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 liquid and / or solid active ingredients with the features of independent claim 1. The invention further relates to a method for controlling such a device with the features of independent method claim 9.

[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 each have a defined spray pattern, the varying distance of the nozzles to 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. To decelerate the spray boom, a braking torque must therefore 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 spray boom. If the carrier vehicle rotates around its axis of rotation, for example due to uneven terrain, while the spray boom remains stationary, a relative rotation occurs between the carrier vehicle and the spray boom. A mechanical damper mounted between the carrier vehicle and the spray boom would counteract this relative rotation, thus transmitting a torque acting around the axis of rotation to the spray boom, thereby creating a coupling between the carrier vehicle and the spray 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] A spray boom with a segmented extension is already known in the art. For example, DE 32 02 569 A1 discloses a spreading machine in which individual segments are connected and their movement is passive. This mechanism requires a supporting element on the outside of each extension to enable the pivoting action. However, to avoid yield losses, it is desirable to allow the individual segments to adapt to different soil contours without coming into direct contact with the ground.

[0011] Furthermore, DE 18 33 453 U discloses a spray boom comprising nozzle arms arranged on a boom by means of elastic elements. These elastic elements allow the nozzle arms to return to a vertical position even after the boom has been pivoted. Since the boom, according to this document, is only pivotable about one axis, the spray boom has limited flexibility. Due to the high degree of irregularity in soil structures encountered in practice, spray booms with greater flexibility are desirable to ensure a uniform distribution of the spraying fluid on the surface.

[0012] DE 10 2007 025 751 A1 discloses a dispensing device for applying liquid and / or solid active ingredients. The dispensing device comprises a dispensing boom mounted on a self-propelled or towed vehicle and pivoted about a suspension point approximately parallel to a direction of travel. The dispensing boom consists of a central section and lateral extension arms. The central section is coupled to a frame section of the vehicle via at least one adjustable actuating device. The actuating device transmits a defined actuating force and / or a defined actuating torque between the central section and the frame section to pivot the dispensing boom relative to the frame section. This transmission occurs independently of disturbances resulting from vehicle movements.

[0013] FR 2 779 031 A1 discloses an automated application device, also referred to as an accompanying device, for dispensing liquid and / or solid active ingredients. The application device comprises an application boom mounted on a self-propelled or towed vehicle and pivoted about a suspension point approximately parallel to a direction of travel. The application boom consists of a central section and lateral extension arms. The central section is coupled to a frame section of the vehicle via at least one adjustable actuator. The actuator transmits at least two actuating forces between the central section and the frame section via at least two points of application, pivoting the application boom within a vertical plane relative to the frame section. This transmission occurs by overcoming the rotational inertia of the application boom while simultaneously dampening disruptive movements of its center of gravity.The pivot point is shifted within the vertical plane, perpendicular to the direction of travel. A control system adjusts the spreading boom accordingly. The adjusting device can be, for example, a screw spindle or hydraulic.

[0014] FR 2 270 774 A1 discloses a spreading device for applying liquid and / or solid active ingredients. The spreading device comprises a spreading boom mounted on a self-propelled or towed vehicle, approximately parallel to the direction of travel. The spreading boom, consisting of a central section and lateral extension arms, is connected by means of two pins to a vertical cylinder, which is pivotably mounted about an axis parallel to the direction of travel at a suspension point of a frame section. The opposite end of the vertical cylinder is guided between two horizontal cylinders that are supported against the frame section. By actuating the horizontal cylinders, the vertical cylinder, and thus the spreading boom, can be aligned parallel to the ground. The spreading device provides two operating modes.One operating mode involves aligning the spreading boom by adjusting the height of the vertical cylinder and tilting it laterally using the horizontal cylinders. Another operating mode, used on uneven terrain, involves removing the lower pivot so that the spreading boom can swing freely.

[0015] DE 41 40 254 A1 discloses an ultrasonic sensor-controlled height and position control system for a dispensing device for dispensing liquid and / or solid active ingredients.

[0016] Through EP 1 444 894 A1 A roll control system for controlling the roll position of a spray boom is known. Based on an applied roll control signal, the roll control mechanism can cause the booms to rotate relative to the support frame. The roll control signals can be acquired using distance measuring devices and ultrasonic echo sensors.

[0017] Through EP 2 591 657 A1 A dispensing device for applying liquid and / or solid active ingredients is known, wherein the central part of the dispensing boom is coupled via an adjustable positioning device to a superstructure or frame section and / or to a rigidly or movably mounted support section of the vehicle. The positioning device comprises two operating modes.

[0018] WO 2004 / 041446 A1 discloses how to avoid harmonic coupling in a dispensing device for applying liquid and / or solid active ingredients by ensuring that the natural resonant frequencies of the boom arms of a dispensing system are independent of each other, both when empty and when the lines are full, as well as during spraying operation; the resonant frequency of a torsional oscillation of the pendulum-mounted dispensing system; the resonant frequency of the suspension of the vehicle to which the dispensing device is attached; the resonant frequency of the active ingredient sloshing in a designated tank; and the resonant frequency of an active ingredient pump. The length of the boom arms can be adjustable for this purpose.

[0019] Application devices for dispensing liquid and / or solid active ingredients are known from EP 0 157 592 A2. A first application device provides a freely oscillating suspension of an application boom, with periodic correction processes in which the height of the application boom above the ground is readjusted according to a predetermined distance between the boom arms and the ground. A second application device provides a fixed orientation of the application boom before, after, and during successive correction processes in which the height of the application boom above the ground is readjusted according to a predetermined distance between the boom arms and the ground. A third application device provides for passive suspension of the application boom and the ability to modify at least one aspect of the passive suspension in order to effect a continuous change in the orientation of the application boom.The continuous change occurs more slowly than the self-stabilization of the passive suspension.

[0020] 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.

[0021] The problem is solved in each case by the characteristics of the independent claims.

[0022] 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.

