Improved position determination for agricultural implements

Abstract

The invention relates to an agricultural implement (1) for spreading material, such as fertiliser, crop protection agents or seed, comprising a carrier part (11); a distributor boom (12) arranged on the carrier part (11), wherein the distributor boom (12) can be rotated at least in part about an axis pointing in the direction of travel of the agricultural implement; a first sensor arrangement (100a) for detecting an angle of rotation of the carrier part (11); a second sensor arrangement (100b) for detecting a rotational speed and / or rotational acceleration of the carrier part (11); a third sensor arrangement (101) for detecting a relative angle between the carrier part (11) and the distributor boom (12); and an electronic data-processing device (200), which is configured to determine an angle of inclination of the distributor boom (12) with regard to a reference plane (20a, 20b) on the basis of sensor data from the first sensor arrangement (100a), the second sensor arrangement (100b) and the third sensor arrangement (101).

Description

[0001] Improved location determination for agricultural equipment

[0002] Technical area

[0003] The invention relates to an agricultural implement for spreading material such as fertilizers, pesticides or seeds and to a method for determining the angle of inclination of a distribution boom of an agricultural implement.

[0004] background

[0005] Such agricultural equipment is generally known, for example as field sprayers. In order to spread the material over a large area and efficiently on the field soil to be worked, the agricultural equipment has a distribution boom with several application elements, such as spray nozzles. The distribution boom extends transversely to the direction of travel and can have working widths of up to 50 m or more. The distance between the distribution boom and the ground should remain as constant as possible across the entire working width of the distribution boom. This means that the distribution boom is held as parallel as possible to the soil to be worked. Therefore, it is necessary to record the distance of the distribution boom to the ground as accurately as possible while driving.

[0006] EP 3 007 553 B1 discloses a device for dispensing liquid and / or solid active substances using a rod assembly. A first sensor arrangement detects the rotational speed of the rod assembly relative to a reference plane, and a second sensor arrangement detects the rotational position of the rod assembly relative to the reference plane. These sensors are often arranged directly on the boom arms. The rotational position of the rod assembly relative to the reference plane is calculated by temporally integrating the rotational speed, and the instantaneous rotational position of the rod assembly relative to the reference plane is determined by merging the calculated and measured rotational positions of the rod assembly.

[0007] However, the sensors in this state-of-the-art system are complex and vulnerable. For example, the sensors mounted on the booms are at risk when driving across a field. If the plant growth is high, the booms may brush against plants in the field, and the sensors could be damaged. Wiring the sensors is also complicated because the cables must be routed along the retractable booms. Damage to the cables can therefore occur when the booms move. Furthermore, measurement errors can occur with the state-of-the-art sensor technology due to translational movement of the distributor rod. Such translational movement of the distributor rod can occur, for example, when changing direction, such as when cornering, particularly when entering or exiting a curve.Such measurement errors can lead to an incorrect determination of the rotational position of the rod, which must be corrected using complex computation.

[0008] The invention is therefore based on the object of providing an improved agricultural implement in which an inclination of a distributor boom can be precisely determined.

[0009] Summary

[0010] This object is achieved by an agricultural device for spreading material such as fertilizers, crop protection agents or seeds according to claim 1. Preferred embodiments are described in the dependent claims.

[0011] The agricultural implement comprises a support part, a distributor rod arranged on the support part, wherein the distributor rod is at least partially rotatable about an axis pointing in the direction of travel of the agricultural implement, a first sensor arrangement for detecting a rotation angle of the support part, a second sensor arrangement for detecting a rotational speed and / or rotational acceleration of the support part, a third sensor arrangement for detecting a relative angle between the support part and the distributor rod, and an electronic data processing device configured to determine an inclination angle of the distributor rod with respect to a reference plane based on sensor data from the first sensor arrangement, the second sensor arrangement, and the third sensor arrangement. In particular, the second sensor arrangement comprises at least one sensor that is based on a different measuring principle than a sensor of the first sensor arrangement.

[0012] The agricultural equipment can, in particular, be a field sprayer. It can be a self-propelled field sprayer, a trailed field sprayer, or a mounted field sprayer.

[0013] The support part can be part of the chassis of the agricultural implement. It can also be a support frame, for example, if the agricultural implement is a mounted field sprayer.

[0014] It is possible for the entire distribution boom to be rotatable about the axis pointing in the direction of travel of the agricultural implement. It is also possible for the distribution boom to have lateral arms, each of which can be rotated and / or pivoted about an axis pointing in the direction of travel of the agricultural implement. The arms can be rotated and / or pivoted about a common axis. It is also possible for the arms to each be rotated and / or pivoted about a separate axis. Depending on the application and / or requirements, the reference plane can represent the agricultural area, in particular an averaged soil profile of the arable land on which the agricultural implement moves, an artificial horizon, i.e. a calculated plane, or a height profile of the crop stand.Alternatively or additionally, the reference plane can be any predetermined spatial plane, in particular one stored in a memory device of the electronic data processing device. Furthermore, the reference plane can alternatively be defined by several points along any desired, in particular curved, contour.

[0015] The inclination angle of the distributor boom is thus determined based on the determined inclination of the support part and the relative angle between the support part and the distributor boom. Since the support part is more compact than the distributor boom and positioned closer to the center of mass of the agricultural implement, it is less sensitive to vibrations, particularly around an axis pointing in the direction of travel. This allows the inclination of the support part, and thus that of the distributor boom, to be determined in a robust and improved manner. For example, it is possible that low-pass filtering of the sensor signals to filter out vibrational movements may be simplified or even eliminated.

