DEVICE FOR TREATING PLANTS WITH A VEHICLE-GUIDED, SLIDING AND / OR PULLABLE APPLICATOR ARM, VEHICLE WITH SUCH A DEVICE AND USE OF THE SAME.

Description

[0001] The invention relates to a device for treating plants with an applicator attached to an applicator holder. The invention also relates to a vehicle with such a device and to the use of such a device.

[0002] When vegetation treatment equipment is used between rows of objects such as trunks, shrubs, vines, shoots, pillars, or posts, it is essential that the equipment does not damage or destroy these objects while simultaneously treating the vegetation to be removed as closely as possible around them. This removal of plant material is particularly critical when the active ingredient is applied through mechanical contact with the vegetation being treated, rather than via a spray or by spillage onto the soil.

[0003] Since many vegetation treatment devices have a considerable weight and therefore inertia, or have to be pushed against a great resistance through the ground or across the area, active movement of the treatment device around the obstacles by externally controlled mechanical actuators is very often required.

[0004] To implement this technically, obstacles are detected either manually / visually or with optical or mechanical sensors, triggering a movement of the treatment equipment away from the row of plants. Since the sensors and the resulting movements of the treatment equipment have inertia and require a reaction distance and time, these sensors are installed separately in front of the work elements to ensure early triggering. However, the use of sensors is generally problematic and prone to errors. The necessary visual view of the hard obstacles is often obstructed by soft plant parts such as leaves, blossoms, or seed heads, or by the dense vegetation to be removed. As a result, conservatively configured sensors trigger too early for safety reasons, causing the applicator to swing out of the row and resulting in a poor treatment outcome.Due to the high variability of the vegetation around the row objects and the variability of the biological row objects themselves, optical methods often fail due to misdetections or contamination.

[0005] Mechanical sensors can also detect, for example, leaning logs too late or far too early, leading to damage or causing the obstacles to be avoided by too wide a margin. Additionally, there can always be unexpected, low obstacles that can damage the treatment equipment but are not detected by optical and mechanical sensors. To optimize the processes under these conditions, the vehicles with the treatment equipment can usually only operate at low speeds, resulting in errors. Normally, the sensors are adjusted so that, in case of doubt, less area is treated rather than encountering obstacles and causing damage.

[0006] In many cases, particularly in agriculture, processes that involve moving soil material involve pushing or moving soil away from the weeds, rather than the treatment equipment itself, to create a safety buffer and cushion the movement. The aim is to dig up or bury unwanted vegetation. However, such methods promote the regrowth of weeds because the soil movement stimulates seed germination or provides a good seedbed for newly arrived seeds. This leads to a high, costly frequency of cultivation and also increases the risk of erosion and damage to the soil structure. Furthermore, burying and pulling up weeds are ineffective against plants that are already tall or against vegetation growing directly next to the obstacle. In areas where soil movement is prohibited or impossible (roadsides, gravel surfaces, soils with a high stone content), such methods are not applicable.

[0007] Alternatively, the active treatment elements can strike the obstacles directly. In this case, the obstacles must be so stable that they are not damaged, or only minimally so. This means that the impact energy upon contact between the objects and the treatment element (mechanical or, for example, thermal) must be low. To achieve this, either the treatment element must be very light, move forward with little force, or its travel speed must be significantly reduced. However, according to current technology, this means that either the weeds are only superficially damaged and quickly regrow, or the treatment area is low, both of which are economically disadvantageous.

[0008] If any of the procedures require a minimum distance to the obstacle to avoid injuries, this always leads to significant manual rework or a significantly worsened work result.

[0009] These restrictions therefore significantly reduce the overall usability of devices that operate in the broadest sense mechanically / physically / thermally.

[0010] Only chemical processes have hardly any such problems, but are becoming increasingly less available due to resistance, acceptance and legal regulations.

[0011] From CA 1 185 214 A, a vehicle-based device for completely spraying liquid around immobile upright plants with an articulated boom is known, in which an inner boom element is attached laterally to a tractor and is connected at its other end via an upper pivot joint to an outer boom element, wherein the outer boom element is suspended at the upper pivot joint so as to be laterally deflected away from the vertical axis and has a rotatable spray head at its lower end.