[0023] A first object of the invention therefore relates to a device for dispensing liquid and / or solid active ingredients. The device comprises: a carrier vehicle, at least one boom arranged to pivot about at least one axis of rotation, at least one sensor arrangement for detecting a rotational speed and / or a rotational position of the boom about the axis of rotation with respect to a reference plane and / or with respect to a ground surface, a control device processing output signals of the at least one sensor arrangement into control signals, which influences the spray boom in its rotational position and / or rotational speed by means of at least two coupled control loops.controls at least one actuator which, depending on control signals from the control device, influences the instantaneous rotational position of the boom about the axis of rotation, wherein in an outer control loop a setpoint and / or setpoint torque for the at least one actuator can be generated from the output signals of the at least one sensor arrangement by the control device, and wherein in an inner control loop an actual torque and / or actual value moving and / or influencing the spray boom, which is based on actuator deflections and / or control signals of the at least one actuator, can be detected and is used to generate a correction value for achieving the setpoint torque and / or the setpoint, wherein the at least two coupled control loops are connected or interconnected in such a way that the inner control loop is overridden by the outer control loop.

[0024] In this device, the outer control loop can generate a setpoint for controlling the at least one actuator, which defines a target position of the spray boom, particularly from sensor data of the at least one sensor arrangement. Furthermore, the inner control loop can typically consider additional sensor data obtained directly related to control signals from the at least one actuator and / or its detected interaction with the movably suspended spray boom. Depending on the device's design, this additional sensor data can be characterized and / or derived, in particular, from an adjustment torque introduced into the boom by the actuator, which can be measured, for example, by additional sensors or derived from the interaction of the actuator with the spray boom.

[0025] Within the external control loop, the necessary torque or actuating force required to hold or move the linkage in a target position can be determined, for example, based on information from position sensors (e.g., ultrasonic sensors), gyroscopes, accelerometers, angle sensors, etc. This torque or actuating force is typically supplied by at least one actuator, or by two or more actuators, such as a hydraulic or pneumatic cylinder, an electrically operated drive, or multiple actuators.

[0026] In contrast, the inner control loop regulates the actual torque or actuating force that is actually transmitted into the boom by the actuating element or actuator(s), based on the setpoint (target torque or actuating force) specified by the outer control loop. Within the inner control loop, the actual torque can be determined, for example, from the product of a measured differential pressure (in the case of pneumatic actuating elements) and a given lever length to the pivot point of the spray boom. This product characterizes the required torque to be transmitted into the spray boom. Similarly, the actual torque can also be derived from the product of the spring travel (in the case of hydraulic actuation) and the given lever length to the pivot point of the spray boom.

[0027] If the spray boom is in the desired position, the corresponding setpoint of the outer control loop is zero. In this case, the inner control loop also adjusts the actuator (or actuators) so that the resulting actuating force or torque is zero. Therefore, the actuator has no effect on the boom, even if the carrier vehicle is driving over uneven terrain and thus exhibiting roll movements.

[0028] The actuating connection between the at least one actuator or actuating element and the injection boom can, in particular, provide a spring-loaded bearing, wherein the spring can be formed by a mechanical spring arranged between the actuating element and the injection boom, or by a flexible medium such as an elastomer compound or the like, either in the actuating element itself or in its bearing. The mechanical connection can, for example, connect the actuating element, which is guided in an elongated hole on the injection boom, or the actuating element bearing to the injection boom.

[0029] However, such a spring-like mounting can be dispensed with if actuators operating under fluidic pressure, preferably pneumatic pressure, are used. In this case, damping or spring action is achieved without the application of an actuating force by compressing the air in the pressure chamber(s) of the at least one actuator.

[0030] Linear or rotary actuators operating with fluidic pressure can be used as actuators or control elements. Such actuators can establish an adjustable connection between the carrier vehicle and the pivoting linkage, wherein the at least one linear or rotary actuator has an active pressure side that can be actuated with fluidic pressure for each of the two adjustment directions of the linkage. Furthermore, the actuators can be designed such that, when the linkage is at rest or moving only slightly relative to the carrier vehicle, an approximately equal pressure level and / or force level is present in the active pressure sides of two opposing linear or rotary actuators.a double-acting linear or rotary actuator is set, and that with the linkage adjusted relative to the carrier vehicle, a defined differential pressure and / or a defined force level can be set between the active pressure sides of the two opposing linear or rotary actuators or of the double-acting linear or rotary actuator.

[0031] Preferably, a relationship is established between the measured rotation angles or the rotational position of the linkage and the rotational speed by integrating a measured value of the rotational rate (referred to as the rotational speed) over time. This integration yields a rotation angle representing the rotational position of the linkage relative to the reference plane. Disturbances caused by movements of the carrier vehicle or by translational accelerations of any kind do not affect the calculation, whereas measurement errors are also integrated and cause an angular drift in the rotation angle.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, but this is offset by the advantage that this type of measurement of the rotational position is not subject to angular drift.

[0032] These measured values ​​can be obtained most effectively by the device according to the invention in which the at least one sensor arrangement for detecting the rotational speed and / or rotational position of the linkage about the axis of rotation with respect to the reference plane is formed by at least one rate-of-rotation, angular velocity, and / or angular acceleration sensor arranged on the linkage. Optionally, the sensor arrangement can also be mounted on the carrier vehicle. The use of two such sensor arrangements, one on the linkage and one on the carrier vehicle, is also conceivable.

[0033] The device according to the invention can provide that the spray boom is mounted on a support element so as to pivot about an axis, with a rotation rate sensor (gyroscope) being mounted directly on and / or at the spray boom and / or at the carrier vehicle. The gyroscope or the aforementioned sensor arrangement determines the current position and movements of the boom relative to a reference plane ("artificial horizon"), which are independent of the carrier vehicle. This ensures that rotational or rolling movements of the carrier vehicle (self-propelled or trailed sprayer) initially have no direct influence on the boom, since the measured values ​​determined by the gyroscope relate to the rotational movements of the boom relative to the ground surface.In this way, the sensor arrangement obtains absolute position values ​​that are ideally suited to detecting unwanted pendulum and / or deflection movements of the linkage and either compensating for or damping them.

