METHOD FOR ELECTRONIC WIND COMPENSATION OF A FERTILIZER SPREADER, CONTROL SYSTEM AND FERTILIZER SPREADER

Description

[0001] The invention relates to a method according to the preambles of claims 1 and 2, a control system designed for this purpose and a fertilizer spreader equipped therewith.

[0002] From the generic patent DE 10 2016 101 185 A1, it is known to correct the spreading pattern of a fertilizer spreader by compensating for the adjustment of setpoint values ​​used to control / regulate the fertilizer spreader's actuators for generating a predetermined spreading pattern, depending on measured wind speed and direction. In the case of crosswinds, this is achieved by increasing the lateral extent of the spreading pattern on the side of the fertilizer spreader facing the crosswind and decreasing it on the side facing away from the crosswind. When spreading along a field boundary, this increase can be selectively suppressed on the side of the fertilizer spreader facing the boundary.

[0003] To correct the spreading pattern, at least one of the following actuators can be controlled. The drive elements of the centrifugal discs allow the throwing distance of the fertilizer to be adjusted by their rotational speed. The faster the disc rotates, the greater the throwing distance. Furthermore, the application point (the application area) of the fertilizer on the respective centrifugal disc can be rotated or otherwise positioned from a feed system located above it to adjust the discharge angle and thus turn the spreading pattern outwards or inwards. It is also possible to control the metering devices of the feed system to adjust the amount of fertilizer applied per unit of time and consequently the distribution and application rate of the fertilizer per unit area.

[0004] From DE 10 2016 101 185 A1 it is also known to adjust at least one of the following target values ​​or a proportional value to it for correcting the spreading pattern depending on the measured wind speed and wind direction for the respective centrifugal disc: rotational speeds, metering quantities of fertilizer per unit of time, discharge angle of the fertilizer, positions of the application points of the fertilizer introduction systems, angular positions of the throwing vanes arranged on the centrifugal discs.

[0005] The targeted application of material to specific sections of a spreading fan is also known from DE 10 2017 100 668 A1. Further methods are disclosed in DE 10 2017 109308 A1 and in EP 2 556 738 A1.

[0006] The above-mentioned corrective measures can, in principle, also be applied to the invention described below.

[0007] A disadvantage so far, however, has been that only crosswinds have been taken into account, specifically in the form of measured wind speed and direction. While this allows for adjusting the working width resulting from crosswinds to a target working width specified for the spreading process, for example by individually compensating for them by adjusting the target discharge angles, which involves adjusting the respective application point and, if necessary, the rotational speed accordingly.

[0008] However, the throwing distance of the fertilizer can change so drastically in headwinds or tailwinds that, for example, the calculated switching points of the section widths lead to an uneven and / or misdirected discharge of the fertilizer.

[0009] It has also been found that the wind conditions in the area of ​​the spreading fan can deviate so much from those at the anemometer that, for this reason as well, the fertilizer application becomes too inaccurate.

[0010] Therefore, there is a need for improved methods and devices for wind-corrected application of fertilizer on agricultural land.

[0011] The problem is solved using methods according to claims 1 and 2.

[0012] The methods are used for the electronic wind compensation / control of a fertilizer spreader. This type of spreader applies fertilizer to an agricultural area using rotating spreading discs. The positions of the application areas for the fertilizer on the spreading discs are set according to target discharge angles, which are individually adjusted for each spreading disc based on the prevailing wind conditions during application. This compensates for any deviation of the actual lateral distribution of the fertilizer from the target lateral distribution caused by the wind.

[0013] According to the invention, the rotational speeds of the spreading discs are also adjusted compensatorily in order to counteract a deviation of the actual throwing distance of the fertilizer from its target throwing distance caused by the wind.

[0014] Advantageous further developments of the method according to the invention are specified in the dependent claims.

[0015] However, advantageous further developments are also possible starting from the generic method, unless expressly stated otherwise, whereby any technically sensible combination of the embodiments described below is conceivable.

[0016] Wind can significantly distort the fertilizer spread pattern produced by the spreading discs, which, without wind influence, typically corresponds to an approximately kidney-shaped distribution. The described control system counteracts this by specifying at least one compensatory setpoint. Setting setpoints for the discharge angle from each spreading disc has proven effective, with corresponding setpoints for the position of the application area and the rotational speed typically assigned as adjustment parameters.

[0017] Based on measured wind direction and speed, these and, if necessary, other settings of the fertilizer spreader, such as the rotational speed of the respective spreading disc, are specifically adjusted to counteract distortion or to compensate for it during subsequent passes, for example, a return trip in the opposite direction. The latter may be the case, for instance, if the wind conditions do not allow for sufficient straightening of the spreading pattern.

[0018] The target discharge angles are defined, for example, by straight lines running from the axes of rotation of the spreading discs to the respective center of distribution of the generated fertilizer spread patterns. The same applies to throw distances, which are defined, for example, between the spreading disc and the center of distribution. The center of distribution is typically defined as the intersection of the 50th percentiles of the spread patterns with respect to radial and circumferential distribution.

[0019] The fertilizer in question is, for example, a mineral fertilizer. In principle, however, any granular spreading material could be used.

[0020] According to one aspect of the invention, the wind direction and wind speed are vectorially decomposed into a direction-of-travel component parallel to the direction of travel and a lateral component orthogonal to the direction of travel in order to adjust the target launch angles and / or to reduce the deviation of the actual launch range.

[0021] The lateral component primarily affects the lateral distribution of the fertilizer and the working width, while the direction of travel primarily affects the throwing distance. Both of these effects can, in principle, be compensated for by adjusting the positions of the fertilizer application surfaces on the spreading discs and their rotational speed. By breaking down the components, the compensatory adjustment of these parameters can be weighted more precisely, thereby optimizing the correction of spreading patterns. The corresponding fertilizer application rates for the spreading discs can then be adjusted accordingly.

[0022] According to an alternative aspect of the invention, a displacement of the scattering fan produced by the scattering discs under the influence of wind is determined from the wind direction and wind speed compared to a scattering fan produced without wind influence, wherein at least one lateral component of the displacement orthogonal to the direction of travel is calculated to reduce the deviation of the actual throw range and, in particular, an adjustment of the target throw angles is calculated on the basis of the overall displacement.

[0023] According to the invention, the deviation of the actual throwing range is reduced compensatorily on the basis of the lateral component of the wind direction / wind speed and in particular under their respective predominant weighting compared to an associated direction of travel component.

[0024] Preferably, the target launch angles are adjusted compensatorily on the basis of actual launch angles assigned by the displacement and in particular taking into account the compensation of the actual throwing distance.

[0025] Actual throwing distances and / or actual launch angles can be calculated and / or measured in a generally known manner.

[0026] Preferably, scattering patterns and / or lateral distributions generated by the scattering discs are corrected and, in particular, straightened by compensatory reduction of the deviation of the actual throw range from its standard value for calm conditions.

[0027] Preferably, the spreading patterns and / or lateral distributions of fertilizer produced by the spreading discs are corrected by compensating for changes in the target discharge angles compared to their standard values ​​for calm conditions. This is achieved, for example, by calculating new compensatory values ​​for the target discharge angles and / or selecting them from a list of previously calculated compensatory values.

[0028] Preferably, the wind-altering influence of at least one topographical feature present on the agricultural area is quantified by measurement and / or calculation and then incorporated into a calculation of the prevailing wind within the area of ​​a spreading fan produced by the spreading discs for its compensation. The calculation is then carried out, in particular, based on wind measured in the agricultural area during application.

[0029] Topographical features can include, for example, the topography of agricultural land, plants such as trees or shrubs and / or buildings.

[0030] Preferably, wind coefficients are assigned to the topographic feature and / or a sub-area of ​​the agricultural area associated with it, which quantify the wind-changing influence of the topographic feature depending on different wind directions.

[0031] Preferably, wind force and wind speed are measured during application in the area of ​​the fertilizer spreader and stored with corresponding geographical measurement positions. Furthermore, these measurements are then assigned the geographical position of at least one topographic feature of the agricultural area, as well as a prevailing main wind direction and main wind force, in order to quantify the wind-changing influence of the topographic feature on a site-specific basis.

[0032] For example, measured values ​​of wind directions and wind speeds with associated topographical measurement positions can be stored, especially taking into account a prevailing wind direction and prevailing wind speed predicted and / or measured for the time of the respective wind measurement and the agricultural area, and local deviations of wind directions and wind speeds from prevailing wind directions and prevailing wind speeds caused by the topographical features can be calculated from this.

