DEVICE FOR APPLYING LIQUID AND / OR SOLID ACTIVE INGREDIENTS AND METHOD FOR CONTROLLING SUCH A DEVICE

Description

[0001] The present invention relates to a device for dispensing solid active ingredients according to the preamble of independent claim 1 and to a method for motion control and / or regulation of a device for dispensing solid active ingredients according to the preamble of claim 12.

[0002] Field sprayers and spray booms attached to agricultural machinery such as tractors sometimes have very large working widths of more than twenty meters. For transport, such wide spray booms are folded and collapsed. On the field, symmetrical booms several meters long are positioned on both sides of the machine, their distance from the ground varying depending on the surface conditions and terrain. Since the downward-facing nozzles on the booms, used to apply a spray agent such as a pesticide, each have a defined spray pattern, the varying distance of the nozzles from the ground results in uneven coverage of the field. Furthermore, the risk of spray drift increases significantly with increasing distance of the spray nozzles from the ground, as even slight air movements negatively affect the finely atomized droplets.

[0003] For this reason, with increasing boom dimensions and the associated working width, it is necessary to guide the spray boom at as constant a distance to the ground as possible, since even slight inclinations of the spray boom lead to large differences in the distance between the nozzles and the ground.

[0004] It is known to suspend a spray boom from a carrier vehicle so that it can rotate around a central point or at least one axis of rotation. The axis of rotation preferably runs parallel to the longitudinal axis of the carrier vehicle. To ensure uniform application of the spray agent, the distance between the top of the crop and the spray nozzles must be kept constant at a defined distance. On horizontal agricultural land, this can generally be achieved by self-leveling, where the spray boom aligns itself horizontally by positioning its center of gravity below the central point and, for example, by suspending the spray boom so that it can pivot freely. However, the desired effect is not achieved on agricultural land running along a slope.

[0005] To maintain a constant, defined distance between the top of the crop and the spray nozzles mounted on a boom rotatably suspended around a central point across arbitrarily shaped agricultural fields, it is known to rotate a spray boom, raised to a desired distance from the ground, around an axis of rotation passing through the central point, such that this distance is optimized across the entire working width. This requires applying a torque to the spray boom around this axis of rotation. This is achieved by means of at least one actuator, which transmits a force or force couple from the carrier vehicle to the spray boom, at least as needed, to change its orientation.

[0006] This reorientation torque accelerates the spray boom in a desired direction of rotation. Even after the reorientation torque ceases, the spray boom would continue to rotate around its axis of rotation without countermeasures, as it retains its angular momentum due to its moment of inertia. Therefore, to decelerate the spray boom, a braking torque must be applied in the opposite direction to the previous reorientation torque. This braking torque counteracts the rotational movement initiated by the reorientation torque and thus dampens the system of the spray boom, which is suspended to rotate around its central point.

[0007] Currently, mechanical dampers are typically used to apply braking torque. These dampers are mounted between the carrier vehicle and the sprayer boom. Assuming a relative movement occurs between the carrier vehicle and the boom in the form of rotation around the axis of rotation, the interposed mechanical damper counteracts this relative rotation and thus brakes the boom as desired. However, if the carrier vehicle rotates around its axis of rotation, for example due to uneven terrain, while the sprayer boom remains stationary, a relative rotation also occurs between the carrier vehicle and the sprayer boom. A mechanical damper mounted between the carrier vehicle and the sprayer boom would oppose this relative rotation and thus transmit a torque acting around the axis of rotation to the sprayer boom, creating a coupling between the carrier vehicle and the sprayer boom.

[0008] This coupling exists equally when a measuring system is used as the basis for torque control, which measures a relative angle and / or a relative rotation between the carrier vehicle and the spray boom.

[0009] Furthermore, measuring systems are known that use tilt sensors mounted on the spray boom to determine its position. By differentiating the tilt over time, the rotational speed of the spray boom can be obtained independently of the carrier vehicle. However, tilt sensors provide inaccurate tilt readings during lateral accelerations, such as those occurring when cornering. Consequently, an inaccurate rotational speed is also calculated.

[0010] US Patent 2011 / 0282554 A1 discloses a device for dispensing liquid active ingredients. The device comprises: a carrier vehicle, a spray boom arranged on the carrier vehicle comprising a central section whose distance to the ground is adjustable, and two booms extending laterally from the carrier vehicle and arranged on this central section independently of each other about their own axes of rotation parallel to a longitudinal axis of the carrier vehicle, distance sensors arranged on the two booms for detecting the positions or distances of the boom ends to the ground, at least one distance sensor arranged on the central section between the booms for detecting the distance of the central section to the ground, a control device processing the output signals of the sensors into control signals, and an actuator in the form of a hydraulic cylinder acting on each of the two booms for individually raising and lowering each boom end depending on control signals from the control device.as well as a rotation angle or rotation rate sensor arranged independently of the spray boom on the carrier vehicle, which detects the roll angle or roll rate of the carrier vehicle about its longitudinal axis.

[0011] The distance sensors can be LIDAR (Light Detection and Ranging), RADAR (Radio Detection and Ranging), or ultrasonic sensors, or sensors based on interference measurement or radio frequency, such as GPS sensors. The rotation angle or rate sensor can be a gyroscope. To keep the boom ends at a constant distance from the ground, just like the central section, a height error of the two boom ends is first calculated by comparing the output signals of the distance sensors. If this height error is not zero for one or both boom ends, an initial control signal is generated to activate an actuator assigned to the affected boom end and readjust the boom end with the height error to the specified distance from the ground.If one of the booms is raised, this results in a roll of the carrier vehicle in the direction of the boom being raised. Without further measures, the remaining boom would exhibit a height error resulting in a lowering. To ensure that a control loop consisting of distance sensors, a control unit, and actuators is stable and does not, for example, become uncontrollably unstable and / or lead to the carrier vehicle tipping over, the control unit is designed to generate a compensation control signal to counteract any instability in the control loop. This signal is derived from the output signal of the rotation angle or rate sensor that detects the roll angle or roll rate of the carrier vehicle around its longitudinal axis. A control signal, determined from the initial control signal and the compensation control signal, is then output to the actuators.

[0012] WO 2012 / 146255 A1 also discloses a device for dispensing liquid active ingredients. The device comprises: a carrier vehicle, a spray boom movably arranged on the carrier vehicle about an axis of rotation parallel to a longitudinal axis of the carrier vehicle with outriggers extending on both sides of the carrier vehicle, one or more sensors arranged on the spray boom to detect the distances of the outriggers to the ground, such as one or more acceleration sensors, gyroscopes and / or distance sensors, a control device processing the output signals of the one or more sensors into control signals, a stabilizing device damping vibrations of the spray boom comprising two guides extending along the two outriggers and a block slidably arranged along one of the guides, and an actuating device influencing the positions of the two blocks along the guides depending on control signals from the control device. In response to unwanted vertical movements, which in an undamped control loop can cause the spray boom to vibrate around the longitudinal axis of the carrier vehicle, damping and compensation are provided by mass displacement through the movement of blocks along the two booms. The input signals to the control device are output signals from accelerometers mounted on the booms, which detect vertical vibrations of the spray boom. A mechanism for maintaining a constant distance between the booms and the ground is not disclosed.

[0013] DE 10 2007 045 846 A1 discloses a device for dispensing liquid active ingredients. The device comprises: a carrier vehicle, a spray boom movably arranged on a height-adjustable parallelogram linkage on the carrier vehicle about an axis of rotation parallel to a longitudinal axis of the carrier vehicle, an acceleration sensor arranged on the spray boom, an acceleration sensor arranged on the parallelogram linkage, a first reference sensor in the form of an acceleration sensor arranged on the carrier vehicle, and a second reference sensor in the form of a gyrostat or yaw rate sensor arranged in the area of ​​a frame of the carrier vehicle, a control device processing the output signals of one or more sensors into control signals, an actuator in the form of a hydraulic cylinder influencing the rotational position of the spray boom depending on control signals from the control device,as well as an actuator in the form of a hydraulic cylinder that influences the distance of the parallelogram linkage to the ground depending on control signals from the control device.

[0014] The control signals generated by the control unit prevent changes in the position and orientation of the spray boom, once manually set, during braking, acceleration, suspension compression and rebound of the carrier vehicle, or when driving over uneven ground. Errors that may creep in due to the different positioning of the acceleration sensors and the reference sensors can be more accurately compensated for by the reference sensors. A mechanism for maintaining a constant distance between the spray boom and the ground is not disclosed.

