Method for the open-loop and / or closed-loop control of an agricultural distribution machine, and agricultural distribution machine

Abstract

Method for the open-loop and / or closed-loop control of an agricultural distribution machine (100), in particular a field sprayer, when dispensing a liquid distribution material (S), in which at least one closed-loop control variable, in particular a system pressure and / or a throughput, for the distribution material (S) is determined and / or predefined, the distribution material (S) being conveyed at least in portions along a liquid circuit (200) formed within the distribution machine (100) on the basis of the at least one closed-loop control variable, wherein the closed-loop control variable, in particular the system pressure or the throughput, is adjusted by means of at least one, in particular central, metering and / or actuating element (203A, 203B) arranged along the liquid circuit (200). In order to further improve dispensing of liquid distribution material (S) using an agricultural distribution machine (100), provision is made for the distribution machine (100) to be able to be operated with different closed-loop control strategies, wherein the closed-loop control variable which is adjusted by the at least one, in particular central, metering and / or actuating element (203A, 203B) is switched or at least substantially ignored based on the closed-loop control strategies.

Description

[0001] Method for controlling and / or regulating an agricultural distribution machine and agricultural distribution machine

[0002] The invention relates to a method for controlling and / or regulating an agricultural distribution machine according to the preamble of patent claim 1 and an agricultural distribution machine according to the preamble of patent claim 11.

[0003] To distribute liquid distribution materials on agricultural land, trailed, mounted, and / or self-propelled distribution machines, such as field sprayers, are regularly used. Depending on the requirements, the distribution material is often in the form of fertilizer, crop protection product, weed killer, pesticide, or similar, and is generally applied or distributed via a variety of distribution nozzles, particularly spray nozzles, located on the distribution machine. To ensure that the distribution material is delivered to the respective distribution nozzles as needed, the flow of the distribution material within the machine is controlled and / or regulated accordingly. The manner in which the flow is controlled and / or regulated varies depending on the distribution machine and / or application.

[0004] For example, distribution machines are known from the prior art in which a predetermined and / or specific, in particular central, flow rate of the material being distributed is controlled and / or regulated by at least one dosing and / or actuating element arranged along a fluid circuit of the distribution machine. Such a control strategy is often referred to in the prior art as centralized volume flow control, in particular with decentralized pressure control, and is used for comparatively large-area distribution with relatively large flow rates or volume flows.

[0005] However, such a control strategy has the disadvantage that, at relatively low flow rates, the detection and thus the control and / or regulation of the flow rate is inaccurate. This control strategy is therefore particularly disadvantageous for single-plant treatments and / or during application via a decreasing or small number of application nozzles, such as between converging and / or triangular field boundaries.

[0006] To address the problems described above, distribution machines are also used in practice. These control and / or regulate the material conveyed along the fluid circuit to a predetermined and / or specific system pressure using at least one dosing and / or actuating element. Such control strategies are often referred to in the art as central pressure control.

[0007] However, such control strategies have so far had the disadvantage that the respective information or properties of the application nozzles used, in particular the associated dosing and / or switching elements, must always be known and / or monitored so that the actual application rate can be determined and / or adjusted via the respective, especially individual, application nozzles depending on the system pressure. Such information or properties must currently be recorded and / or provided specifically for the respective application nozzles, in particular the dosing and / or switching elements, which is particularly complex.

[0008] Furthermore, such a control strategy has the disadvantage that, with information or properties recorded and / or provided in this way, changes to the respective application nozzle, which occur, for example, in the form of aging or wear and which influence the flow of the material to be distributed, are at least almost ignored when determining the flow and / or application rate.

[0009] The object underlying the invention is therefore to further improve the application of liquid distribution material using an agricultural distribution machine. In particular, the object is to at least partially overcome the aforementioned disadvantages in the application of the liquid distribution material. This object is achieved by a method of the type mentioned above, wherein the distribution machine can be operated with different control strategies, and wherein, based on the control strategies, the controlled variable set by at least one, in particular central, dosing and / or actuating element is changed or at least substantially ignored.

[0010] It is particularly preferably provided that the distribution material conveyed along the liquid circuit is adjusted by means of the at least one, in particular central, dosing and / or actuating element in a selectable first control strategy to the determined and / or predetermined system pressure and in a selectable second control strategy to the determined and / or predetermined flow rate.