[0012] EP 0 078 730 A1 describes a device for treating plant crops by moistening them with a tubular container. Inside this container are the ends of flexible and soft wicks with capillary properties, which rest on the vegetation with their opposite ends and for a substantial part of their length. The device comprises several assemblies, each containing several tubular containers. A first assembly is fixedly mounted on one axis of a central frame, while two lateral assemblies are pivotably mounted on arms perpendicular to the central frame. Each lateral assembly has a support arm for the wicks, which is pivotably mounted about an axis near its end towards the center. This axis is itself pivotably mounted at the end of a connecting rod, the other end of which is pivotable on the arms perpendicular to the central frame.A spring constantly pushes the outward-facing end of the connecting rod outwards, while a return mechanism folds the support arm towards the central frame when it comes into contact with a crop on its outer side, thus reducing the treatment range of the wicks.

[0013] However, in almost all processes, a clear preferred direction of movement must be ensured for the functional effect of the working element. For many working elements, especially cutting or impact implements (mowing, mulching, harrowing, undercutting), articulated implements (rollers), and sweeping implements (application of electricity or chemicals by contact), it is necessary that a working beam, spanning the working width, is always moved at approximately 90° perpendicular to the direction of movement of the active working element. Only in this way is the function generally and a uniform application possible.

[0014] In all processes with a dosing function onto a surface (chemical, electrical) or tools that have an optimal speed window, it is also important that the movement is as uniform as possible, i.e., at a similar speed without strong speed peaks.

[0015] For a systematic solution to the described technical / biological problem, it is therefore necessary to consider the factors of the work elements described below and to optimize them through constructive design. Crucially, a treatment method (consisting of one or more combinable measures) that is as fast and long-lasting as possible, does not normally disturb the soil, effectively and lastingly controls many types of unwanted vegetation, and does not damage the rows of plants either above or below ground.

[0016] In all operating conditions, the force acting on the obstacle at any given time, whether impacting the object in the row or dragging along it, should be minimized to minimize damage to both the object in the row and the working element. Simultaneously, the working speed should be maximized (depending on the application, this can range from 4 to 50 km / h).

[0017] This problem is solved by a device according to claim 1. It is designed for pushing and / or pulling by means of a vehicle over a ground area and for treating plants with an applicator, wherein the applicator is attached to an applicator holder, and the device has a primary working arm, at the first end of which a tool carrier is articulated and at the second end of which the applicator holder is articulated, and the articulated arrangement of the tool carrier and applicator holder is formed by means of two pivot joints with substantially parallel axes, wherein one side of the primary working arm is arranged at an acute angle to the tool carrier and a scraper is arranged on an opposite side of the primary working arm, and a disk rotatable about a first axis is arranged on the tool carrier and the primary working arm is rotatably arranged on the disk about an axis parallel to the first axis.Furthermore, the problem is solved by a vehicle with the features of claim 12 and a use according to claim 13. Advantageous further developments are the subject of the dependent claims.

[0018] A basic structure is proposed as a combination of various movement elements into which different treatment modules can be inserted. The description presented below refers primarily to its use in the electrophysical killing of unwanted vegetation, but also includes its use with analogously moving treatment modules, operating alone or in combination, which require an orientation as perpendicular as possible to the direction of movement (e.g., in physically based methods such as rolling, cutting, irradiation, and brushing).

[0019] The following individual elements are combined to form a device.

[0020] The basic idea is to design the active elements to be so compact, efficient, small and light that they do not require additional sensors and yet automatically avoid obstacles without causing damage, while at the same time achieving maximum effectiveness through optimized orientation relative to the direction of travel.

[0021] To protect the objects while ensuring sufficiently firm contact, the entire unit is preferably designed to become progressively softer towards the object (progressive flexibility).

[0022] While the device carrier can only deflect as a collision protection measure in the case of massive obstacles, the arm routinely pivots upon contact with an obstacle. The outermost end of the applicator is preferably spring-mounted, allowing it to touch the object with minimal impact impulse or force transmission.

[0023] The treatment device (here the applicators for high electrical voltage, possibly in combinations of processes) is divided in such a way that the center of gravity of the majority of the device, which does not have to work directly between the obstacle objects, runs straight ahead in the main direction of movement.