[0015] For the sake of completeness, it should be mentioned that spray booms consisting of segments adjustable relative to each other are also known to allow for section-by-section adaptation to the ground contour at very large working widths. A spray boom with a boom composed of segments is known from DE 32 02 569 A1. In this design, individual segments are connected to each other, with the movement of the individual segments relative to each other being passive. This mechanism requires a supporting element on the outside of each boom to enable the pivoting action. Another relevant prior art document is JP 2008 029261 A (KUBOTA KK).

[0016] The object of the invention is to develop a device for applying liquid and / or solid active ingredients with a carrier vehicle and at least one boom pivotably arranged about an axis of rotation, preferably parallel to a longitudinal axis of the carrier vehicle, with outriggers extending on both sides of the carrier vehicle, such as a field sprayer, which enables the distances of the outriggers to the ground surface to be maintained as precisely as possible even on uneven ground and when the carrier vehicle is moving or swaying, and to specify a method for controlling such a device with the aid of which the distances of the outriggers to the ground surface to be maintained as precisely as possible even on uneven ground and when the carrier vehicle is moving or swaying.

[0017] The problem is solved in each case by the characteristics of the independent claims.

[0018] Features of advantageous embodiments of the invention will become apparent from the dependent claims, the following general description section, the drawings and the associated figure description section.

[0019] A first object of the invention therefore relates to a device for dispensing solid active ingredients. The device comprises: a carrier vehicle, at least one boom pivotably arranged about an axis of rotation preferably parallel to a longitudinal axis of the carrier vehicle, such as a spray boom, with extensions projecting on both sides of the carrier vehicle, and with application means arranged on the carrier vehicle and connected and / or connectable to a storage container for at least one liquid and / or solid active ingredient, such as spray nozzles connected and / or connectable to a spray agent tank, at least one sensor arrangement for detecting a rotational speed of the boom about the axis of rotation with respect to a reference plane, at least one sensor arrangement for detecting a rotational position of the boom about the axis of rotation with respect to the reference plane, a control device processing the output signals of the sensor arrangements into control signals,at least one actuator, also called an actuator, which influences the rotational position of the linkage around the axis of rotation in relation to the carrier vehicle depending on control signals from the control device, for example in the form of one or more hydraulic cylinders, which converts control signals into mechanical movement or another physical quantity, such as pressure, and thus generates a force or force couple exerting a torque on the linkage. wherein the control device for determining a rotational position of the linkage about the axis of rotation with respect to an initial orientation that coincides, for example, with the reference plane: The rotational position of the linkage relative to the reference plane is calculated by integrating the rotational speed over time. This ensures that neither the carrier vehicle nor translational accelerations negatively influence the calculation of the rotational position. However, measurement errors are also integrated, causing a drift in the rotational position subsequently referred to as angular drift. To compensate for the angular drift, the rotational position of the linkage calculated based on the rotational speed is fused with the measured rotational position of the linkage to determine the instantaneous rotational position of the linkage relative to the reference plane. This results in a control signal that returns the linkage from its instantaneous rotational position to a target rotational position relative to the reference plane.

[0020] Integrating the rotation rate (referred to as rotational velocity) over time yields a rotation angle representing the linkage's position relative to the reference plane. Disturbances from the carrier vehicle or translational accelerations do not affect the calculation, whereas measurement errors are also integrated and cause angular drift in the rotation angle.

[0021] While measuring the rotational position relative to the reference plane, for example by measuring the relative rotation between the carrier vehicle and the linkage or by measuring an angle of inclination to the acceleration due to gravity, has the disadvantage of being affected by disturbances caused by rotational movements of the carrier vehicle or by translational accelerations, such as those that occur when cornering, it has the advantage that this type of measurement of the rotational position is not subject to angular drift.

[0022] By fusing the calculated and the measured rotational position, referred to as the recorded rotational position, the current rotational position is determined very accurately with respect to the reference plane, taking advantage of the benefits of each measurement method without having to accept their disadvantages.

[0023] Advantages over the prior art include the retention of a measurement system consisting of at least one sensor arrangement for detecting the rotational speed of the linkage around its axis of rotation with respect to a reference plane, at least one sensor arrangement for detecting the rotational position of the linkage around its axis of rotation with respect to the reference plane, and a control unit that processes the output signals of the sensor arrangements into control signals. This system reproduces the instantaneous rotational position and rotational movements of the linkage with respect to the reference plane independently of the carrier vehicle and generates control signals from this data to maintain a constant alignment of the linkage with respect to the reference plane. To determine the instantaneous rotational position, two measurement systems based on different physical principles are used and fused. This eliminates the disadvantages of each measurement method.

[0024] The at least one sensor arrangement for detecting a rotational speed of the linkage about the axis of rotation with respect to a reference plane can include a rotation rate sensor arranged on the linkage that detects the rotational speed of the linkage.

[0025] To measure the rotational speed, a gyroscope mounted directly on the linkage is used. Rotational movements of the carrier vehicle therefore have no influence on the determination of the linkage's rotational speed. An output signal from a gyroscope that is proportional to or reflects the measured quantity thus corresponds to the rotational movement of the linkage relative to any reference plane, for example, relative to the Earth's surface, orthogonal to the acceleration due to gravity, or reflecting a long-term orientation of the carrier vehicle based on an averaged ground profile.

[0026] This measured quantity, or an output signal of a gyroscope that detects the rotational speed of the linkage and is proportional to or reflecting this measured quantity and serving as an input signal to the control signals of the actuator(s) of the control device, can be used to obtain active damping of the linkage in the form of an actively applied braking torque.

[0027] Alternatively or additionally, the at least one sensor arrangement for detecting a rotational speed of the linkage about the axis of rotation with respect to a reference plane can include at least one rotation rate sensor arranged on the carrier vehicle in order to measure rotational speeds of the carrier vehicle at least about its longitudinal axis and thus rotational movements of the carrier vehicle that represent disturbance movements.

[0028] Additionally, the at least one sensor arrangement for detecting a rotational speed of the linkage about the axis of rotation with respect to a reference plane can include at least one rotation angle sensor or rotation angle speed sensor that detects the relative rotation between the carrier vehicle and the linkage, so that the absolute rotational speed of the linkage about the axis of rotation can then be determined from the two measured values: rotational speed of the carrier vehicle with respect to its longitudinal axis and relative rotation between the carrier vehicle and the linkage.

[0029] Alternatively or additionally to a gyroscope, the sensor arrangement for detecting the rotational speed of the linkage around its axis of rotation relative to a reference plane can include a rotational acceleration sensor. A measure of the rotational speed can be obtained by integrating its output signal over time.

[0030] Alternatively or additionally to a gyroscope and / or a gyroscope, the sensor arrangement for detecting the rotational speed of the linkage around its axis of rotation with respect to a reference plane typically comprises at least two accelerometers located in the region of the linkage arms, for example, at their ends. It should be noted, however, that a single sensor may suffice, even if located in the region of one of the linkage arms, for example, at one end. Its output signal, or the output signals of several sensors, reflect the translational accelerations at the ends of the arms. The difference between the output signals of two accelerometers located at opposite ends of the arms, multiplied by the linkage width, yields the gyroscope accelerations, the gyroscope speed of which is then obtained by integrating these accelerations over time.

[0031] In summary, it is evident that the means for determining the rotational speed of the linkage about the axis of rotation with respect to a reference plane may include one or more inertial sensors arranged on the linkage.

[0032] Inertial sensors are used to measure accelerations and rotation rates. By combining several inertial sensors in an inertial measurement unit (IMU), accelerations can be measured in up to six degrees of freedom that a rigid body can possess (three translational and three rotational degrees of freedom). An IMU is a key component of an inertial navigation system.

[0033] Examples of inertial sensors include accelerometers and gyroscopes.

[0034] A gyroscope detects the rotational or rotational speed of a body around a predetermined axis of rotation or pivoting, wherein an output signal of a gyroscope is preferably uniquely proportional to a detected rotational speed.

[0035] By integrating the rotational speed over a time interval, one can derive the angle by which a body has rotated within that time interval. The rotation rates about the three spatial axes are given as: Yaw rate (rotation around the vertical axis), pitch rate (rotation around the lateral axis), roll rate (for non-land-based vehicles also roll rate (rotation around the longitudinal axis)) designated.