[0011] As a result of this measure, the distribution machine can be operated with different control strategies in different situations. In particular, it can be provided that the distribution machine is operated at least predominantly or during normal operation with one of the several control strategies, e.g. with the first control strategy, during application, and with the other control strategy, e.g. with the second control strategy, during special operations such as acceleration or turning maneuvers, application close to field boundaries, calibration processes, etc. This means that at least one, in particular central, controlled variable of the control system can be adapted and / or replaced during operation of the distribution machine. In particular, the control and / or regulation of the distribution machine can thus be switched between, for example, central volume flow control and central pressure control.This has the advantage that the control and / or regulation of the distribution machine can be adapted to the situation and is therefore particularly flexible.

[0012] Furthermore, when ignoring the controlled variable, it can preferably be provided that the at least one dosing and / or actuating element is at least almost completely opened, for example, for a maximum flow rate. The flow, in particular the flow rate, of the material to be distributed is thus not controlled and / or adjusted by the dosing and / or actuating element during application in the second control strategy.

[0013] In the following, the term "control strategy" is preferably understood to mean a control mode of the distribution machine, in particular the control and / or regulation. It is particularly preferred that the control mode be selected from at least a first and a second control mode, which particularly preferably correspond to a first and a second control strategy.

[0014] As described above, the control strategy of the distribution machine can be changed during application, particularly during the crossing of the agricultural area. Furthermore, it is envisaged that the control strategy can be changed and / or modified alternatively or additionally in advance or before the distribution of the material, for example, at least temporarily on a designated test area and / or in a workshop or similar.

[0015] The at least one metering and / or adjusting element arranged along the fluid circuit is preferably designed in the manner of a control valve and is configured to influence and / or adjust the system pressure and / or the flow rate of the material being distributed through the fluid circuit. Particularly preferably, a flow resistance and / or an opening or flow cross-section for the material being distributed can be adjusted by means of the metering and / or adjusting element. A distribution machine having several such, in particular central, metering and / or adjusting elements along the fluid circuit, for example, on a supply and a return line, is also preferred.

[0016] In a preferred embodiment of the method according to the invention, an application rate with which the distribution material is applied, preferably as needed and / or nozzle by nozzle, via the application nozzles, in particular spray nozzles, is first determined and / or specified. Furthermore, one or more dosing and / or switching elements are assigned to several or to each of the application nozzles, by means of which, in particular additionally, the flow rate is controlled and / or regulated in the first control strategy and the system pressure is controlled in the second control strategy. Accordingly, at least one of the control strategies preferably has several control loops for conveying the distribution material, wherein in a first control loop the dosing and / or actuating element, in particular the central one, is used as the first control variable, and in a second control loop the dosing and / or switching elements, in particular those specific to the spray nozzles, are used as the second control variable.In other words, it can be provided, for example, that in the second control strategy, the defined flow rate is controlled and / or adjusted via the first manipulated variable and thus via the dosing and / or actuating element, and the defined system pressure is controlled and / or adjusted via the second manipulated variable and thus via the individual dosing and / or switching elements. This example results in central volume flow control with decentralized system pressure control. Alternatively or additionally, the control loops and thus also the manipulated variables for the first control strategy can be exchanged, which in turn corresponds to central system pressure control with decentralized volume flow control. Using a method that controls and / or adjusts the flow of the distribution material across multiple control loops, the application of the distribution material can be adjusted with particularly high precision.

[0017] The dosing and / or switching elements are preferably designed in the manner of switching valves, each of which is assigned to a single dispensing nozzle or, alternatively, to several dispensing nozzles simultaneously. Particularly preferably, such dosing and / or switching elements are designed as PWM and / or PWFM valves. Alternatively, such dosing and / or switching elements can also be designed as control valves, which are configured to adapt and / or adjust the respective dispensing rate of a dispensing nozzle and / or several or a group of dispensing nozzles. Particularly preferably, such dosing and / or switching elements are arranged directly upstream of the dispensing nozzles, in particular spray nozzles, so that in particular the second manipulated variable (depending on the control strategy for the system pressure or the flow rate) is controlled and / or regulated directly upstream of the dispensing nozzles, in particular the spray nozzles.Furthermore, the dispensing nozzles are preferably arranged on a spray boom of the distribution machine, in particular one that is mounted in a pendulum-mounted and / or height-guided manner. Furthermore, the dispensing nozzles are preferably designed in the manner of a nozzle body with at least one spray nozzle. Alternatively or additionally, dispensing nozzles designed as multiple nozzle bodies are also conceivable, each comprising a plurality of, in particular selectable and / or switchable, spray nozzles that preferably differ in the size of the outlet opening or nozzle caliber. Furthermore, dispensing nozzles with nozzle bodies in which at least one of the metering and / or switching elements is integrated are preferred.

