Method for determining a distribution of fertiliser granules

Abstract

The invention relates to a method for determining a distribution of fertiliser granules, comprising the steps of: laying out at least two collection devices (2a, 2b, 2c, 2d, 2e) for fertiliser granules at previously determined positions; spreading the fertiliser granules over the at least two collection devices by means of a fertiliser spreader; and capturing the distribution of the fertiliser granules on the at least two collection devices by means of an imaging device. The method also comprises the step of determining the distribution of fertiliser granules on the at least two collection devices and, optionally, a step of interpolating the distribution of fertiliser granules for at least one region of the spreading pattern of the fertiliser spreader.

Description

[0001] Method for determining a distribution of fertilizer granules

[0002] The invention relates to a method and a system for determining a distribution of fertilizer granules.

[0003] When spreading fertilizer granules, the spreading pattern of a fertilizer spreader (hereinafter also "spreading pattern") depends on the flow and flight behavior of the fertilizer granules. These depend, among other things, on the grain size, grain shape, true density, bulk density, grain strength, moisture content, friction coefficient, and surface condition of the granules. In principle, there are recommended settings for different fertilizer spreaders, in particular different centrifugal discs, which can be retrieved from databases or read from so-called spreading tables, taking the respective fertilizer type into account. However, deviations from the expected spreading pattern can occur, for example, due to variations in fertilizer quality, changes in the inclination of the spreader, spreading unit, and / or centrifugal disc(s), wind, moisture content of the fertilizer, changes in quantity, and / or segregation of the grain size fractions.Consequently, the actual distribution of the fertilizer, especially with regard to the lateral distribution, must be verified in practical application.

[0004] For this purpose, it is known, for example from EP 2 923 546 B1, to use an adhesive mat / plate to collect and hold spread fertilizer granules, to spread fertilizer granules over this mat / plate, and to determine the distribution of the fertilizer granules that have landed on the adhesive mat / plate. This allows the distribution of the fertilizer granules at the location of the adhesive mat / plate to be determined.

[0005] The invention is based on the object of providing an improved method for determining a distribution of fertilizer grains and an improved system therefor.

[0006] The invention comprises a method according to claim 1 and a system according to claim 12.

[0007] The method for determining a distribution of fertilizer granules comprises the steps of laying out at least two collecting devices for fertilizer granules at predetermined positions, spreading the fertilizer granules over the at least two collecting devices using a fertilizer spreader, which can in particular be a centrifugal fertilizer spreader, and detecting the distribution of the fertilizer granules on the at least two collecting devices. Furthermore, the method comprises the step of determining the distribution of fertilizer granules on the at least two collecting devices and, optionally, a step of interpolating the distribution of fertilizer granules for at least one region of the spreading pattern of the fertilizer spreader.

[0008] A collecting device can, in particular, comprise or be an adhesive mat / plate as described in EP 2 923 546 B1. Alternatively, a collecting device can, for example, comprise or be a measuring tray as described in DE 10 2004 017 075 A1, other measuring trays, or other devices suitable for holding, resting, or collecting fertilizer granules at or near the impact site. A combination of different collecting devices, for example, one or more measuring trays and one or more adhesive mats, can also be used.

[0009] The collection devices are deployed at predetermined positions, for example, at specific positions on a field, e.g., in relation to a driving lane or the field edge, or at predetermined positions relative to a stationary fertilizer spreader. "Predetermined positions" are typically positions that are already known before the collection devices are deployed. In other words, the collection devices are typically not deployed arbitrarily, but at predetermined positions. The collection devices can therefore be deployed, in particular, in a predetermined pattern. Such deployment can be done manually, mechanically, or in another suitable manner.

[0010] The fertilizer granules are spread by a fertilizer spreader, e.g., a centrifugal fertilizer spreader or a pneumatic fertilizer spreader. This fertilizer spreader can be a centrifugal spreader. It can comprise at least one, typically two, centrifugal discs, wherein the centrifugal disc(s) can in particular be driven in rotation. Alternatively, the fertilizer spreader can also be a pneumatic spreader, which pneumatically applies fertilizer via at least one pneumatic conveying line with one or more associated impact plates. The fertilizer spreader can further comprise a storage container and a dosing unit. Typically, the fertilizer granules are introduced via the dosing unit to the application mechanism, e.g., onto a centrifugal disc or into the pneumatic system. For example, the fertilizer spreader can, e.g.,Each centrifugal disc or pneumatic conveying line may comprise a metering element, via which the fertilizer granules (the fertilizer) can be applied in adjustable quantities onto the centrifugal disc or into the pneumatic conveying line. In the case of a pneumatic fertilizer spreader, the metering element can be, for example, a section of a metering roller. For example, the fertilizer spreader can comprise two centrifugal discs arranged next to one another transversely to the intended direction of travel, wherein each centrifugal disc can comprise one, two, or more throwing vanes adjustable in their effective length and / or angle. Each centrifugal disc can be assigned an introduction system for the fertilizer granules, which is designed to guide the fertilizer granules to a point on the centrifugal disc (feed point).The drop point can be set concentrically (in particular along a constant distance from the center of the centrifugal disc) and / or radially (in particular along a straight line through the center of the centrifugal disc with an adjustable distance from the center of the centrifugal disc) on a centrifugal disc. The spreading pattern of the fertilizer spreader can be influenced by adjusting one or more fertilizer spreader parameters, in particular, for example, the vane position and / or the effective length of the throwing vanes on the centrifugal discs, the attachment height of the centrifugal spreader, the disc diameter of the centrifugal disc(s), the inclination of the centrifugal spreader, the inclination of the spreading unit, the inclination of the centrifugal disc(s), the speed of the centrifugal discs, the disc selection and / or the drop point of the fertilizer granules on the centrifugal disc.