[0036] The measurement principle is essentially based on two measurement principles: firstly, the Coriolis force, which acts on a mechanically moving system, and secondly, the Sagnac effect, which is observed in light.

[0037] Examples of mechanical, moving systems that utilize the Coriolis force include: Foucault pendulum, circular compass, dynamically tuned gyro (DTG), measurement error <1° / h, vibrating gyroscope, measurement error <10° / h, oscillating bulb.

[0038] Examples of optical systems utilizing the Sagnac effect include: Ring laser (RLG), measurement error <0.001° / h, fiber gyroscope (FOG), measurement error <1° / h.

[0039] Inertial measurement units typically include the following sensor types: Three orthogonally arranged accelerometers (also called translation sensors) detect linear acceleration along the x, y, and z axes. The translational motion can then be calculated using two integrations. Three orthogonally arranged angular rate sensors (also called gyroscopic sensors) measure the angular velocity around the x, y, and z axes. The rotational motion can then be calculated using a single integration.

[0040] To determine the integration constants and / or to improve accuracy and / or to correct sensor drift, additional magnetic field sensors, such as compass sensors, and / or signals from an existing and / or future global navigation satellite system, also known as a Global Navigation Satellite System (GNSS), such as the following, can be used: GPS (Global Positioning System) of the United States of America, and / or GLONASS (Global Navigation Satellite System) of the Russian Federation, and / or Galileo of the European Union, and / or Beidou of the People's Republic of China be planned.

[0041] The at least one sensor arrangement for detecting a rotational position of the linkage about the axis of rotation with respect to the reference plane can include at least one sensor that detects a relative rotation between the carrier vehicle and the linkage with respect to the axis of rotation.

[0042] At least one sensor for detecting a relative rotation between the carrier vehicle and the linkage can be a rotation angle sensor arranged between the linkage and the carrier vehicle.

[0043] Alternatively or additionally, a relative rotation between the carrier vehicle and the linkage can be detected using at least one tilt sensor that detects an angle between the carrier vehicle and the reference plane and using at least one tilt sensor that detects an angle between the linkage and the reference plane, wherein the difference between the angle detected by the sensors between the carrier vehicle and the reference plane and the angle between the linkage and the reference plane is proportional to a relative rotation between the carrier vehicle and the linkage.

[0044] By fusing the rotational position of the linkage calculated by means of a sensor-detected rotational speed with a relative rotation between the carrier vehicle and the linkage, detected directly by means of a rotation angle sensor or indirectly by means of a difference calculation of the inclinations of the linkage and the carrier vehicle relative to the reference plane, reference can be made to a reference plane corresponding to a long-term orientation of the carrier vehicle and reflecting an averaged ground profile.

[0045] The at least one sensor arrangement for detecting a rotational position of the linkage around the axis of rotation in relation to the reference plane can alternatively or additionally include at least one tilt sensor that detects an angle between the linkage and the reference plane.

[0046] By fusing the rotational position of the linkage calculated on the basis of a rotational speed with a rotational position of the linkage determined on the basis of an angle between the linkage and the reference plane, reference can be made to a reference plane corresponding to an artificial horizon.

[0047] Although tilt sensors have the disadvantage of being affected by lateral acceleration, this disadvantage is compensated for by fusion with the rotational position of the linkage, which is calculated based on a rotational speed.

[0048] In summary, the reference plane can therefore either be an artificial horizon, wherein the at least one sensor arrangement for detecting a rotational position of the linkage about the axis of rotation with respect to a reference plane preferably comprises an inclination sensor, or a long-term alignment of the carrier vehicle, wherein the at least one sensor arrangement for detecting a rotational position of the linkage about the axis of rotation with respect to a reference plane preferably comprises a detection of a relative rotation between the carrier vehicle and the linkage, for example by means of a rotation angle sensor that detects the angle between the linkage and the carrier vehicle.

[0049] To determine the instantaneous rotational position of the linkage about the axis of rotation with respect to the reference plane by means of a fusion of the rotational position of the linkage calculated on the basis of a rotational speed with the rotational position of the linkage detected directly or indirectly by means of a sensor by means of a Kalman filter.

[0050] Alternatively or additionally, the control device for determining the instantaneous rotational position of the linkage about the axis of rotation with respect to the reference plane can be equipped by means of a fusion of the rotational position of the linkage calculated by means of a rotational speed with the rotational position of the linkage directly or indirectly by means of a sensor by means of low-pass filtering of the sensor-detected rotational position as well as means of comparing the low-pass filtered sensor-detected rotational position under constant adjustment to zero with the rotational position calculated on the basis of a rotational speed in order to compensate for the angular drift.

[0051] The control device regulates and / or controls the rotational position of the linkage around the axis of rotation along the direction of travel of the carrier vehicle by means of at least one actuator comprising, for example, at least one hydraulic cylinder.

[0052] The control device can allow a manual operating state in which the actuator influencing the rotational position of the linkage around the axis of rotation in relation to the carrier vehicle does not perform any active control and the linkage is guided, for example, with almost no actuating force.

[0053] In manual operation, at least part of the linkage, for example at least a central section arranged between the booms, follows the movement of the carrier vehicle over a longer period of time, since the latter basically follows the field relief and thus the contour of the field.

[0054] However, high-frequency roll movements of the carrier vehicle should not have any influence on the rotational position of the linkage in relation to a reference plane corresponding to the long-term orientation of the carrier vehicle or an artificial horizon.

[0055] Furthermore, the control device allows for an automatic operating state in which the actuator performs an active movement to adjust the rotational position of the linkage in relation to the reference plane.

[0056] The invention allows for a very precise determination of the instantaneous rotational position of the linkage relative to a reference plane. This is less complex and costly compared to determining the rotational position using multiple ultrasonic sensors.

[0057] The device can additionally include an actuator, for example in the form of one or more hydraulic cylinders, which, depending on control signals from the control unit, influences the average distance of the linkage from the ground or the crop. This actuator converts control signals into mechanical movement or another physical quantity, such as pressure, and thus exerts a force on the linkage that raises or lowers it. In principle, other suitable actuators can also be used instead of hydraulic cylinders, e.g., pneumatic, electromechanical, or electromotive actuators.

[0058] Furthermore, the device can include at least one sensor arrangement for detecting at least the average distance of the boom from the ground or the crop. Preferably, such a sensor arrangement typically includes at least one distance sensor arranged at each end of the boom's arms. By using distance sensors arranged at the ends of the boom arms and by appropriately considering their output signals when generating control signals via the control device, the reliability of preventing the boom or application devices for solid and / or liquid active ingredients, such as spray nozzles, from coming into contact with the ground and / or the crop can be increased. It should be noted that the sensor arrangement can optionally also include only a single distance sensor at one end of one of the boom arms.By using such a distance sensor arranged at one end of one of the boom's extensions and by taking its output signal into account when generating control signals by means of the control device, the reliability can be increased with which it can be ensured that the boom or application devices for solid and / or liquid active ingredients, such as spray nozzles, attached to it, do not come into contact with the ground and / or with the crop.

[0059] Alternatively or additionally, such a sensor arrangement can include at least one distance sensor attached to a part of the linkage that does not extend beyond the width of the carrier vehicle.

[0060] Based on the distance signals from the sensors, the control device can generate control signals for at least one actuator that influences the average distance of the linkage to the ground or the crop.

[0061] To minimize the influence of unequal mass distributions of the linkage, the axis of rotation preferably runs through the center of gravity of the linkage.

[0062] The at least one boom can be permanently attached to the carrier vehicle or be interchangeable with another device for agricultural soil and / or crop treatment.

[0063] The carrier vehicle can be driven or towed, so that the device: In the case of a powered carrier vehicle with permanently arranged linkage, it constitutes a self-propelled agricultural implement or an agricultural self-propelled device; in the case of a towed carrier vehicle with permanently arranged linkage, it constitutes a towed agricultural implement, such as an agricultural trailer; and in the case of a powered carrier vehicle with linkage that is interchangeable with another device for agricultural soil and / or crop treatment, for example on a three-point linkage or on a loading platform provided for this purpose, it constitutes either an attached implement or a mounted implement.

[0064] Additional advantages over the prior art, beyond those already mentioned, result from a complete solution to the problem at hand, eliminating all disadvantages of the prior art.

[0065] Furthermore, by precisely maintaining the distances of the booms from the ground surface and / or the existing vegetation, it is reliably prevented that the booms come into contact with the ground, regardless of the moving and / or swaying carrier vehicle.