[0018] According to the invention, the term "application rate" preferably refers to the amount of distribution material actually applied or to be applied and / or applied or to be applied from the distribution machine. The application rate is preferably a predetermined target value that reflects the actual demand for distribution material on the agricultural area and / or the crops located thereon, in particular the crops or weeds. The application rate is particularly preferably specified manually by an operator and / or automatically using an electronically stored map, in particular an application map, for example in volume per area, such as liters per hectare.

[0019] In a further development of the method according to the invention, the flow rate is recorded by means of at least one measuring device, in particular arranged along the liquid circuit. The at least one measuring device is preferably arranged centrally along the liquid circuit and is particularly suitable for recording the flow of the material to be distributed through the liquid circuit. The measuring device particularly preferably comprises one or more flow sensors, which are designed in particular in the manner of volume flow sensors or alternatively or additionally as pressure sensors. Furthermore, it is preferably provided that setting parameters, in particular valve-specific ones, are determined and / or recorded, which are set in the second control strategy as a function of the system pressure at the respective dosing and / or switching elements.The respective setting parameters of the dosing and / or switching elements are selected and / or adjusted in such a way that the specified system pressure of the material to be distributed within the fluid circuit is set and / or achieved. In particular, it is provided that the distribution machine is operated in the second control strategy and thus the flow rate of the material to be distributed is set by means of the dosing and / or actuating element, while in parallel or simultaneously the system pressure is regulated, set and / or kept at least substantially constant via the setting parameters of the individual dosing and / or switching elements. In this case, the system pressure is preferably detected and / or adjusted so that the respective setting parameters of the dosing and / or switching element can be assigned to the respective dispensing nozzle and determined and / or recorded in relation to the respective system pressure.Such setting parameters can be, for example, a switching frequency, a degree of opening and / or an opening duration of the dosing and / or switching element. In particular, such setting parameters can also be a pulse width and / or a pulse frequency or a duty cycle of a dosing and / or switching element designed as a PWM (PWFM) valve. In a preferred further step, one or more relationships related to the system pressure between the flow rate and the respective, in particular valve-specific, setting parameters are determined. In other words, it is preferably determined and / or defined with which setting parameters which flow rate, in particular application rate, is achieved via a respective application nozzle at a specific system pressure.

[0020] In another preferred embodiment of the method according to the invention, the one or more ratios are determined based on the flow rate and the number of dispensing nozzles, preferably nozzle-by-nozzle and / or individually for each dispensing nozzle. The flow rate, which is recorded in particular centrally, is preferably at least partially distributed among the plurality of dispensing nozzles or standardized to a single dispensing nozzle. While the second control strategy is active and the setting parameters of the dispensing nozzles are recorded, the material to be distributed is preferably dispensed via a plurality of dispensing nozzles or each of the dispensing nozzles. Such an embodiment further improves the accuracy of the dispensing. Alternatively, it would also be conceivable to limit the number of activated dispensing nozzles in the second control strategy.For example, it would be conceivable that during the second control strategy, only every second or third application nozzle, or at least one application nozzle of a type and / or each group, is activated or enabled to apply the material. This allows for a particularly efficient determination of the setting parameters required for a defined flow rate, in particular the application rate.

[0021] In another development of the method according to the invention, the dosing and / or switching elements, in particular the application rates, are set in the first control strategy as a function of and / or on the basis of the one or more setting parameters and / or ratios determined in the second control strategy. The setting parameters set and recorded in a previous step or during the second control strategy are called up in a subsequent step or in the first control strategy for setting the required application rate and / or are specified for the respective dosing and / or switching element. In other words, the settings and / or parameterizations of the respective dosing and / or switching elements in the first control strategy are carried out on the basis of the setting parameters or the ratios recorded and / or determined during the second control strategy.For and / or during the first control strategy, it is preferably provided that a defined system pressure is specified, which is set via the, in particular central, dosing and / or actuating element. The respective dosing and / or switching elements of the individual dispensing nozzles are particularly preferably set based on the retrieved and / or specified dispensing quantities and the setting parameters previously determined in the second control strategy or the corresponding ratios of system pressure and flow rate. This embodiment has the decisive advantage that, for the dispensing of the distribution material, information and / or properties, such as fluid properties of the distribution material (viscosity, etc.) and / or valve and / or nozzle properties, of the dosing and / or switching elements and / or the dispensing nozzles can be at least substantially neglected, thus achieving a particularly simple method and / or simple distribution machine.

[0022] For the method according to the invention, it is preferably provided that the system pressure is entered and / or specified manually by an operator, for example, using a mobile operating and / or display device. Alternatively or additionally, the system pressure can also be retrieved using an electronically stored map, in particular an application map, and / or on a site-specific basis. Furthermore, the system pressure can preferably be specified in the form of a single value, e.g., 3 bar, or alternatively in the form of range or acceptance limits, e.g., 2.8 to 3.0 bar.