[0011] When spreading the fertilizer granules over the at least two collecting devices, the fertilizer granules are spread by the fertilizer spreader in such a way that some of them are expected to land on at least one of the at least two collecting devices. This can happen, for example, when driving through the tramline, for example, if the collecting devices are designed to be located in the area that is to be spread with fertilizer granules when driving through a tramline. In other embodiments, the fertilizer granules can be spread over the at least two collecting devices when the fertilizer spreader is stationary or when the fertilizer spreader is moving in a direction other than the direction of travel along the tramline.For example, the fertilizer spreader can be pivoted over the at least two collecting devices, in particular rotated about a point (pivot point of the fertilizer spreader), wherein the at least two collecting devices can be arranged, for example, on a straight line, in particular on a line through the pivot point of the fertilizer spreader radially, i.e. at different distances from the pivot point of the fertilizer spreader.

[0012] The distribution of the fertilizer granules on the at least two collecting devices is then recorded using an imaging device, e.g., a (digital) camera. For example, (digital) images of the at least two collecting devices for fertilizer granules can be generated, e.g., in at least two (digital) camera images. The distribution of fertilizer granules on the at least two collecting devices is then determined, e.g., calculated. The images, e.g., (digital) camera images, can each be processed, for example, to calculate an image of the spread fertilizer granules on the respective collecting device and, from this, optionally to calculate a distribution of the fertilizer granules, e.g., a quantity of fertilizer granules and / or density, in particular on the respective collecting device, or to otherwise determine the distribution of the fertilizer granules through image analysis.When calculating an image of the spread fertilizer granules on the respective collecting device, the image can be calculated in such a way that it only includes fertilizer granules and no other structures.

[0013] In particular, by determining the distribution of the fertilizer granules, especially if the area of ​​the collection device is known (which is typically the case), various properties (density, specific locations, grain sizes, grain size distribution and / or grain number) of the fertilizer granules on the area can be determined on the respective collection device. The density of the fertilizer granules can, for example, indicate whether the required amount of fertilizer is present per area. The specific locations of the fertilizer granules can allow a conclusion to be drawn as to whether the measurement contains errors. If the specific locations are, for example, very unevenly distributed, e.g. all located towards one edge, this can indicate that the granules have rolled around, e.g. due to a slanted collection device. In this case, the determined distribution may not be reliable. In particular, the edge of the collection device may be excluded from the evaluation.If a cluster of grains then occurs at the edge, an insufficient or reduced amount of fertilizer grains compared to the actual amount may be present in the evaluation area, which reduces the quality of the measurement. The procedure may include issuing a warning due to insufficient quality of the determined distribution.

[0014] For example, each of the collection devices can be imaged individually using a (digital) camera, and an image of the spread fertilizer granules on the respective collection device can be generated from each individual (digital) camera image. In particular, an image can depict the distribution of the individual fertilizer granules on the collection device. In particular, such an image can be used to determine the distribution of the fertilizer granules on the respective collection device.

[0015] Subsequently, an optional step of interpolating the distribution of fertilizer granules for at least one area of ​​the fertilizer spreader's spreading pattern can be performed. In addition to the specific distribution of the individual fertilizer granules on the at least two collecting devices, the optional interpolation step can optionally also take into account one or more pieces of information or assumptions about the spreading pattern. For example, interpolation can be performed assuming that the fertilizer spreader's spreading pattern is kidney-shaped and / or axially symmetrical, that the fertilizer quantity decreases from the center of the spreading pattern outwards linearly or according to a known function, and / or has a specific (optionally selectable or set) working width.Alternatively or additionally, the interpolation can be carried out with the assumption that the spreading pattern is adapted to requirements, i.e. in particular applies a target quantity which can in particular be location-dependent, and / or that the spreading pattern is designed to be supplemented by an overlapping connecting tramline, i.e. in particular is designed in such a way that a single pass results in a spreading pattern with such properties that two, three or more passes in adjacent tramlines result in a constant or demand-adapted amount of fertilizer.

[0016] In particular, the step of interpolating the distribution of fertilizer granules can comprise interpolating the distribution of fertilizer granules for at least one region of the spreading pattern of the fertilizer spreader, e.g., one half of an axisymmetric spreading pattern or the like. The at least one region of the spreading pattern of the fertilizer spreader, for which the distribution of fertilizer granules can optionally be interpolated, can, for example, lie between the at least two collecting devices. It can be larger than the area covered by the at least two collecting devices, e.g., if one or more pieces of information or assumptions about the spreading pattern are taken into account. In particular, it can comprise part of the spreading pattern of the fertilizer spreader, e.g., one half, one third, an edge region, the central region, or the entire spreading pattern of the fertilizer spreader.For example, if the distribution of fertilizer granules has been determined on two collecting devices, one in the center of the spread pattern and one at the edge of the spread pattern, the distribution of fertilizer granules can be interpolated as a uniform distribution of fertilizer granules between these two known distributions, or as a linear or other (known) function between these two distributions, and thus, for example, the entire spread pattern of the fertilizer spreader can be inferred. In particular, one or more pieces of information or assumptions about the spread pattern can be taken into account. Alternatively or additionally, distributions of fertilizer granules other than linear between two known distributions can also be used for interpolation.Accordingly, if the distribution of fertilizer grains on three or more collecting devices has been determined, the distribution of the fertilizer grains can be interpolated as one, in particular continuous, distribution of the fertilizer grains between these three or more known distributions, in particular for example as a linear or other (known) function between these three or more distributions, and thus, for example, the entire spreading pattern of the fertilizer spreader can be inferred.