[0066] A second object of the invention relates to a method for controlling a previously described device by means of a control of the rotational position of the linkage of the device, which is movably arranged about an axis of rotation on a carrier vehicle, as a function of an instantaneous rotational position, wherein the following is provided for determining the instantaneous rotational position: to detect a rotational speed of the linkage around the axis of rotation with respect to a reference plane, to detect a rotational position of the linkage around the axis of rotation with respect to the reference plane independently of the rotational speed, to calculate the rotational position of the linkage with respect to the reference plane by temporal integration of the rotational speed, whereby on the one hand neither the carrier vehicle of the device nor translational accelerations interfere with the calculation of the rotational position, but on the other hand measurement errors are also integrated and cause a drift of the rotational position subsequently referred to as angular drift, and to fuse the rotational position of the linkage calculated on the basis of the rotational speed with the detected rotational position of the linkage to determine the instantaneous rotational position of the linkage with respect to the reference plane in order to compensate for the angular drift.

[0067] By fusing the calculated and the measured rotational position (referred to as the recorded rotational position), the current rotational position is determined very accurately with respect to the reference plane, taking advantage of both methods without having to accept their disadvantages.

[0068] The method preferably provides for generating a control signal, based on the fusion of the rotational position of the linkage calculated by means of the rotational speed with the rotational position of the linkage detected independently of the rotational speed, each with reference to the reference plane, which returns the linkage from its current rotational position to a target rotational position with respect to the reference plane.

[0069] The method can provide for the detection of the rotational speed using a rotation rate sensor arranged on the linkage, which detects the rotational speed of the linkage.

[0070] To measure the rotational speed, a gyroscope mounted directly on the linkage is used. Rotational movements of the carrier vehicle therefore have no influence on the determination of the linkage's rotational speed. An output signal from a gyroscope that is proportional to or reflects the measured quantity thus corresponds to the rotational movement of the linkage relative to any reference plane, for example, relative to the Earth's surface, orthogonal to the acceleration due to gravity, or reflecting a long-term orientation of the carrier vehicle based on an averaged ground profile.

[0071] This measured quantity, or an output signal proportional to or reflecting this measured quantity and fed into the control signals of a gyroscope capable of detecting the rotational speed of the linkage, can be used to obtain active damping of the linkage in the form of an actively applied braking torque.

[0072] The method can alternatively or additionally provide to determine the rotational speed of the linkage based on a rotational speed of the carrier vehicle about its longitudinal axis running parallel to the axis of rotation, accompanied by a relative rotation between the carrier vehicle and the linkage, so that the absolute rotational speed of the linkage about the axis of rotation can then be determined from the two measured values: rotational speed of the carrier vehicle with respect to its longitudinal axis and relative rotation between the carrier vehicle and the linkage.

[0073] For this purpose, it may be possible to arrange a yaw rate sensor on the carrier vehicle of the device in order to detect the rotational speed of the carrier vehicle about its longitudinal axis, also referred to as roll rate, and to provide a rotation angle sensor or rotation angle speed sensor between the carrier vehicle and the linkage.

[0074] Alternatively or additionally, it may be possible to record a rotational acceleration and obtain the rotational speed by integrating it over time.

[0075] Alternatively or additionally, it may be possible to detect translational accelerations in the area of ​​the booms of the linkage, preferably at the opposite ends of the booms, and to first calculate the rotational acceleration of the linkage based on a difference in the translational accelerations at the opposite ends of the booms and then, by integrating over time, the rotational speed.

[0076] The method can additionally or instead of the preceding embodiments comprising a detection of relative rotation between the carrier vehicle and the linkage, provide for the detection of relative rotation between the carrier vehicle and the linkage based on the difference between the rotational position of the linkage about the axis of rotation with respect to the reference plane and the rotational position of the carrier vehicle about its longitudinal axis running parallel to the axis of rotation with respect to the reference plane, wherein the difference between the angle detected by the sensors between the carrier vehicle and the reference plane and the angle between the linkage and the reference plane is proportional to a relative rotation between the carrier vehicle and the linkage.To detect the rotational position of the linkage about the axis of rotation in relation to the reference plane and the rotational position of the carrier vehicle about its longitudinal axis running parallel to the axis of rotation in relation to the reference plane, tilt angle sensors can be provided on the linkage and on the carrier vehicle, respectively, to detect inclination angles between the linkage and the vertical and / or the horizontal or between the carrier vehicle and the vertical and / or the horizontal.

[0077] The method may provide for a reference plane corresponding to a long-term orientation of the carrier vehicle and reflecting an averaged ground profile, based on a fusion of the rotational position of the linkage calculated by means of a recorded rotational speed with a calculated and / or recorded relative rotation between the carrier vehicle and the linkage.

[0078] To detect a rotational position of the linkage around the axis of rotation in relation to the reference plane, the method can provide, for example, by means of an inclination sensor to detect an angle of inclination reflecting an angle between the linkage and the reference plane.

[0079] By fusing the rotational position of the linkage calculated on the basis of a rotational speed with a rotational position of the linkage determined by measuring an angle between the linkage and the reference plane, reference can be made to a reference plane corresponding to an artificial horizon.

[0080] The method may include performing a Kalman filter to determine the instantaneous rotational position of the linkage about the axis of rotation with respect to the reference plane by fusing the rotational position of the linkage calculated on the basis of a rotational speed with the rotational position of the linkage determined directly or indirectly by taking a difference.

[0081] Alternatively or additionally, the method may provide for determining the instantaneous rotational position of the linkage about the axis of rotation with respect to the reference plane by means of a fusion of the rotational position of the linkage calculated on the basis of a rotational speed with the rotational position of the linkage directly or indirectly by means of a difference calculation, a low-pass filtering of the detected rotational position and a comparison of the low-pass filtered detected rotational position with the rotational position calculated on the basis of a rotational speed under constant adjustment to zero in order to compensate for the angular drift.

[0082] The method allows all the advantages of the described device to be utilized.

[0083] In addition to its use in conjunction with a previously described device for applying liquid and / or solid active ingredients, the method is suitable for use with any devices for agricultural soil and / or crop treatment where – either to protect the soil or the crop – devices supported against the ground are dispensed with, yet high accuracy of guidance in a predetermined rotational position, for example perpendicular or parallel to the ground, is required.

[0084] Both the device and the method may alternatively or additionally have one or a combination of several features described in the introduction in connection with the prior art and / or in one or more of the documents mentioned as prior art.

[0085] Furthermore, the device may alternatively or additionally have one or a combination of several features previously described in connection with the method, just as the method may alternatively or additionally have one or a combination of several features previously described in connection with the device.

[0086] It is evident that the invention can be implemented by means of a spray boom control system using at least one inertial sensor, such as a rotation rate sensor, for example a gyroscope, which is provided on or in the spray boom and / or a part of a spray boom, for example a central section. The inertial sensor detects an effective rotational speed of the spray boom and / or a part of a spray boom, independent of any movement of the carrier vehicle. Based on the detected rotational speed, active damping and / or control is performed. By means of a time integral over the rotational speed, an actual angle of rotation, referred to as the rotational position with respect to a reference plane, can be calculated.

[0087] By means of an angle sensor, for example a rotary angle encoder, the rotational position of the spray boom and / or a part of a spray boom relative to the carrier vehicle is additionally detected, whereby the absolute rotational angle position of the spray boom or part of a spray boom to the carrier vehicle is determined.

[0088] By fusing the sensor data obtained from the sensor output signals (rotational speed or rate and absolute rotational angle or position) and applying appropriate filtering, for example using a Kalmann filter, it is possible to guide the spray boom or the part of a spray boom equipped with an inertial sensor with the carrier vehicle without high-frequency rolling movements disturbing the position and orientation of the spray boom or part of a spray boom.

[0089] Alternatives to a rotation rate sensor, such as a gyroscope, include one or more rotational acceleration sensors or symmetrically arranged rotational acceleration sensors whose output signals are processed. For example, if two symmetrically arranged rotational acceleration sensors are provided in different directions, the rotational acceleration in each direction can be determined based on the rotational accelerations of one and the other sensors, and the rotational velocity in the corresponding direction can be calculated by applying a time integral to the measured rotational acceleration.

[0090] In summary, the invention provides for relating the current position of the linkage to a reference plane in order to control the rotational position of the linkage, or to adjust the linkage to a defined angle, independently of the movements of the carrier vehicle. This reference plane can be a horizontal plane perpendicular to the acceleration due to gravity, or it can correspond to a long-term orientation of the carrier vehicle.