[0024] The weight of the movable applicator device for action between obstacles is minimized through the use of lightweight materials such as GRP and high-strength sheet metal. This unit operates in passive tracking mode behind a vertical swivel joint.

[0025] Due to its low height and compact design, the effect is comprehensive, occurring almost across the entire swept area. Short lever arms, combined with progressive deflection after a shallow impact on the curved sliding strip (possibly with additional spring elements), result in a consistently low impulse transfer to the obstacle.

[0026] When high-voltage electrical current is applied, the applicators, with their finely segmented applicator tongues, glide across the ground and plants with minimal resistance, requiring only a small counterforce to maintain straight-line tracking. This counterforce is typically provided linearly or progressively by a spring element. For further minimization, the spring force can be mechanically or sensorially self-calibrated, ensuring that even without contact with the guide rail (by defined obstacles), the system dynamically adjusts a minimum counterforce sufficient to maintain straight-line tracking.

[0027] In cases where electrical current needs to be transmitted to or received from the ground via two poles, the two poles can either be located on the same movable applicator unit, on two separate movable applicator units, or one pole can be statically mounted on the device carrier. Additional applicator units that only move in a straight line can be arranged statically in parallel.

[0028] In the event that no high-voltage applicators are used as the treatment element, the roller, mower or other device can minimize its resistance force by means of a compensatory self-drive with analog control.

[0029] The lateral forces occurring during operation are further minimized by connecting the active element (normally the electric applicator) to the movable arm via an additional vertical swivel joint, allowing it to operate passively in a trailing motion with or without stops. As a consequence of this dual trailing element, the applicator / active element moves significantly closer to, more uniformly with less impact on, and with less stress on the obstacle (less acceleration also means less impulse on the obstacle). Because the applicator maintains its optimal direction of movement (90° between the working axis and the direction of movement) due to its trailing characteristics, no impulse-increasing and resistance-inducing lateral slippage or lateral deformation of the applicator or other active elements occurs.

[0030] The wiper at the rear end of the sliding strip is adjustable and can be adapted to the applicator dynamics and applicator height so that the applicator glides directly past the obstacle and, if necessary, is only isolated / spatially separated from it by an insulating strip located on the applicator itself.

[0031] Thanks to the optimized working direction, the effectiveness and the area covered remain at their maximum. Since the entire applicator avoids any obstacle above a preset minimum stiffness precisely in the area where the compact applicator is located, errors in avoidance are eliminated, and the distances between obstacles no longer play a role.

[0032] The device described here can be equipped with one or two applicators (of opposite polarity). If two applicators are fitted into one unit, it is advantageous if the first applicator extends only slightly to the ground, while the applicator located behind in the direction of travel provides double the trailing effect and establishes contact with small plants.

[0033] In device combinations, only the applicator element is replaced, and if the replacement element cannot develop its own follow-up properties, a friction unit made of suitable discs, cutting edges or filaments is added.

[0034] In addition to its standard application with obstacles, between which the movable element typically dips (object distance greater than object diameter), the unit according to the invention can also be used in cases where, with normally continuous rows of obstacles, a variability in distance arises between the carrier vehicle and the applicator due to their varying distance. These changes in distance can be caused by fluctuations in the vehicle's straight-line stability (steering movements, tire elasticity, etc.) or by varying row spacing (e.g., sowing or crops with individual plant variations, or row spacing variations due to different sowing processes or growing plant size). While in the case of tall perennial crops such as vines or guardrails in road traffic, the row guidance can still be oriented to the continuous objects, this is not possible with annual crops such as, for example,Corn or cabbage / lettuce-like plants with overhanging stems often cannot be detected because the sensor's view is frequently obstructed and the reaction times are too short due to the close planting distance. Manually adjusting the settings for changing row widths would significantly increase the untreated areas, considerably reducing the method's efficiency, since for effective vegetation control, the number of potentially reproductive units (seeds, tubers, rhizome shoots) must not increase over the course of a growing season.

[0035] Even the use of object-recognizing robotics doesn't solve the problem, as many sensors are unable to see the stem or stalk of the plants and the directly adjacent ground that needs to be cleared of unwanted vegetation. This is due to overhanging foliage and perspective camera positions that lead to obscurations. Furthermore, limited processing time and economically viable equipment costs make the continuous creation of three-dimensional images of all plants to be protected impossible or economically impractical. Efficiently controlled applicators can save considerable money and overall technical costs while increasing system robustness.

