, the sensor device is configured to detect the plant population in the direction of travel in front of the distribution boom.

[0052] According to a further preferred embodiment, a verification unit may be provided which is configured to verify at least one plant stock characteristic determined by the detection unit. Preferably, the verification unit is configured to adjust the at least one determined plant stock characteristic, particularly if there is a deviation between the measured values ​​of the sensor device and the verification unit. A deviation may be a difference in the measured value of at least 20%, preferably at least 15%, more preferably at least 10%, and more preferably at least 5%, although other values ​​for the deviation are also conceivable.

[0053] Preferably, the inspection device includes an inspection sensor device which is configured to detect the plant population and generate test measurement values.

[0054] Preferably, the verification device is configured to compare the measured values ​​with test values. Preferably, the determination unit is configured to determine at least one test plant stand characteristic based on the test values ​​and preferably to compare this with the at least one plant stand characteristic. If a deviation between the at least one plant stand characteristic and the at least one test plant stand characteristic is detected by the determination unit, the determination unit is preferably configured to replace the plant stand characteristic with the test plant stand characteristic. This means that when the measured plant stand, i.e., the respective measuring range, is reached, the control device controls the distribution machine based on the test plant stand characteristics.

[0055] The inspection unit is preferably configured to detect the current plant population. Preferably, the inspection unit, and more preferably the inspection sensor device, is configured to detect the plant population below the distribution boom. Preferably, the measuring range of the inspection sensor device is arranged vertically downwards.

[0056] Because radar waves penetrate vegetation more readily, and deviations in plant characteristics are therefore to be expected, a verification of the determined plant characteristics can be useful. However, the sensor system indicates a clear tendency for how the machine should be controlled.

[0057] The verification sensor device can be based on a different measuring principle than the sensor device. For example, the verification sensor device can be based on ultrasound, laser, and / or the like. Preferably, the verification sensor device includes a suitable sensor, for example, an ultrasonic sensor, a laser sensor, or the like. Using a different or different measuring principle allows for verification with increased reliability.

[0058] According to a further preferred embodiment, the detection unit may be configured to determine at least two plant stand characteristics. Preferably, the detection unit is configured to determine at least the plant stand height and the plant stand density.

[0059] If the sensor system operates according to only one measurement principle, i.e., it only uses one type of sensor, for example radar sensors, at least two plant stand characteristics can be determined using the measured values ​​from the respective radar sensors. This eliminates the need for multiple and differently functioning sensors.

[0060] The underlying problem is also solved by a process, preferably carried out by an agricultural distribution machine, comprising the following process steps: - Recording a plant population and generating measured values ​​using a sensor device, - Determining at least one plant stock characteristic based on the measured values ​​of the sensor device using a detection unit.

[0061] In the context of the invention, the individual steps of the process can be carried out in a defined sequence; however, it is also conceivable that the steps of the process can be carried out in any sequence. An arbitrary change between the process steps is also conceivable. Furthermore, the process can be extended by adding further process steps.

[0062] Preferably, the steps of the procedure are carried out continuously and / or at intervals.

[0063] The control unit and / or the detection unit each include, for example, a computer unit, an on-board computer, and / or the like, and also comprise a control and / or regulation circuit, in particular a hydraulic and / or pneumatic and / or electrical control and / or regulation circuit, wherein the control and / or regulation circuit is expediently designed for hydraulic and / or pneumatic and / or electrical signal and / or command transmission. This signal and / or command transmission can also be wireless (e.g., via WLAN).

[0064] In the context of the invention, the terms control unit and detection unit encompass, in particular, the entirety of components for signal and / or command transmission. Accordingly, this also includes computer units, CPUs, and / or the like. Likewise, control units integrated into the respective sensors, sensor units, or sensor arrangements are also included. It should also be noted that the signals and / or data from the sensors, measuring devices, detection devices, and / or the like can each be used as feedback for a control variable.