[0091] The invention provides for the fusion of two measurement signals obtained using independent measurement methods, namely a calculated rotational position of the linkage and a measured or recorded rotational position of the linkage, into a fused control or measurement signal.

[0092] The fused measurement signal represents the instantaneous rotational position of the linkage relative to a reference plane, corresponding to a rotational angle between the linkage and the reference plane. The reference plane preferably corresponds to an artificial horizon or a long-term orientation of the carrier vehicle. The result is insensitive to rotational and translational movements of the carrier vehicle and is not subject to angular drift. Furthermore, this fused measurement signal does not lag the actual rotational movement in time and is therefore ideally suited for a control system that is not undesirably coupled to the carrier vehicle, particularly not at high frequencies.

[0093] It is important to emphasize that the pivotable arrangement of the linkage on the carrier vehicle, which is preferably parallel to the longitudinal axis of the carrier vehicle, comprises both a pivotable arrangement of a rigid or articulated linkage, which is preferably parallel to the longitudinal axis of the carrier vehicle, and a pivotable arrangement of two booms of a linkage, which are pivotable on the carrier vehicle or on a linkage center section, which are preferably parallel to the longitudinal axis of the carrier vehicle.

[0094] The invention and its advantages are explained in more detail below with reference to exemplary embodiments illustrated in the figures. The relative sizes of the individual elements in the figures do not always correspond to their actual sizes, as some shapes are simplified and others are enlarged for clarity. Identical reference numerals are used for identical or functionally equivalent elements of the invention. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures. The illustrated embodiments merely represent examples of how the distribution gearbox according to the invention can be designed and do not constitute an exhaustive limitation. The figures show, in schematic representation: Fig. 1 A perspective view of a device designed as a self-propelled field sprayer for applying liquid and / or solid active ingredients. Fig. 2 An isometric view of a boom of a device for applying liquid and / or solid active ingredients. Fig. 3 A perspective detail view of a boom arrangement of a device for applying liquid and / or solid active ingredients, pivotable about an axis of rotation preferably parallel to a longitudinal axis of the carrier vehicle. Fig. 4 A front view of a boom of a device for applying liquid and / or solid active ingredients. Fig. 5 A detail view of a boom arrangement of a device for applying liquid and / or solid active ingredients, pivotable about an axis of rotation preferably parallel to a longitudinal axis of the carrier vehicle, in a front view.Fig. 6 A detailed perspective view of a part of a device for dispensing liquid and / or solid active ingredients, representing a linkage arrangement pivotable about a rotation axis preferably parallel to a longitudinal axis of the carrier vehicle. Fig. 7 A first embodiment of a process for determining an instantaneous rotational position of the linkage with respect to a reference plane according to a method for controlling a device for dispensing liquid and / or solid active ingredients by means of controlling the rotational position of the linkage of the device, which is movably arranged about a rotational axis on a carrier vehicle, as a function of an instantaneous rotational position.8. A second embodiment of a process for determining an instantaneous rotational position of the linkage with respect to a reference plane according to a method for controlling a device for dispensing liquid and / or solid active ingredients by means of a control of the rotational position of the linkage of the device, which is movably arranged about an axis of rotation on a carrier vehicle, as a function of an instantaneous rotational position.

[0095] One in Fig. 1 , Fig. 2 , Fig. 3 , Fig. 4 , Fig. 5 , Fig. 6 Device 01, shown in whole or in part, for dispensing liquid and / or solid active ingredients, comprises: a carrier vehicle 10, at least one boom 02 pivotably arranged about an axis of rotation 20 preferably parallel to a longitudinal axis of the carrier vehicle 10, such as a spray boom, with extensions 21, 22 projecting on both sides of the carrier vehicle 10 and application means arranged on it, connected and / or connectable to a storage container 11 for at least one liquid and / or solid active ingredient, such as spray nozzles connected and / or connectable to a spray agent tank, at least one sensor arrangement for detecting a rotational speed of the boom or parts of the boom 02, such as its extensions 21, 22 about the at least one axis of rotation 20 with respect to a reference plane, at least one sensor arrangement for detecting a rotational position of the boom 02 about the axis of rotation 20 with respect to the reference plane,a control device that processes output signals from the sensor arrangements into control signals, at least one actuator 03, also referred to as an actuator, which influences the rotational position of the linkage 02 about the axis of rotation in relation to the carrier vehicle 10 depending on control signals from the control device, for example in the form of one or more hydraulic cylinders, which converts control signals into mechanical motion or another physical quantity, such as pressure, and thus generates a force or force couple exerting a torque on the linkage 02, , wherein the control device for determining a rotational position of the linkage 02 about the axis of rotation 20 with respect to an initial orientation corresponding, for example, to the reference plane: The rotational position alpha2 of the linkage 02 is calculated by temporally integrating the rotational speed w with respect to the reference plane. This ensures that neither the carrier vehicle 10 nor translational accelerations interfere with the calculation of the rotational position. However, measurement errors are also integrated, causing a drift in the rotational position known as angular drift. The rotational position alpha2 of the linkage 02, calculated based on the rotational speed w, is fused with the measured rotational position alpha1 or d_alpha1 of the linkage 02 to determine the instantaneous rotational position of the linkage 02 with respect to the reference plane. This results in a control signal that returns the linkage 02 from its instantaneous rotational position to a target rotational position with respect to the reference plane.

[0096] The at least one sensor arrangement for detecting a rotational speed w of the linkage 02 or of parts of the linkage 02, such as its boom 21, 22 in relation to a reference plane, can comprise one or more rotation rate sensors 25, 26 arranged on the linkage 02, which detect the rotational speed w of the linkage 02 or of parts of the linkage 02, such as its boom 21, 22, about the at least one axis of rotation 20.

[0097] To detect the rotational speed, preferably at least one rotation rate sensor 25, 26 is used, which is mounted directly on the linkage 02, e.g., on its central section, or on a part of the linkage 02 that is pivotable about its own axis of rotation 20, such as a boom 21, 22 of the linkage 02 that is pivotable about its own axis of rotation 20. Rotational movements of the carrier vehicle 10 thus have no influence on the determination of the rotational speed of the linkage 02 or the rotational speeds of parts of the linkage 02. An output signal of a rotation rate sensor 25, 26 that is proportional to or reflects the measured quantity thus corresponds to the rotational movement of the linkage 02 or of a part of the linkage 02 formed, for example, by a boom 21, 22, relative to any reference plane, for example, relative to the Earth's surface.orthogonal to the acceleration due to gravity or a long-term orientation of the carrier vehicle reflecting an averaged ground profile 10.

[0098] This measured quantity, or an input variable proportional to or reflecting this measured quantity, serving as an input variable of the control device for the control signals to the actuator(s) 03, and serving as an output signal of a rotational speed sensor 25, 26 detecting the rotational speeds of the linkage 02 or of parts of the linkage 02 formed by the booms 21, 22, can be used to obtain active damping of the linkage 02 in the form of an actively applied braking torque.

[0099] The at least one sensor arrangement for detecting the rotational speed of the linkage 02 or of parts of the linkage 02, such as its booms 21, 22, about at least one axis of rotation 20 with respect to a reference plane, can comprise at least two accelerometers 27, 28 arranged in the region of the booms 21, 22 of the linkage 20, for example at their ends 23, 24. Their output signals reflect the translational accelerations at the ends 23, 24 of the booms 21, 22. The difference between the output signals of two accelerometers 27, 28 arranged at opposite ends 23, 24 of the booms 21, 22, multiplied by the working and / or linkage width or by the distance between the two accelerometers 27, 28, yields the rotational accelerations, the rotational speed of which is obtained by integrating these accelerations over time.