[0017] By determining the distribution of the fertilizer granules on the at least two collecting devices, it may be possible, in particular, to determine one or more properties of the (overall) spreading pattern, e.g., the spreading fan, in particular important characteristics of the (overall) spreading pattern, in particular the spreading fan. For example, assuming a specific shape and / or size, in particular width, of the (overall) spreading pattern, in particular the spreading fan, and / or a specific distribution of the fertilizer granules within an (overall) spreading pattern, in particular the spreading fan, the position and / or size of the (overall) spreading pattern, in particular the spreading fan, and / or the fertilizer granule density in the (overall) spreading pattern, in particular the spreading fan, can be determined.

[0018] With the determined distribution of the individual fertilizer grains on the at least two collecting devices and one or more pieces of information or assumptions about the spread pattern, a (complete) interpolated spread pattern of the fertilizer spreader can be created, particularly by interpolating with the assumption. Optionally, a resulting fertilizer distribution on the field can be determined using an interpolated spread pattern of the fertilizer spreader and information about the overlap of adjacent tramlines.

[0019] The imaging device can in particular be a digital camera, for example a camera of a mobile device, e.g. a cell phone camera or the camera of a tablet.

[0020] According to the invention, the predetermined positions can be specified, in particular determined, or can be specified depending on the expected scattering pattern.

[0021] In particular, the predetermined positions can be calculated based on the expected (and optionally already set on the fertilizer control) spreading pattern or can be calculated after entering the desired spreading pattern. The expected spreading pattern can be specified or known, in particular, by specifying one or more fertilizer spreader parameters, e.g. discharge parameters or setting parameters, such as throwing distance, throwing angle, position of the introduction system, disc speed and / or the working width to be maintained in the tramline system, and / or environmental parameters, e.g. slope of the ground. The expected spreading pattern can be dependent, in particular, on an expected spreading situation, e.g. depending on whether it is an inner field, which headland is used, whether the field has boundaries, whether there are bodies of water nearby, whether there are obstacles in the field, or similar, and can be preset or retrieved using one, two or more of the aforementioned parameters.Alternatively, the predetermined positions may also be specified (and thus determined) for an expected spreading pattern in a database or other information, such as a manual or spreading charts.

[0022] Determining the predetermined positions depending on the expected spread pattern may, in particular, involve determining a number of collecting devices with which an entire spread pattern can be interpolated with the necessary accuracy. Furthermore, determining the predetermined positions depending on the expected spread pattern may include determining predetermined positions, in particular for the number of collecting devices, with which the entire spread pattern can be interpolated with the necessary accuracy, taking into account one or more pieces of information or assumptions about the spread pattern.

[0023] The predetermined positions can, for example, be arranged only along a portion of the expected spread pattern. In particular, for a symmetrical (expected) spread pattern, the predetermined positions can be arranged only along one side (half) of the spread pattern. This can be advantageous because fewer collection devices are required than if the collection devices were arranged along the entire spread pattern to obtain comparable information, and / or increased accuracy can be achieved with the same number of collection devices if the existing collection devices are (intelligently) distributed only along a portion of the expected spread pattern.

[0024] At least one of the predetermined positions, e.g. at least two or all predetermined positions, can be arranged in an area of ​​interest. An area of ​​interest can in particular only comprise part of the spreading pattern, e.g. one half or one third of the spreading pattern, or can be arranged in only part of the spreading pattern, e.g. one half or one third of the spreading pattern. For example, an area of ​​interest can be arranged along a straight line, in particular along a straight line perpendicular to the direction of travel of the fertilizer spreader. An area of ​​interest can, for example, be located in an area in which a greater deviation from normal spreading is expected in the interior of the field, for example in an expected edge, e.g. in the spreading flank or at a spreading boundary or in the area of ​​the spreading boundary, on the headland and / or in the vicinity of a body of water, whereby areas beyond the spreading boundary can also be included in the area of ​​interest.An area of ​​interest may alternatively or additionally lie in an expected maximum of the expected scatter pattern.

[0025] In some embodiments, a predetermined position may be arranged, for example, beyond the expected spreading pattern in order to check whether spreading actually does not exceed the expected spreading pattern and / or in the region of the spreading boundary or spreading flank of the expected spreading pattern in order to check whether the expected spreading pattern corresponds to the actual spreading pattern.

[0026] For example, especially when more than two collection devices are present, the predetermined positions can be arranged in an area of ​​interest with a higher density than in other areas. In another embodiment, the predetermined positions can be arranged only in the area of ​​interest, so that only the part of the scatter pattern in the area of ​​interest can be inferred from the detected distribution.

[0027] An example area of ​​interest could be the border area of ​​the spread pattern or the flank of the spread pattern. If the predetermined positions with higher density are located in an area of ​​interest than in other areas, the distribution of the fertilizer granules can be determined more precisely in these areas. In particular, the interpolation of the spread pattern can then be more accurate in the area of ​​interest than in other areas of the spread pattern.

[0028] Alternatively, the at least two collecting devices can all be laid out at predetermined positions in the same density, for example at equal distances from each other.

[0029] The individual collection devices can be included equally in the calculation of the spread pattern. Alternatively, collection devices, for example, those positioned at predetermined locations with the same density, can be included in the interpolation of the spread pattern with a specific weighting. For example, the distribution of fertilizer granules on one or more collection devices in an area of ​​interest can be given greater weighting in the interpolation of the spread pattern than the distribution of fertilizer granules on one or more other collection devices.