[0016] The first sensor arrangement can comprise one or more sensors that directly determine the rotational position of the support part. Such sensors can be designed, for example, as inclinometers or tiltmeters. Alternatively or additionally, the first sensor arrangement can comprise one or more sensors that can detect an acceleration of the support part, in particular a linear acceleration of the support part. It is known that the angles of rotation (the Euler or Cardan angles) of a body in an earth-fixed reference system can be determined based on the relationships between the accelerations in the body-fixed reference system and the gravitational acceleration. For example, the agricultural implement can move in the x-direction, whereby the x-direction of the body-fixed reference system coincides with the x-direction of the earth-fixed reference system. In this case, the distribution linkage extends in the y-direction, and the z-direction corresponds to the vertical axis.In this exemplary case, the angle of rotation a of the support part around the x-axis can be determined using the following formula:. Here, g denotes the acceleration due to gravity and a y the acceleration in the y-direction determined in the body-fixed system. It should be noted that this is merely an example of how to determine the angle of rotation based on the measured accelerations.

[0017] It is also possible for the first sensor arrangement to comprise one or more sensors configured to determine a distance of the support part from the ground. In particular, the first sensor arrangement can be configured to determine the respective distance of the support part from the ground at two points that have a different radial distance from a rotation axis pointing in the direction of travel of the agricultural implement. Based on the respective distances, it may be possible to determine an angle of rotation of the support part about the rotation axis.

[0018] The second sensor arrangement can, in particular, comprise one or more sensors that determine a rotational speed of the support part. By integrating the rotational speed over time, the angle of rotation can be calculated from the rotational speed.

[0019] By using the signals from the first and second sensor arrays, it is possible to correctly determine the rotational position of the support part depending on the situation. For example, the signals from the second sensor array are typically more sensitive to brief changes in position, such as those that occur when driving over a rock or similar object. In contrast, the signals from the first sensor array may be better suited to detecting a constant inclination, such as when traveling uphill.

[0020] The first sensor arrangement and / or the second sensor arrangement can be arranged directly on the support part. It is also possible for the first sensor arrangement and / or the second sensor arrangement to be arranged on a part of the distributor rod that is connected in a rotationally fixed manner to the support part, for example, on a central part of the distributor rod.

[0021] In the following, the term "axis of rotation" generally refers to an axis around which a body rotates. This can therefore be either a physical axis or a virtual axis. It should be noted that an axis of rotation can also lie outside the body. The term "pivot point" refers to a point or position on a body through which an axis of rotation passes.

[0022] The first sensor arrangement and / or the second sensor arrangement can be arranged on, in the immediate vicinity of, or at a specified distance from a rotation axis of the distributor rod or a boom of the distributor rod and / or the support part. The specified distance can be less than 100 cm, in particular less than 50 cm. In particular, the rotation axis can be a vertical rotation axis of the distributor rod or a boom of the distributor rod or the support part, i.e. a yaw axis. The vertical rotation axis can in particular be a virtual rotation axis around which the distributor rod or a boom of the distributor rod and / or the support part describes a rotational movement when the direction of travel changes, in particular when cornering, in particular when entering or exiting a curve.

[0023] By arranging the first sensor arrangement and / or the second sensor arrangement on or in the immediate vicinity of such an axis of rotation, the influence of translational acceleration components, such as centripetal accelerations, which occur in particular when the direction of travel of the agricultural implement changes, for example when cornering, can be suppressed or minimized.

[0024] By arranging the sensor at a fixed distance from such an axis of rotation, a computational correction of the sensor output value, which is distorted by a translational acceleration component, and / or the determined rotational speed and / or rotational position of the rod can be performed. In particular, when the first sensor arrangement and / or the second sensor arrangement are arranged on the support part or a part of the distributor rod that is rotationally fixed to the support part, the distance between the sensor and the axis of rotation remains constant and is not affected by a change in the position of the rod.

[0025] This allows the rotational speed and / or rotational position of the rod to be determined more accurately.

[0026] The third sensor arrangement can be arranged at a pivot point of the distribution linkage or a boom of the distribution linkage, in particular a pivot point through which a rotation axis extending in the direction of travel, i.e., a roll axis, passes. It is also possible for the first, second, and / or third sensor arrangement to be arranged on a carrier vehicle if the carrier part is connected to the carrier vehicle in a rotationally fixed manner.

[0027] By arranging the sensors on the support part, the need for complex cabling can be eliminated. Furthermore, the sensors can be better protected from damage, for example, from collisions with vegetation.

[0028] The agricultural implement may further comprise one or more adjusting devices with which the inclination of the distributor boom can be influenced. The adjusting devices may, in particular, be designed as hydraulically and / or pneumatically operable adjusting cylinders. The electronic data processing device may be configured to control the one or more adjusting devices based on the determined angle of inclination of the distributor boom with respect to the reference plane. In particular, the electronic data processing device may be configured to control the one or more adjusting devices such that the angle of inclination of the distributor boom with respect to the reference plane is kept constant or set to a desired value.

[0029] The electronic data processing device can be configured to perform a sensor data fusion of the sensor data from the first sensor arrangement and the second sensor arrangement. With such a sensor data fusion, the sensor data from the first and second sensor arrangements complement each other, so that the inclination of the support part can be determined very precisely. In particular, it is possible for the first sensor arrangement to compensate for measurement inaccuracies and / or fluctuations of the second sensor arrangement, and vice versa. Such a sensor data fusion can be particularly effective if sensors of the first sensor arrangement have a different measuring principle than sensors of the second sensor arrangement.