[0034] The at least one actuator can, for example, be formed by at least one double-acting linear drive operating with fluidic pressure, which establishes an actuating connection between the carrier vehicle and the pivoting linkage. Here, a piston of the linear drive, coupled to the linkage and movable within a cylinder between two end positions, separates two pressure chambers from each other. These chambers can be pressurized with fluidic actuating pressure for each of the two adjustment directions of the linkage. When the linkage is stationary or moving only slightly relative to the carrier vehicle, an approximately equal pressure and / or force level prevails in these two pressure chambers. This is preferably detected by suitable pressure sensors and evaluated in the control circuit, together with the measured values ​​from the sensor arrangement or the rotation rate sensor or gyroscope.If, on the other hand, the linkage is to move relative to the carrier vehicle, the double-acting cylinder is pressurized so that, when the linkage is adjusted or needs to be adjusted relative to the carrier vehicle, a defined differential pressure and / or a defined differential force between the two pressure chambers of the double-acting linear actuator can be set.

[0035] The proposed boom control system for pendulum suspensions can therefore be implemented, for example, with at least one cylinder that adjusts the boom's pendulum travel. The cylinder is connected to both the boom and the support bracket. The support bracket can also be part of a vehicle, such as a frame component of a crop sprayer.

[0036] An alternative embodiment of the device according to the invention can provide that the aforementioned actuator is formed by at least two opposing linear drives, each operating with fluidic pressure, which establish an actuating connection between the carrier vehicle and the pivotable linkage. Each of the two linear drives has a pressure chamber, and each of the two linear drives can be pressurized with fluidic actuating pressure for a predetermined adjustment direction of the linkage. In this embodiment as well, an approximately equal pressure level prevails in the two pressure chambers of the two linear drives when the linkage is at rest or moving slightly relative to the carrier vehicle. In contrast, when the linkage is adjusted or is to be adjusted relative to the carrier vehicle, a defined differential pressure between the two pressure chambers of the two linear drives can be set.

[0037] The cylinders mentioned, i.e., at least one double-acting cylinder or at least two single- or double-acting cylinders, can optionally be pressurized and operated with hydraulic or pneumatic pressure. Hydropneumatic actuators are also conceivable. Electrically or electromechanically operated linear actuators are also possible.

[0038] The following aspects, in particular, can be cited as key differences between the device according to the invention for dispensing liquid and / or solid active ingredients and known spray devices: The invention provides a spray boom which is rotatably or pivotally suspended on a support frame about an axis of rotation approximately parallel to the vehicle axis. Additionally, at least one actuating element, preferably pneumatic (or possibly hydraulic), is arranged between the spray boom and the support frame. The pressures in the two cylinder chambers are determined, for example, by means of suitable differential pressure sensors or multiple pressure sensors. Alternatively, strain gauges can also be used on the piston rods or at connection points, etc.

[0039] In phases where no adjustment of the linkage is necessary, the differential pressure or the resulting differential force is regulated to approximately zero, thus introducing no or negligible force into the linkage. However, if the operating conditions of the device, e.g., on uneven terrain or slopes, necessitate adjustment of the linkage around its axis of rotation, a defined differential pressure (differential force) is maintained. The rotational speed can be determined, in particular, using the gyroscope. By integrating the rotational speed, the angle of rotation can be calculated.

[0040] Furthermore, minor rotational or rocking movements are not actively corrected initially, whereby the damping of the linkage can be achieved through air compression in at least one pneumatic cylinder. Alternatively, the connection between the cylinder and linkage can also be made using an elastomer or a slotted hole with an associated spring or damping element.

[0041] The device according to the invention enables precise and safe guidance of the spray boom over a crop or field, whereby the spray boom can be guided at a very close distance to the ground or crop as required. Precise adaptation of the boom to the field contour is possible due to the extensive decoupling of the boom from its suspension. Negative effects of wind and thermals on the spray drift behavior can thus be minimized. The device according to the invention provides very low-friction mounting of the spray boom, which is suspended, for example, by means of ball bearings close to its center of gravity, so that centrifugal forces, such as those occurring when cornering, have virtually no influence on the boom position. To adapt the boom to the respective terrain contour, a control system with external and internal control loops is used.In this way, forces can be selectively introduced into the boom without requiring a constant, force-fit connection between the actuating elements and the spray boom. This is achieved by having at least one actuating element follow the movements of the carrier vehicle in real time or near real time, thus preventing disruptive forces from being introduced into the boom. When adjusting the boom's position to compensate for slopes, which requires it to be rotated relative to the carrier vehicle, the actuating element exerts pressure on an elastomer element or a spring-mounted coupling point, or similar, over a precisely calculated path, thereby accelerating the boom rotationally. Shortly before reaching the desired target position, an opposing elastomer element or spring element is pressed, and the rotational movement is decelerated. During this adjustment, the position of the actuating element—e.g.,a double-acting actuator cylinder – measured and controlled so that rolling movements of the machine can be compensated even during adjustment. To enable these rapid adjustment movements, fast-acting proportional hydraulic valves are preferably used in the control circuits, which are combined with the control circuit according to the invention, and additionally process sensor data from a gyroscope sensor.

[0042] As mentioned above, instead of two pneumatic or hydraulic cylinders, a double-acting cylinder, preferably a hydraulically operated cylinder, can also be used. This would allow for the use of a cylinder pressurized on both the piston head and piston rod sides. Again, a differential pressure between the piston head and piston rod sides could be measured, and due to the different cross-sections, this differential pressure may already be present in the neutral position. If the measured differential pressure exceeds a defined value, the linkage can be actively readjusted. In this case, the linkage is preferably regulated to a specific differential pressure based on values ​​determined by the gyroscope.

[0043] As an alternative to differential pressure measurement, it would also be conceivable to equip at least one cylinder with a displacement measuring system, so that movements of the linkage could be determined not via differential pressure, but via a change in the length of the actuator. If this change in length exceeds a defined value, the linkage can be actively readjusted, or the linkage can be regulated to a specific actuator length based on the values ​​specified by the gyroscope.

[0044] Another alternative to differential pressure measurement would be the use of at least one strain gauge, which is mounted, for example, on the piston rod of at least one actuator. If there is no movement of the spray boom, or if no active control is required, the strain gauge will detect no or only a minimal tensile and / or compressive force. If a defined tensile or compressive force is exceeded, the boom can be actively readjusted, or the boom can be controlled to a specific tensile and / or compressive force based on values ​​provided by the gyroscope.