[0033] For example, wind direction and wind speed as well as associated geographical measurement positions can be measured by means of at least one drone flying over the agricultural area and in particular flying ahead of the fertilizer spreader and / or flying upwind.

[0034] Preferably, wind directions and wind speeds measured at different heights, in particular by means of a wind sensor traveling with the fertilizer spreader and a drone flying over the agricultural area, are compared mechanically in order to qualitatively assess the prevailing wind in the area of ​​the fertilizer spreader with regard to the predominance of uniform, turbulent or gusty wind conditions.

[0035] Preferably, wind directions and wind speeds measured by means of a wind sensor traveling with the fertilizer spreader and / or at least one drone flying over the agricultural area are stored in the form of a wind map and in particular superimposed on a topographic map of the agricultural area.

[0036] Preferably, the wind map is mechanically compared with an application map containing location-specific target spreading rates and actual applied spreading rates of the fertilizer, with a precipitation map containing historical and / or predicted local precipitation amounts, with a solar radiation map containing historical and / or predicted local hours of sunshine and / or with a settings map containing location-specific setting parameters of the fertilizer spreader, in order to plan future application processes for spreading the fertilizer on the agricultural area based on historical data of comparable application processes.

[0037] This allows deviations from the measured wind direction and wind speed expected in the area of ​​the scattering fan to be estimated even more precisely, for example to determine possible influences of thermals, to calculate a topographically corrected wind direction and wind speed and to use these to determine the target throw angles and rotational speeds of the scattering discs.

[0038] Wind sensors generally only allow wind measurements at specific points. Examples include ultrasonic measurement with a cross-shaped measuring array, measurement using Doppler lidar, determination via satellite data, and / or measurement using drones. Current systems assume that the measured wind directions and speeds are present across the entire scattering area and / or can be calculated by interpolation / extrapolation when using multiple sensors. However, wind conditions, particularly in the rear part of the scattering area, can differ significantly from those in the vicinity of the wind sensors due to topographical influences, especially wind obstacles such as hills, buildings, and trees.

[0039] By determining wind and position data and assigning geographical positions to wind-altering topographic features, for example using a topographic map, it is possible to infer the flow conditions across the entire area of ​​the respective spread fan (preferably encompassing all fertilizer trajectories) from point-measurement wind data. Flow simulations and / or location-dependent and, if necessary, wind-direction-dependent wind coefficients can be used to characterize local wind weakening or intensification.

[0040] By repeatedly passing through the relevant flow fields, wind data is collected, which can be used to validate and optimize the simulations and / or determined wind coefficients.

[0041] Using simulations and / or the determined wind coefficients, the distribution quality of the fertilizer can be calculated and stored during spreading. By taking into account the topography and, if necessary, other environmental information and / or derived wind coefficients, this is possible more precisely than based solely on conventional wind measurements. Warnings can be issued before or during a spreading operation if the distribution quality is poor.

[0042] Additionally or alternatively, the settings of the fertilizer spreader can be adjusted when approaching relevant topographical features or associated wind changes, for example by changing the rotational speed of the respective spreading disc to proactively adjust the throwing distance.

[0043] Furthermore, tramline planning for future spreading operations is possible / adaptable based on this information. For example, a fixed tramline system does not need to be observed in grassland, so spreading operations with adapted tramline systems are conceivable there. It is also possible to plan an adapted tramline system for a future sowing operation based on this information.

[0044] When driving out of areas with special wind conditions, such as relevant wind shadows, the settings of the fertilizer spreader should not be changed as soon as the wind sensor indicates changes, but only when larger parts of the spreading area are no longer subject to the special wind conditions.

[0045] When adjusting settings based on wind conditions, the following parameters, for example, could be considered: relative position of the sensor to the spreading pattern or partial width; direction and speed of movement; relative positions to the topographical feature; last known or measured wind direction and speed; and the fertilizer's flight characteristics. A vector component decomposition of the wind direction is advantageous in this context.

[0046] Wind data can be stored in the form of a wind map for later analysis. This map preferably also depicts the topography to allow for an analysis of its relationship to local wind conditions. Local thermal activity can also be advantageously considered. For this purpose, temperatures, solar radiation, and the surface texture of the ground can be analyzed and evaluated.

[0047] Preferably, the spreading discs and associated induction systems are controlled with varying inertia and / or amplitude depending on the wind direction relative to the boundary being spread, particularly relatively quickly / with a larger amplitude when the wind is blowing from the fertilizer spreader towards the boundary and relatively slowly / with a smaller amplitude when the wind is blowing from the boundary towards the fertilizer spreader. This reliably prevents fertilizer from being thrown beyond the boundary. A deterioration of the spreading pattern on the inside of the field is, in contrast, more acceptable.

[0048] Preferably, during boundary spreading, the settings of the spreading discs, any attached throwing vanes and / or an associated boundary spreading screen, as well as a target distance of the spreading fan to the traversed boundary, are automatically adjusted depending on the wind direction and wind speed. Depending on the wind strength and / or variability, this reduces the risk of unwanted spreading beyond the field boundary.

[0049] Preferably, based on calculated and / or measured actual launch angles and actual throw distances, the resulting spread patterns and / or lateral distributions of the mineral fertilizer are calculated for the wind direction and wind speed assumed, particularly in the area of ​​the spread patterns, and the associated compensatory changes are displayed, especially in the form of polygons. This enables a clear and quickly comprehensible visualization of the compensatory control.

[0050] Preferably, over- and under-fertilization are visualized by color-coding affected areas and / or widths on a map of the agricultural land. Areas are preferably shown with different color scales before spreading, after the first pass, and after a subsequent pass. For example, the actual amount applied is displayed, which should generally correspond to the intended target amount after a second pass at the latest. This can be taken into account, for example, during a subsequent pass or a future spreading operation. In principle, predicted amounts could also be displayed in a similar manner.

[0051] Preferably, in section control systems, deviations of wind-induced actual positions of section widths (TB) from their target positions are measured, calculated, and / or displayed, and / or the actual positions are adjusted accordingly. This allows users to estimate the positions, extents, and application rate distributions, and / or switching points of spreading patterns, in a clear and concise manner. Deviations of wind-induced actual positions of section widths (TB) from their target positions can be taken into account during a compensatory adjustment.

[0052] Preferably, a database and / or at least one function is maintained for characterizing a large number of different application situations and / or wind conditions and / or scattering patterns. Furthermore, actual launch angles and actual throw distances are then calculated based on the respective set scattering pattern and the wind measured / estimated, for example, on the basis of wind maps and / or drone overflights.

[0053] The adjustment of the target discharge angle could also be deactivated and replaced by applying a fixed discharge angle if the actual working width resulting from maximum wind compensation deviates too much from the target working width, i.e., by more than a specified or definable amount. This allows the wind compensation to be limited to specific control ranges in a way that is transparent and comprehensible for the user.

[0054] The problem is also solved with a control system for a fertilizer spreader comprising a computing unit and at least one program stored therein for compensatory control of the spreading discs of the fertilizer spreader together with associated inlet systems according to the method according to at least one of the preceding claims.

[0055] The control system further includes the components described with regard to the corresponding functions / process steps, such as at least one database, a data bus, and / or a radio interface, which, for example, can enable communication with at least one drone for accompanying wind measurement. A wind sensor mounted on the fertilizer spreader and / or an associated tractor can be connected to the data bus.

[0056] The control system is then preferably part of a fertilizer spreader for applying fertilizer by means of two spreading discs.

[0057] Preferred embodiments of the invention are illustrated in the drawings. They show: Fig. 1A - 1C Schematic representations of a scattering fan in calm conditions and under different wind conditions; Fig. 2A bis 2E Schematic representations of various flow situations in crosswinds; Fig. 3 a schematic representation of a database containing maps of agricultural land; Fig. 4 a schematic representation of a visualization of distribution quality; Fig. 5A and 5B a schematic representation of situations in border control; Fig. 6 a schematic representation of a variant with a monitoring system for generated scattering patterns; and Fig. 7 A schematic representation of a situation involving section control.

[0058] The Fig. 1A bis 1C Figure 1 shows, by way of example and schematic representation, a fertilizer spreader 1 spreading mineral fertilizer 2 under idealized conditions of calm winds and under different characteristic wind conditions. Details of the fertilizer spreader 1 that are known in principle are also shown in the figure. Fig. 7 The figure shows two spreading discs 3 with throwing vanes 3a, which rotate in directions 3b. Also indicated are the application areas 4, also called application points, of the (in principle known in their function and therefore not shown) feed systems for the fertilizer 2 onto the spreading discs 3.