[0100] The at least one sensor arrangement for detecting a rotational speed of the linkage 02 or of parts of the linkage 02, such as its boom 21, 22 about at least one axis of rotation 20 with respect to a reference plane, can alternatively comprise at least one rate sensor arranged on the carrier vehicle 10, also referred to as a rate of rotation sensor, in order to measure rotational speeds of the carrier vehicle 10 at least about its longitudinal axis running parallel to the at least one axis of rotation 20 and thus rotational movements of the carrier vehicle 10 that represent disturbance movements.The at least one sensor arrangement for detecting a rotational speed of the linkage 02 about the axis of rotation with respect to a reference plane preferably additionally comprises at least one rotation angle sensor or rotation angle speed sensor detecting a relative rotation between the carrier vehicle 10 and the linkage 02 or between the carrier vehicle 10 and, for example, parts of the linkage 02 formed by the booms 21, 22, so that the absolute rotational speed of the linkage 02 or of parts of the linkage 02 formed, for example, by the booms 21, 22, about the respective at least one axis of rotation 20 can be determined from the two measured values: rotational speed of the carrier vehicle 10 with respect to its longitudinal axis and relative rotation between the carrier vehicle 10 and the linkage 02 or between the carrier vehicle 10 and, for example, parts of the linkage 02 formed by the booms 21, 22.A rotation angle sensor directly detects the relative rotation between the carrier vehicle 10 and the linkage 02, or of parts of the linkage 02 that are pivotable about their own axes of rotation on the carrier vehicle 10, for example formed by booms 21, 22, whereas a rotation angle velocity sensor indirectly detects the relative rotation between the carrier vehicle 10 and the linkage 02, or of parts of the linkage 02 that are pivotable about their own axes of rotation on the carrier vehicle 10, for example formed by booms 21, 22, by integrating the rotational velocity over time.

[0101] The sensor arrangement for detecting the rotational speed of the linkage 02 or of parts of the linkage 02, such as its booms 21, 22, about at least one axis of rotation with respect to a reference plane, comprises a rotational acceleration sensor instead of or in addition to a rate sensor. A measure of the rotational speed can be obtained by integrating the output signal of this sensor over time.

[0102] The at least one sensor arrangement for detecting a rotational position of the linkage 02 or of parts of the linkage 02, such as its booms 21, 22, about the at least one axis of rotation 20 with respect to the reference plane can include at least one sensor detecting a relative rotation between carrier vehicle 10 and linkage 02 or between carrier vehicle 10 and parts of the linkage 02, such as its booms 21, 22, with respect to the at least one axis of rotation 20.

[0103] The at least one sensor for detecting a relative rotation between carrier vehicle 10 and linkage 02 or between carrier vehicle 10 and parts of the linkage 02, such as its boom 21, 22, can: comprising at least one rotation angle sensor arranged between the linkage 02 or parts of the linkage 02, such as its boom 21, 22, and the carrier vehicle 10, and / or at least one tilt sensor detecting an angle between the carrier vehicle 10 and the reference plane, and at least one tilt sensor detecting an angle between the linkage 02 or parts of the linkage 02, such as its boom 21, 22, and the reference plane.

[0104] The difference between the angle detected by the tilt sensors between the carrier vehicle 10 and the reference plane and the angle between the linkage 02 or parts of the linkage 02, such as its booms 21, 22, and the reference plane is proportional to a relative rotation between the carrier vehicle 10 and the linkage 02 or to a relative rotation between the carrier vehicle 10 and parts of the linkage 02, such as its booms 21, 22, which are arranged to pivot about their own axes of rotation 20.

[0105] By fusion of the rotational position alpha 2 of the linkage 02 or of parts of the linkage 02 pivotable about their own axes of rotation 20, such as its booms 21, 22, calculated by means of a sensor-detected rotational speed w, with a relative rotation d_alpha1 between the carrier vehicle 10 and the linkage 02 or between the carrier vehicle 10 and parts of the linkage 02 pivotable about their own axes of rotation 20, such as its booms 21, 22, and the inclination alpha_t of the carrier vehicle 10 relative to the reference plane, which is directly or indirectly sensor-detected by means of a rotation angle sensor, a long-term orientation of the carrier vehicle 10 can be derived. A reference plane reflecting an averaged ground profile.

[0106] The at least one sensor arrangement for detecting a rotational position of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, about the axis of rotation 20 with respect to the reference plane, can include at least one tilt sensor which detects an angle alpha_g between the linkage 02 or parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, and the reference plane.

[0107] By merging the rotational position alpha2 of the linkage 02, calculated by means of a rotational speed w, or of parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, with the rotational position alpha1 of the linkage 02, or of parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, which is determined by measuring an angle alpha between the linkage 02 and the reference plane or between parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, and the reference plane, reference can be made to a reference plane corresponding to an artificial horizon.

[0108] The control device can determine the instantaneous rotational position of the linkage 02 or of parts of the linkage 02 arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, about at least one axis of rotation 20 with respect to the reference plane by means of a fusion of the rotational position of the linkage 02 or of parts of the linkage 02 arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, calculated on the basis of a rotational speed, with the rotational position of the linkage 02 or of parts of the linkage 02 arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, detected directly or indirectly by means of a sensor by means of a difference calculation. The means shall include Kalman filtering, and / or low-pass filtering of the sensor-detected rotational position, and means for comparing the low-pass filtered sensor-detected rotational position, constantly adjusting to zero, with the rotational position calculated on the basis of a rotational speed, in order to compensate for angular drift.

[0109] The control device regulates and / or controls the rotational position of the linkage 02 or of parts of the linkage 02 that are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, about the at least one axis of rotation 20 longitudinally to the direction of travel of the carrier vehicle 10, by means of at least one actuator 03 comprising, for example, at least one hydraulic cylinder. In principle, other suitable actuators 03 can also be used instead of the hydraulic cylinders at any time, e.g. pneumatic, electromechanical or electromotive actuators 03 or control elements.

[0110] The control device allows an automatic operating state in which the actuator 03 performs an active movement in order to adjust the rotational position of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, in relation to the reference plane.

[0111] The invention allows for a very precise determination of the instantaneous rotational position of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, relative to a reference plane. This is less complex and costly compared to determining the rotational position using multiple ultrasonic sensors.

[0112] The at least one boom 02 can be permanently or interchangeably arranged on the carrier vehicle 10 for agricultural soil and / or crop treatment.

[0113] The carrier vehicle 10 can be driven or towed, so that the device 01: In the case of a powered carrier vehicle 10 with permanently arranged linkage 02, it forms a self-propelled agricultural implement or an agricultural self-propelled device; in the case of a towed carrier vehicle 10 with permanently arranged linkage 02, it forms a towed agricultural implement, such as an agricultural trailer; and in the case of a powered carrier vehicle 10 with linkage 02 that is interchangeable with another device for agricultural soil and / or crop treatment, for example on a three-point linkage or on a loading platform provided for this purpose, it forms either an attachment or a mounted implement.

[0114] The device 01 allows a method for controlling it by means of a control of the rotational position of the linkage 02 which is movably arranged about an axis of rotation 20 on a carrier vehicle 10 or of parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, depending on a momentary rotational position.

[0115] In various embodiments in Fig. 7 and in Fig. 8 The depicted determination of the current rotational position is provided for: a rotational speed w of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, to detect the at least one axis of rotation 20 with respect to a reference plane, preferably independently of the rotational speed w, a rotational position alpha1 or d_alpha1 of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, to detect the at least one axis of rotation 20 with respect to the reference plane, to calculate the rotational position alpha2 of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, with respect to the reference plane by temporal integration of the detected rotational speed w, whereby neither the carrier vehicle 10 of the device 01, nor translational Accelerations negatively affect the calculation of the rotational position,However, measurement errors are also integrated and cause a drift of the rotational position alpha1 or d_alpha1, subsequently referred to as angular drift, and the rotational position alpha2 of the linkage, calculated on the basis of the rotational speed w, is to be merged with the detected rotational position alpha1 or d_alpha1 of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, to determine the instantaneous rotational position alpha0 of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, with respect to the reference plane.

[0116] By fusing the calculated rotational position alpha2 with the measured rotational position alpha1 or d_alpha1, which is referred to as the detected rotational position, the instantaneous rotational position is determined very accurately with respect to the reference plane, whereby only the advantages of the respective measurement methods are used without having to accept their disadvantages.

[0117] By merging the rotational position alpha2 of the linkage 02, calculated using the rotational speed w, or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, with the rotational position alpha1 or d_alpha1 of the linkage 02, or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, each relative to the reference plane, a control signal can be generated that returns the linkage 02, or parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, from its current rotational position alpha0 to a target rotational position relative to the reference plane.

[0118] According to the invention, the rotational speed w can be detected in several ways.

[0119] For example, the rotational speed w can be detected by means of at least one rotation rate sensor 25, 26 which detects the rotational speed of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, arranged on the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22.