[0045] To solve the above problem, the present invention proposes, in addition to the device for dispensing solid and / or liquid active ingredients described above, a method with the features of independent claim 9. This method according to the invention serves in particular to control a device according to one of the previously described embodiments and provides for the control of the rotational position of the boom, which is movably arranged on the carrier vehicle about an axis of rotation, by means of a multi-part control loop comprising at least one outer and one inner control loop. The control method provides for the control of at least one actuating element or actuator for rotating the spray boom about an axis of rotation. wherein an actuating force or torque is minimal when the linkage is at rest or only slightly moved from a rest position, and the actuator generates no or only a minimal actuating force between the carrier vehicle and the linkage, and wherein, in the case of a linkage to be adjusted, a definable differential pressure and / or differential force is generated between the two pressure chambers, wherein a current rotational speed and / or rotational position of the linkage about the axis of rotation with respect to a reference plane is determined by means of at least one sensor arrangement comprising a rate of rotation, angular velocity and / or angular acceleration sensor arranged on the linkage or on the carrier vehicle and / or distance sensors for detecting a ground clearance of the linkage, wherein in an external control loop, a setpoint and / or setpoint torque for the at least one actuator is generated from the output signals of the at least one sensor arrangement by the control device.and wherein, in an inner control loop, an actual torque and / or actual value moving and / or influencing the spray boom, based on actuator deflections and / or control signals of the at least one actuator, can be detected and is used to generate a correction value for achieving a target torque and / or target value, wherein the inner control loop is overridden by the outer control loop.

[0046] In this method, the outer control loop can generate a setpoint for controlling the at least one actuator, which defines a target position of the spray boom, primarily from sensor data of the at least one sensor arrangement. Furthermore, the inner control loop can typically consider additional sensor data obtained directly related to control signals from the at least one actuator and / or its detected interaction with the movably suspended spray boom. Depending on the device design, this additional sensor data can be characterized and / or derived, in particular, from an adjustment torque introduced into the boom by the actuator, which can be measured, for example, by additional sensors or derived from the interaction of the actuator with the spray boom.

[0047] Within the external control loop, the necessary torque or actuating force required to hold or move the linkage in a target position can be determined, for example, based on information from position sensors (e.g., ultrasonic sensors), gyroscopes, accelerometers, angle sensors, etc. This torque or actuating force is typically supplied by at least one actuator, or by two or more actuators, such as a hydraulic or pneumatic cylinder, or multiple such cylinders.

[0048] In contrast, the inner control loop regulates the actual torque or actuating force that is actually transmitted into the boom by the actuating element or actuator(s), based on the setpoint (target torque or actuating force) specified by the outer control loop. Within the inner control loop, the actual torque can be determined, for example, from the product of a measured differential pressure (in the case of pneumatic actuating elements) and a given lever length to the pivot point of the spray boom. This product characterizes the required torque to be transmitted into the spray boom. Similarly, the actual torque can also be derived from the product of the spring travel (in the case of hydraulic actuation) and the given lever length to the pivot point of the spray boom.

[0049] If the spray boom is in the desired position, the corresponding setpoint of the outer control loop is zero. In this case, the inner control loop also adjusts the actuator (or actuators) so that the resulting actuating force or torque is zero. Therefore, the actuator has no effect on the boom, even if the carrier vehicle is driving over uneven terrain and thus exhibiting roll movements.

[0050] According to the invention, the control loops are connected or interconnected in such a way that the inner control loop is overridden by the outer control loop, since the outer control loop implements the desired pivoting movements of the spray boom, while the inner control loop is primarily intended to prevent the boom from being influenced by unwanted actuating forces.

[0051] It should be emphasized at this point that all aspects of the invention, which were explained above with reference to the device for dispensing liquid and / or solid active ingredients and its embodiment variants, shall apply equally to the control and / or regulation method according to the invention for adjusting the position of the spray boom of the described device.

[0052] In one variant of the method, both the measurement data of the at least one sensor arrangement and the differential pressures between the two pressure chambers of the at least one actuator are used to determine a current rotational position and / or a target rotational position between the linkage and the carrier vehicle and are processed by a control device which, on the basis of these measurement data, controls the at least one actuator that changes the linkage position in the desired way, so that the linkage in particular maintains or assumes its horizontal position on level ground or its parallel position to an inclined ground.

[0053] It should be further noted that the distribution device according to the invention can preferably be an agricultural distribution machine, in particular a field sprayer for applying liquid plant protection products and / or fertilizers, and optionally also solid active ingredients, which can be applied, for example, in atomized form. The field sprayer can be designed, for example, as a self-propelled machine or as a machine attached to or towed by a tractor. The field sprayer typically consists essentially of a frame for supporting the individual components, a reservoir for carrying the spray liquid to be applied, a control unit for controlling the individual machine elements, and a distribution device or spray boom that is height-adjustable relative to the frame by means of adjusting elements and rotatable about a horizontal longitudinal axis and extends transversely to the direction of travel.The distribution device features multiple nozzle assemblies at regular intervals. Each assembly is fitted with at least one spray nozzle, but usually several, for distributing the plant protection and / or fertilizer solution. The spray nozzles produce a spray cone directed towards the plants. The control elements for height adjustment and for selecting the desired nozzle assemblies or spray nozzles are primarily controlled by application patterns or profiles stored in a computer system.

[0054] To measure the rotational speed, the device according to the invention preferably employs one or more suitable rotation rate sensors, which are mounted directly on the linkage. Rotational movements of the carrier vehicle thus have no influence on the determination of the linkage's rotational speed. An output signal from a rotation rate sensor that is proportional to or reflects the measured quantity therefore corresponds to the rotational movement of the linkage relative to any reference plane, for example, the Earth's surface or a long-term orientation of the carrier vehicle reflecting an averaged ground profile.

[0055] 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.