[0030] For example, determining the angle of rotation using the first sensor array based on the measured accelerations, as described above, may be computationally simple, but it may also be susceptible to short-term fluctuations. In contrast, determining the angle of rotation using the temporal integration of the sensor data from the second sensor array may be less susceptible to short-term fluctuations, but it may be subject to uncertainty due to the resulting integration constants. Sensor data fusion can thus compensate for the disadvantages of one method with the other.

[0031] Such a sensor data fusion can, for example, be implemented in such a way that an estimation algorithm is used to obtain an estimate of the true angle of rotation from the angle of rotation determined based on the sensor data of the first sensor arrangement and the angle of rotation determined based on the sensor data of the second sensor arrangement. Such estimation algorithms are known per se. For example, a Kalman filter can be used.

[0032] The electronic data processing device can further be configured to determine an angle of inclination of the support part relative to the reference plane based on the sensor data from the first and second sensor arrangements, in particular based on the fused sensor data, and to determine the angle of inclination of the distributor rod based on the determined angle of inclination of the support part and the sensor data from the third sensor arrangement. In other words, an angle of inclination of the support part relative to the reference plane can first be determined with high precision, as stated above, before the angle of inclination of the distributor rod is subsequently determined. Thus, the angle of inclination of the distributor rod can also be determined with correspondingly high precision.

[0033] The electronic data processing device can, in particular, be configured to perform a temporal integration of the sensor data from the second sensor arrangement. The integration of the sensor data from the second sensor arrangement can be a single temporal integration if the second sensor arrangement detects a rotation rate of the support part. By integrating the sensor data from the second sensor arrangement, a rotation angle of the support part can be calculated. The integration of the sensor data from the second sensor arrangement can be a double temporal integration if the second sensor arrangement detects a rotational acceleration of the support part.Furthermore, the electronic data processing device can be configured to perform a sensor data fusion of the sensor data of the first sensor arrangement and the integrated sensor data of the second sensor arrangement, and to perform an addition or subtraction of the fused sensor data and the sensor data of the third sensor arrangement.

[0034] In other words, the electronic data processing device can be designed to determine an inclination angle a of the linkage to a reference plane based on the sensor data of the first sensor arrangement, the sensor data of the second sensor arrangement and the sensor data of the third sensor arrangement as follows: a = a Q + a r = {f S1)\g S2')) + h(S3)

[0035] Here, a o the angle of inclination of the support part to the reference plane and a rthe relative angle between the rod and the support part. S1, S2 and S3 respectively denote the sensor data of the first, second and third sensor arrangement. f(S^) denotes a function that specifies the inclination angle of the support part as a function of the sensor data S1. Analogously, g(S2) denotes a function that specifies the inclination angle of the support part as a function of the sensor data S2. The function g(S2) comprises at least one temporal integration of the sensor data S2. The notation {f^^g^S^) indicates that a sensor data fusion of the sensor data S1 and S2 is carried out. The function / i(S3) denotes a function that specifies the relative inclination angle of the distributor rod relative to the support part as a function of the sensor data S3.

[0036] The electronic data processing device can further be configured to consider calibration data of the first and / or second sensor arrangement when determining the inclination angle of the distributor rod. The data can be stored, for example as a calibration curve, in a memory device of the electronic data processing device. The calibration data can be data that link the inclination angle of the support part with output values ​​of the first and / or second sensor arrangement. The calibration data can be determined by a calibration measurement, for example during or after the assembly of the first and / or second sensor arrangement. By considering the calibration data, it is possible, for example, to avoid and / or correct measurement errors of the inclination angle due to inaccuracies during the assembly of the sensors.In this way, a particularly precise determination of the angle of inclination of the support part can be achieved.

[0037] The third sensor arrangement can comprise a potentiometer, in particular a rotary or angle potentiometer. Potentiometers are advantageous for measuring the relative angle because they can be read with high precision. Furthermore, potentiometers are very robust measuring instruments. The electronic data processing device can also be configured to consider calibration data of the potentiometer when determining the inclination angle of the distributor rod. The calibration data can be data that link the relative angle of the distributor rod or a boom of the distributor rod with output values ​​of the potentiometer. The data can be stored, for example as a calibration curve, in a memory device of the electronic data processing device. In this way, a particularly precise determination of the relative angle between the distributor rod and the support part can be achieved.

[0038] It is also possible for the third sensor arrangement to comprise one or more acceleration sensors. In particular, the third sensor arrangement can comprise an acceleration sensor arranged on the distributor rod and one arranged on the support part. By comparing the accelerations determined by these sensors, a relative angle between the support part and the distributor rod can be determined. It is possible for the third sensor arrangement to comprise an acceleration sensor from the first sensor arrangement and an acceleration sensor arranged on the distributor rod for other purposes. This can reduce the number of required sensors.

[0039] The first and second sensor arrangements can be designed to detect the angle of rotation and / or the rotational speed of the support part with respect to a first reference plane, and the electronic data processing device can be configured to determine the angle of inclination of the distributor rod with respect to a second reference plane. In particular, the first and second reference planes can be different planes. For example, an angle of inclination to the ground can be determined for the support part, and an angle of inclination of the distributor rod with respect to the artificial horizon can be determined. This can be advantageous, for example, if it is metrologically simple to determine the inclination of the support part with respect to the ground, but it is desired that the distributor rod be guided at a constant distance from the artificial horizon.