[0023] In a further preferred embodiment of the method according to the invention, the dosing and / or switching elements are designed to release the material to be distributed in a pulse-width modulated manner. The at least one setting parameter of the dosing and / or switching elements is designed as a pulse width and / or pulse frequency, preferably as a duty cycle. In particular, it is provided that during the second control strategy the respective ratio related to the system pressure for the dosing and / or switching element is formed from the defined or detected flow rate and the set pulse width, in particular the duty cycle. It is particularly preferably provided that for a defined first system pressure, e.g. 3 bar or 2.8 to 3.0 bar, a first ratio of flow rate and pulse width, in particular duty cycle, and for a defined second system pressure, e.g.2.5 bar or 2.3 to 2.5 bar, a second ratio of flow rate and pulse width, in particular duty cycle, is recorded and / or determined. Furthermore, it would also be conceivable for further ratios to be calculated and / or determined analytically and / or based on a generated function curve, e.g., by interpolation or the like, from several recorded and / or determined ratios.

[0024] In a further development of the method according to the invention, the control strategy of the distribution machine is changed, preferably once or several times, from the first control strategy to the second control strategy before and / or during the application of the distribution material. As soon as the setting parameters and / or conditions required, in particular for a predetermined and / or required system pressure, have been detected and / or recorded within the second control strategy, the first control strategy is set on the distribution machine for the application of the distribution material. In particular, it can be provided that the second control strategy is switched on and / or activated outside of the agricultural area to be applied. For example, it can be provided that the control strategy is changed as part of a calibration process and / or test operation on a farm belonging to the operator and / or at the manufacturer.Alternatively or additionally, it can be provided that the control strategy is adjusted at least briefly at a field edge and / or on a headland. Furthermore, it would also be conceivable for the control strategy to be changed at least temporarily during the spreading of the material on the agricultural area. In particular, it can be provided that the second control strategy is switched on or activated, preferably automatically, until a sufficient number and / or quantity of setting parameters and / or ratios have been detected and / or recorded.

[0025] In a particularly preferred embodiment, in which the distribution machine is configured by means of the distribution nozzles to distribute the material to be distributed in a location-specific or partial area-specific manner, in particular in a point-specific manner, it is provided that the distribution machine is operated fundamentally or at least almost predominantly with the first control strategy. The control strategy of the distribution machine is preferably modified and / or switched for calibrating and / or teaching the setting parameters. Thus, the control strategy is temporarily modified and / or switched to the second control strategy, at least briefly, for detecting and / or determining the setting parameters for the first control strategy.

[0026] Furthermore, a method according to the invention is preferred in which the control strategy is changed following a change in the operating state of the distribution machine and / or an exceedance or undershoot of defined flow values ​​for the material being distributed, for example a limit value for the system pressure. A change in the operating state can be brought about, for example, by switching a certain, in particular predetermined, number of discharge nozzles on and / or off. Alternatively or additionally, a change in the operating state can also be brought about by a change in discharge nozzles, in particular if the spraying properties and / or the size of the discharge openings or the nozzle calibers of the changed discharge nozzles differ. Furthermore, an adjustment of the control strategy, at least temporarily, may be necessary if, for example, defined ranges for the system pressure, in particular those to be set, are exceeded or undershot.In addition to the system pressure, other flow values, such as the flow rate or a volume flow range, can also be considered alternatively or additionally. Furthermore, it can be provided that an operator can specify defined limit values ​​and thus the sensitivity for changing the control strategy. Alternatively or additionally, the operator can also specify a change in the control strategy using an operating and / or display device.

[0027] In another preferred embodiment of the method according to the invention, the second control strategy is applied during one or more acceleration processes, e.g., a calibration of the distribution machine. During the acceleration, preferably several ratios, each with different flow rates, are determined, while the set system pressure is particularly preferably maintained at least substantially and / or kept constant. This embodiment allows the necessary setting parameters and / or ratios to be determined with even greater accuracy.

[0028] Furthermore, it can be provided that the setting parameters and / or ratios determined and / or identified in the second control strategy, in particular as a function of the application nozzle and / or the material to be distributed, are stored in an electronic data memory. In particular, it can be provided that the setting parameters and / or ratios can be selected and / or retrieved as a function of the application nozzles and / or materials to be distributed. The object underlying the invention is further achieved by an agricultural distribution machine of the type mentioned at the outset, wherein the distribution machine can be operated with different control strategies for spreading the material to be distributed, and wherein the distribution machine, in particular an associated control and / or regulating system, is configured to change or ignore the controlled variable, which can be set by the at least one, in particular central, dosing and / or actuating element, based on the control strategies.