[0059] The fertilizer spreader 1 includes an electronic control system 5 with which the positions of the application surfaces 4 are set according to individual target discharge angles AW1, AW2 for the spreading discs 3, for example by pivoting in / against the respective direction of rotation 3b of the spreading discs 3 and / or by moving in a radial direction.

[0060] The individual rotational speeds DZ1, DZ2 of the spreading discs 3 can also be set using the control system 5, according to individual target throw distances WW1, WW2. The metering quantities DM1, DM2 of fertilizer 2 delivered by the feed systems to the spreading discs 3 can also be individually adjusted. These basic functions are known and therefore not described in detail.

[0061] As the Fig. 1A bis 1C As indicated in each case, the spreading discs 3, with identical settings and no wind, produce a first spreading fan SF1 of the fertilizer 2 that is essentially symmetrical with respect to the direction of travel F. This is preferably produced by specifying target drop angles AW1, AW2 and target throw distances WW1, WW2, which are defined, for example, with respect to a center of gravity of the fertilizer distribution.

[0062] The first spreading pattern SF1 represents a target spreading pattern for the fertilizer 2. Ideally, the moving fertilizer spreader 1 thus produces a first lateral distribution QV1 of the fertilizer 2 that is axially symmetrical with respect to the direction of travel F, in accordance with a target lateral distribution to be maintained / achieved. This is adjusted to a target working width AB1 (see Fig. 5A and 5B The system generates a curve such that adjacent first cross-distributions QV1, which are created in the field interior along equidistant tramlines, sum to form a curve that is as horizontal as possible, a principle that is generally known. A curve that is as horizontal as possible corresponds to a uniform (homogeneous) application of spreading material per unit area. Alternatively, a curve that corresponds to an inhomogeneous target distribution may be desired, for example, because different areas require different target quantities due to additional conditions.

[0063] The Fig. 1A This diagram exemplifies the disruptive influence of wind 6, which blows with a wind direction WR perpendicular to the direction of travel F. The wind direction WR is symbolized by the orientation of block arrows, and the wind speed WG (wind force) by their size. This form of representation is also used elsewhere.

[0064] The exclusively laterally incident wind 6 leads to a second scattering fan SF2 that is distorted in the lateral direction S (transverse direction) and a correspondingly distorted second transverse distribution QV2, resulting in a compensable actual transverse distribution. The resulting deviation ΔQV of the second transverse distribution QV2 from the first transverse distribution QV1 is shown as an example difference curve. This is accompanied by a lateral shift ΔS of the second scattering fan SF2 relative to the first scattering fan SF1.

[0065] The control system 5 of the fertilizer spreader 1 comprises at least one (example in the Fig. 3 The electronic computing unit 5a (shown) contains a correction program to counteract the deviation ΔQV of the second lateral distribution QV2 from the first lateral distribution QV1, or the lateral displacement ΔS, otherwise caused by the wind 6, and in particular to minimize these deviations. In other words, this straightens out the second distribution fan SF2 and aligns it as closely as possible with the first distribution fan SF1.

[0066] For such a correction of the second scattering fan SF2 or the second lateral distribution QV2, the target launch angles AW1, AW2 and / or throw distances WW1, WW2 are adjusted compensatorily compared to their standard values ​​for calm conditions, for example by a current calculation of compensatory values ​​for the target launch angles AW1, AW2 and / or throw distances WW1, WW2 and / or by selecting them from a list of previously calculated compensatory values.

[0067] The computing unit 5a of the control system 5 includes, for example, a correction program to counteract a deviation ΔWW of the actual throwing distances WW3, WW4 from the target throwing distances WW1, WW2 induced by the wind 6 and in particular to minimize the deviation ΔWW.

[0068] Such adjustments are, in principle, possible simultaneously or overlapping. For example, rotational speed and discharge angle can be corrected in this way, whereby the rotational speed can only be adjusted with a systematically induced inertia. The control system can include suitable filter functions, for example in the form of a deadband, which prevents continuous and overly sensitive control of the spreader.

[0069] In parallel, the base speed can also be adjusted, thus changing the basic characteristics of the scatter pattern. In particular, the base speed can be reduced, for example from 900 to 800 rpm, to then have a control range of 200 rpm up to an assumed maximum speed of 1000 rpm available for wind compensation. If the available range (depending on the wind) is repeatedly insufficient to compensate against the wind, the basic scatter pattern can be "converted" to 800 rpm and then operated at this base speed.

[0070] Suitable correlations between different wind directions and speeds WR, WG and correspondingly appropriately counteracting or compensating target launch angles AW1, AW2 and target throw distances WW1, WW2 can be determined in advance, for example, through scattering tests and / or based on measurements from previous scattering events and / or determined by simulating the wind influence and modeling the scattering behavior. This also applies in principle to correlations with disc rotation speeds and / or throw distance adjustments.

[0071] Control system 5 can either display the opposing / compensating values ​​as a suggested setting or apply them automatically. This may depend on the extent of the necessary compensation and / or the specific application situation, as described below by way of example (but not as a limitation) regarding limit fidelity.

[0072] In accordance with the compensatorily changed target discharge angles AW1, AW2, the control system 5 then primarily sets the rotational speeds DZ1, DZ2 and then, for supplementary correction, the positions of the feed surfaces 4 and, if necessary, also the positions of the throwing blades 3a.

[0073] In the Fig. 1A Furthermore, the actual drop angles AW3, AW4 of the uncompensated second scattering fan SF2 are shown, which, however, do not adjust to the wind compensation described, but are instead adjusted as closely as possible to the target drop angles AW1, AW2 for ideal conditions.

[0074] The Fig. 1B clarifies, in reference to the Fig. 1A For example, the disruptive influence of wind 6, which blows with a wind direction WR parallel to the direction of travel F.

[0075] In this case, the wind 6 results in a third spreading fan SF3 that is extended rearward by a spread ΔF in the opposite direction of travel F and is comparatively slightly compressed laterally S. The distribution centers of the third spreading fan SF3 are shifted parallel to the direction of travel F, resulting in a deviation ΔWW of the actual throw distances WW3, WW4 of the fertilizer 2 (starting from the respective spreading disc 3) compared to the target throw distances WW1, WW2, which, for the sake of simplicity, are indicated on the first spreading fan SF1 for calm conditions.

[0076] Due to the increased throw distances WW3 and WW4 in the example, fertilizer 2 is distributed over a larger area, so that the resulting third lateral distribution QV3 is flatter overall than the first lateral distribution QV1.

[0077] The processing unit 5a of the control system 5 also includes a correction program to account for such wind-induced deviation ΔWW of the actual throwing distances WW3, WW4 from the target throwing distances WW1, WW2 at the switch-on and switch-off points (when entering and exiting the headland). In the case of a headwind, the switch-off point is moved further away from the interior of the field. The switch-on point is moved further into the field, corresponding to the calculated displacement in the direction of travel caused by the wind.

[0078] Control system 5 can either display / suggest the corrected switching points or apply them automatically. This may depend on the extent of the necessary compensation and / or the specific application situation, as described by way of example (but not as a limitation) with regard to section control.

[0079] In accordance with the compensatorily modified target throw distances WW1, WW2, the control system 5 then adjusts, for example, the rotational speeds DZ1, DZ2 of the spreading discs 3 and the positions of the feed surfaces 4 and / or the positions of the throwing vanes 3a. For example, one starts with the rotational speed / throw distance and determines the throw direction accordingly. However, both values ​​are usually calculated in real time and thus in parallel. The preference for throw distance as the starting point is based on a fundamental interpretation of scattering patterns, in which the throw distance is usually considered "semi-constant".

[0080] For wind blowing in the opposite direction (6), i.e., tailwind, the procedure described above applies analogously, in principle only with reversed signs regarding the shift of the switching-on and switching-off times.

[0081] The Fig. 1C Figure 6 shows, by way of example, the disruptive influence of a wind 6 falling obliquely from any direction, which consequently consists of a lateral component WS orthogonal to the direction of travel F and a directional component WF parallel to the direction of travel F.

[0082] Wind 6 then causes a fourth dispersion fan SF4 that is distorted laterally in the direction S and is also noticeably shifted / spread out in the opposite direction of travel F. This fourth dispersion fan SF4 leads to a correspondingly distorted fourth transverse distribution QV4, which is the actual transverse distribution and requires compensation. The resulting deviation ΔQV of the second transverse distribution QV4 from the first transverse distribution QV1 (target transverse distribution) is illustrated as an example difference curve.

[0083] The shift of the fourth spreading fan SF4 also means a deviation ΔWW of the actual throw distances WW3, WW4 of fertilizer 2 compared to its target throw distances WW1, WW2 (similar to the Fig. 1B , therefore not shown again).