[0120] To measure the rotational speed w, a rotation rate sensor 25, 26 can be used, which is mounted directly on the linkage 02 or on parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22. Rotational movements of the carrier vehicle 10 therefore have no influence on the determination of the rotational speed w of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22. An output signal of a rotation rate sensor 25, 26 that is proportional to or reflects the measured quantity thus corresponds to the rotational movement of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, relative to any reference plane, for example, relative to the Earth's surface.orthogonal to the acceleration due to gravity or a long-term orientation of the carrier vehicle reflecting an averaged ground profile 10.

[0121] This measured quantity or an output signal proportional to or reflecting this measured quantity, which flows into the control signals of at least one rotation rate sensor 25, 26 detecting rotational speeds of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, can be used to obtain active damping of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, in the form of an actively applied braking torque.

[0122] The rotational speed w can alternatively or additionally be determined by measuring the rotational speed of the carrier vehicle 10 about its longitudinal axis parallel to the axis of rotation 20 and by measuring the relative rotation between the carrier vehicle 10 and the linkage 02 or between the carrier vehicle 10 and parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, so that the absolute rotational speed w of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, can be calculated from the two measured values: the rotational speed of the carrier vehicle 10 with respect to its longitudinal axis and the relative rotation between the carrier vehicle 10 and the linkage 02 or the relative rotation between the carrier vehicle 10 and parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22.around which at least one axis of rotation 20 can be determined.

[0123] In order to detect the rotational speed w of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, based on a rotational speed of the carrier vehicle 10 about its longitudinal axis running parallel to the axis of rotation 20 and based on a relative rotation d_alpha1 between the carrier vehicle 10 and the linkage 02 or based on one or more relative rotations d_alpha1 between the carrier vehicle 10 and parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, it may be provided to arrange a rotation rate sensor on the carrier vehicle 10 of the device 01 in order to detect the rotational speed of the carrier vehicle 10 about its longitudinal axis, also referred to as the roll rate.and to provide a rotation angle sensor or rotation angle speed sensor between carrier vehicle 10 and linkage 02, or a rotation angle sensor or rotation angle speed sensor between carrier vehicle 10 and parts of the linkage 02 that are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22.

[0124] The rotational speed w can alternatively or additionally be determined by means of a time integration of a rotational acceleration, and / or by means of a time integration of a rotational acceleration determined by means of translational accelerations.

[0125] For example, in order to determine the rotational speed w, translational accelerations in the area of ​​the booms 21, 22 of the linkage 02, preferably at the opposite ends 23, 24 of the booms 21, 22, can be determined, and based on a difference in the translational accelerations at the opposite ends 23, 24 of the booms 21, 22, and with knowledge of the linkage width, also referred to as the working width, the rotational acceleration of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, can first be calculated, and then the rotational speed w can be calculated again by time integration.

[0126] The rotational position alpha1 of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, about the at least one axis of rotation 20 with respect to the reference plane can be determined by means of an inclination angle alpha between the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, and the horizontal or vertical ( Fig. 8 ).

[0127] The relative rotation d_alpha1 between carrier vehicle 10 and linkage 02, or between the carrier vehicle and parts of the linkage 02 pivotable about their own axes of rotation 20, such as its booms 21, 22, can be detected, for example, directly by measuring the angle of rotation d_alpha1 between linkage 02 and carrier vehicle 10, or indirectly by measuring the difference between the rotational position alpha_g of the linkage 02 about the axis of rotation 20 with respect to the reference plane and the rotational position alpha_t of the carrier vehicle 10 about its longitudinal axis parallel to the axis of rotation 20 with respect to the reference plane. The difference between the angle d_alpha1 detected by the sensors between the carrier vehicle 10 and the reference plane and the angle between the linkage and the reference plane of a relative rotation d_alpha1 between the carrier vehicle 10 and linkage 02 is proportional.This relative rotation d_alpha1 corresponds to an inclination of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, in relation to a reference plane formed by the carrier vehicle 10, for example its long-term orientation.To detect the rotational position alpha_g of the linkage 02 or of parts of the linkage 02 which are arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, about the at least one axis of rotation 20 with respect to the reference plane, and the rotational position alpha_t of the carrier vehicle 10 about its longitudinal axis running parallel to the at least one axis of rotation 20 with respect to the reference plane, tilt angle sensors detecting inclination angles alpha_g between the linkage 02 and the vertical and / or the horizontal or inclination angles alpha_t between the carrier vehicle 10 and the vertical and / or the horizontal can be provided on the linkage 02 and on the carrier vehicle 10 respectively (. Fig. 7 ).

[0128] To directly detect the relative rotation d_alpha1, a rotation angle sensor can be provided between linkage 02 or parts of linkage 02 which are pivotable about their own axes of rotation 20, such as its boom 21, 22, and carrier vehicle 10.

[0129] Based on a fusion of the rotational position alpha2 of the linkage 02 calculated by means of a detected rotational speed w, or of parts of the linkage 02 arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, with a calculated and / or detected relative rotation d_alpha1 between the carrier vehicle 10 and the linkage 02, or of parts of the linkage 02 arranged to pivot about their own axes of rotation 20, such as its booms 21, 22, reference is made to a reference plane corresponding to a long-term orientation of the carrier vehicle 10, reflecting an averaged ground profile.

[0130] Based on a fusion of the rotational position alpha2 of the linkage 02 or of parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, calculated by means of a detected rotational speed w, with a rotational position alpha1 of the linkage 02 or of parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, which is detected by detecting an angle alpha between the linkage 02 or parts of the linkage 02 which are pivotable about their own axes of rotation 20, such as its booms 21, 22, and the reference plane, reference is made to a reference plane corresponding to an artificial horizon.

[0131] To determine the instantaneous rotational position alpha0 of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, about the at least one axis of rotation 20 with respect to the reference plane, by means of a fusion of the rotational position alpha2 of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, calculated on the basis of a rotational speed w, with the rotational position alpha1 or d_alpha1 of the linkage 02 or of parts of the linkage 02 pivotably arranged about their own axes of rotation 20, such as its booms 21, 22, determined directly or indirectly by differentiation, it is preferably provided thatto perform a Kalman filter and / or - to compensate for the angular drift - a low-pass filter of the detected rotational position alpha1 or d_alpha1, as well as a comparison of the low-pass filtered detected rotational position alpha1 or d_alpha1 with the rotational position alpha2 calculated on the basis of a rotational speed w, while constantly adjusting to zero.

[0132] To detect the rotational speed w, at least one rotation rate sensor 25, 26 is preferably used, which is mounted directly on the linkage 02, for example on its central section or on parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22. Rotational movements of the carrier vehicle 10 thus have no influence on the determination of the rotational speed w of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22. An output signal proportional to or reflecting the measured quantity thus corresponds to the rotational movement of the linkage 02 or of parts of the linkage 02 that are pivotable about their own axes of rotation 20, such as its booms 21, 22, relative to any reference plane, for example, relative to the Earth's surface or orthogonal to the acceleration due to gravity.

[0133] It is important to mention that a rotation rate sensor 25, 26, mounted directly on the linkage 02, is preferably used to determine the rotational speed w. This ensures that rotational movements of the carrier vehicle 10 do not influence the measurement. The measured value thus corresponds to the rotational movement of the linkage relative to the Earth's surface, i.e., perpendicular to the acceleration due to gravity.

[0134] The invention also includes a rotation rate sensor 25, 26 on a carrier vehicle 10 for measuring the rotational movements (disturbance movements) of the carrier vehicle, wherein the relative rotation d_alpha1 between carrier vehicle 10 and a linkage 02 preferably designed as a spray boom can additionally be measured by an angle sensor or an angular velocity sensor referred to as a rotation rate sensor, wherein the absolute rotational speed w of the spray boom can be determined from both measured values.

[0135] Accordingly, the invention also includes a carrier vehicle 10 with a linkage 02 mounted on it and a gyroscope 25, 26.

[0136] The invention is particularly applicable in the field of the manufacture of agricultural devices for the application of liquid and / or solid active ingredients.

[0137] The invention has been described with reference to a preferred embodiment. However, it is conceivable to a person skilled in the art that modifications or changes to the invention can be made without departing from the scope of protection of the following claims.