[0056] Alternatively or additionally, the at least one sensor arrangement for detecting the rotational speed of the linkage about its axis of rotation relative to a reference plane can include at least one gyroscope mounted on the carrier vehicle to measure the rotational speed of the carrier vehicle, at least about its longitudinal axis, and thus detect rotational movements of the carrier vehicle that represent disturbances. This means that an additional gyroscope can optionally be used on the carrier vehicle, allowing for a comparison of the measured values ​​for even more precise determination of the linkage's position and / or angle.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] Examples of inertial sensors include accelerometers and gyroscopes.

[0062] A gyroscope detects the 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] Examples of optical systems utilizing the Sagnac effect include: Ring laser (RLG), measurement error <0.001 ° / h; Fiber optic gyroscope (FOG), measurement error <1 ° / h

[0067] 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.

[0068] 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.

[0069] The at least one sensor arrangement for detecting a rotational position of the linkage about the axis of rotation in relation 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.

[0070] 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.

[0071] Alternatively or additionally, a relative rotation between the carrier vehicle and the linkage can be detected by means of at least one tilt sensor detecting an angle between the carrier vehicle and the reference plane and at least one tilt sensor detecting 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.

[0072] 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.

[0073] The device may additionally include an actuator, for example in the form of one or more hydraulic cylinders, which influences the mean distance of the linkage to the ground or the crop depending on control signals from the control device, and which 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.

[0074] 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 includes at least one distance sensor arranged at at least one end of a boom arm. By means of this distance sensor arranged at at least one end of the boom arms and by appropriately considering its output signals when generating control signals by 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 the crop.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] All the aforementioned measurement data supplied by the acceleration sensors and / or the gyroscopes or similar measuring arrangements are preferably compared with the pressure, force and / or strain measurement values ​​of the at least one actuating element arranged between the linkage and the carrier vehicle, which, in the case of a stationary linkage, preferably provides no differential pressure or no or only low force values.

[0083] The following exemplary embodiments of the invention and its advantages will be explained in more detail with reference to the accompanying figures. 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. Fig. 1 shows a schematic perspective view of a design variant of an agricultural distribution device, formed from an agricultural carrier vehicle equipped with a spray boom. Fig. 2 shows a detailed view of the suspension of the linkage on the carrier vehicle. Fig. 3 Two schematic views show different design variants of the linkage adjustment on the carrier vehicle. Fig. 4 shows a schematic detail view of a linkage of an actuating element on the spray boom. Fig. 5The diagram shows an inner and outer control loop for controlling an actuator for the spray boom. Fig. 6 Two schematic block diagrams show some important components for adjusting the linkage attached to the carrier vehicle and their interconnection. Fig. 7 Four further schematic block diagrams show some of the most important components for adjusting the linkage attached to the carrier vehicle and their connection in inner and outer control loops. Fig. 8 This again shows an external control loop for the linkage adjustment in a schematic block diagram.

[0084] Identical reference numerals are used for identical or equivalently functioning 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 device or method according to the invention may be configured and do not constitute an exhaustive limitation.

[0085] The schematic perspective view of the Fig. 1Figure 1 shows a possible embodiment of an agricultural distribution device 10, consisting of a towed agricultural carrier vehicle 12 with a tank 14 for an application fluid and a rear-mounted spray boom 16, which has two symmetrically designed extension arms 18 equipped with nozzle bodies (not shown) and integrated spray nozzles for atomizing the application fluid, e.g., the pesticide. The suspension 20 of the spray boom 16 on the frame allows, on the one hand, the boom 16 to rotate about a horizontal longitudinal axis that is aligned parallel to the direction of travel 22, and, on the other hand, allows its horizontal alignment or alignment parallel to the ground surface if the suspension 20 rotates or moves in any other way, particularly due to uneven ground, rough terrain, etc.

[0086] As the detailed view of the Fig. 2As shown, the linkage 16, suspended from the support frame 24 of the carrier vehicle 12 and pivoting or rotatable about the axis of rotation (parallel to the direction of travel 22) at the suspension 20, is coupled to the support frame 24 by pneumatic or hydraulic actuators 26. In the illustrated embodiment, the actuators 26 are formed by two separate, opposing hydraulic or pneumatic linear cylinders 28, each of which may be assigned pressure sensors 30 and / or displacement sensors. The pressures in the two pressure chambers of the actuator cylinders 28 are determined by means of the pressure sensors 30 (differential pressure sensor or two pressure sensors); if necessary, the difference in movement or length of the extending or shortening actuator 26 can also be determined by means of the displacement sensors or by means of strain gauges on the piston rods or their connections to the linkage 16 and / or the suspension 20.

[0087] The schematic representations of Figures 3a and 3b Figure 1 shows various design variants for the linkage of the actuating element 26 and the associated sensor 32 for its control. The figures in Fig. 3aThe sensor device 32, which is only indicated by a sensor, provides an output signal 34 to a control unit 36. This control unit also processes sensor or setpoint signals 38a and 38b from at least two optional distance sensors 40, each arranged on the boom arms 18 and each providing signal values ​​for a measured distance of the boom arms 18 to the ground 42. These distance sensors 40 can be, for example, ultrasonic sensors or optical sensors, or the like. Based on the sensor signals 38a and 38b and the output signal 34 of the sensor device 32, the control unit 36 ​​generates a control signal 44 for the actuator 26. This actuator can be controlled in such a way that the mechanical connection between the linkage 46 on the spray boom 16 and the vehicle-mounted suspension 20 can be maintained with virtually no actuating force or torque.The control signal 44 forms a setpoint signal within the outer control loop, which is explained in more detail with reference to Figures 6ff.

[0088] At the in Fig. 3aIn the illustrated embodiment, the actuating element 26 is formed by a double-acting hydraulic cylinder 28, the piston rod 48 of which ends in a bolt 50, which is mounted in the linkage 46 on the central part 52 of the spray boom 16, which connects the two symmetrical boom arms 18, with largely no play. Optionally, this linkage 46 can be equipped with a suitable force sensor 32a, which detects the forces transmitted by the bolt 50, generates a first output signal 34a from it and thereby keeps the mechanical connection between the bearing or suspension 20 and the linkage 46 approximately free of forces and moments by means of suitable control of the actuating element 26 via the actuating signal 44 generated in the control and / or regulation unit 36, when the spray boom 16 or its central part 52 is rotated about the axis of rotation 54, which, like the suspension 20, is fixedly arranged on the carrier vehicle.