[0084] Preferably, a displacement ΔSF of the fourth scattering fan SF4, generated by the scattering discs 3 under wind influence, is determined relative to the scattering fan SF1 generated without wind influence. For this purpose, the scattering pattern displacement ΔSF of the respective distribution centers (here, the scattering fans SF1 to SF4) resulting from the wind direction WR and the wind speed WG of the wind 6 can be calculated. The displacement ΔSF is then decomposed into a lateral component ΔSFS orthogonal to the direction of travel F and a directional component ΔSFF parallel to the direction of travel F.

[0085] It is particularly practical to reduce the deviation of the actual throw range ΔWW and / or the scatter pattern displacement ΔSF on the basis of their lateral component ΔSFS, for example without or with less weighted consideration of the associated direction of travel component ΔSFF.

[0086] The compensatory adjustment of the target launch angles AW1, AW2, on the other hand, is preferably calculated on the basis of the overall displacement ΔSF.

[0087] To reduce / minimize the deviations ΔQV and / or ΔWW and / or ΔSF in this way, the wind influence 6 to be compensated can be additionally or alternatively decomposed vectorially by the control system 5 into a lateral component WS (corresponding to orthogonal crosswind) of the wind 6 that is orthogonal to the direction of travel F and into a directional component WF (corresponding to parallel headwind or tailwind) of the wind 6 that is parallel to the direction of travel F.

[0088] The vector decomposition is in the Fig. 1C The diagram schematically and exemplarily illustrates both the scatter pattern shift ΔSF and the wind direction WR. Accordingly, the wind direction WR of wind 6 determines the respective relative magnitudes of the lateral component WS and the directional component WF. The wind speed WG (wind force) of wind 6 naturally affects the absolute values ​​of the lateral component WS and the directional component WF in the same way. The components ΔSFS and ΔSFF of the scatter pattern shift ΔSF result directly from its vectorial decomposition.

[0089] The compensatory adjustment of the target launch angles AW1, AW2 and the target launch ranges WW1, WW2 is then preferably carried out with predominant weighting or entirely based on the lateral component ΔSFS (possibly WS). Compensatory adjustments in / against the direction of travel, on the other hand, are preferably carried out by adjusting switching times (on / off).

[0090] In principle, a modular correction program can be maintained in the control system 5, which, in particular on the basis of the vectorial displacement decomposition and / or wind decomposition into the lateral component ΔSFS, WS orthogonal to the direction of travel F and the directional component ΔSFF, WF parallel to the direction of travel F, can be adapted relatively easily and flexibly to different application situations in the field interior, at the field edge, with section control, in the area of ​​headlands or the like.

[0091] The preferred premise here is that in the lateral direction only or primarily a scattering pattern correction (compensation of the lateral scattering pattern shift) is carried out, and in the direction of travel only or primarily a switching point correction (compensation of the scattering pattern shift in / against the direction of travel) is carried out.

[0092] In the Fig. 2A It is schematically indicated that the arbitrarily occurring wind 6 can be continuously monitored in the area of ​​the fertilizer spreader 1 in a manner known in principle, i.e. by a wind sensor 7 arranged on the fertilizer spreader 1 or an associated tractor, which measures the respective wind direction WR and wind speed WG.

[0093] When considering wind conditions during fertilizer application 2, it has so far been simplified to assume largely uniform and essentially laminar wind 6 over the agricultural area 8 to be treated. This is in the Figur 2A The wind is schematically indicated by identically aligned and dimensioned block arrows.

[0094] It is also assumed, for simplification, that the wind direction WR and wind speed WG measured by wind sensor 7 are identical to those in the (entire) area of ​​the desired dispersion fan SF1. Accordingly, the measured wind direction WR and wind speed WG, possibly after suitable data processing such as averaging and / or filtering, are currently directly incorporated into calculations for wind compensation.

[0095] The described vector decomposition of the scatter pattern displacement ΔSF and / or the wind direction WR into the lateral component WS and the directional component WF is possible on this basis and is also advantageous in principle. However, additionally or alternatively, improved wind compensation is also possible by considering the influence of wind on topographic features 9 in the agricultural area 8, as described below by way of example.

[0096] According to this, the Fig. 2B This schematically illustrates that the wind conditions to be considered can be subject to strong fluctuations, both qualitatively and quantitatively. The diagrams show, for example, a consistently strong wind (6a), a consistently weak wind (6b), a gusty wind (6c), and a turbulent wind (6d), where, for instance, a locally fluctuating wind direction (WR) can be assumed.

[0097] While temporal fluctuations between such wind conditions could in principle be recorded with the wind sensor 7 and taken into account computationally, their spatial fluctuations over the agricultural area 8 have so far generally remained unconsidered.

[0098] As the Fig. 2C and 2D As can be indicated in this regard, topographic features 9 in the area of ​​the agricultural land 8 to be cultivated can significantly influence the local wind conditions over the desired scatter fan SF1 and also change them compared to the wind conditions recorded by the wind sensor 7.

[0099] As an example, a topographical feature 9 in the form of a row of trees is shown, over which a steady, strong wind 6a is blowing. Behind the treetops, for example, an upper area with turbulent, i.e., swirling wind 6d is created, and a lower area with a wind shadow 6e (indicated by dashed block arrows), which is decisive for the scatter fan SF1 in the situation shown and therefore temporarily represents the wind 6 to be compensated for. Similar wind conditions could occur, for example, next to buildings.

[0100] Topographic features 9 primarily form wind obstacles and therefore usually have a flow-reducing influence on the area of ​​the scattering fan SF1, possibly also in relation to the wind conditions recorded by the wind sensor 7.

[0101] The current influence of the wind on individual topographic features 9 can be estimated based on previous passes and wind measurements with the fertilizer spreader 1, or during the current pass by monitoring and evaluating the wind conditions when approaching, reaching, and / or leaving a specific topographic feature 9 in the individual tramlines. From this, conclusions can be drawn about the wind conditions to be expected in the area of ​​the topographic feature 9 during the next approach (in a different tramline). The described wind compensation can then be carried out proactively in this way, tailored to the topography.

[0102] Individual sub-areas 8a, 8b of the agricultural area 8 and / or geographical positions 10 of topographic features 9 can, for example, be assigned wind coefficients 12, which indicate the flow-changing influence of the topographic features 9 depending on the wind direction WR, for example the main wind direction, and if applicable depending on the associated wind speed WG.

[0103] Starting from the continuously monitored geographic position 13 of the fertilizer spreader 1 and / or the wind sensor 7, at least one geographic position 14 of the spreading fan SF1 or of parts thereof can be determined based on the direction of travel F. The geographic position 14 can, for example, refer to a center of gravity of the fertilizer distribution within the spreading fan SF1.

[0104] If the scattering fan SF1 or its geographical position 14 is located in a specific sub-area 8a, 8b of the agricultural area 8 and / or in the area of ​​a geographical position 10 of a specific topographic feature 9, then the wind coefficient 12 assigned there is included in the calculation of the wind 6 and thus in the described wind compensation.

[0105] The applied wind coefficients 12 could be continuously updated with regard to the wind conditions, for example on the basis of wind measurements with the wind sensor 7 and / or a drone 15 flying over the agricultural area 8 and / or on the basis of externally collected weather data.

[0106] For example, in control system 5, each sub-area 8a, 8b could be assigned a set of wind coefficients 12, from which the wind coefficient 12 best suited to the current wind direction WR and / or wind speed WG, or the current direction and / or speed of movement of the fertilizer spreader 1, would then be selected and applied. This means that the topographical features 9, in the form of the wind coefficients 12, can have varying effects on the wind direction WR and wind speed WS of the wind 6, which is assumed for the calculation of the wind compensation and consequently forms the basis for it, depending on the prevailing main wind conditions. However, other automated calculation methods or selection procedures are also conceivable.

[0107] It is also possible to monitor local changes in wind direction WR and / or wind speed WG, for example, using the wind sensor 7 while driving along a topographic feature 9 in a lane, and to assume similar local changes when driving along the same topographic feature 9 in an adjacent lane. It is then assumed, for example, that a topographic feature 9 causes a more or less pronounced wind shadow depending on its distance from the respective lane. Furthermore, the influence of this can be continuously estimated depending on the change in wind direction WR.

[0108] As the Fig. 2E As can be seen by way of example and in a highly simplified manner, a topographic feature 9 could also have a flow-enhancing effect on the area of ​​the scattering fan SF1, possibly even compared to the wind conditions recorded by the wind sensor 7. Accordingly, the topographic feature 9 could be, for example, a slope, a hill, or a col with local wind amplification, or the like.