[0029] Particularly preferably, the distribution machine for distributing the distribution material can be operated with different control strategies, wherein the distribution material that can be conveyed along the liquid circuit can be adjusted by means of the at least one dosing and / or actuating element in a selectable first control strategy to the determinable and / or predeterminable system pressure and in a selectable second control mode to the determinable and / or predeterminable flow rate

[0030] In a particularly preferred embodiment, the distribution machine, preferably the control and / or regulating system of the distribution machine, is configured to carry out the method for controlling and / or regulating an agricultural distribution machine according to one of the embodiments described above. With regard to the advantages and modifications of the distribution machine according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention.

[0031] Further details of the invention can be found in the example description and the drawings. The drawings show

[0032] Fig.1 an agricultural distribution machine in a perspective view from behind;

[0033] Fig.2 shows a schematic embodiment of an inventive

[0034] Fluid circuit of an agricultural distribution machine. A distribution machine 100 designed as an agricultural field sprayer for applying a liquid distribution material S, in particular a spray agent, onto an agricultural area and / or a crop P is shown in Fig. 1. The distribution machine 100 is carried by a tractor Z. Alternatively, a towed or self-propelled distribution machine 100 would also be conceivable. Furthermore, an alternative to this would also be a distribution machine 100 designed as a sowing and / or fertilizing machine, which includes a spraying device. Furthermore, a distribution machine 100 designed in the manner of a carried and / or towed hoe and which has a spraying device would also be conceivable.

[0035] The distribution machine 100 comprises at least one container 101 for holding the distribution material S and at least one spray boom 102 oriented transversely to a direction of travel F, in particular one that is mounted in a pendulum-like manner and / or is height-guided. Furthermore, the distribution machine 100 comprises a plurality of application nozzles 103, which are fluidly connected to the container 101 and arranged along the spray boom 102. The application nozzles 103 are configured to apply and / or distribute the distribution material S as needed and in the form of a spray fan onto the agricultural area and / or the crop P.

[0036] For the demand-based supply and / or provision of the distribution material S to the discharge nozzles 103, the distribution machine 100 has an internal liquid circuit 200, which is shown schematically in a simplified manner in Fig.2.

[0037] As can be seen in , the dispensing nozzles 103 and the container 103 are integrated into the liquid circuit 200. In addition to a liquid line 202, the liquid circuit 200 also has a pump device 201, by means of which the distribution material S can be conveyed along the liquid circuit 200 as needed and / or in adjustable quantities. The pump device 201 is designed in particular to circulate the distribution material S within the liquid circuit 200 during dispensing. For this purpose, the liquid line 202 is divided into a feed line, which is located upstream of the dispensing nozzles 103 in a conveying direction R, and a return line, which is located downstream of the dispensing nozzles 103 in the conveying direction R. The return line is suitable for returning undispensed or excess distribution material S to the container 101.Alternatively, a liquid circuit 200, in particular a liquid line 202, without return would also be conceivable.

[0038] For spreading and / or conveying the distribution material S, a controlled variable or a system pressure and / or a flow rate for the distribution material S is specified to the distribution machine 100 and / or a control and / or regulating system 300 assigned to the distribution machine 100. Alternatively or additionally, the controlled variable or the system pressure and / or the flow rate can be retrieved and / or determined by the distribution machine and / or the control and / or regulating system 300. It should be explicitly mentioned here that the retrieved and / or specified flow rate can also be determined from a predeterminable application rate (amount of distribution material on the area to be applied, e.g., in L / ha). Alternatively or additionally, it would also be conceivable for the controlled variable or the system pressure and / or the flow rate, in particular the application rate, to be retrieved location- and / or sub-area-specifically from an electronically stored map, e.g., an application map.The distribution material S is then conveyed along the fluid circuit 200 formed within the distribution machine 100 based on the controlled variable or the system pressure and / or the flow rate. Furthermore, several, in particular central, dosing and / or actuating elements 203A, 203B are arranged along the fluid circuit 200, which are configured to adjust the controlled variable or the system pressure or the flow rate of the conveyed distribution material S. In this exemplary embodiment, a first dosing and / or actuating element 203A is arranged in the supply line and a second dosing and / or actuating element 203B is arranged in the return line of the fluid line 202, wherein the dosing and / or actuating elements 203A, 203B are each designed, for example, in the manner of a control valve. Alternatively, it would also be conceivable for the liquid circuit 200 to have more than two dosing and / or actuating elements 203A, 203B or only one of the dosing and / or actuating elements 203A, 203B.According to the invention, the distribution machine 100, in particular the control and / or regulating system 300, can be operated with different control strategies, wherein the control strategies determine the manner in which the flow of the distribution material S along the fluid circuit 200 is controlled and / or regulated. Based on the control strategies, the controlled variable, which is set by at least one, in particular central, dosing and / or actuating element, can be changed or at least substantially ignored. In the exemplary embodiment shown, the distribution machine 100 can be operated with a selectable first and second control strategy. In the selectable first control strategy, the distribution material S is set or regulated to the determined and / or predetermined system pressure by means of the, in particular central, dosing and / or actuating elements 203A, 203B.In the selectable second control strategy, the material to be distributed S is adjusted or regulated to the determined and / or predetermined flow rate by means of the, in particular central, dosing and / or actuating elements 203A, 203B. The control strategy thus influences a manipulated variable of one of several control loops of the distribution machine 100, in particular of the control and / or regulating system 300.