[0036] The device with wipers and double follow-through can also be used with movable fixings. In this case, the device allows the combination of, for example, flexible star-shaped applicators that grip obstacles more deeply without sensors, with operating principles that require a defined sweeping working direction (ideally 90° to the direction of movement).

[0037] The use of trailing, single- or double-bearing applicator units is also practical and advantageous for large, sweeping implements that need to be turned in fields with the tightest possible radii, without generating lateral forces that could damage the applicator or necessitate a much heavier support structure, which in turn increases the cost of the implement or damages the soil through compression. Especially with long-reaching implements, even slight steering movements of the tractor can cause significant lateral deflections of the applicator.

[0038] The device can be used to guide a self-guided applicator for vegetation control and for closely navigating around obstacles and treating obstacle edges, and it can exhibit trailing characteristics. Minimized energy transfer to obstacles being navigated around can be achieved through the following features: The device does not require a sensor for obstacle navigation. The device has at least two hierarchically arranged movable bearings or a functionally equivalent elastic element. The fixed point of the higher-level bearing can be located on a stationary or movable element. The higher-level bearing can be moved along the obstacles by a gentle scraper on the arm of the higher-level arm. The lower-level bearing can support the applicator's mounting. The applicator can consist of metal lamellae charged with high voltage.The applicator can operate alone or in combination with other trailing applicators. The double bearing and trailing characteristics prevent speed peaks and ensure a smooth, consistent movement. The applicator carrier can be held largely at a right angle to the direction of travel.

[0039] The applicator can be a direction-sensitive actuator for plant control, moving as uniformly as possible, which transmits its effect mechanically, chemically, thermally, or electrically to the vegetation or target objects. This is best achieved when it is oriented as far as possible perpendicular to the direction of movement. The fixed point of the higher-level bearing can be robotically moved to the vicinity of obstacles. The gentle scraper can be a curved guide, an elastic fixed guide, or an elastically circulating belt. This guide can have a progressive incline to keep the impact impulse and the subsequent force acting on the obstacle as uniformly low as possible across the entire expected impact area, regardless of the point of impact. The scraper can have a separately movable end piece, which, through its shape and angle of attack, allows for fine control of the applicator position when maneuvering around obstacles, for example.This allows for different height settings of the applicator. The boom can support a system of one or more rotating applicator guides. The downstream bearing can be movably arranged on a movable circular radius as the upstream bearing. The entire applicator unit can then be covered in a circular pattern and is directionally invariant.

[0040] The position and movement of upstream and downstream bearings can be technically queried to derive information for the movement of the entire robotic unit, or, for example, for displacement devices or the servo support of bearings or return elements. This includes, in particular, adjustments to the stiffness of return springs and the overall alignment of the vegetation control unit relative to the ground and any obstacles on it, or the servo-assisted rotation of multi-arm boom units to minimize speed when colliding with obstacles, and servo support of rotary treatment units to minimize their moment of inertia.

[0041] The applicator itself, with its lamellae guided on the ground, can extend laterally beyond the guide arm to allow the progressively softest system tip to touch the obstacle without risk of damage. The side edge of this lateral applicator lamella can be insulated on the outside to prevent arcing.

[0042] The contacting applicators can be adjusted by spacing between the lamellae, twisting the lamellae, or using special guide lamellae to ensure dynamically flexible tracking of the applicator carriers, ideally perpendicular to the direction of movement of the entire unit. Alternatively, for height-selective applications and applicators with poor self-guiding properties, rolling discs or rigid cutting discs can be used.

[0043] The target area of ​​the applicator can be the ground around the obstacle, vegetation growing vertically close to the obstacle, or vegetation parts of the obstacle itself, provided the obstacle is a plant object (e.g., unwanted side shoots on grapevines or trees).

[0044] If the applicator is bipolar, only the rear applicator can permanently touch the ground to feed the entire unit. The front applicator (in the direction of travel) barely touches the ground, if at all. The rear applicator is a standard applicator with a broad application area, or, optionally for minimizing the effect on low plants, it consists of one or more discs that are conductive only at their lower edge, or very narrow grinding units.