[0089] Alternatively or additionally, a strain sensor 32b or a suitable force sensor or the like can be arranged on the piston rod 48 or at another suitable location, which generates a second output signal 34b by detecting the tension and / or strain forces acting on the piston rod 48 and in this way can keep the mechanical connection between the bearing 20 and the linkage 46 approximately free of forces and moments by means of suitable control of the actuating element 26 via the actuating signal 44 generated in the control and / or regulation unit 36.

[0090] Furthermore, a tilt sensor or an acceleration sensor 56 or gyroscope can be arranged on the linkage 16, in particular on its central part 52, the signals of which can be additionally evaluated in the unit 36 ​​in order to obtain a meaningful control signal 44 in conjunction with the other mentioned sensor values.

[0091] Further variants for recording the actuating forces and / or actuating movements between the central section 52 of the spray or application boom 16 and the vehicle-mounted bearing 20, i.e. the frame of the in the Figures 3Alternative sensor configurations for vehicles not shown are conceivable and practically feasible. For example, the sensor system could also consist of suitable pressure sensors arranged in the pressure fluid circuit of the actuator 26. These sensors could detect changes in hydraulic or pneumatic pressure in the area of ​​the actuator 26, the hydraulic cylinder 28, and / or its pressure lines, and detect pressure fluctuations resulting from relative movement between the spray or application boom 16 and the vehicle during pivoting movements around the suspension point 54. With such optional pressure sensors, it may be advantageous to account for friction effects, such as those caused by sliding movements of the piston rod 48 along hydraulic seals, through component parameters.Such parameters can be assigned to the largely standardized components that are normally used as actuating elements 26, so that the friction components and effects superimposed on the measured pressure values ​​are known with sufficient accuracy and can be taken into account and eliminated in the force calculations.

[0092] At the in Fig. 3bIn the embodiment shown, the actuating element 26 is formed by a double-acting hydraulic cylinder 28, the piston rod 48 of which terminates in a bolt 50, which is mounted in the linkage 46 on the central part 52 in an elongated hole 58. Optionally, this linkage 46 can be equipped with a suitable optical and / or mechanical displacement sensor 32c, which detects the small deflections of the bolt 50 in the elongated hole 58, generates a third output signal 34c from this, and thereby keeps the mechanical connection between the bearing 20 and the linkage 46 virtually free of forces and torques by means of suitable control of the actuating element 26 via the control signal 44 generated in the control and / or regulation unit 36. The remaining structure of the assembly shown in Fig. 3b The variant shown, with the two distance sensors 40 and other components such as, in particular, the tilt or acceleration sensor 56 mounted on the central part 52 or the gyroscope, can be used in the Fig. 3aThe design shown corresponds to the embodiment. Of course, other sensor types can be used as displacement sensors 32c, e.g. inductive sensors or rotary encoders, etc.

[0093] Depending on signals 34 and 38, the control unit 36 ​​generates a control signal 44 for a pressure supply unit (not shown here) with which the hydraulic cylinder 28 is connected. Only the very fast real-time control via the control signals 44 can ensure the desired force or torque-free operation of the mechanical connection by the actuating element 26. The control mechanism for the actuating element 26 adjusts it, or rather the double-acting hydraulic cylinder 28, to all deflections of the vehicle relative to the central section 52 about the pivot bearing 54 at the suspension point with virtually no delay. The spray or application boom 16 does not normally perform any independent reaction movements in response to vehicle movements, but rather tends not to follow the vehicle movements and remains largely static and at rest during all vehicle movements.However, in order to reliably suppress all unwanted reaction movements of the spraying or spreading boom 16, the piston rod 48 of the hydraulic cylinder 28 follows almost without delay all relative movements of the vehicle with respect to the spraying or spreading boom 16, in which a pivoting movement about the rotary bearing 54 takes place, so that the piston rod 48 of the hydraulic cylinder 28 is moved via the linkage 46.

[0094] This quasi-real-time control system is thus able to adjust the cylinder 28 to all deflections while simultaneously preventing any significant forces from the vehicle from being transmitted to the central section 52. The control system is based on the fact that the forces and / or displacements in the linkage 46 are detected and largely compensated for without delay, so that despite the mechanical connection via the actuating element 26, the spraying or application boom 16 remains approximately in its previously set position, regardless of the body movements and oscillations of the towing or carrier vehicle when it travels over the ground 42. The control mechanism thus provides active compensation for the vehicle's roll movements.

[0095] The schematic representation of the Fig. 4This further illustrates the play-in mounting of the bolt 50, which is connected to the piston rod 48 of the linear actuator 26, in the elongated hole 58 of the linkage 46, which is connected to the central part 52. Force transmission elements, such as the compression springs 60 shown, are located on both sides of the bolt 50 and provide support for the bolt 50 in the elongated hole 58. A suitable sensor (e.g., sensor 32c; see below) can be used to detect the movement of the bolt 50. Fig. 3b ) the position of bolt 50 in slot 58 is also recorded.

[0096] The elongated hole 58 is an element rigidly connected to the spray boom 16. The counterpart or piston rod 48 of the actuator 26 (e.g., hydraulic cylinder, pneumatic cylinder, other linear drive, etc.) is connected to the elongated hole 58 and the actuator 26 of the carrier vehicle at the abutment part 20 (see figure). Fig. 3) firmly connected. Both parts are coupled by the two springs 60 or other elastic elements located between the connecting element or bolt 50 and the elongated hole 58. These springs 60 can be mechanical, but need not be; elastomers or the like would also be conceivable. It would also be conceivable that an additional lever, to which spring elements are also assigned, is attached for coupling between the actuating element 26 and the injection boom 16. In the illustrated embodiment, the spring elements 60 are each arranged such that both forces, i.e., the forces acting in the longitudinal direction of the elongated hole 58, cancel each other out when the connecting element or bolt 50 is in the central position of the elongated hole 58; in this case, the lever is in the central position. If the connecting element 50 is located outside the central position of the elongated hole 58, orIf the lever is off-center, a force is transmitted according to the spring characteristic curve, depending on the deflection position. Thus, the deflection position can be converted into an applied force via the spring characteristic curve, or into a torque via a defined lever arm.