[0040] It is possible that in this case additional data linking the first and second reference planes are stored in a storage device of the electronic data processing device.

[0041] The first sensor arrangement and / or the second sensor arrangement can be part of an inertial measurement unit (IMU). Such IMUs are robust and compact measurement units that offer the possibility of recording various kinematic data, in particular angular rates and accelerations, in multiple degrees of freedom using inertial sensors, for example acceleration and / or angular rate sensors. In particular, the first sensor arrangement and the second sensor arrangement can be part of a single IMU, thus enabling a compact design of the sensor system. However, it is also possible for the first sensor arrangement and the second sensor arrangement to be parts of different IMUs. Thus, it is possible to use the acceleration sensors of an IMU to determine the angle of rotation of the support part via a relationship between the measured acceleration and the acceleration due to gravity, as described above.The angular rate sensors can be used to determine the angle of rotation via temporal integration.

[0042] In an alternative embodiment, it is possible for the first sensor arrangement and / or the second sensor arrangement to each comprise one or more IMUs. For example, it is possible for the first sensor arrangement to comprise a first IMU arranged at a first location on the carrier part and a second IMU arranged at a second location on the carrier part. By evaluating, in particular fusing, the sensor data from the first and second IMUs, the angle of rotation of the carrier part can be determined with high precision. Analogously, the second sensor arrangement can comprise multiple IMUs. It is also possible for multiple IMUs to be part of both the first and the second sensor arrangement. In this case, for example, the acceleration sensors of the IMUs can be used to determine the angle of rotation and the yaw rate sensors of the IMUs can be used to determine the rotation speed.

[0043] If the first sensor arrangement can detect an acceleration along at least two mutually orthogonal axes and the second sensor arrangement can detect a rotation rate about at least two mutually orthogonal axes, it is possible for the electronic data processing device to be configured to determine a rotation rate about any additional rotation axis based on the determined accelerations and rotation rates. This is possible as long as one rotation axis of the second sensor arrangement runs essentially parallel to one acceleration axis of the first sensor arrangement. The electronic data processing device can use trigonometric transformations and coordinate transformations known per se. This can simplify the calculation of the rotation rate about any axis.

[0044] In particular, the first sensor arrangement can detect an acceleration along at least three mutually orthogonal axes, and the second sensor arrangement can detect a rotation rate about three mutually orthogonal axes, wherein a rotation axis of the second sensor arrangement runs essentially parallel to an acceleration axis of the first sensor arrangement. Such a configuration enables precise determination of the rotation rate about any axis, regardless of the orientation of the first and second sensor arrangements relative to the support part.

[0045] The distribution linkage may comprise a central frame that is non-rotatably connected to the agricultural implement, in particular the support part, and two lateral outriggers connected to the central frame. The outriggers may each be pivotable about an axis pointing in the direction of travel of the agricultural implement.

[0046] In this case, the third sensor arrangement can be configured to determine a relative angle between a first of the lateral outriggers and the support part, to determine a relative angle between the second of the lateral outriggers and the support part, and to determine an inclination angle of the first outrigger with respect to a reference plane and / or an inclination angle of the second outrigger with respect to a reference plane based on sensor data from the first sensor arrangement, the second sensor arrangement, and the third sensor arrangement. Thus, even for a distribution boom in which both outriggers can be pivoted and / or angled independently of one another, the respective inclination angle of the outriggers can be determined in a precise and robust manner.

[0047] In particular, the third sensor arrangement can comprise a sensor, in particular a potentiometer, for each of the two booms. These sensors can be arranged, in particular, at the respective pivot points of the booms. Here, too, corresponding calibration data for the potentiometers can be stored, for example, in a memory unit of an electronic data processing device of the agricultural machine. Analogous to the above, the electronic data processing device can be configured to determine the inclination angle CM of the first boom and the second boom relative to the reference plane based on the sensor data of the first sensor arrangement, the sensor data of the second sensor arrangement, and the sensor data of the third sensor arrangement as follows:

[0048] «4 = «0 + «3 = < (^l) lö r (-S'2)> + 5 4)

[0049] Here, a0 again denotes the angle of inclination of the support part to the reference plane. S1 and S2 denote the sensor data of the first and second sensor arrangements, respectively. S3 and S4 denote the sensor data of the third sensor arrangement, which relate to the relative angle between the first boom and the support part and the relative angle between the second boom and the support part. f(S) denotes a function that specifies the angle of inclination of the support part as a function of the sensor data S1. Analogously, g(S2) denotes a function that specifies the angle of inclination of the support part as a function of the sensor data S2. The function g(S2) comprises at least one temporal integration of the sensor data S2. The notation {f(S1)\g(S2y> indicates that a sensor data fusion of the sensor data S1 and S2 is performed.The function / ii(S3) denotes a function that specifies the relative inclination angle of the first boom relative to the support part as a function of the sensor data S3. Similarly, the function h2(S^) denotes a function that specifies the relative inclination angle of the second boom relative to the support part as a function of the sensor data S4.

[0050] The electronic data processing device can be configured to determine an inclination angle of the first boom relative to a third reference plane and to determine the inclination angle of the second boom relative to a fourth reference plane, wherein the third and fourth reference planes are different planes. Thus, it is possible to determine the inclination angle of the first boom relative to the ground while determining the inclination angle of the second boom relative to an artificial horizon. This can be advantageous, for example, if one boom is guided along a slope while the other boom is guided over a flat surface.