[0109] Depending on its relative position to the topographic feature 9, the wind sensor 7 could then measure the relatively weak laminar wind 6b, the relatively strong laminar wind 6a (here a downslope wind), the turbulent wind 6d, or a mixture thereof. The wind 6 relevant for the area of ​​the scatter fan SF1 to be produced could differ from this and be corrected based on knowledge of the relative geographical position of the scatter fan SF1 and the topographic feature 9.

[0110] In addition, topographic features 9 can have different effects on the wind 6 relevant for the scattering fan SF1 depending on the prevailing main wind direction, for example causing a wind shadow 6e, turbulence or particularly strong wind currents.

[0111] The Fig. 3 Figure 1 shows an example of how the wind coefficients 12 and / or other data characterizing the environmental conditions in the agricultural area 8 can be managed and applied in the control system 5. For example, the wind coefficients 12 can be assigned to a wind map 16, which is overlaid on a topographic map 16a, in order to assign the wind coefficients 12 to sub-areas 8a, 8b of the agricultural area 8 and / or to geographical positions 10 of the topographic features 9.

[0112] The control system 5 then comprises, for example, at least one computing unit 5a, one database 5b, one data bus 5c, and one radio interface 5d, which enables, for example, communication with at least one drone 15 for accompanying wind measurement and / or with external systems. At least one wind sensor 7, mounted on the fertilizer spreader 1 and / or on an associated tractor, is also connected to the data bus 5b.

[0113] Furthermore, additional maps or similar data formats relating to the agricultural area 8 to be treated can be connected to the data bus 5c. Examples of such connected maps include an application map 17, for instance, with location-specific target and actual application rates of fertilizer 2; a precipitation map 18 with historical and / or forecasted local precipitation amounts; a solar radiation map 19 with historical and / or forecasted local hours of sunshine; and a settings map 20 with location-specific setting parameters of the fertilizer spreader 1.

[0114] The drone 15 can measure the wind direction WR and wind speed WG while flying over the agricultural area 8 and transmit this data to the control system 5. Using such data, computational models that determine the location-specific wind 6 based on the topography and conventional wind maps can be validated and improved.

[0115] Furthermore, the drone 15 can fly over the agricultural area 8 before the fertilizer application. This makes it possible to determine whether, with the planned application – i.e., with the fertilizer 2 to be applied, the selected spreading disc 3, and the settings made – fertilization with sufficient distribution quality is possible under the currently measured wind conditions, for example, by estimating the expected coefficients of variation, or whether the application / spreading of the fertilizer 2 should be postponed, at least in parts of the agricultural area 8.

[0116] Furthermore, based on a drone flight, settings adapted to the current wind conditions can be recommended and, if necessary, transmitted to the fertilizer spreader. This allows, for example, the creation of larger areas with overlapping application in strong winds. The drone can also fly directly ahead of the fertilizer spreader to adjust its settings to current wind data while it is in motion.

[0117] It could also be a swarm of two or more drones 15 that spatially detect the wind 6 in a space around and / or immediately in front of the current spreading pattern / spreading fan SF1 and transmit this wind data to its control system 5 and in particular the computing unit 5a or similar job computers for more precise control of the fertilizer spreader 1.

[0118] Extensive application evaluations, application forecasts and setting recommendations are possible using the database 5b and / or cartographic data from the topographic map 16, the application map 17, the precipitation map 18, the solar radiation map 19 and / or the settings map 20.

[0119] For example, the recorded data during or after a spreading season can be presented in the form of a wind log, summarizing wind data and any associated application data in daily and / or weekly reports. This log could, for instance, indicate what proportion of a day's spreading time was uncritical with regard to wind conditions. If data from fertilizer 2 and settings from fertilizer spreader 1 are also included, the wind log can be expanded into a spreading quality log. This log could, for example, indicate what proportion of a day's spreading time was uncritical with regard to spreading quality.

[0120] The informative value of such diaries can be increased if the topographical features 9 in the area of ​​the agricultural land 8 are taken into account and / or current data, such as wind / weather data and setting / application data, are supplemented with data from past and especially corresponding application processes.

[0121] Furthermore, wind conditions and scattering qualities for the agricultural area 8 can be evaluated depending on the date / season, time of day and / or with regard to regional meteorological characteristics.

[0122] This allows the user to optimize their spreading plan for a season or part of a season using historical data of the type mentioned above. Recommendations can then be made regarding which fertilizer should be applied when and on which area to prevent and / or minimize wind-related deterioration of distribution quality. This also enables quality optimization across multiple agricultural areas on average.

[0123] Such historical data may also reveal that a particular fertilizer 2 is more flexible in its application period and / or distribution quality and / or leads to better results than other fertilizers. For example, the result may be that a particular fertilizer 2 should ideally be spread at a specific time of day during certain seasonal periods, and / or that certain fertilizers 2 should be applied earlier or later in the season.

[0124] Control system 5 thus also enables gritting weather forecasts and / or targeted deployment planning for agricultural areas 8. Such forecasts of spreading quality can be used for different agricultural areas 8 and time periods to proactively optimize a spreading season with regard to distribution quality. For example, crop variety, fertilizer type, and associated spreading parameters can be planned in this respect.

[0125] Using a regional wind forecast, a distribution quality can be predicted for agricultural area 8 and a specific period, taking into account the type and characteristic properties of the fertilizer 2, for example, at a specific working width AB1. The forecast can be refined by further considering the settings of the fertilizer spreader 1, the respective directions of travel F, and / or the topography in the manner described in connection with the invention.

[0126] Forecasts regarding temperature, solar radiation, precipitation and / or humidity can also be incorporated into the planning, for example based on the maps mentioned above, since these environmental conditions substantially influence the physical properties of certain fertilizers 2 and thus the spreading results.

[0127] To refine a conventional rough plan based on prevailing wind direction and wind speed with regard to wind planning and compensation 6, the topography of the agricultural area 8 is preferably taken into account, i.e., geographical positions 10 and relevant topographical features 9. Forecasts of temperature and solar radiation may also be helpful in this regard, as well as current weather data, which may include, for example, probabilities and strengths of possible wind gusts.

[0128] An analysis of historical weather data, particularly precipitation data, for agricultural area 8 can provide information about the soil uptake of nutrients distributed during the first spreading application of the season. This allows for the estimation of losses that occur when the applied nutrient quantity could not be optimally absorbed by the soil due to the weather conditions during spreading. For example, it is possible to estimate the extent to which the applied nutrients were converted into a form usable by the respective plants, which may depend on factors such as the available moisture content. Such losses can be taken into account when planning subsequent spreading applications. Recorded weather data can also be used to determine how frequently such losses are to be expected. This can be considered when planning for additional nutrient requirements.

[0129] The susceptibility of spreading operations to wind influences depends on both the fertilizer 2 and the working width AB1 and / or throw distance WW1, WW2. In principle, large working widths AB1 and / or throw distances WW1, WW2 are more susceptible than small ones, and lighter fertilizers 2 are more susceptible than heavier ones. Based on weather forecasts, it can be determined during the planning phase of a spreading operation whether it is feasible with the required spreading quality under the expected environmental conditions. Control system 5 can display a corresponding risk assessment to users, for example, in the form of a traffic light system on an on-board screen or a mobile device.

[0130] Other dependencies described can also be considered in such a risk assessment. Using such assessments, an annual forecast can be created and the optimal seasonal period for a dispersal process can be determined.

[0131] The Fig. 4 illustrates a possible visualization of the distribution quality / spreading quality under wind influence, for example on an on-board screen of the fertilizer spreader 1 / associated tractor or on a mobile device based on the control system 5.

[0132] Three tramlines 21a, 21b, 21c are shown as examples, laid out equidistantly within the agricultural area 8 in a known manner. The intended first spreading fan SF1 is schematically represented as a trapezoid symmetrical to the direction of travel F, while a fifth spreading fan SF5, distorted laterally in the direction S by the lateral component WS of the wind 6, is shown as a correspondingly asymmetrical trapezoid.

[0133] A displacement of the fifth spreading fan SF5 towards the fertilizer spreader 1 caused by the direction of travel component WF of the wind 6 can be neglected in the situation shown as an example and is therefore not shown.

[0134] Accordingly, the ideal spreading pattern / ideal spreading fan SF1 when driving along the (here) middle tramline 21b extends in the idealized visualization of the spreading process between the centers of the respective adjacent tramlines 21a, 21c.