[0039] In an alternative embodiment to the one shown, it would also be conceivable for the controlled variable controlled by the, in particular, central, dosing and / or actuating element to be neglected and / or ignored in or during the second control strategy. In this case, it can be provided, for example, that the one or more, in particular central, dosing and / or actuating elements are opened to their maximum.

[0040] Using a further control loop of the distribution machine 100, in particular the control and / or regulating system 300, which is also influenced by the control strategy, either the system pressure or the flow rate is controlled and / or regulated or adjusted, in particular in a decentralized manner, by means of the dosing and / or switching elements 104 assigned to the dispensing nozzles 103. In particular, it is provided that in the first control strategy the flow rate is controlled and / or regulated or adjusted via the dosing and / or switching elements 104 and in the second control strategy the system pressure is controlled and / or regulated or adjusted. In other words, by means of the dosing and / or switching elements 104 immediately upstream of the dispensing nozzles 103, in particular the spray nozzles 105, a second manipulated variable is created, which influences the system pressure and / or the flow rate of the material S to be distributed.

[0041] In order to be able to set a specific, predetermined and / or requested application quantity of the material S to be distributed via the application nozzles 103, the necessary setting parameters of the dosing and / or switching elements 104 must be determined before or during application.

[0042] For this purpose, the distribution machine 100 is operated in the second control strategy at least briefly outside or during travel over the area to be sprayed, so that a predetermined flow rate of the distribution material S, in particular a volume flow, is set via the, in particular central, dosing and / or actuating elements 203A, 203B. To adjust the flow rate, the fluid circuit 200 also has one or more measuring devices 204A, 204B, which are configured to detect and / or determine the flow rate, in particular the volume flow, of the distribution material S through the fluid circuit 200. The measuring devices 204A, 204B shown are designed, for example, as volume flow sensors, although other types of sensors would also be conceivable as alternatives.

[0043] While the flow rate is adjusted via dosing and / or actuating elements 203A, 203B, the system pressure is adjusted via the dosing and / or switching elements 104 of the dispensing nozzles 103. To adjust the system pressure, the fluid circuit 200 also has one or more pressure sensing devices 205, which are configured to detect and / or determine the system pressure of the material S to be distributed within the fluid circuit 200, in particular in the area of ​​and / or immediately upstream of the dispensing nozzles 103. The illustrated pressure sensing device 205 is embodied, for example, as a pressure sensor and / or as an electronic manometer. Alternatively, other types of sensors suitable for detecting and / or determining fluid pressure would also be conceivable.During the application of the distribution material S in the second control strategy, the set, particularly valve-specific, parameters of the dosing and / or switching elements 104 are determined and / or detected or recorded. The setting parameters can vary depending on the system pressure.

[0044] Furthermore, one or more relationships related to the respective, in particular set, system pressure between the respective, in particular centrally set, flow rate and the respective, in particular valve-specific, setting parameters are determined. In particular, it is provided that the one or more relationships are determined based on the flow rate and the number of application nozzles 103, e.g. nozzle-by-nozzle and / or individually, for each application nozzle 103. The, in particular set and / or recorded, flow rate is divided among the number, in particular released, application nozzles 103, so that the actual application rate via the individual application nozzles 103 is calculated based on the centrally recorded flow rate. In other words, the flow rate that is actually applied is standardized to the individual or a single application nozzle 103.