[0051] The invention further provides a method for determining the angle of inclination of a distributor boom of an agricultural implement with respect to a reference plane, wherein the agricultural implement may in particular have one or more of the above-mentioned features. The method comprises:

[0052] Determining a rotation angle of a support part of the agricultural implement; determining a rotational speed and / or rotational acceleration of the support part;

[0053] • Determining a relative angle between the distributor rod and the support member; and

[0054] • Determining the angle of inclination of the distribution rod with respect to a reference plane based on the determined angle of rotation of the support part, the determined rotation speed of the support part and the determined relative angle, and / or

[0055] • Determining the inclination angle of the distribution rod based on the determined rotation angle of the support part, the determined rotational acceleration of the support part and the determined relative angle.

[0056] As mentioned above, by using the rotation angle of the support member, the rotation speed and / or acceleration, and the relative angle between the support member and the distribution rod, the inclination angle of the distribution rod can be determined in a precise and robust manner.

[0057] The method may further comprise performing a sensor data fusion of sensor data corresponding to the rotation angle of the support part and sensor data corresponding to the determined rotational speed and / or the determined rotational acceleration. The sensor data may be acquired by a first and second sensor arrangement of the agricultural implement, respectively.

[0058] The procedure may further include:

[0059] • Determining an angle of inclination of the support part based on the determined angle of rotation of the support part and the determined rotational speed and / or the determined rotational acceleration, in particular based on fused sensor data; and

[0060] • Determining the inclination angle of the distribution rod based on the determined inclination angle of the support part and the determined relative angle.

[0061] It is possible that the angle of rotation and / or the speed of rotation of the support part are detected with respect to a first reference plane and the angle of inclination of the distributor rod is determined with respect to a second reference plane, wherein the first and the second reference plane are different planes.

[0062] The method may further comprise: • Temporal integration of sensor data corresponding to the determined rotational speed and / or the determined rotational acceleration;

[0063] • Sensor data fusion of sensor data corresponding to the rotation angle of the carrier part and the integrated sensor data; and

[0064] • Addition or subtraction of the fused sensor data with sensor data corresponding to the relative angle between the carrier part and the distribution rod.

[0065] The distribution boom may comprise a central frame that is non-rotatably connected to the agricultural implement, in particular the support part, and two lateral arms connected to the central frame. In this case, the method may further comprise:

[0066] • Determining a relative angle between a first of the lateral arms and the support part;

[0067] • Determining a relative angle between the second of the lateral arms and the support member; and

[0068] • Determining an angle of inclination of the first boom with respect to a reference plane and / or an angle of inclination of the second boom with respect to a reference plane on the basis of the determined angle of rotation of the support part, the determined rotational speed of the support part and the respective determined relative angles, and / or

[0069] • Determining an angle of inclination of the first boom with respect to a reference plane and / or an angle of inclination of the second boom with respect to a reference plane based on the determined angle of rotation of the support part, the determined rotational acceleration of the support part and the respective determined relative angles.

[0070] The angle of inclination of the first boom can be determined with respect to a third reference plane and the angle of inclination of the second boom can be determined with respect to a fourth reference plane, wherein the third and fourth reference planes are different planes.

[0071] Brief description of the drawings

[0072] Further features and advantages of the invention are explained below with reference to the exemplary figures. Figure 1 shows a schematic perspective view of an agricultural

[0073] device;

[0074] Figure 2 shows a schematic detailed view of a boom of an agricultural

[0075] device;

[0076] Figure 3 shows a schematic detailed view of a boom of an agricultural

[0077] device; and

[0078] Figure 4 shows a schematic plan view of an agricultural implement.

[0079] Detailed description

[0080] Figure 1 shows a schematic perspective view of an agricultural implement 1, which is designed as a field sprayer for applying material, in particular spraying agent, to an agricultural area N and / or its crop population 51. In the embodiment shown, the agricultural implement 1 comprises a tractor Z, which moves in a direction of travel F. It can be seen that the agricultural implement 1 comprises a boom 12, a storage container 10, and a support part 11 designed as a chassis. The material to be applied, in particular crop protection agent and / or fertilizer, is stored in the storage container 10 and can be distributed and applied via a conveyor system (not shown) to a plurality of application elements designed as spray nozzles 14, which are arranged next to one another on the boom 12.

[0081] The linkage 12 comprises a left boom 12a and a right boom 12b extending from a central part 13 to the left and right. The linkage 12 can be pivoted and / or bent up or down about a rotation axis D. In particular, it is possible for the booms 12a and 12b to be pivoted and / or bent up or down about the rotation axis D. Figure 1 shows a state in which the booms 12a and 12b are fully extended.

[0082] The agricultural implement 1 further comprises an electronic data processing device 200 configured to determine an inclination of the linkage 12, in particular an inclination of the boom 12a and / or the boom 12b, relative to a reference plane 20a, 20b. The reference plane 20a, 20b may be a plane running along an artificial horizon, a soil profile, and / or any defined plane in space. It is possible for the electronic data processing device 200 to determine the inclination for the booms 12a, 12b relative to different reference planes 20a, 20b. In the illustrated embodiment, the inclination relative to the soil profile N of the agricultural area is determined as the first reference plane 20a for the left boom 12a, and the inclination relative to an artificial horizon is determined as the second reference plane 20b for the right boom 12b.Alternatively or in addition to the illustrated embodiment 20, the angle of inclination of the arms 12a, 12b to the same reference plane 20a, 20b can be determined.