[0135] In the example of the Fig. 4 The left tramline 21a was treated with the ideal spreading pattern SF1 in a previous pass. This could have occurred, for example, under ideal wind conditions or with the described wind compensation. During treatment along the middle tramline 21b, the wind 6 blows with a predominantly lateral component WS and, without wind compensation, results in a correspondingly distorted lateral distribution QV5 of the fertilizer 2. Here, the spreading patterns SF1 (from the previous pass) and SF5 (from the current pass) overlap on the left side of the fertilizer spreader 1. The right tramline 21c, however, remains untreated.

[0136] The lateral distribution QV5 can be clearly and quickly identified by the user through the use of color and / or pattern to distinguish between different dispersion classes 22. In the example, a distinction is made between the classes "significantly too much" 22a, "too much" 22b, "within target" 22c, "too little" 22d, and "significantly too little" 22d. The classification and visualization can automatically take into account whether an adjacent tramline 21a, 21c has already been traversed. In principle, however, any classifications are conceivable for visualization, possibly even based on simulated / virtual journeys, for example, along tramline 21c. A classification "within target" is preferably only specified for areas where a subsequent journey has already taken place, since target / actual quantities generally result from the superimposition of subsequent dispersion patterns.

[0137] If the wind conditions were constant during the successive driving of adjacent tramlines 21a, 21b, and 21c, an identical wind-induced lateral distortion of the ideal spreading pattern SF1 (viewed in cardinal directions) would ideally result, despite the changing driving direction F. The asymmetry of the fifth lateral distribution QV5 would then gradually equalize. This means that areas under-fertilized when driving over one tramline 21b would be over-fertilized when driving over the other tramline 21c. In practice, however, the wind displacement 6 is usually not linear, resulting in a certain asymmetrical deformation of the spreading pattern and consequently local over- and under-fertilization.

[0138] To visualize the distortion of spreading fans SF1 to SF5 by the wind 6 as well as the compensatory adjustment or wind compensation, simplified geometric representations of the current spreading fans SF1 to SF5 and / or lateral distributions QV1 to QV5 of the fertilizer spreader 1 and / or the individual spreading discs 3 can be used, for example trapezoids or similar polygons.

[0139] It is also conceivable to use already common visualizations of wind direction, for example as a simplified wind rose, and wind speed, for example as a bar chart, with color gradation, for example in the sense of a traffic light, depending on whether and how often the wind compensation reaches the control limits of the control system 5 or would theoretically have to be regulated / compensated beyond that.

[0140] Additionally, a lateral distribution resulting from the outward and return journeys along adjacent tramlines 21a, 21b, 21c can be represented as diagram 23, which ideally (relative to a homogeneous target distribution) results in a horizontal line. Furthermore, representations commonly used in seeding technology would also be conceivable in principle, for example, bar charts (not shown) related to partial widths TB or color scales, and / or real-time representations of lateral distributions QV1 to QV5 or the like.

[0141] The compensatory countermeasures of control system 5 during activity could also be represented symbolically, for example by arrows. If the disruptive wind influences cannot be controlled / compensated by control system 5, this can be indicated by color on an application card 17.

[0142] Color-coded visualizations are particularly useful for identifying over- and under-fertilization, allowing affected sections / widths of the agricultural area to be color-coded accordingly. For example, the area might be uncolored before spreading and turn yellow on the first pass. It would then turn green after a successful subsequent pass or whenever the target application rate is reached. Application errors can be displayed using a color scale.

[0143] The user can then visually track how the wind fan SF1 to SF5 is deformed (distorted and / or shifted) by the wind 6, and to what extent this deformation is compensated by the control system 5. This allows the user to see how effective the wind compensation is in a given situation. Visualizations of actual, target, and compensation are possible, showing the potential or actual effect of the wind compensation. The underlying data can also be stored in database 5b for later use.

[0144] The Fig. 5A and 5Billustrate the influence of wind during border spreading, i.e. a situation in which the spreading disc 3 facing the interior of the agricultural area 8 is operated with the settings for normal working width AB1, and the spreading disc 3 arranged on the side of the boundary 8c of the agricultural area 8 is operated with settings for a reduced (only one-sided generated) working width AB2.

[0145] For border scattering, a sixth scattering fan SF6, which is also asymmetrical in calm conditions, is used in the sense of a target scattering pattern, while inside, the first scattering fan SF1, which is already described as being axis-symmetrical with respect to the direction of travel F, is used.

[0146] For this purpose, the SF6 scattering fan can be fundamentally changed by, for example, first adjusting the setting of the scattering discs 3, throwing vanes 3a and / or an associated boundary scattering screen (not shown).

[0147] In conjunction with wind compensation activated on both sides by control system 5, the inertia of the compensation control on the boundary side can cause the fertilizer 2 to be briefly thrown beyond the boundary in the event of strongly fluctuating wind speed and / or wind direction. This can happen, for example, if the wind initially blows strongly from the boundary and control system 5 therefore increases the rotational speed DZ2 and thus the throwing energy as a compensatory measure. If the wind 6 then suddenly changes direction, control system 5 may not be able to reduce the rotational speed DZ2 quickly enough due to the inertia of the spreading disc 3 and / or the inertia of the control system.

[0148] This can be counteracted by having the control system 5 receive information about the current wind conditions in the area of ​​boundary 8c from at least one drone 15, especially one flying ahead and / or upwind. This means that the wind activity along boundary 8c, particularly immediately in front of the current scattering fan SF6, is recorded, and wind compensation is performed proactively based on this information. In this way, even short-term wind changes could be taken into account in a timely manner.

[0149] Alternatively or additionally, wind compensation can be deactivated by control system 5 on both sides or only on the boundary side during border spreading. If this occurs automatically, a warning message can be issued indicating that wind compensation is deactivated and that the wind sensitivity of the fertilizer spreader 1 or the fertilizer discharge has therefore increased. Control system 5 could also issue such a warning message depending on the strength and / or variability of the wind 6, specifically only when the quality of the spreading pattern / spreading fan SF6 is likely to deteriorate significantly.

[0150] Depending on the strength and / or variability of the wind 6, the control system 5 could also continue to operate with reduced compensation, for example, by increasing the rotational speeds DZ1 and selectively reducing them by a certain percentage compared to compensation under stable wind conditions. This reduction in compensation could be triggered automatically.

[0151] In highly fluctuating wind conditions, the inertia of the compensation control can be increased so that relevant short-term wind influences average out or do not lead to an undesirably strong reaction (overshoot) of the compensation control. For example, an excessively strong compensatory reaction of the control system 5 to a short gust of wind could be more detrimental to the scatter pattern / scatter fan SF6 than accepting an uncompensated wind influence.

[0152] This applies particularly to field boundaries. Here, the response is additionally dependent on the prevailing wind direction, i.e., whether the wind 6 is blowing from or towards boundary 8c. The control inertia should then be adjusted to the prevailing wind direction as closely as possible.

[0153] If the wind blows from boundary 8c, for example, the control inertia can be comparatively high, since fertilizer 2 is then not thrown further towards the boundary to compensate, and a lower-quality spread pattern (SF6) can only occur on the inner side of the field. Due to legal requirements, optimization always favors the boundary situation, i.e., the boundary side, as incorrect application on the inner side of the field is more readily accepted and can be subsequently corrected if necessary.

[0154] If, on the other hand, the wind blows towards boundary 8c, the control system 5 must react more quickly to reliably prevent the fertilizer 2 from being thrown beyond boundary 8c. This may result in a deterioration of the spreading pattern SF6 on the inside of the field. However, this can be counteracted by adjusting the inertia of the spreading discs 3 and associated inlet systems depending on the boundary situation and the prevailing wind direction. The control inertia can be set differently for the spreading discs 3, depending on whether they are facing towards or away from boundary 8c. For example, the control system can react more quickly when the wind is blowing towards boundary 8c and adjust more slowly when the wind is decreasing.

[0155] Another way to reduce the risk of the pellet being thrown beyond the field boundary is to increase the target distance 26 to the boundary depending on the strength and / or variability of the wind 6. For this purpose, the spread pattern SF6 is fundamentally modified, for example, by first adjusting the settings of the spreader discs 3, throwing vanes 3a, and / or an associated boundary spreader screen (not shown) depending on the wind conditions. This can also be done automatically. This setting can then be further modified by the control system 5 for additional wind compensation.

[0156] As the Fig. 5A and 5BTo illustrate by way of example, the above differentiation according to prevailing wind direction can also depend on the type of area located beyond boundary 8c. For instance, if it is a road 24, the boundary situation is less critical than with an adjacent body of water 25. In critical boundary situations, a target distance 26 between the scattering fan SF6 and boundary 8c is preferably specified.