[0045] In another embodiment, the applicator holder is arranged at an acute angle to the working arm such that one side is positioned closer to the working arm in the direction of the parallel axes than the other side.

[0046] It is advantageous if a device for measuring ground impedance is used on the device carrier and / or on the primary working arm and / or on the applicator holder to measure the ground impedance and transmit it to a computer that determines the number of obstacles. The invention is described in more detail below with reference to the drawing. It shows Figure 1: A top and side view of a device with a swing applicator; Figure 2: A top view of a pivoting base unit with multiple applicators; Figure 3: A top view of a star-shaped, openly rotating unit; Figure 4: A top and side view of a rotary bearing with an internal applicator and a round cover; Figure 5: A top view of a round cover on a star applicator; Figure 6: A top view of a rotating unit with multiple applicators in a round cover; Figure 7: A top view of a single-row and multi-row robotic unit with linear displacement; Figure 8: A top view of a robotic unit with rotary displacement; Figure 9: A top view of a rigid wiper type with an adjustable end; Figure 10: A top view of an elastic wiper; Figure 11: A top view of an elastic roller belt as a wiper; Figure 12: A top view of multiple applicator types.Figure 13: Top and side views of different multi-applicators with rear guidance; Figure 14: Top and side view of the swing applicator in combination with straight-running applicators; and Figure 15: Top views of vehicle configurations with attached applicator units.

[0047] The in Figure 1The device shown consists of an applicator attached to an applicator holder and a carrier that can be attached to a transport vehicle (not shown). A primary working arm is attached via a freely movable primary pivot joint with a return mechanism, which could be, for example, a spring or a pressure cylinder. A further freely movable secondary pivot joint is located on this working arm. This secondary pivot joint rotates the applicator holder as far as possible perpendicular to the applicator's direction of movement due to the applicator's friction with the ground. When faced with lateral forces (e.g., when maneuvering around obstacles), this secondary pivot joint compensates for the lateral thrust and the resulting change in the device's velocity relative to the ground by temporarily rotating the device. Thus, the carrier is attached to one end of the working arm, and the applicator holder is attached to the opposite end.The return mechanism holds the working arm in such a way that it acts as a positioning device.

[0048] A lateral scraper, through its progressive curvature and / or spring-like properties, evens out both the impact impulse and the subsequent force exerted on the obstacle, regardless of the point of impact. The rear end of the scraper is movably mounted and can be adjusted for the closest possible approach to the object while maintaining maximum proximity to the application. The portion of the applicator closest to the obstacle can be designed to provide the softest and most direct progressive spring element by means of a flared section and / or a special friction-reducing and insulating coating or other special components.

[0049] During the Figure 2 The swiveling device with multiple applicators shown can be built analogously to the one described in the Figure 1As shown, several applicators can be attached to the primary working arm by means of a trailing device. This is particularly important when frictional resistance needs to be minimized at large working widths or when electric applicators with different power outputs or polarities (positive terminal, negative terminal) are used.

[0050] To be able to reach even deeper between obstacles, it is useful, as in Figure 3 The system demonstrates working with star-shaped applicator arms, with three or more arms. The star rotates due to the obstacles, but is further enhanced by a shallower orientation in the area of ​​the obstacles (for increased friction). This further reduces the impact energy. Scrapers can additionally dampen the impact. The applicators, acting as trailing arms, always rotate automatically in the direction of least frictional resistance.

[0051] The Figure 4This shows a pivot bearing with an internal applicator and a circular cover. For replacing rotary mowers, for example, and for using very robust circular applicator covers (with and without additional scrapers), it is necessary that the applicator can move along a circular base with the greatest possible working width. For this purpose, the outer edge or a slightly inner ring is designed as a fully rotatable secondary pivot bearing. The applicator, which rotates relative to the hood-like applicator cover, is fixed to the pivot bearing at one point. Within the overall circular area, the angled applicator, with ground contact in the area of ​​the semicircle opposite the mounting point, is then located. If required, the applicator has its own rotating side cover, which facilitates the intake of plant material from the front. An additional scraper (not shown) is possible if the contact impact needs to be minimized.The hood-like applicator cover can then be attached to a primary applicator arm on higher-level units with another primary rotary bearing, analogous to all other trailing units.