[0083] Figure 2 shows a first embodiment of a linkage 12 of an agricultural implement in a detailed view. The agricultural implement can be, in particular, the implement shown in Figure 1. In the embodiment shown, the arms 12a, 12b are arranged on the central part 13 so as to be pivotable about a common axis of rotation D. The central part 13 is connected in a rotationally fixed manner to a support part of the agricultural implement (not shown in Figure 2).

[0084] A first sensor arrangement 100a is arranged on the central part 13 and is designed to detect an inclination angle of the central part 13. In the illustrated embodiment, the first sensor arrangement 100a comprises an inclinometer. Furthermore, a second sensor arrangement 100b is arranged on the central part 13 and is designed to detect a rotational speed and / or rotational acceleration of the central part 13. In the illustrated embodiment, the second sensor arrangement 100b comprises an IMU.

[0085] The electronic data processing device 200 is configured to receive sensor data from the first sensor arrangement 100a and the second sensor arrangement 100b and, based on the received sensor data, to determine an angle of inclination of the central part 13 relative to the reference plane 20a and / or the reference plane 20b. In particular, the electronic data processing device 200 is configured to perform a sensor data fusion of the sensor data from the first sensor arrangement 100a and the second sensor arrangement 100b and to determine the angle of inclination of the central part 13, and thus of the support part 11, relative to the reference plane 20a and / or the reference plane 20b based on the fused sensor data.Here, the electronic data processing device 200 is configured to perform a single or double temporal integration of the data from the second sensor arrangement 100b, depending on whether a rotational speed or a rotational acceleration of the central part 13 is detected. It is also possible for the second sensor arrangement 100b to detect both a rotational speed and a rotational acceleration of the central part 13. In this case, the electronic data processing device 200 can be configured to perform a single temporal integration of the rotational speed and a double temporal integration of the rotational acceleration. As an alternative to the described exemplary embodiment, it is also possible for both the first sensor arrangement 100a and the second sensor arrangement 100b to comprise one, in particular the same, IMU.In this case, the electronic data processing device 200 can, for example, be designed to determine an angle of inclination based on acceleration data of the first sensor arrangement 100a, to perform a simple temporal integration of rotational speed data of the second sensor arrangement 100b, and then to fuse this data.

[0086] Furthermore, Figure 2 shows that the agricultural implement 1 comprises a third sensor arrangement 101 arranged on the rotation axis D. The third sensor arrangement 101 comprises an angle-detecting sensor, in particular a potentiometer, which is configured to detect an inclination caused by a pivoting of the boom 12. The electronic data processing device 200 is designed to determine an inclination of the boom 12 relative to the reference plane 20a and / or the reference plane 20b based on the data from the third sensor arrangement 101 and the fused data from the first sensor arrangement 100a and the second sensor arrangement 100b. In this case, it is possible for the electronic data processing device 200 to access calibration data that link the measured values ​​of the third sensor arrangement 101 with an inclination of the boom 12 relative to the support part 11.These calibration data can be stored in a storage unit (not shown) of the electronic data processing device 200.

[0087] In other words, the electronic data processing device 200 is designed to determine an inclination angle a of the linkage 12 to the reference plane 20a and / or the reference plane 20b based on the sensor data Si of the first sensor arrangement 100a, the sensor data S2 of the second sensor arrangement 100b and the sensor data S3 of the third sensor arrangement 101 as follows: a = a Q + a r = {f S1)\g S2')) + h(S3)

[0088] Here, a o the angle of inclination of the support part 11 to the reference plane 20a and / or the reference plane 20b and a rthe relative angle between the rod 12 and the support part 11. f(S^ denotes a function which specifies the angle of inclination of the support part 11 as a function of the sensor data S1. Analogously, g(S2) denotes a function which specifies the angle of inclination of the support part 11 as a function of the sensor data S2. The function g(S2) comprises at least one temporal integration of the sensor data S2. The notation f(. s i)\g(.Sz)) indicates that a sensor data fusion of the sensor data S1 and S2 is performed. The function / i(S3) denotes a function that specifies the relative inclination angle of the linkage 12 relative to the support part 11 as a function of the sensor data S3.

[0089] Figure 2 also shows that the boom 12a is connected to the central section 13 by means of a first actuating device 102. Furthermore, a second actuating device 103 connects the boom 12a to the boom 12b. The first actuating device 102 and / or the second actuating device 103 can be designed, in particular, as hydraulically and / or pneumatically operable actuating cylinders. By appropriately controlling the actuating devices 102 and 103, it is possible to individually adjust the position of the booms 12a and 12b.

[0090] If the retraction or extension of the second actuating device 103 is blocked, the booms 12a and 12b can be pivoted jointly and / or independently of one another via the first actuating device 102. In this case, pivoting and / or angular changes of the respective booms 12a, 12b toward or away from one another are blocked by the second actuating device 103. In other words, in this case, the entire rod assembly rotates in the same direction around the rotation axis D.

[0091] If, however, only the boom 12a is to be angled, the first adjusting device 102 can be retracted in this embodiment. To prevent the resulting movement of the first boom 12a from being transferred to the second boom 12b, the second adjusting device 103 can also be retracted. This can be done, for example, by actively controlling the second adjusting device 103. In other words, in this case, only the first boom 12a rotates about the rotation axis D.