[0030] The predetermined positions can be or will be determined in relation to the fertilizer spreader, to a planned stopping position for the fertilizer spreader at which the fertilizer spreader is stopped to determine the distribution of the fertilizer granules, or to a (planned) tramline of the fertilizer spreader. The predetermined positions can also be specified or determined in relation to the field. In particular, for example, to check switching points, e.g. a shutdown of one or more parts of the fertilizer spreader (e.g. during wedge or boundary spreading) or the switching on and off points of the fertilizer spreader, or the switching points between the interior of the field and the headland, e.g. a partial or complete shutdown of the fertilizer spreader, it can be advantageous to place the collecting devices at specific positions in the field.

[0031] For example, predetermined positions (for the at least two collecting devices) can be arranged concentrically on a circular arc around the fertilizer spreader and / or in a kidney shape or a parabolic arc, within a circular sector or circular segment around the fertilizer spreader, and / or radially to the fertilizer spreader at different distances.

[0032] Determining the predetermined position in relation to the fertilizer spreader can be particularly advantageous when the fertilizer granules are spread when the fertilizer spreader does not perform any relative movement or any driving movement, e.g. only a rotational movement, with respect to the collecting devices, i.e. in particular when the fertilizer spreader spreads while stationary.

[0033] By determining the predetermined positions relative to the fertilizer spreader, information about, for example, the spreading width and / or spreading angle and / or spreading width distribution and / or spreading angle distribution can be acquired from the distribution of the fertilizer granules. In particular, if the fertilizer spreader performs some or no relative movement to the collecting devices, an arrangement of the predetermined positions radially at different distances can allow a determination of the spreading width and / or spreading width distribution from the distribution of the fertilizer granules. An arrangement of the predetermined positions on a circular arc around the fertilizer spreader can, for example, allow a determination of the spreading angle and / or the spreading angle distribution from the distribution of the fertilizer granules, particularly if the fertilizer spreader performs no relative movement to the collecting devices.The spreading angle can correspond to the discharge angle of the fertilizer spreader, i.e., the angle between an axis parallel to the designated direction of travel of the centrifugal spreader (in the longitudinal direction of the centrifugal spreader) through the pivot point of a corresponding centrifugal disc of a centrifugal spreader and the axis through the pivot point of the corresponding centrifugal disc of a centrifugal spreader and the intersection of the radial and concentric 50% percentiles. The spreading angle distribution can correspond to the variance of the spreading angle specified above.

[0034] In other embodiments, the fertilizer granules can be spread by means of a fertilizer spreader while it moves relative to the predetermined positions of the collecting devices, for example, traveling along a tramline. For example, it may be necessary to travel only along one tramline. This makes it possible, for example, to determine a distribution of fertilizer granules using predetermined positions on one side of the tramline (e.g., when a symmetrical spreading pattern is expected) or on both sides of the tramline, which can be used to determine an area of ​​the spreading pattern of the fertilizer spreader, in particular the entire spreading pattern of the fertilizer spreader. In other embodiments, two, three, or more adjacent tramlines are traveled during the spreading of the fertilizer, so that a resulting distribution of the fertilizer granules on a field can be determined based on the collecting devices at the predetermined positions.In particular, driving along two or three adjacent tramlines can be advantageous when driving over the tramlines so that the spreading patterns overlap. Thus, to determine the distribution of the fertilizer granules in the field, in particular the distribution of the fertilizer granules transverse to the direction of travel (transverse distribution), it is not necessary to calculate the distribution of the fertilizer granules in the field, e.g., from an interpolation of the spreading pattern at the locations of the collecting devices with the optional subsequent assumption of an overlay of two or more spreading patterns. Rather, the distribution of the fertilizer granules on the collecting devices can show the actual resulting distribution, in particular the transverse distribution, of the fertilizer granules in the field in the area of ​​the collecting devices under actual conditions.

[0035] The predetermined positions can, for example, be calculated (for the respective method to be carried out for determining the distribution of fertilizer granules). The calculation of the predetermined positions can, for example, be carried out on an (external) server, to which the data can be transmitted, e.g., via radio transmission or similar, or on a mobile device (e.g., a cell phone or tablet), or the on-board computer. The calculation can include determining the number of collecting devices with which an entire spreading pattern can be interpolated with the necessary accuracy, and calculating the predetermined positions. The calculated predetermined positions, and optionally also the number of collecting devices, can then be transmitted, e.g., to a mobile device or the on-board computer, so that the collecting devices can be deployed at the predetermined positions.

[0036] To calculate the predetermined positions, one, two or more of the following parameters can be used: a GPS position, in particular the GPS position of the field and / or the lane to be traveled, the position of the sun, the degree of cloud cover, which can be determined in particular by measuring the lighting conditions, e.g. with an optical sensor or camera and / or weather information, e.g. from online services or a local weather station, the time of day, one or more inputs, fertilizer spreader parameters and / or fertilizer type.