[0157] In the described cases, the dosage quantities DM1, DM2 of the fertilizer 2 are then adjusted to the spreading discs 3 as required. This allows different application rates 27, 28 (per unit area) to be set on the inner side of the field (higher) and on the boundary side (lower) of the spreading fan SF6.

[0158] The Fig. 6 schematically shows a variant of fertilizer spreader 1, in which (in the Fig. 1A schematically indicated) actual launch angles AW3, AW4 and the (in the Fig. 1B The actual throw distances WW3, WW4 for the scattering discs 3 (schematically indicated) are continuously measured by a monitoring system 31, for example by means of radar radiation, in a manner known in principle.

[0159] The control system 5 compares the actual discharge angles AW3, AW4 of the fertilizer 2 determined in this way with the target discharge angles AW1, AW2, which may have been adjusted for compensation. Depending on the deviation determined, the setting parameters of the fertilizer spreader 1 are changed so that the actual discharge angles AW3, AW4 are as close as possible to the target discharge angles AW1, AW2. By measuring the wind direction WR and wind speed WG of the wind 6 and, in particular, by subsequently decomposing it vectorially into the lateral component WS and the directional component WF and / or by taking into account the influence of the flow on topographical features 9 of the agricultural area 8, the influence of the prevailing wind 6 on the dispensed fertilizer 2 can be determined and taken into account.

[0160] The same applies to an optional adjustment of the actual throwing distances WW3, WW4 to the target throwing distances WW1, WW2. Monitoring system 31 measures the actual throwing distances WW3, WW4, for example, based on the throwing velocity of fertilizer 2. However, this measurement is only taken in one direction, and the influence of wind on this measurement cannot be precisely quantified. Therefore, the actual throwing distances WW3, WW4 are further adjusted to the real wind conditions using a computational component.

[0161] In order to counteract the disruptive influence of wind 6, the target launch angles AW1, AW2 and / or target throw distances WW1, WW2 are then appropriately adjusted depending on the vectorially decomposed and / or topographically corrected wind 6, as already described in principle above.

[0162] Depending on the application and the requirement for wind compensation, a variety of target launch angles AW1, AW2 and / or target throw distances WW1, WW2 can be stored in control system 5 in the form of electronic selection tables or similar. Alternatively, the influence of wind on the spread pattern (in the form of tables, functions, etc.) can be stored, allowing for the calculation of changes. Based on these changes and further tables, functions, etc., the necessary corrections to the set values ​​can then be calculated. This allows for the mapping of numerous dependencies between set parameters and launch parameters, enabling situation-specific consideration during spreading.

[0163] This can be particularly advantageous if a monitoring system 31 for measuring the actual drop angles AW3, AW4 and / or actual throw distances WW3, WW4 of the fertilizer 2 is not available. If, for example, only the wind sensor 7 is available, electronic selection tables or similar means for mapping the above dependencies into a wind compensation as described above can be advantageously integrated.

[0164] The Fig. 7 This illustrates the disruptive influence of, for example, a headwind 6 acting obliquely on the section control of the fertilizer spreader 1. Accordingly, the individual sections TB of a spreading pattern SF1 generated in calm conditions are shifted rearward against the direction of travel F on the side facing the wind 6 and are also offset laterally towards each other in direction S. The lateral distribution of the sections TB is thus compressed there. On the side facing away from the wind 6, the sections TB are also shifted rearward, but offset laterally away from each other in direction S. The lateral distribution of the sections TB is thus spread out there.

[0165] This results in a seventh spreading fan SF7 with excessive overlap of adjacent sections TB on the windward side. On the other side of the seventh spreading fan SF7 (indicated only by the sections TB), larger gaps appear between them. These gaps or overlaps merely provide a simplified visualization of under- or over-fertilization, as spreading fans in practice do not have sharp boundaries. Consequently, such areas are then over- or under-fertilized (but not not at all). These "gaps," however, can cause problems with visualization and processing on the spreader equipment.

[0166] Due to the wind-induced deviation ΔWW of the actual throw distances WW3, WW4 from their target throw distances WW1, WW2, the (uncompensated) actual positions Pi (in the seventh spreading fan SF7) of all boom sections TB, viewed in the direction of travel F, also deviate from their target positions PS (in the first spreading fan SF1). Without wind compensation, the boom sections TB are then not switched according to the application specifications, in this example prematurely. This means that the boom sections TB arrive at a specific location later than anticipated by the control system 5.

[0167] Compensating for wind-induced deviations ΔWW in the actual throw distances WW3 and WW4 is usually the primary focus of section control. However, depending on wind direction and speed, as well as the degree of overlap between the sections TB in the first spreading pattern SF1 (target spread pattern), correcting an excessively compressed or spread lateral distribution of the respective sections TB to be controlled can be beneficial. For example, targeted overlap of the sections TB is also known to be desirable for the first spreading pattern SF1 to avoid untreated strips in the visualization and processing on the control units when cornering and / or under wind influence.

[0168] This means that wind compensation can be carried out, as is the case in principle with regard to the Fig. 1B and 1CIt is described that in the lateral direction only or primarily a scattering pattern correction (compensation of the lateral scattering pattern shift) is carried out and in the direction of travel only or primarily a switching point correction (compensation of the scattering pattern shift in / against the direction of travel).

[0169] The section widths TB in the control system 5 of the fertilizer spreader 1 are preferably configured so that their distribution in the lateral direction S and, if possible, also in the direction of travel F, reflects the arc shape of the spreading fan SF1 or the respective target spreading fan. This allows switching points to be calculated and assigned with particular precision.

[0170] Additionally, the partial widths TB have a length 32 in the direction of travel F such that adjacent partial widths TB overlap in the lateral direction S. This prevents gaps in the visualization of the processing on the control computers, even when the spreading fan / partial widths TB swing out during cornering. This is in the Fig. 7 also indicated schematically.

[0171] Wind-induced actual positions of section widths (TB) can be measured, calculated, and / or displayed, for example, as deviations from their target positions. This allows users to estimate the positions, extents, quantity distributions, and / or switching points of spreading fans in a clear and concise manner.

[0172] The calculation of the switching points (corresponding to the wind-related actual positions of the section widths) can play a significant role, for example, when switching between the interior of the field and the headland, as well as in border situations and / or when working wedge-shaped areas.

[0173] In case of excessively strong winds (6), the control system (5) and its controlled actuators may no longer be able to provide the required level of wind compensation. The user can then use a simplified / clear visualization of the resulting spread pattern (SF1 to SF7) to get an idea of ​​the corresponding lateral distribution and decide whether or not to abort an ongoing spreading process.

[0174] In the event of excessively strong winds (6) and continued application, the insufficiently wind-compensated spreading pattern SF1 to SF7 can be georeferenced based on the setting parameters used and the measured / considered wind influence to enable targeted compensation of the faulty fertilizer application at a later time.

[0175] If the application requirements, such as the properties of fertilizer 2, allow for later adjustments, under-fertilization is preferable to over-fertilization in cases of insufficient wind compensation, as missing fertilizer can generally be added later. Over-fertilization, on the other hand, is irreversible and may cause irreversible damage.

[0176] If disruptive wind conditions cannot be adequately compensated for, operating the fertilizer spreader 1 in a "wind emergency mode" is conceivable, with a reduced application rate as a precaution. This ensures basic fertilization and largely avoids potentially harmful over-fertilization.

[0177] If the wind 6 is consistently strong enough to prevent the creation of a tramline-symmetrical spreading pattern SF1, its (then essentially constant) distortion and / or displacement can be accepted. The parallel tramlines 21a, 21b, 21c can then be treated with the distorted / displaced spreading pattern SF2 to SF4, whereby both lateral flanks should slope similarly, as they are mirror images of each other during the respective pass and the corresponding subsequent pass. Taking into account the wind-induced asymmetry of the respective spreading pattern SF4, a relatively uniform overlap can still be achieved.This case can be taken into account in the regulation by a special mode, so that the correction of the control parameters aims to create a spreading fan that is indeed shifted towards the tramlines by the wind, but which complements itself in the overlap of the evenly shifted spreading fans to achieve a good lateral distribution.

[0178] An adjustment / compensation regarding the width and shape of the spreading fan SF2 to SF4, as well as regarding the application rate 27, 28, is then particularly necessary for the first and last tramline driven on. The required compensation can also be offset by a wind-induced increase in the safety zone, i.e., the target distance 26 to the boundary 8c.