[0092] If only the second boom 12b is to be angled, the second adjusting device 103 can be retracted in this embodiment. The length of the first adjusting device 102, however, can be maintained. This can be achieved, for example, by actively controlling the first adjusting device 102, but also by locking the first adjusting device 102, for example. In this case, the left boom 12a is fixed by the first adjusting device 102, and only the second boom 12b rotates about the rotation axis D.

[0093] Alternatively or in addition to the described embodiment, the first actuating device 102 and / or the second actuating device 103 can also be designed as at least one electric drive, in particular a motor with or without a mechanical transmission.

[0094] Figure 3 shows a second embodiment of a linkage 12 of an agricultural implement in a detailed view. The agricultural implement can in particular be the implement shown in Figure 1. The embodiment shown in Figure 3 differs from the embodiment shown in Figure 2 in that the arms 12a, 12b are each arranged on the central part 13 so as to be pivotable about their own axis of rotation Da, Db. Furthermore, the third sensor arrangement 101 comprises a first angle-sensing sensor 101a, in particular a potentiometer, which is arranged on the axis of rotation Da, and a second angle-sensing sensor 101b, in particular a potentiometer, which is arranged on the axis of rotation Db. Figure 3 shows that the arm 12a is inclined by a relative angle β2 relative to the central part 13. The arm 12b is inclined by a relative angle β3 relative to the central part 13.

[0095] Analogous to the above, the angles of inclination and «4 of the boom 12a and 12b to the reference plane 20a and / or the reference plane 20b are determined by the electronic data processing device based on the sensor data Si of the first sensor arrangement 100a, the sensor data S2 of the second sensor arrangement 100b, the sensor data S3 of the sensor 101a and the sensor data S4 of the sensor 101b as follows:

[0096] Here, a0 again denotes the angle of inclination of the support part 11 relative to the reference plane 20a and / or the reference plane 20b. f(S) denotes a function that specifies the angle of inclination of the support part 11 as a function of the sensor data S1. Analogously, g(S2) denotes a function that specifies the angle of inclination of the support part 11 as a function of the sensor data S2. The function g(S2) comprises at least one temporal integration of the sensor data S2. The notation {f(Si)\g(S2y> indicates that a sensor data fusion of the sensor data S1 and S2 is performed. The function / ii(S3) denotes a function that specifies the relative inclination angle of the boom 12a relative to the support part 11 as a function of the sensor data S3. Analogously, the function h2(S^) denotes a function that specifies the relative inclination angle of the boom 12b relative to the support part 11 as a function of the sensor data S4.

[0097] Figure 4 shows a plan view of an agricultural implement 1. Figure 4 shows the support part 11, the central part 13, the distribution linkage 12, and the position of the first sensor arrangement 100a and the second sensor arrangement 100b. The solid lines 31a, 31b and 31c schematically indicate tracks which the rear wheels and the center point of the agricultural implement 1 describe when negotiating the curve shown. In the embodiment shown, it is possible for the support part to be provided with appropriate steering to maintain the track. The dashed line 30 schematically indicates a track which is described by the position of the first sensor arrangement 100a and the second sensor arrangement 100b, or would be described if the sensor arrangements were not permanently arranged on the support part 11.It can be seen that the position of the first sensor arrangement 100a and the second sensor arrangement 100b in the areas 30a and 30b deviates from the track of the center point 31c. This is due to the fact that when entering or exiting the curve shown, a rotation of the central section or the distributor rod takes place about the vertical axis V. In the areas 30a and 30b, a translational acceleration (the centripetal acceleration) thus acts on the first sensor arrangement 100a and the second sensor arrangement 100b. It should be noted that such an acceleration naturally also acts on the first sensor arrangement 100a and the second sensor arrangement 100b when cornering, even if the sensor arrangements are fixedly arranged on the support part.

[0098] In order to minimize the influence of this acceleration on the above-described determination of the angle of inclination of the distributor rod 12, the distance of the first sensor arrangement 100a and the second sensor arrangement 100b from the axis V is less than 100 cm, preferably less than 50 cm.

[0099] 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 examples and are also possible in any other configurations.