Claims

1. Device (01) for spreading solid active agents, comprising: - a carrier vehicle (10), - at least one boom (02, 21, 22) arranged pivotably about at least one rotation axis (20), - at least one sensor arrangement (25, 26) for the detection of an angular velocity (w) and / or acceleration of the boom (02, 21, 22) about the rotation axis (20) in relation to a reference plane, - at least one sensor arrangement for the detection of an angular position (alpha1, d_alpha1) of the boom (02, 21, 22) about the rotation axis (20) in relation to the reference plane, - a control unit processing output signals (alpha0) of the sensor arrangements to control signals, - at least one actuator (03) acting on the present angular position (alpha0) of the boom (02, 21, 22) about the rotation axis (20) in dependence on control signals from the control unit, which converts control signals into mechanical motion or another physical quantity, thus producing a force, which exerts a torque on the boom (02, 21, 22) or a force couple, which exerts a torque on the boom (02, 21, 22), and wherein, for the purpose of determining an angular position (alpha0) of the boom (02, 21, 22) about the rotation axis (20) in relation to an initial alignment: - wherein the control unit calculates at least one angular position (alpha2) of the boom (02, 21, 22) in relation to the reference plane by means of time integration of the angular velocity (w).

2. The device according to claim 1, wherein the control unit fuses the angular position (alpha2) of the boom (02, 21, 22), which is calculated based on the angular velocity (w), with the detected angular position (alpha1, d_alpha1) of the boom (02, 21, 22), for the purpose of determining the present angular position (alpha0) of the boom (02, 21, 22) in relation to the reference plane, in order to generate a control signal from the determined present angular position which returns the boom (02, 21, 22) from the present angular position (alpha0) to a desired angular position in relation to the reference plane.

3. The device according to claims 1 or 2, wherein the at least one sensor arrangement for the detection of an angular velocity (w) of the boom (02, 21, 22) about the rotation axis (20) in relation to a reference plane comprises at least one angular rate sensor (25, 26), which is arranged at the boom (02, 21, 22).

4. The device according to claims 1 to 3, wherein the at least one sensor arrangement for the detection of an angular velocity (w) of the boom (02, 21, 22) about the rotation axis (20) in relation to a reference plane comprises at least one acceleration sensor (27, 28), which is arranged in at least one end section (23, 24) of the boom (02, 21, 22).

5. The device according to claims 1 to 4, wherein the at least one sensor arrangement for the detection of an angular velocity (w) of the carrier vehicle (10) about the rotation axis (20) in relation to a reference plane comprises at least one angular rate sensor, which is arranged at the carrier vehicle6. The device according to claim 5, wherein the at least one sensor arrangement for the detection of an angular velocity (w) of the boom (02, 21, 22) about the rotation axis (20) in relation to a reference plane comprises at least one angle of rotation sensor or rotational angular velocity sensor, which detects a relative rotation (d_alpha 1) between the carrier vehicle (10) and the boom (02, 21, 22).

7. The device according to claims 4 to 6, wherein the at least one sensor arrangement for the detection of an angular velocity (w) of the boom (02, 21, 22) about the rotation axis (20) in relation to a reference plane comprises an angular acceleration sensor instead of or in addition to an angular rate sensor (25, 26).

8. The device according to one of the preceding claims, wherein the at least one sensor arrangement for the detection of an angular position (alpha1, d_alpha1) of the boom (02, 21, 22) about the rotation axis in relation to the reference plane comprises at least one sensor, which detects a relative rotation (d_alpha1) between the carrier vehicle (10) and the boom (02, 21, 22).

9. The device according to claim 8, wherein the at least one sensor for the detection of a relative rotation (d_alpha1) between carrier vehicle (10) and boom (02, 21, 22) comprises: - at least one angle of rotation sensor arranged between the boom (02, 21, 22) and the carrier vehicle (10), and / or - at least one tilt sensor, which detects an angle (alpha_t) between the carrier vehicle (10) and the reference plane, and at least one tilt sensor, which detects an angle (alpha_g) between the boom (02, 21, 22) and the reference plane.

10. The device according to one of the preceding claims, wherein the at least one sensor arrangement for the detection of an angular position (alpha1, d_alpha1) of the boom (02, 21, 22) about the rotation axis (20) in relation to the reference plane comprises at least one tilt sensor, which detects an angle (alpha) between the boom (02, 21, 22) and the reference plane.

11. The device according to one of the preceding claims wherein the control unit: - comprises means which carry out a Kalman filtering, and / or - comprises means for the low-pass filtering of the sensor-detected angular position (alpha1, d_alpha1) as well as means for the comparison under continuous zero balance of the low-pass filtered, sensor-detected angular position (alpha1, d_alpha1) with the angular position (alpha2), which is calculated by means of an angular velocity (w).

12. Method for the control of a device as recited in any one of claims 1 to 11 by means of regulation of the angular position of the boom, wherein, for the purpose of determining the present angular position (alpha 0), it is provided: - to detect an angular velocity (w) of the boom about the rotation axis in relation to a reference plane; - to detect an angular position (alpha1, d_alpha1) of the boom about the rotation axis in relation to a reference plane; - wherein control signals are converted into mechanical motion or another physical quantity, thus producing a force, which exerts a torque on the boom (02, 21, 22) or a force couple, which exerts a torque on the boom (02, 21, 22);.

13. The method according to claim 12, wherein for determining the present angular position (alpha0) is provided: - to calculate an angular position (alpha2) of the boom (02, 21, 22) in relation to the reference plane by means of time integration of the angular velocity (w), and - to fuse the angular position (alpha2) of the boom (02, 21, 22), which angular position (alpha2) is calculated by means of the angular velocity (w), with the detected angular position (alpha1, d_alpha1) of the boom (02, 21, 22) for the purpose of determining the present angular position (alpha0) of the boom (02, 21, 22) in relation to the reference plane.

14. The method according to claims 12 or 13, wherein, by way of the fusing of the angular position (alpha2) of the boom (02, 21, 22), which angular position (alpha2) is calculated by means of the angular velocity (w), with the detected angular position (alpha1, d_alpha1) of the boom (02, 21, 22), in each case in relation to the reference plane, a control signal is generated from the present angular position (alpha0) of the boom (02, 21, 22), which control signal returns the boom (02, 21, 22) to a desired angular position in relation to the reference plane.

15. The method according to claims 12 to 14 wherein: - the angular velocity (w) is detected by means of at least one angular rate sensor, which is arranged at the boom (02, 21, 22) and which detects the angular velocity (w) of the boom (02, 21, 22); and / or -- the angular velocity (w) of the boom (02, 21, 22) is detected by means of an angular velocity of the carrier vehicle (10) about its longitudinal axis, which runs parallel to the rotation axis (20), and by means of a relative rotation (d_alpha1) between the carrier vehicle (10) and the boom (02, 21, 22); and / or - the angular velocity (w) is detected by means of a time integration of an angular acceleration; and / or - the angular velocity (w) is detected by way of a time integration of an angular acceleration, which is determined by means of translational accelerations (25, 26); and / or - the angular position (alpha1) of the boom (02, 21, 22) about the rotation axis (20) in relation to the reference plane is detected by means of a tilt angle (alpha) between the boom (02, 21, 22) and the horizontal or the vertical.

16. The method according to claims 12 to 15 wherein: - by way of fusing the angular position (alpha2) of the boom (02, 21, 22), which angular position (alpha2) is calculated by means of a detected angular velocity (w), with a relative rotation between carrier vehicle (10) and boom (02, 21, 22), reference is taken to a reference plane corresponding to a long-term alignment of the carrier vehicle (10); or - by way of fusing the angular position (alpha 2) of the boom (02, 21, 22), which angular position (alpha2) is calculated by means of a detected angular velocity (w), with an angular position (alpha1) of the boom (02, 21, 22), which angular position (alpha1) is detected by the detection of an angle (alpha) between the boom (02, 21, 22) and the reference plane, reference is taken to a reference plane corresponding to an artificial horizon.

17. The method according to claims 12 to 16, wherein, for the purpose of determining the present angular position (alpha0) of the boom (02, 21, 22) about the rotation axis in relation to the reference plane by way of fusing the angular position (alpha 2) of the boom (02, 21, 22), which angular position (alpha2) is calculated by means of an angular velocity (w), with the angular position (alpha1, d_alpha1) of the boom (02, 21, 22), which is directly detected or indirectly detected by difference formation: - a Kalman filtering and / or - a low-pass filtering of the detected angular position (alpha1, d_alpha1) as well as a comparison under continuous zero balance of the low-pass filtered, detected angular position (alpha1, d_alpha1) with the angular position (alpha2), which is calculated by means of an angular velocity (w) is carried out.