[0097] Conversely, this means that to initiate a certain torque, a target deflection of the spring 60 or the lever can be calculated using the lever arm and the spring characteristic curve. This target deflection is set by a very fast-acting control loop, which measures the position of the connecting element 50 relative to the elongated hole 58 or the lever position as a reference value and controls the cylinder 28 according to the difference between the target deflection and the measured deflection. This control represents the inner control loop as defined above.

[0098] The inner control loop also compensates for roll movements of the carrier vehicle by continuously operating and constantly maintaining the deflection of the springs 60 and the lever at the desired value. This setpoint is specified by an outer control loop. The actuator of the outer control loop is therefore the target torque. It regulates this target torque depending on the position and movement of the linkage 16, the measured distances between the linkage 16 and the ground 42, and depending on operator input.

[0099] This connection is in the Fig. 5This is illustrated schematically once again. For example, the two distance sensors 40, which are arranged on the boom arms 18 of the spray boom 16, deliver the measured values ​​38a and 38b to the control unit 36, which uses these measured values ​​in its outer control loop 62 to generate a setpoint signal 64, which is then delivered to the inner control loop 66. This inner control loop 66 also processes the sensor signal 34c from sensor 32c, which detects the deflection of the bolt 50 in the elongated hole 58 in the area of ​​the linkage 46 (see figure). Fig. 4 ) is recorded. Based on this target signal 64 and the sensor signal 34c, the inner control loop 66 of the circuit 36 ​​generates suitable control signals or actuating signals 44 for a hydraulic pressure supply 68, which supplies the actuating element 26 or the double-acting hydraulic cylinder 28 with actuating pressure.

[0100] As long as no control action is taking place, the inner control loop 66 is active and ensures that no actuating forces are generated by the actuator 26. If the linkage 16 is to be adjusted, the inner control loop 66 and the outer control loop 62 are activated, with the outer control loop 62 being overridden by the inner control loop 66. This override could also occur in reverse, i.e., the inner control loop 66 being overridden by the outer control loop 62.

[0101] The schematic block diagrams of the Fig. 6 This shows some important components for adjusting the linkage attached to the carrier vehicle and how they are interconnected. This illustrates... Fig. 6aAn exemplary implementation for acquiring sensor data that can be used to control spray boom positioning. The reference plane here is the long-term angular orientation of the carrier vehicle. In this circuit, the carrier vehicle's tilt angle alpha_t to the horizontal is measured and supplied to an angle measurement module. Additionally, the spray boom's tilt angle alpha_g to the horizontal is measured and also supplied to the angle measurement module, where a difference angle d_alpha 1 between the carrier vehicle and the spray boom is calculated. Furthermore, the rotational speed w of the spray boom is measured using a yaw rate sensor, independently of any superimposed rotational movements of the carrier vehicle. Through integration, an angle alpha 2 is calculated from the values ​​of the yaw rate sensor. In sensor data fusion, a filtered angle alpha 0 is calculated from this, which is used for control.

[0102] Furthermore, the Fig. 6b Another embodiment for acquiring sensor data that can be used to control spray boom positioning. The reference plane here is an artificial horizon. In this circuit, only the spray boom's tilt angle αa is detected by an inclination sensor, and its rotational speed w is detected by a yaw rate sensor, independently of the carrier vehicle's rotational movements. The angle α2 is calculated from the yaw rate by integration. In sensor data fusion, a filtered angle α0 is then calculated from this, which is used for control.

[0103] The four schematic block diagrams of the Fig. 7The figures show a two-stage control loop connected in a cascade for adjusting the linkage attached to the carrier vehicle and their interconnection. The inner control loop 66, circled with a dashed line ( Fig. 7a and Fig. 7c ) regulates the torque that is introduced into the spray boom for adjustment. This regulation is independent of the boom's current position and rotation. This can be achieved as follows: the spring deflection can be adjusted according to Fig. 7b The spring force is proportional to the deflection and therefore – via a given lever arm – also proportional to the torque. Consequently, the applied torque is also proportional to the controlled spring deflection.

[0104] Alternatively, pressure regulation of the transmission medium used can also be implemented according to Fig. 7c and Fig. 7dThe adjusting force is proportional to the pressure of the transmission medium and therefore – via the given lever arm – also proportional to the torque. Thus, the applied torque is also proportional to the regulated pressure.

[0105] If an external disturbance (e.g., caused by a rotational movement of the carrier vehicle) were to change the respective controlled variable (pressure or spring deflection), this control loop compensates for this error very quickly and ensures that the target torque is always applied to the linkage. If no torque is to be applied, the inner control loop receives a setpoint of zero. The inner control loop then adjusts the respective manipulated variable so that no torque is applied, even if external influences change, for example, due to movement of the carrier vehicle.

[0106] The outer control loop 62 (see Fig. 7a and Fig. 7cThe outer control loop 62 encloses the inner control loop 66 and controls the setpoint of the inner control loop 66. The manipulated variable of the outer control loop 62 is thus a setpoint torque, which the inner control loop 66 controls. The representation of the Fig. 8 Figure 62 shows this external control loop for linkage adjustment in a schematic block diagram. The task of this control loop is to regulate the linkage via the manipulated variable torque, depending on the position and movements of the linkage as well as manual operation. The position and movement of the linkage can be detected in various ways using different sensors, such as angle sensors, gyroscopes, an artificial horizon, and / or manual controls.