Claims

1. Method for electronically compensating for wind in a fertilizer spreader (1) which applies fertilizer (2) to an agricultural area (8) by means of rotating spreading disks (3), wherein the method is performed by a control system (5) of the fertilizer spreader (1), wherein the positions of feed surfaces (4) for the fertilizer on the spreading disks are set depending on target discharge angles (AW1, AW2) which are adjusted individually for the spreading disks in a compensatory manner on the basis of a wind (6) prevailing during the application in order to counteract a deviation (ΔQV) of an actual transverse distribution (QV2-QV5) of the fertilizer from a target transverse distribution (QV1) caused by the wind, wherein the speeds (DZ1, DZ2) of the spreading disks are adjusted in a compensatory manner in order to counteract a deviation (ΔWW) of an actual throwing distance (WW3, WW4) of the fertilizer from a target throwing distance (WW1, WW2) caused by the wind, characterized in that the wind direction (WR) and the wind speed (WG) of the wind (6) are vectorially decomposed into a travel direction component (WF) parallel to the travel direction (F) and a lateral component (WS) orthogonal to the travel direction in order to adjust the target discharge angles (AW1, AW2) and / or in order to reduce the deviation of the actual throwing distance (ΔWW), and in that the deviation (ΔWW) of the actual throwing distance (WW3, WW4) is reduced in a compensatory manner on the basis of the lateral component (WS), in particular with the weighting thereof being more significant than an associated travel direction component (WF).

2. Method for electronically compensating for wind in a fertilizer spreader (1) which applies fertilizer (2) to an agricultural area (8) by means of rotating spreading disks (3), wherein the method is performed by a control system (5) of the fertilizer spreader (1), wherein the positions of feed surfaces (4) for the fertilizer on the spreading disks are set depending on target discharge angles (AW1, AW2) which are adjusted individually for the spreading disks in a compensatory manner on the basis of a wind (6) prevailing during the application in order to counteract a deviation (ΔQV) of an actual transverse distribution (QV2-QV5) of the fertilizer from a target transverse distribution (QV1) caused by the wind, and wherein the speeds (DZ1, DZ2) of the spreading disks are adjusted in a compensatory manner in order to counteract a deviation (ΔWW) of an actual throwing distance (WW3, WW4) of the fertilizer from a target throwing distance (WW1, WW2) caused by the wind, wherein a shift (ΔSF) of the spread fan (SF2) produced by the spreading disks (3) under the influence of wind relative to a spread fan (SF1) produced without the influence of wind is ascertained from the wind direction (WR) and the wind speed (WG) of the wind (6), characterized in that at least one lateral component (ΔSFS), orthogonal to the travel direction (F), of the shift (ΔSF) is calculated in order to reduce the deviation of the actual throwing distance (ΔWW), in particular an adjustment of the target discharge angles (AW1, AW2) is calculated on the basis of the total shift (ΔSF), and in that the deviation (ΔWW) of the actual throwing distance (WW3, WW4) is reduced in a compensatory manner on the basis of the lateral component (ΔSFS), in particular with the weighting thereof being more significant than an associated travel direction component (ΔSFF).

3. Method according to claim 2, wherein the target discharge angles (AW1, AW2) are adjusted in a compensatory manner on the basis of actual discharge angles assigned to the shift (ΔSF), in particular taking into account the compensation of the actual throwing distance.

4. Method according to any of the preceding claims, wherein transverse distributions (QV2-QV5) and / or spread fans (SF2-SF7) produced by the spreading disks (3) are corrected and in particular equalized by reducing the deviation of the actual throwing distance (WW3, WW4) from its standard value for non-windy conditions in a compensatory manner, and / or wherein transverse distributions (QV2-QV5) and / or spread fans (SF2-SF7) produced by the spreading disks (3) are corrected and in particular equalized by changing the target discharge angles (AW1, AW2) relative to their standard values for non-windy conditions in a compensatory manner.

5. Method according to any of the preceding claims, wherein a wind-changing and in particular wind-weakening influence of at least one topographic feature (9) present in the agricultural area (8) is quantified by measuring and / or calculating and is included when calculating the wind (6) prevailing in the region, in particular at a geographic position (14) of a spread fan (SF1-SF7) produced by the spreading disks (3), for in order to compensate therefor, in particular starting from a wind measured in the region of the agricultural area during the application, in particular wherein wind coefficients (12) are assigned to the topographic feature (9) and / or to a sub-region (8a, 8b) of the agricultural area (8) assigned thereto that quantify the wind-changing influence of the topographic feature depending on different wind directions (WR).

6. Method according to at least one of the preceding claims, wherein the wind direction (WR) and the wind speed (WG) are measured in the region of the fertilizer spreader (1) during the application and are stored with associated geographic measurement positions (13), and wherein these measurement values are further assigned the geographic position (10) of at least one topographic feature (9) of the agricultural area (8) as well as a prevailing main wind direction and main wind strength in order to quantify a wind-changing influence of the topographic feature in a location-specific manner, in particular with regard to main wind directions and main wind strengths.

7. Method according to at least one of the preceding claims, wherein wind directions (WR) and wind speeds (WG) measured at different heights, in particular by means of a wind sensor (7) traveling with the fertilizer spreader (1) and by means of a drone (15) flying over the agricultural area (8), are compared by machine in order to qualitatively assess the wind (6) prevailing in the region of the fertilizer spreader with regard to the predominance of uniform, turbulent or gusty wind conditions.

8. Method according to at least one of the preceding claims, wherein wind directions (WR) and wind speeds (WG) measured by means of a wind sensor (7) traveling with the fertilizer spreader (1) and / or by means of at least one drone (15) flying over the agricultural area (8) are stored in the form of a wind map (16) and in particular are superimposed on a topographic map (16a) of the agricultural area (8), in particular wherein the wind map (16) is compared by machine to an application map (17) with location-specific target spreading quantities and applied actual spreading quantities of the fertilizer (2), a precipitation map (18) with historical and / or forecast local precipitation quantities, a solar radiation map (19) with historical and / or forecast local sunshine hours, and / or a setting map (20) with location-specific setting values of the fertilizer spreader (1) in order to plan future trips for applying the fertilizer (2) to the agricultural area (8) on the basis of historical data from past trips of in particular corresponding application processes.

9. Method according to at least one of the preceding claims, wherein the wind direction (WR) and the wind speed (WG) as well as associated geographic measurement positions (13) are measured by means of at least one drone (15) flying over the agricultural area (8) and in particular flying ahead of the fertilizer spreader (1).

10. Method according to at least one of the preceding claims, wherein the spreading disks (3) and associated inlet systems are controlled with different inertia and / or amplitude during the boundary spreading depending on the wind direction (WR) with respect to the traveled boundary (8c), in particular relatively quickly / with a greater amplitude when the wind is blowing from the fertilizer spreader (1) toward the boundary and relatively slowly / with a lesser amplitude when the wind is blowing from the boundary toward the fertilizer spreader and / or wherein during the boundary spreading, setting values of the spreading disks (3), of throwing vanes (3a) present thereon and / or of an assigned boundary spreading screen and additionally a target spacing (26) from the traveled boundary (8c) are each adjusted depending on the wind direction (WR) and the wind speed (WG).

11. Method according to at least one of the preceding claims, wherein on the basis of calculated or measured actual discharge angles and the actual throwing distances (WW3, WW4), the shape and / or position of spread fans (SF1-SF7) and / or transverse distributions (QV1-QV5) of the fertilizer (2) are calculated for the wind direction (WR) and the wind speed (WG) assumed in particular in the region of the spread fans, and associated compensatory changes are displayed in particular in the form of polygons and / or wherein over-fertilization and under-fertilization are visualized cartographically by color scaling of relevant sub-regions and / or sub-widths (TB) of the agricultural area (8), wherein different color scalings are used in particular for areas before the spreading process, after the first pass and after the subsequent pass.

12. Method according to at least one of the preceding claims, wherein in partial width control, deviations of wind-related actual positions (Pi) of individual partial widths (TB) from their target positions (PS) are measured, calculated and / or displayed and / or the actual positions (Pi) are adjusted in a compensatory manner.

13. Method according to at least one of the preceding claims, wherein a database (5b) and / or at least one function for characterizing a multitude of different application situations and / or wind conditions and / or spread patterns is maintained and actual discharge angles and the actual throwing distances (WW3, WW4) are calculated on the basis of each set spread pattern and of the measured / assessed wind.

14. Control system (5) for a fertilizer spreader (1), comprising a computing unit (5a) and at least one program stored therein for controlling the spreading disks (3) of the fertilizer spreader together with associated inlet systems in a compensatory manner according to the method according to at least one of the preceding claims.

15. Fertilizer spreader (1) for applying fertilizer (2) by means of two spreading disks (3) of the fertilizer spreader (1), comprising the control system (5) according to claim 14.