[0037] The GPS position can be determined, for example, using a mobile device or the on-board computer. The position of the sun can be determined using a shadow cast, for example in an image of the surroundings by a camera, for example in a mobile device, using GPS, and / or based on the time of day and / or the direction of view when measuring or the direction of travel along a selected lane and / or using information from the internet or otherwise. For example, the position of the sun can be determined from a combination of the GPS position, the direction of view when measuring or the direction of travel, and the time of day. The degree of cloud cover can, for example, be retrieved from a server (from the internet) or entered manually. One or more inputs can, for example, include manual inputs or inputs that are, for example, read out or recorded by the on-board computer and entered (manually or automatically).One or more inputs may, for example, include the purpose of the measurement and / or the expected or intended spreading situation, for example, a review of the spreading pattern, a review of specific aspects of the spreading pattern (e.g., spreading flank, boundary spreading), a review of the switch-on and switch-off points, or a planned readjustment of the fertilizer spreader settings. Inputs may alternatively or additionally include environmental parameters such as wind strength, slope of the terrain, humidity, or other on-board computer parameters. Fertilizer spreader parameters may, for example, include setting parameters or discharge parameters, the device type, and / or similar. The fertilizer type is particularly relevant for the flight behavior of the fertilizer granules. It may therefore be advantageous to take this into account when calculating the predetermined positions.

[0038] Alternatively, the predetermined positions relative to the tramline, the field, or the fertilizer spreader can already be located at fixed positions prior to the process for determining the distribution of fertilizer granules, which can depend in particular on the expected and / or intended spreading situation. For example, these positions can be looked up in tables, reference books, or a database or read out (automatically). Such previously known, predetermined positions can be specified in the reference books, for example, depending on the type of fertilizer spreader and / or the desired spreading pattern.

[0039] The predetermined positions (whether calculated or read out) can be output, for example via a mobile device (e.g. tablet, cell phone) or the on-board computer, and used to deploy the fall arresters. For example, this output can be provided as GPS data for deploying the fall arresters and / or as a display on a map of the field. Optionally, a mobile device can be configured to assist a user in deploying the fall arresters, for example by giving a signal where each fall arrester should be deployed. In particular, correction or directional information can be provided by a mobile device, e.g. a cell phone with an app, indicating in which direction an existing fall arrester should be deployed or where an already deployed fall arrester should be moved.Alternatively or additionally, an image of the field with a marked target position can be displayed as augmented reality of the collecting device, for example by a mobile device, so that the collecting device to be applied can be brought into line with the target position. Alternatively, the on-board computer or a mobile device can be configured to control where the collecting devices are applied mechanically, e.g. by an attachment to the fertilizer spreader. Optionally, before or during recording the distribution of the fertilizer granules on the at least two collecting devices, it can be checked by means of an imaging device, in particular with the aid of GPS, for example, whether the respective collecting device is arranged in the correct predetermined position. In the event of a deviation from the correct predetermined position, a warning can optionally be issued, in particular indicating reduced quality of the determined distribution.

[0040] Using the determined distribution of the fertilizer granules, one (or more) parameters of the spreading process can be determined.

[0041] One parameter of the spreading process, in particular for the fertilizer spreader with the respective disc or impact plate used, which can be determined using the distribution of the fertilizer grains, can be or include: throwing distance, throwing distance distribution, spreading flank, spreading boundary, throwing direction, throwing height, throwing angle, switching points of the fertilizer spreader, e.g. switching points for switching off one or more parts of the fertilizer spreader (e.g. for wedge or boundary spreading) or switching on and off points of the fertilizer spreader, or switching points between the interior of the field and the headland, e.g. a half-side or complete switching off of the fertilizer spreader, deviation from the expected spreading pattern, deviation from the expected lateral distribution, 3D spreading pattern, 2D spreading pattern, spreading rate, density of the spread fertilizer grains, grain size distribution.

[0042] When determining the throw distance, it is possible to determine, in particular, an average throw distance and its variance (throw distance distribution), optionally depending on the angle at which the spreading occurs. For example, the 50th or 95th percentile (the distance within which 50% or 95% of all fertilizer granules land) can be determined for the throw distance. When determining the spreading flank, it is possible to determine, for example, how quickly the fertilizer quantity decreases in the lateral area of ​​the spreading pattern, especially in the transverse distribution, and / or whether the fertilizer quantity decreases evenly in the lateral area of ​​the spreading pattern.

[0043] When determining the spreading boundary, the throw distance for boundary spreading can be determined, for example from a spreading flank for boundary spreading, e.g. the 50th or 95th percentile of the throw distance for the boundary spreading area. When determining the throw direction, for example, the (main) throw direction can be determined in which the maximum throw quantity of each spreading disc or impact plate is achieved and around which the spreading pattern is arranged and / or which divides the spreading pattern so that 50% of the spread fertilizer granules land on either side of it. The throw height can be determined using the distribution of the fertilizer granules if, for example, further information such as throwing speed or similar is known. When determining a deviation from the expected spreading pattern, it can be determined in particular whether the distribution of the fertilizer granules corresponds to the distribution of the fertilizer granules that would have resulted with the expected spreading pattern.

[0044] A 3D spreading pattern can, for example, describe the two-dimensional spreading pattern when the fertilizer spreader is stationary and the respective fertilizer quantity as a third dimension, e.g. a spreading kidney with an indication of the fertilizer quantity, particularly color- or height-coded. A 2D spreading pattern can correspond to the transverse distribution of the fertilizer grains (in a direction perpendicular to the direction of travel of the fertilizer spreader). This transverse distribution can, for example, be the overall resulting transverse distribution from one or more passes in adjacent tramlines, or the transverse distribution resulting from a pass to the right or left of the fertilizer spreader (to which both centrifugal discs or all impact plates contribute), or the resulting transverse distribution from a pass to the right or left of the fertilizer spreader, to which only one centrifugal disc contributes.

[0045] Several of the aforementioned parameters of the spreading process can also be determined.

[0046] In addition to the distribution of the fertilizer granules on the at least two collecting devices, one or more additional information can be used to determine the one or more parameters of the spreading process.