[0065] It should be noted that the terms "control," "regulate," "control device," and "regulating device" can refer to electronic, pneumatic, and / or hydraulic controls or regulators, which, depending on their design, can perform control and / or regulation tasks. Even though the term "control" is used here, it can also appropriately encompass "regulation." Likewise, the use of the term "regulation" can also imply "control."

[0066] Regarding the advantages and embodiments of the method according to the invention, reference is made to the advantages and embodiments of the agricultural distribution machine according to the invention.

[0067] To avoid repetition, it should be noted that the embodiments and features according to the invention can be combined in any way and freely with the distribution machine and / or the method. Accordingly, all embodiments and features according to the invention are disclosed and claimable for both the device and the method.

[0068] For the purposes of the application, features disclosed in conjunction with other features may also be considered disclosed on their own. Features linked by "and / or" are to be understood as disclosed both on their own and in combination with the other features.

[0069] Further details and advantages of the invention are described below with reference to the accompanying drawings. The relative sizes of the individual elements in the figures do not always correspond to the actual relative sizes, as some shapes are simplified and others are enlarged for better illustration in relation to other elements. The figures show: Fig. 1 a schematic representation of an agricultural spreading machine according to one embodiment; Fig. 2 an agricultural spreading machine in the form of a field sprayer; Fig. 3 schematically illustrates the functioning of the agricultural spreading machine; Fig. 4 a method according to one embodiment.

[0070] The in the Fig. The embodiments shown in Figures 1 to 4 are at least partially identical, so that similar or identical parts are provided with the same reference numerals and, to avoid repetition, reference is also made to the description of the other embodiments or figures for their explanation.

[0071] In the Fig. Figure 1 schematically depicts the agricultural distribution machine 1 according to one embodiment.

[0072] The agricultural machine 1 comprises a sensor device 4 with at least one sensor 8, a control device 6, at least one actuating device 10, and a detection unit 5. The sensor device 4, preferably the at least one sensor 8, is configured to detect a crop P by recording a measured quantity. The sensor device 4 is configured to generate measured values, preferably from the recorded measured quantities.

[0073] The sensor device 4 is configured to transmit the measured values ​​to a determination unit 5, the determination unit 5 being configured to determine at least one plant stand characteristic based on the measured values ​​of the sensor device 4. Furthermore, the control device 6 is configured to control the distribution machine 1 based on the determined plant stand characteristics. By way of example, the control device 6 is configured to generate control signals based on the plant stand characteristics determined by the determination unit 5 and preferably transmit them to corresponding actuators 10, so that certain machine functions of the agricultural distribution machine 1 can be executed.

[0074] Optionally, as indicated by dashed arrows, a verification unit 7 with a verification sensor 9 may be provided, wherein the verification unit 7 is set up to detect the plant stock P and to generate verification measurements.

[0075] Based on the verification measurements, the investigation unit 5 can generate at least one test plant stand property, with investigation unit 7 being configured to compare the test plant stand property with the plant stand properties. If investigation unit 5 detects deviations, it replaces the at least one plant stand property with the at least one test plant stand property. Thus, precise control of the distribution machine 1 can still be achieved when the distribution machine 1 reaches the respective recorded plant stand P.

[0076] In the Fig. Figure 2 shows an agricultural spreading machine 1 in an embodiment as a field sprayer. Spreading units are arranged on two spreading sections 11, 12, not shown here. For further embodiments regarding the spreading boom 2 and its coupling to the spreading machine 1, reference is made at this point to document DE 10 2023 136 337 A1. Fig. 2 with accompanying character descriptions.

[0077] According to the Fig. Figure 3 shows an example section of the distribution machine 1. The sensor device 4 with sensor 8 is configured to detect the plant stand P in front of the distribution boom 2. That is, to detect it ahead of the distribution boom 2. The monitoring sensor device 7 with sensor 9 is configured to detect the plant stand P below the distribution boom 2.

[0078] Sensor 4 detects the plant stand P within a measuring area M and generates corresponding measurement values. Various measurement points within measuring area M are shown as examples, with some points being reflected by the plants of the plant stand P and others by the soil of the agricultural area FL. In an upstream area B1, changes in plant stand height can be observed, and in an upstream area B2, changes in plant stand density. Accordingly, the measurement values ​​of sensor 4 change based on the changes in areas B1 and B2.