[0052] A circular cover on a star applicator, viewed from above, shows the Figure 5 Star applicators with two or more arms (shown here with three arms) can also be designed as rotary applicators. These units are useful for more delicate target objects when used with wipers. Without wipers, they are suitable for very robust applications. The central bearing around which the star applicator rotates can be fixed to a boom (not shown) or robotically controlled.

[0053] Star applicators can also be used as in Figure 6The system is shown with multiple circular applicator units mounted on one arm. Since rigid wipers are possible with star applicators due to their shock-absorbing rotary motion, these can also be used to attach the applicator units. The central bearing is then attached to a fixed or robotic arm of the carrier vehicle (not shown).

[0054] The individual applicator units of the in Figure 7The unit shown, with its trailing arm, is designed for use in large-area applications with irregularly shaped objects to be protected or irregular weed growth. According to embodiments not based on the invention, the applicator units can also be mounted on one or more robotic units with linear displacement. Each individual linear displacement moves independently according to robotic commands. The freely rotating primary arm, whose degrees of freedom may be limited by a return spring (not shown), then follows the robotically pre-calculated path. Fine adjustment along the target objects is then precisely guided by the wipers and trailing applicators. Multiple rows of applicators are particularly useful when applicators with different polarities are used.

[0055] According to the invention, the primary applicator arm is as shown in Figure 8The device is mounted on a rotating disc. This allows the applicator arm, with all its sub-units, to be moved both forwards and backwards in the direction of the arrows (in / against the direction of travel) and to the right and left in the direction of the arrows by means of a robotically controlled rotary motion. Enclosed rotary motors are often more robust and easier to handle in dusty field environments than linear actuators.

[0056] The one in Figure 9 The rigid wiper shown is curved, either numerically or empirically, such that the momentum or frictional force transferred to the contacted object is always as constant as possible, regardless of the point of impact, and thus minimized overall. The rear end of the wiper is separately adjustable by means of a lockable joint. This allows the same applicator to be optimally positioned against the target objects at varying distances from the ground.

[0057] The in Figure 10The elastic wiper section shown is either straight or only slightly curved (not shown) in its resting state. It is fixed at a single point, primarily at the attachment point of the end wiper section, and is able to absorb energy and release it evenly, either through stretching or bending and / or floating suspensions. This further reduces the impact without altering the geometry at the rear end of the applicator. To minimize friction, the wiper is made of a low-friction polymer, such as polyurethane.

[0058] An elastic band is used as a scraper around two smooth-running rollers with central guidance (caterpillar chain principle) or edge guidance, as in Figure 11The belt is shown in a taut position. Upon contact with a target object, it initially acts as a dampener and then rotates with the forward movement to prevent friction and abrasion on the target object. Optional nubs on the belt guide grasses and generally narrow plants downwards towards the applicator under the primary arm, preventing them from slipping off as long as no target object causes the belt to rotate.

[0059] Several applicator types are included in Figure 12As shown. Straight-line guidance can be achieved using lamellar applicators, where each individual lamella guides the ground with its side edges. Applicators with a wavy cut can damage grass blades more effectively and thus conduct current more efficiently. Rotating the lower end of the applicator by 90° further enhances straight-line guidance. Applicators that taper towards the rear guide the entire applicator well on the ground but are less prone to clogging. Holes in the edge lamellae improve the adhesion of insulating coatings or allow for the attachment of insulators (not shown).

[0060] The Figure 13This illustration shows various multi-purpose applicators with rear guidance. Two-pole height-selective applicators operate with height guidance. The rear cutting wheel is electrically conductive only in the center along a narrow rim. The drawing depicts the primary bearing, the primary applicator arm, the secondary bearing, and the special applicator unit. The front applicator is positioned high enough to avoid touching low plants while controlling and removing tall ones. The cutting wheel is a typical applicator for which a trailing guide is crucial, enabling it to be used with minimal effort and precisely navigate around target objects. It can also be designed as a stationary, narrow applicator (not shown). Height-selective applicators are insulated on the sides and only supply or receive current in their lower section.

[0061] For desired surface contact, the cutting wheel can alternatively be replaced by a flat applicator. Both applicators can also be operated as a single electrical pole.