Claims

Claims Agricultural device (1) for spreading material, such as fertilizers, crop protection agents or seeds, comprising a carrier part (11); a distributor rod (12) arranged on the carrier part (11), wherein the distributor rod (12) is at least partially rotatable about an axis pointing in the direction of travel of the agricultural device; a first sensor arrangement (100a) for detecting a rotation angle of the carrier part (11); a second sensor arrangement (100b) for detecting a rotational speed and / or rotational acceleration of the carrier part (11); a third sensor arrangement (101) for detecting a relative angle between the carrier part (11) and the distributor rod (12); and an electronic data processing device (200) configured to determine an inclination angle of the distributor rod (12) with respect to a reference plane (20a, 20b) based on sensor data from the first sensor arrangement (100a),of the second sensor arrangement (100b) and the third sensor arrangement (101). Agricultural device (1) according to claim 1, wherein the first sensor arrangement (100a) and / or the second sensor arrangement (100b) and / or the third sensor arrangement (101) is arranged on the support part (11). Agricultural device (1) according to claim 1 or claim 2, wherein the first sensor arrangement and / or the second sensor arrangement are arranged on, in the immediate vicinity of, or at a fixed distance from a rotation axis (V), in particular to a vertical rotation axis, of the distributor boom or a boom of the distributor boom and / or the support part. Agricultural device (1) according to one of the preceding claims, wherein the electronic data processing device (200) is configured toPerform a sensor data fusion of the sensor data from the first sensor arrangement (100a) and the second sensor arrangement (100b). Agricultural implement (1) according to one of the preceding claims, wherein the electronic data processing device (200) is configured to determine an inclination angle of the support part (11) with respect to the reference plane (20a, 20b) based on the sensor data from the first (100a) and the second sensor arrangement (100b), in particular based on the fused sensor data; and, to determine the inclination angle of the distributor boom (12) based on the determined inclination angle of the support part (11) and the sensor data of the third sensor arrangement (101). Agricultural device (1) according to one of the preceding claims, wherein the electronic data processing device (200) is configured to perform a temporal integration of the sensor data of the second sensor arrangement (100b); to perform a sensor data fusion of the sensor data of the first sensor arrangement (100a) and the integrated sensor data of the second sensor arrangement (100b); and to perform an addition or subtraction of the fused sensor data and the sensor data of the third sensor arrangement (101).Agricultural device (1) according to one of the preceding claims, wherein the third sensor arrangement (101) comprises a potentiometer, in particular wherein the electronic data processing device (200) is configured to take calibration data of the potentiometer into account when determining the inclination angle of the distributor boom (12). Agricultural device (1) according to one of the preceding claims, wherein the first sensor arrangement (100a) and / or the second sensor arrangement (100b) is / are part of an inertial measurement unit (IMU).Agricultural implement (1) according to one of the preceding claims, wherein the distribution linkage (12) comprises: a central frame (13) which is connected in a rotationally fixed manner to the agricultural implement (1), in particular to the support part (11); and two lateral arms (12a, 12b) connected to the central frame (13), wherein the arms (12a, 12b) are each pivotable about an axis pointing in the direction of travel of the agricultural implement (1). Agricultural implement (1) according to claim 9, wherein the third sensor arrangement (101) is designed to determine a relative angle between a first of the lateral arms (12a, 12b) and the support part (11); to determine a relative angle between the second of the lateral arms (12a, 12b) and the support part (11); and. to determine an inclination angle of the first boom (12a, 12b) with respect to a reference plane (20a, 20b) and / or an inclination angle of the second boom (12a, 12b) with respect to a reference plane (20a, 20b) based on sensor data from the first sensor arrangement (100a), the second sensor arrangement (100b), and the third sensor arrangement (101). A method for determining the inclination angle of a distributor boom (12) of an agricultural implement (1) with respect to a reference plane (20a, 20b), in particular an agricultural implement (1) according to claims 1 to 9, comprising: Determining an angle of rotation of a support part (11) of the agricultural implement (1); Determining a rotational speed and / or rotational acceleration of the carrier part (11); Determining a relative angle between the distributor rod (12) and the support part (11); and Determining the angle of inclination of the distribution rod (12) with respect to a reference plane (20a, 20b) on the basis of the determined angle of rotation of the support part (11), the determined rotational speed of the support part (11) and the determined relative angle, and / or Determining the angle of inclination of the distribution linkage (12) based on the determined angle of rotation of the support member (11), the determined rotational acceleration of the support member (11), and the determined relative angle. The method according to claim 11, further comprising: Performing a sensor data fusion of sensor data corresponding to the angle of rotation of the support part (11) and sensor data corresponding to the determined rotational speed and / or the determined rotational acceleration. The method according to claim 11 or claim 12, further comprising: Determining an angle of inclination of the support part (11) on the basis of the determined angle of rotation of the support part (11) and the determined rotational speed and / or the determined rotational acceleration, in particular on the basis of fused sensor data; and Determining the inclination angle of the distribution rod (12) based on the determined inclination angle of the support part (11) and the determined relative angle. The method according to any one of claims 11 to 13, further comprising: Integration of sensor data corresponding to the determined rotational speed and / or the determined rotational acceleration; Sensor data fusion of sensor data corresponding to the angle of rotation of the support part (11) and the integrated sensor data; and Addition or subtraction of the fused sensor data with sensor data corresponding to the relative angle between the support part (11) and the distribution linkage (12). Method according to one of claims 11 to 14, wherein the distribution linkage (12) comprises a central frame (13) that is rotationally fixedly connected to the agricultural implement (1), in particular the support part (11), and two lateral arms (12a, 12b) connected to the central frame (13), the method further comprising: Determining a relative angle between a first of the lateral arms (12a, 12b) and the support part (11); Determining a relative angle between the second of the lateral arms (12a, 12b) and the support part (11); and Determining an angle of inclination of the first boom (12a, 12b) with respect to a reference plane (20a, 20b) and / or an angle of inclination of the second boom (12a, 12b) with respect to a reference plane (20a, 20b) on the basis of the determined angle of rotation of the support part (11), the determined rotational speed of the support part (11) and the respective determined relative angles, and / or Determining an angle of inclination of the first boom (12a, 12b) with respect to a reference plane (20a, 20b) and / or an angle of inclination of the second boom (12a, 12b) with respect to a reference plane (20a, 20b) based on the determined angle of rotation of the support part (11), the determined rotational acceleration of the support part (11), and the respective determined relative angles. The method according to claim 15, wherein the angle of inclination of the first boom (12a, 12b) is determined with respect to a third reference plane, wherein the angle of inclination of the second boom (12a, 12b) is determined with respect to a fourth reference plane, and wherein the third and fourth reference planes are different planes.

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