[0107] 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. Reference symbol list

[0108] 10 Distribution device 12 Carrier vehicle 14 Tank 16 Boom, spray boom 18 Boom arms 20 Suspension 22 Direction of travel 24 Carrier frame 26 Actuator 28 Linear cylinder, hydraulic cylinder, pneumatic cylinder 30 Differential pressure sensor, pressure sensor 32 Sensor arrangement, sensors 34 Output signals 36 Control unit, regulating unit 38 Sensor signals, setpoint signals 40 Distance sensor 42 Ground 44 Control signal 46 Linkage 48 Piston rod 50 Bolt 52 Center section 54 Axis of rotation, suspension point 56 Accelerometer, gyroscope 58 Slotted hole 60 Compression spring 62 Outer control loop 64 Setpoint signal 66 Inner control loop 68 Hydraulic pressure supply

Claims

1. Apparatus (10) for applying liquid and / or solid active substances, comprising: - a carrier vehicle (12), - at least one spray boom (16), which is arranged so as to be pivotable at least about one pivot axis, - at least one sensor arrangement for detecting a pivoting speed and / or a pivoting position of the spray boom (16) about the pivot axis with respect to a reference plane and / or with respect to a ground surface, - a control device (36), which processes output signals of the at least one sensor arrangement to form control signals and is designed to influence or control the spray boom in its pivoting position and / or pivoting speed by means of at least two coupled control loops, comprising an inner control loop (66) and an outer control loop (62), - at least one actuator (26; 28), which influences the momentary pivoting position of the spray boom (16) about the pivot axis on the basis of control signals of the control device, wherein the control device (36) is configured such that - a setpoint value and / or setpoint torque for the at least one actuator (26; 28) can be generated by the control device from the output signals of the at least one sensor arrangement in the outer control loop (62), - and an actual torque and / or actual value, which moves and / or influences the spray boom (16) and is based on actuator deflections and / or control signals of the at least one actuator (26; 28), can be detected in the inner control loop (62) and is used for generating a correction value for achieving the setpoint torque and / or setpoint value, characterized in that the at least two coupled control loops are connected to each other or wired such that the outer control loop (62) overrides the inner control loop (66).

2. Apparatus according to Claim 1, in which the outer control loop (62) generates from sensor data of the at least one sensor arrangement a setpoint value for the activation of the inner control loop and / or the at least one actuator, which presets a setpoint position of the spray boom (16).

3. Apparatus (10) according to Claim 1 or 2, in which the inner control loop (66) takes into account further sensor data, which are obtained in direct connection with control signals of the at least one actuator (26; 28) and / or its detected interaction with the movably suspended spray boom (16).

4. Apparatus (10) according to Claim 3, in which the further sensor data are an adjustment torque, which is introduced into the spray boom (16) by the actuator and is measured or derived from the interaction of the actuator (26; 28) with the spray boom (16).

5. Apparatus (10) according to one of Claims 1 to 4, in which the at least one sensor arrangement for detecting the pivoting speed (w) and / or pivoting position of the spray boom about the pivot axis with respect to the reference plane comprises at least one pivoting-rate, angular-pivoting-speed and / or pivoting-acceleration sensor (56) arranged on the spray boom (16).

6. Apparatus (10) according to one of Claims 1 to 5, in which the at least one sensor arrangement for detecting the pivoting speed and / or pivoting position of the spray boom about the pivot axis with respect to the reference plane comprises at least one pivoting-rate, angular-pivoting-speed and / or pivoting-acceleration sensor arranged on the carrier vehicle.

7. Apparatus (10) according to one of Claims 1 to 6, in which the at least one actuator is formed by at least one double-acting linear drive, which operates with fluidic pressure and produces an actuating connection between the carrier vehicle and the pivotable spray boom (16), wherein a piston of the linear drive, which is coupled with a spray boom (16) and is movable between two end positions in a cylinder chamber, separates from each other two pressure chambers to which fluidic actuating pressure can be respectively applied for each of the two adjusting directions of the spray boom (16).

8. Apparatus (10) according to one of Claims 1 to 6, in which the actuator is formed by at least two linear drives, which operate in opposite directions and in each case with fluidic pressure and produce an actuating connection between the carrier vehicle and the pivotable spray boom (16), wherein each of the two linear drives has in each case a pressure chamber, and wherein fluidic actuating pressure can be applied to one of the two linear drives in each case for a preset adjusting direction of the spray boom.

9. Method for controlling an apparatus (10) according to one of Claims 1 to 8 on the basis of a control of the pivoting position of the spray boom arranged movably about a pivot axis on a carrier vehicle on the basis of a momentary pivoting position and / or a measured differential pressure in at least two pressure chambers of at least one actuator operating with fluidic pressure, - wherein at least a pivoting speed and / or a pivoting position of the spray boom about the pivot axis with respect to a reference plane and / or with respect to a ground surface is detected, - from which control signals for at least one actuator for influencing the momentary pivoting position of the spray boom (16) about the pivot axis are generated in a control device (36), which influences or controls the spray boom (16) in its pivoting position and / or in its pivoting speed by means of at least two coupled control loops, comprising an inner control loop (66) and an outer control loop (62), - wherein - a setpoint value and / or setpoint torque for the at least one actuator (26; 28) is generated by the control device from the output signals of the at least one sensor arrangement in an outer control loop (62), - and wherein an actual torque, which moves and / or influences the spray boom (16) and is based on actuator deflections and / or control signals of the at least one actuator (26; 28), is detected in an inner control loop (62) and is processed for generating a correction value for the setpoint deflection, characterized in that the outer control loop (62) overrides the inner control loop (66).

10. Method according to Claim 9, in which both the measurement data of the at least one sensor arrangement and the differential pressures between the two pressure chambers of the at least one actuator are used for determining a present pivoting position and / or a setpoint pivoting position between the spray boom (16) and the carrier vehicle (12) and are processed by a control device, which activates the at least one actuator.

11. Method according to Claim 9 or 10, in which the outer control loop generates from sensor data of the at least one sensor arrangement a setpoint value for the activation of the at least one actuator, which presets a setpoint position of the spray boom.

12. Method according to one of Claims 9 to 11, in which the inner control loop takes into account further sensor data, which are obtained in direct connection with control signals of the at least one actuator and / or its detected interaction with the movably suspended spray boom.

13. Method according to Claim 12, in which the further sensor data are an adjustment torque, which is introduced into the spray boom (16) by the actuator and is measured or derived from the interaction of the actuator (26; 28) with the spray boom (16).