[0047] For example, the one or more additional pieces of information can include: the result of a radar measurement (for example a radar measurement on the fertilizer spreader with which the (main) throwing direction and / or the throwing fan, e.g. shape, height and / or width and / or throwing angle can be determined, whereby in particular the throwing angle can be determined from a radar measurement of quantity per angle and / or the throwing distance can be determined from a Doppler measurement), corresponding previous measurements, for example comparison measurements from a throwing hall, previous measurements with the fertilizer spreader, fertilizer spreader type, set and / or measured working parameters of the fertilizer spreader, such as disc diameter, throwing blade configuration, speed, dosage amount and / or driving speed, and / or properties of the fertilizer, e.g. grain size, grain size spectrum, flight characteristics, weight and / or shaking tests.In particular, one or more of these data may already be stored or stored for use, e.g., in the on-board computer or a mobile device, or centrally, e.g., in an app. In particular, the current operating parameters of the fertilizer spreader, which are required anyway for the use of a fertilizer spreader, can be used as additional information.

[0048] The fertilizer spreader type can, in particular, include operating parameters of the fertilizer spreader. Information about the spreader type and / or the centrifugal disc used can be stored or provided in a database or reference work (e.g., spreading chart). The set and / or measured operating parameters of the fertilizer spreader can, for example, include the amount of fertilizer granules applied per unit time (determined, for example, by repeatedly weighing the remaining fertilizer, e.g., using one or more scales attached to the fertilizer hopper, or by detecting the mass flow, particularly via radar measurements and / or torque detection), the current working width, and / or the appearance of an intended spreading pattern (e.g., kidney pattern, lateral distribution).The set working parameters of the fertilizer spreader, in particular their starting values, can be known, for example, from the distribution along the transverse direction from the spreading hall or a spreading hall image by rotating the fertilizer spreader.

[0049] For example, if the distribution of fertilizer granules across the tramline has been determined and the throw direction is known (e.g., from radar measurements), the throw distance of the spread pattern can be determined. Conversely, the distribution of fertilizer granules across the tramline and a known throw distance (e.g., from radar measurements) can be used to determine the throw direction of the spread pattern.

[0050] In other embodiments, only the distribution of the fertilizer granules is used to determine one or more parameters of the spreading process.

[0051] After determining the parameters of the spreading process, one or more target settings for the fertilizer spreader can be generated (recalculated) based on the determined parameters of the spreading process. The actual setting or settings (when determining the parameters of the spreading process) can also be included in the generation (calculation). These one or more target settings can be generated, for example, on-board computers, a mobile device such as a cell phone or tablet, or externally, for example on a server. The newly calculated target setting(s) of the fertilizer spreader can then be set on the fertilizer spreader, e.g. manually or automatically. For example, a target setting can be set for one or more fertilizer spreader parameters, in particular setting parameters such asThe blade position of the throwing blades on the centrifugal discs, the mounting height of the centrifugal spreader, the inclination of the centrifugal spreader, the speed of the centrifugal discs, and / or the drop point of the fertilizer granules on the centrifugal disc can be generated. For example, if the recorded distribution of the fertilizer granules shows that an actual value does not correspond to the target value, for example for the spreading flank, the boundary spreading setting, the throwing distance, the throwing distance distribution, and / or the throwing angle, the target value can be recalculated, and one or more target settings for the fertilizer spreader can be generated from this (and then adjusted on the fertilizer spreader).

[0052] Optionally, fertilizer granules can then be spread again over the at least two collecting devices and the distribution of the fertilizer granules on the at least two collecting devices can be recorded in order to check whether the target settings created have improved the spreading pattern.

[0053] The invention further comprises a system for determining a distribution of fertilizer granules, in particular a system for determining a distribution of fertilizer granules as described above, which comprises two collecting devices for fertilizer granules that can be deployed in different positions, as well as means for detecting the distribution of the fertilizer granules on the at least two collecting devices. The means for detecting the distribution of the fertilizer granules on the at least two collecting devices can in particular comprise an imaging device and optionally a processor configured to detect the distribution of the fertilizer granules from a (digital) image.The means for detecting the distribution of the fertilizer granules may in particular comprise a mobile terminal, such as a smartphone or tablet with a (digital) camera, wherein the mobile terminal may comprise a processor which may comprise a program configured to detect the distribution of the fertilizer granules.

[0054] The system may further comprise means configured to carry out the steps described in relation to the method described above. In particular, these means may comprise a processor and a storage medium, wherein the storage medium contains machine-readable instructions which, when executed by the processor, determine a distribution of fertilizer granules on the at least two collecting devices and optionally carry out further steps described above, in particular steps according to claims 2 to 12. Aspects of the above invention emerge from the attached figures, which are not to scale. The same reference numerals are used for the same objects in the various figures.

[0055] Figure 1a is a plan view of a possible arrangement of the collecting devices at predetermined positions,

[0056] Figure 1 b is a plan view of a possible arrangement of the collecting devices at predetermined positions,

[0057] Figure 2 is a plan view of a possible arrangement of the predetermined positions

[0058] Figure 3 is a flowchart of an exemplary method.

[0059] Figure 1a shows a first exemplary arrangement of the collecting device at predetermined positions.

[0060] Figure 1a shows a plan view of a possible arrangement of collecting devices at predetermined positions relative to a tramline 1, with five collecting devices 2a, 2b, 2c, 2d, and 2e arranged at the predetermined positions as an example. The size of the collecting devices is not to scale: the collecting devices may be significantly smaller than schematically drawn, particularly in comparison to the spreading pattern.