[0045] As soon as the respective conditions and / or setting parameters have been determined and / or ascertained in the first control strategy, the control strategy of the distribution machine 100, in particular of the control and / or regulation system 300, for distributing the material to be distributed is switched and / or changed to the first control strategy. While the system pressure is then adjusted, in particular centrally, via the one or more dosing and / or actuating elements 203A, 203B, the dosing and / or switching elements 104, in particular the application quantities, are adjusted depending on and / or on the basis of the one or more conditions and / or setting parameters determined in the second control strategy. The advantage here is that information and / or properties of the dosing and / or switching elements 104 and / or the application nozzles 103, in particular valve- and / or nozzle-specific information, can be neglected or do not need to be specified.Such information and / or properties may include, for example, the type, nozzle size, in particular the nozzle caliber, manufacturing tolerances, and / or the wear condition of a discharge nozzle 103, in particular a spray nozzle 105. Likewise, the properties of the material being distributed, such as the viscosity, etc., of the spray liquid, may be neglected.

[0046] The dispensing nozzles 103 shown in the figures each have a nozzle body or a nozzle assembly on which a spray nozzle 105 and the associated dosing and / or switching element 104 are arranged. In an alternative embodiment, the dispensing nozzle 103 can also be designed, for example, in the manner of a multiple nozzle body with several, in particular different, spray nozzles 105 and / or dosing and / or switching elements 104. Furthermore, it would be conceivable to be able to switch between different spray nozzles 105 of a multiple nozzle body or to activate or release several spray nozzles 105 of a multiple nozzle body for dispensing the distribution material S. The dosing and / or switching elements 104 shown are designed in the manner of valves, in particular spray nozzle valves.In particular, it is provided that the dosing and / or switching elements 104 are designed in the manner of PWM and / or PWFM valves and are configured to release the distribution material S in a pulse-width modulated manner. In PWM and / or PWFM valves, at least one setting parameter can be implemented as a pulse width and / or pulse frequency, in particular as a duty cycle.

[0047] The method according to the invention can be applied for different purposes and / or situations during application. For example, it can be provided that the control strategy of the distribution machine 100, in particular of the control and / or regulation system 300, is changed after a change in the operating state of the distribution machine 100 and / or an exceedance or undershoot of defined flow values, for example a limit value for the system pressure, for the conveyed distribution material. In particular, if the necessary conditions and / or setting parameters for the intended application, in particular an adjusted system pressure and / or an adjusted flow rate, of the distribution material S are not present in the first control strategy, it can be provided that the control strategy is at least temporarily switched to the second control strategy for determining and / or ascertaining the necessary conditions and / or setting parameters.

[0048] A change in operating state can occur, for example, by switching or connecting or disconnecting application nozzles 103, changing the material to be distributed or the composition of the material to be distributed, or adjusting the intended driving speed ranges. Furthermore, an adjustment of the control strategy can be provided if the system pressure with which the material to be distributed S is to be applied is adjusted in the first control strategy.

[0049] Furthermore, it can be provided that the second control strategy is applied during one or more acceleration processes, e.g., a calibration, of the distribution machine 100. During acceleration, several ratios and / or setting parameters for different flow rates can be determined, particularly when the system pressure remains at least nearly constant.

[0050] The desired and / or intended system pressure is manually set by an operator, e.g. depending on environmental conditions, the needs of the crop and / or a desired droplet size.

[0051] Alternatively, the system pressure can also be determined and / or retrieved automatically. Furthermore, the desired application rate, e.g., in liters per hectare, can be specified by the operator or, alternatively or additionally, using an electronically stored application map. The flow rate of the material S to be distributed can thus be determined based on the desired application rate.

[0052] It is understood that the method according to the invention in the previously described embodiment is described with reference to only one fluid circuit 200 formed in the distribution machine 100, whereby the method can also be applied to a distribution machine 100 with several, in particular parallel, fluid circuits 200. The several individual fluid circuits 200 can then be provided for different distribution materials S, in particular for different spray fluids or carrier fluids and / or active ingredient fluids.

[0053] It would also be conceivable to apply the method according to the invention to a distribution machine 100 which, in addition to liquid distribution materials S, can also distribute granular distribution materials, such as, for example, sowing and / or fertilizing machines.

[0054] Furthermore, it is understood that the features mentioned in the previously described embodiments are not limited to these specific combinations and are also possible in any other combinations. Furthermore, it is understood that the geometries shown in the figures are merely exemplary and are also possible in any other configurations.