[0062] The Figure 14 This shows the basic type of a swing applicator arrangement with a hinged swing applicator in the functional context of straight-running applicators that treat the area between the rows next to the swing applicator in a straight line. Additionally, another applicator is statically arranged in the row (here at the front in the direction of travel), which, as a second electrical pole, enables the completion of the circuit.

[0063] The Figure 15This figure shows a transport vehicle with possible example positions of the tool carriers and the applicator device in relation to the obstacles to be processed. The applicator devices are adapted to the row widths or base positions of the objects or obstacles to be navigated using actuators and associated sensors (not shown). Only one of the possible applicator types is shown here in a stylized manner. The vehicle is depicted very abstractly here, as it could be a ground-based vehicle, part of a mobile traverse moving elsewhere, or even a floating or flying transport vehicle. The applicator devices can be positioned in front of, behind, beside, and below the vehicle.

Claims

1. Device configured for pushing and / or pulling by means of a vehicle over a ground area and for treating plants with an applicator, wherein the applicator is attached to an applicator holder, and the device has a primary working arm, at the first end of which an implement carrier is hinged and at the second end of which the applicator holder is hinged, wherein the hinged arrangement of the implement carrier and the applicator holder is formed by means of two swivel joints with substantially parallel axes, one side of the primary working arm is arranged at an acute angle to the implement carrier and a scraper is arranged on an opposite side of the primary working arm, characterised in that a disc rotatable about a first axis is arranged on the implement carrier and the primary working arm is arranged on the disc so as to be rotatable about an axis parallel to the first axis.

2. Device according to claim 1, characterised in that the device has a positioning means, wherein the positioning means holds the primary working arm in a defined position relative to the implement carrier.

3. Device according to claim 2, characterised in that the positioning means has a motor with which the primary working arm can be moved linearly or rotated relative to the implement carrier.

4. Device according to any one of claims 1 to 3, characterised in that the device has a return mechanism which moves the primary working arm back into the defined position after the primary working arm has rotated relative to the implement carrier.

5. Device according to any one of the preceding claims, characterised in that the scraper is hinged to the primary working arm and / or the scraper comprises two parts that are hinged to each other.

6. Device according to any one of the preceding claims, characterised in that the scraper is elastically configured and / or elastically mounted and / or the scraper has a belt guided around two rotatable rollers.

7. Device according to any one of the preceding claims, characterised in that several applicator holders are arranged on the primary working arm and / or several working arms are arranged on the implement carrier.

8. Device according to claim 7, characterised in that the working arms can be moved with one or more motors, preferably independently of one another, and / or the working arms are arranged in a star shape on the implement carrier.

9. Device according to any one of the preceding claims, characterised in that the applicator holder has a round applicator cover and the applicator holder is mounted so that it can rotate relative to the applicator cover.

10. Device according to any one of the preceding claims, characterised in that the implement carrier and / or the primary working arm and / or the applicator holder are connected to an actuator system which is connected to a sensor means in order to act on the actuator system in accordance with data determined by the sensor means in order to avoid contact with an obstacle.

11. Device according to any one of the preceding claims, characterised in that the implement carrier and / or the primary working arm and / or the applicator holder has a means for detecting the ground impedance in order to vary the intensity of the applicator, and / or with a means that detects the speed of the device relative to the ground and transmits it to a computer in order to calculate the absolute and relative distance between the obstacles by measuring the impedance between electrodes.

12. Vehicle with a device attached to it for pushing and / or pulling the device attached to it over a ground area, characterised in that the device attached to it is a device according to any one of claims 1 to 11, wherein the implement carrier is attached to the vehicle and / or the implement carrier is movable relative to the vehicle by means of an actuator.

13. Use of the device according to any one of claims 1 to 11, wherein the device is pushed and preferably pulled over a ground area by a vehicle, characterised in that a means for detecting the ground impedance on the implement carrier and / or on the primary working arm and / or on the applicator holder detects the ground impedance and transmits it to a computer, which determines the number of obstacles.

14. Use according to claim 13, characterised in that the means for detecting the ground impedance on the implement carrier and / or on the primary working arm and / or on the applicator holder detects the ground impedance and a means detects the speed of the device relative to the ground and transmits this to a computer, which acts on an actuator to avoid contact with an obstacle