[0061] In other embodiments, more or fewer than five predetermined positions and corresponding collecting devices may be included. The arrangement of the predetermined positions is, for example, transverse to the direction of travel 3 along the driving lane 1. In other embodiments, the predetermined positions may also be arranged differently.

[0062] The expected spreading pattern 4, which would approximately be expected if the fertilizer spreader 5 were to spread without moving towards the tramline, is shown as a spreading fan.

[0063] When the fertilizer spreader 5 moves along tramline 1, a distribution of fertilizer granules results that corresponds to a flowing superposition of the corresponding 3D spreading patterns (integral of the 3D spreading patterns in the direction of travel), which in this example, when only tramline 1 is traveled, can have a trapezoidal shape. Trapezoidal shape in this context can mean in particular that the transverse distribution (perpendicular to tramline 1) of the fertilizer, i.e. the density of the fertilizer perpendicular to the tramline, in the area around the tramline (in the middle of the tramline and an area to the outside), has a (substantially) constant value and decreases from two points (symmetrical to each other with respect to tramline 1) towards the edge, in particular (substantially) linearly, to 0, whereby typically the two areas in which the distribution decreases are axially symmetrical to each other with respect to tramline 1.By appropriately superimposing the spreading patterns from adjacent tramlines, a homogeneous distribution of fertilizer granules can be achieved across the field. A suitable superimposition of the spreading patterns from adjacent tramlines can, in particular, involve superimposing two spreading patterns from adjacent tramlines in such a way that one trapezoidal distribution falls to 0, while the adjacent trapezoidal distribution reaches a constant value, thus overlapping the trapezoidal (lateral) distributions to form a homogeneous (lateral) distribution.

[0064] Optionally, in a method for determining a fertilizer granule distribution, in addition to driving along tramline 1, the adjacent tramlines, tramline 1a and tramline 1b, can also be driven along with the fertilizer spreader s, typically in the opposite direction. In this case, the resulting distribution of fertilizer granules on the collecting trays roughly corresponds to the resulting distribution of fertilizer granules on the field.

[0065] When the fertilizer spreader 5 is stationary in the tramline 1, a distribution of fertilizer grains results which corresponds to the distribution of the fertilizer grains in the spreading pattern at the location where the predetermined positions are located.

[0066] In Figure 1a, the predetermined positions with collecting devices 2a - 2e are arranged equidistantly along the entire width of the expected scattering pattern (and here also slightly beyond).

[0067] The spreading of the fertilizer granules can be carried out with relative movement of the fertilizer spreader to the collecting devices or with the fertilizer spreader at a standstill to the collecting devices.

[0068] Using the determined actual distribution of the fertilizer granules, with knowledge of the predetermined positions at which the collecting devices 2a - 2e are arranged, and optionally an assumption about the target distribution of the fertilizer granules, a parameter of the spreading process can be determined, e.g., in this case, the deviation of the measured distribution from the expected distribution of the expected spreading pattern (also referred to as "the deviation from the expected spreading pattern").

[0069] Figure 1b shows an arrangement of the predetermined positions with, by way of example, three collecting devices 2a, 2b, 2c along only one part, in particular one half (the right half in the direction of travel 3, which is particularly shown as the upper half in the figure), of the expected spreading pattern 4. In the example shown, the collecting devices 2a - 2c are not arranged at the same density, but rather in an area of ​​interest, here the area of ​​the spreading flank, with a higher density (smaller distances from one another).

[0070] Spreading of the fertilizer granules can be carried out in Figure 1b in the same way as described for Figure 1a (where optional tramlines 1a, 1b to be driven are not shown in Figure 1b), as well as an optional determination of a parameter of the spreading process.

[0071] Figure 2 shows a plan view of a possible arrangement of the collecting devices at predetermined positions 6 (also including 6a, 6b, 6c), wherein in Figure 2, the predetermined positions 6 are particularly suitable for determining a distribution of fertilizer granules when the fertilizer spreader 5 does not perform any relative movement to the predetermined positions 6. Alternatively or additionally, the predetermined positions 6c from Figure 2 can allow the switching points of the fertilizer spreader and / or the distribution in the headland to be checked. The positions 6c can, as shown, be arranged in particular along a straight line in the direction of travel 8.

[0072] The predetermined positions 6 are arranged here, for example, flatly within a circular sector 7. In the example shown, they are arranged with the same density. In other embodiments, they can be arranged with different densities, e.g., in an area of ​​interest, e.g., in the area of ​​the scatter flank, e.g., in the right or left third of the scatter pattern (in Figure 2, this corresponds to the upper third or lower third, respectively), with a higher density (not shown).

[0073] When arranged around a stationary fertilizer spreader 5, the predetermined positions can be arranged radially, in particular from less than the expected spreading distance to beyond the expected spreading distance, for example, equidistantly. A corresponding arrangement can be seen, for example, at the predetermined positions 6b and / or 6c along imaginary straight lines. This allows the expected spreading distance of the fertilizer spreader 5 to be verified and, optionally, the fluctuation in the spreading distance can also be recorded.

[0074] With the arrangement of the predetermined positions 6 determined in Figure 2, one or more parameters of the spreading process can be determined, in particular using the distribution of the fertilizer granules, and here in particular the (main) throwing direction and / or the throwing distance and / or the throwing angle. Optionally, one or more target settings, e.g., for the fertilizer spreader, can then also be generated. For example, target settings can be generated that are intended to change the throwing direction and / or the throwing distance and / or the throwing angle. In other embodiments, the predetermined positions 6 can also be arranged in a different pattern, e.g., within a circular segment, along a line radially from the fertilizer spreader 5, or along a circular arc around the fertilizer spreader 5 (not shown).