[0079] The monitoring sensor device 7 is oriented essentially vertically downwards. This allows at least one plant stand characteristic to be checked and, if necessary, the control of the distribution machine 1 to be adjusted.

[0080] In the Fig.Figure 4 schematically depicts a procedure, wherein the procedure for performing machine functions of an agricultural machine comprises the following process steps.

[0081] In a first process step S1, the plant population is recorded and measured values ​​are generated using the sensor device 4.

[0082] In a second process step S2, at least one plant stand property is generated using the determination unit 5 based on the measured values ​​of the sensor device 4.

[0083] In a third process step S3, control signals are generated by means of the control unit 6 based on the plant stand properties.

[0084] In a fourth process step S4, the control signals are transmitted to corresponding actuators 10 and machine functions are executed.

[0085] Although the invention has been described with reference to specific embodiments, it is apparent to a person skilled in the art that various modifications can be made and equivalents used as substitutes without departing from the scope of the invention. Furthermore, many modifications can be made without departing from the relevant scope. Consequently, the invention is not intended to be limited to the disclosed embodiments but is intended to encompass all embodiments falling within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and features of the dependent claims independently of the referenced claims. Reference symbol list: 1 agricultural spreading machine 2 distribution rods 3 distribution unit 4 Sensor device 5 Investigation Unit 6 Control unit 7 inspection unit 8 Sensor 9 Check sensor 10 Actuator 11 Distribution section 12 Distribution section P Plant population FL agricultural area QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2023 136 337 A1

[0076]

Claims

[1] Agricultural distribution machine (1) for distributing agricultural material, at least comprehensively: - a distribution rod (2) with at least two distribution sections (11, 12) movable relative to each other and with distribution units (3) arranged on the distribution sections (11, 12) for distributing the material to be distributed; - a sensor device (4) which is set up to detect a plant population (P) and to generate measured values, characterized by a determination unit (5) which is set up to determine at least one plant stand property, preferably a plant stand density, based on the measured values ​​of the sensor device (4). [2] Agricultural distribution machine (1) according to claim 1, characterized by a control device () which is set up to control the agricultural distribution machine (1) based on the determined at least one plant stock property. [3] Agricultural distribution machine (1) according to at least one of claims 1 to 2, characterized by , that the investigation unit (5) is set up to determine at least one plant stock property based on absolute values ​​and / or a statistical distribution of the received measurement data. [4] Agricultural distribution machine (1) according to at least one of claims 1 to 3, characterized by , that the sensor device (4) is configured to detect the plant population (P) without contact using electromagnetic waves, preferably based on the radar principle. [5] Agricultural distribution machine (1) according to at least one of claims 1 to 4, characterized by , that at least one plant stand characteristic is plant stand height, plant stand density, and / or plant stand moisture. [6] Agricultural distribution machine (1) according to at least one of claims 1 to 5, characterized by, that the sensor device (4) is set up to detect the plant population (P) ahead of the distribution boom (2). [7] Agricultural distribution machine (1) according to claims 2 and 6, characterized by , that the control device (6) is set up to proactively control the distribution machine (1) based on the pre-detected plant inventory (P). [8] Agricultural distribution machine (1) according to at least one of claims 1 to 7, characterized by a verification unit (7) which is set up to verify and preferably adjust at least one plant stock characteristic determined by means of the investigation unit (5). [9] Agricultural distribution machine (1) according to at least one of claims 1 to 8, characterized by , that the investigation unit (5) is set up to determine at least two plant stand characteristics, preferably a plant stand density and a plant stand height. [10] Method, preferably carried out by an agricultural spreading machine (1) according to any one of claims 1 to 9, comprising the method steps: - Recording a plant population (P) and generating measured values ​​using a sensor device (4), - Determining at least one plant stock characteristic based on the measured values ​​of the sensor device (4) using a detection unit (5).

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