[0055] List of reference symbols

[0056] 100 distribution machine

[0057] 101 containers

[0058] 102 spray booms

[0059] 103 application nozzles

[0060] 104 Dosing and / or switching elements

[0061] 105 spray nozzles

[0062] 200 Fluid circuit

[0063] 201 Pumping equipment

[0064] 202 Liquid line

[0065] 203A, 203B Dosing and / or control devices 204A, 204B Measuring devices 205 Pressure measuring device 300 Control and / or regulating system

[0066] F Direction of travel

[0067] P Plant population

[0068] R conveying direction

[0069] S Distribution goods

[0070] Z tractor

Claims

[Patent claims] Method for controlling and / or regulating an agricultural spreading machine (100), in particular a field sprayer, during the application of liquid material (S), comprising the step: - Determining and / or specifying at least one controlled variable, in particular a system pressure and / or a flow rate, for the distributed material (S), on the basis of which the distributed material (S) is conveyed at least section by section along a liquid circuit (200) formed within the distribution machine (100); wherein the controlled variable, in particular the system pressure or the flow rate, is set by means of at least one metering and / or actuating element (203A, 203B) arranged along the liquid circuit (200), in particular a central one, characterized in that the distribution machine (100) can be operated with different control strategies, wherein, based on the control strategies, the controlled variable, which is set by the at least one, in particular a central, metering and / or actuating element (203A, 203B), is changed or at least substantially ignored.The method of claim 1, characterized in that the distributed material (S) conveyed along the liquid circuit (200) is adjusted to the specified and / or predetermined system pressure and to the specified and / or predetermined flow rate by means of the at least one, in particular central, metering and / or control element (203A, 203B) in a selectable first control strategy and in a selectable second control strategy. The method of claim 2, characterized by the step of: - Determining and / or specifying an application rate with which the distribution material (S) is applied, preferably as required and / or nozzle-wise, via application nozzles (103), in particular spray nozzles (105), which are arranged on a spray boom (102) of the distribution machine (100); wherein one or more metering and / or switching elements (104) are assigned to several or each dispensing nozzle (103), by means of which the flow rate is controlled and / or regulated in the first control strategy and the system pressure in the second control strategy. Method according to claim 3, characterized by at least one of the following steps: - Measuring the flow rate by means of at least one measuring device (204A, 204B) arranged along the liquid circuit (200); and / or - Determining and / or recording setting parameters, in particular valve-specific parameters, which are set in the second control strategy depending on the system pressure at the respective metering and / or switching elements (104); and / or - Determining one or more ratios related to the system pressure between the flow rate and the respective, in particular valve-specific, setting parameters. A method according to at least one of the preceding claims 3 and / or 4, characterized in that the one or more ratios are determined based on the flow rate and the number of application nozzles (103), preferably nozzle by nozzle and / or individually, for each application nozzle (103). A method according to at least one of the preceding claims 3 to 5, characterized in that the metering and / or switching elements (104), in particular the application rates, are set in the first control strategy depending on and / or based on the one or more ratios determined in the second control strategy.Method according to at least one of the aforementioned claims 3 to 6, characterized in that the metering and / or switching elements (104) are configured to release the distributed material (S) in a pulse width modulated manner, wherein at least one setting parameter of the metering and / or switching elements. (104) is configured as a pulse width and / or pulse frequency, preferably as a duty cycle. Method according to at least one of the preceding claims 1 to 6, characterized in that the control strategy of the distribution machine (100) is changed, preferably once or several times, before and / or during the dispensing of the distributed material (S) from the first control strategy to the second control strategy. Method according to claim 8, characterized in that the control strategy is changed after a change in the operating state of the distribution machine (100) and / or an exceedance or falling below defined flow values, for example, a limit value for the system pressure, for the conveyed distributed material (S). Method according to at least one of the preceding claims 2 to 9, characterized in that the second control strategy is changed during one or more acceleration processes, e.g.a calibration is applied to the distribution machine (100), wherein several ratios with different flow rates are preferably determined during acceleration. Agricultural distribution machine (100), in particular field sprayer, for applying liquid material (S), preferably spraying agent, comprising; - at least one fluid circuit (200) along which the distribution material (S) can be conveyed from at least one container (101) to a plurality of application nozzles (103), in particular spray nozzles (105), wherein the application nozzles (103) are configured to apply distribution material (S), in particular nozzle-wise and / or site-specifically, with a determinable and / or predeterminable application quantity; and - at least one arranged along the liquid circuit (200) Dosing and / or actuating device (203A, 203B) which is configured to control a determinable and / or predeterminable variable, in particular a System pressure or flow rate for the material (S) conveyed along the liquid circuit (200) is to be set; characterized in that the distribution machine (100) can be operated with different control strategies for dispensing the material (S), wherein the distribution machine (100), in particular an associated control and / or regulation system (300), is configured to change or at least substantially ignore the controlled variable, which is adjustable by the at least one, in particular central, metering and / or actuating element (203A, 203B), based on the control strategies. Agricultural distribution machine (100) according to claim 11, preferably with a control and / or regulation system (300), characterized in that the distribution machine (100), preferably the control and / or regulation system (300), is configured to carry out the method according to at least one of the preceding claims 1 to 10.

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