[0075] An arrangement of the predetermined positions 6c along a line extending radially from the fertilizer spreader 5 can allow, particularly when stationary, the throwing distance and / or throwing distance distribution of the fertilizer spreader 5 to be determined. An arrangement of the predetermined positions 6b can be arranged, particularly along the main throwing direction, which can be known or determined by another measurement, e.g., radar measurement. Thus, the arrangement of the predetermined positions 6b, particularly when stationary, can allow the throwing distance and / or throwing distance distribution of the fertilizer spreader 5 to be determined along the main throwing direction.

[0076] An arrangement of the predetermined position 6a along a circular arc segment around the fertilizer spreader can in particular allow a determination of the (real) throwing direction of the fertilizer spreader, in particular when stationary.

[0077] When the fertilizer spreader is moving, the arrangement of positions 6a and / or the arrangement of positions 6b can provide information about the 2D spreading pattern.

[0078] Corresponding arrangements of the predetermined positions 6 can be calculated, e.g., after entering the purpose of the measurement and / or the expected or intended scattering situation, e.g., into the on-board computer or a mobile device.

[0079] The calculated predetermined positions can be output, e.g., via a mobile device. They can be output, for example, as GPS data for the desired positions or by plotting the corresponding predetermined positions on a map of the field. Optionally, the output of the positions can provide assistance to the user when deploying the fall arrest devices.

[0080] Figure 3 shows, by way of example, a flow diagram of a method in which, by way of example, predetermined positions for at least two collecting devices for fertilizer granules are calculated, wherein the position of the sun is included as a parameter for the calculation of the predetermined positions.

[0081] The method includes the step of calculating the predetermined positions taking into account the position of the sun (step 301).

[0082] The position of the sun can be determined, for example, as described above. In particular, the predetermined positions can be calculated taking the position of the sun into account in such a way that collection devices located at the predetermined positions are not shaded by the machine, in particular the fertilizer spreader, (especially after the fertilizer spreader has passed over them in a known direction) and / or that the expected shadow cast by structures of the collection device casts as little shadow as possible on the collection device, i.e., trays are placed at the predetermined positions with the short side facing the sunlight.

[0083] The exemplary method further comprises the steps

[0084] - laying out at least two collecting devices for fertilizer granules at the predetermined positions (step 302), - spreading the fertilizer granules over the at least two collecting devices by means of a fertilizer spreader (step 303), and

[0085] Detecting the distribution of the fertilizer granules on the at least two collecting devices by means of an imaging device (step 304).

[0086] Because the predetermined positions were calculated taking into account the position of the sun, the recording can be carried out using an imaging device under as uniform and consistent lighting conditions as possible.

[0087] Furthermore, the method comprises the step of determining the distribution of fertilizer granules on the at least two collecting devices (step 305).

Claims

Claims Method for determining a distribution of fertilizer granules, comprising the steps of: a) laying out at least two collecting devices (2a, 2b, 2c, 2d, 2e) for fertilizer granules at predetermined positions (6); b) spreading the fertilizer granules over the at least two collecting devices by means of a fertilizer spreader (5); c) recording the distribution of the fertilizer granules on the at least two collecting devices by means of an imaging device; d) determining the distribution of fertilizer granules on the at least two collecting devices. Method according to claim 1, wherein the method further comprises: interpolating the distribution of fertilizer granules for at least one region of the spreading pattern of the fertilizer spreader. Method according to one of the preceding claims, wherein the predetermined positions (6) are specified, in particular determined, depending on the expected spreading pattern (4).Method according to one of the preceding claims, wherein the predetermined positions (6) are arranged only along a part of the expected spreading pattern (4). Method according to one of the preceding claims, wherein at least one of the predetermined positions (6) is arranged in a region of interest, in particular an expected edge or an expected maximum of the expected spreading pattern (4). Method according to one of the preceding claims, wherein the predetermined positions (6) are determined relative to the fertilizer spreader (5). Method according to one of the preceding claims, wherein the predetermined positions (6) are calculated. Method according to one of the preceding claims, wherein one, two, or more of the following parameters are used to calculate the predetermined positions (6): GPS, position of the sun, degree of cloud cover; one or more inputs, fertilizer spreader parameters, fertilizer type. Method according to one of the preceding claims, wherein the predetermined positions (6) are output, in particular on a screen of an on-board computer of the fertilizer spreader (5) or a mobile terminal. Method according to one of the preceding claims, wherein a parameter of the spreading process is determined using the detected distribution of the fertilizer grains.The method according to claim 10, wherein the one or more parameters of the spreading process comprise one or more of the following parameters: throwing distance, throwing distance distribution, spreading flank, spreading boundary, throwing direction, throwing height, throwing angle, switching points of the fertilizer spreader, deviation from the expected spreading pattern, deviation from the expected transverse distribution, 3D spreading pattern, 2D spreading pattern, spreading rate, density of the spread fertilizer grains, grain size distribution. The method according to one of the preceding claims, wherein one or more target settings for the fertilizer spreader (5) are generated based on the determined parameters of the spreading process.System for determining a distribution of fertilizer granules, comprising at least two collecting devices (2a, 2b, 2c, 2d, 2e) for fertilizer granules, which can be laid out in different positions, and means for detecting the distribution of the fertilizer granules on the at least two collecting devices (2a, 2b, 2c, 2d, 2e), in particular an imaging device.

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