Method for adapting the transverse distribution of fertilizer when travelling around a corner
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- AMAZONEN WERKE H DREYER GMBH & CO KG
- Filing Date
- 2024-07-10
- Publication Date
- 2026-06-10
Smart Images
Figure EP2024069501_13022025_PF_FP_ABST
Abstract
Description
[0001] Method for adjusting the lateral distribution of fertilizer when cornering
[0002] The invention relates to a method for spreading fertilizer when cornering and to a fertilizer spreader.
[0003] It is known to apply fertilizer using a fertilizer spreader. Centrifugal fertilizer spreaders, such as centrifugal fertilizer spreaders with two discs surrounding spreading discs, can be used in particular.
[0004] By applying fertilizer using the spreading discs, a spreading pattern is formed which is composed of, in particular, two partial spreading patterns, each of which is applied by a spreading disc.
[0005] A spread pattern represents the pattern of spreading material, particularly fertilizer, as it is created by such a centrifugal fertilizer spreader when stationary. When the fertilizer spreader is moving, the overlap of the resulting spreading patterns creates a fertilizer distribution across the field. Typically, the transverse distribution (perpendicular to the direction of travel of the fertilizer spreader) is adjusted or configured in such a way that, when driving along multiple tramlines, the overlap of the different transverse distribution patterns creates an even fertilizer distribution across a field.
[0006] Typically, the spreading discs are adjusted when driving straight ahead to create a fertilizer distribution that, when overlapped with the fertilizer distribution applied in adjacent tramlines, results in a consistent fertilizer distribution across the field. In particular, the resulting lateral distribution of the fertilizer when driving straight ahead can be triangular or trapezoidal.
[0007] Sometimes, however, it is necessary to drive around bends while spreading fertilizer; this can be particularly necessary at the boundaries of the field and / or when there are obstacles in the field, such as trees, power poles, or similar. When driving around bends, however, if the fertilizer spreader parameters are not changed, this will result in uneven fertilizer distribution, particularly uneven lateral distribution of the fertilizer in the bend. This effect occurs in particular because the fertilizer only falls to the ground well behind the fertilizer spreader, in particular about half the working width. This means that when the fertilizer spreader drives around bends, the spreading pattern already swivels relative to the current direction of travel, when the fertilizer spreader should still be spreading the spreading pattern when driving straight ahead, and the spreading pattern also swivels further relative to the current direction of travel as the fertilizer spreader progresses around the bend.In addition, the parts of the fertilizer spreader arranged on the inside of the curve can, depending on the curve radius and the characteristics of the spreading pattern, e.g. whether the spreading patterns overlap when driving to a trapezoidal or triangular lateral distribution, cover a shorter or different path than the parts of the fertilizer spreader arranged on the outside of the curve, so that more or less fertilizer is applied per area in some places on the inside of the curve than on the outside of the curve. This means that, even when the resulting fertilizer distributions from several tramlines are superimposed, an uneven fertilizer distribution on the field in the area of the curve results. For example, with a large discharge angle with little overlap between the fertilizer distributions of different tramlines, over-fertilization can occur due to trapezoidal fertilizer distributions on the inside of the curve.
[0008] This is particularly disadvantageous because the resulting under-fertilization (e.g. on the outside of the curve) and over-fertilization (e.g. on the inside of the curve) lead to uneven growth in the different areas.
[0009] One object of the invention is to improve the transverse distribution of the fertilizer when cornering.
[0010] The invention comprises a method according to claim 1 and a fertilizer spreader according to claim 14. Further embodiments are set out in the dependent claims. The invention comprises a method for spreading fertilizer with a fertilizer spreader while cornering. A fertilizer spreader can in particular be a centrifugal fertilizer spreader, in particular a centrifugal fertilizer spreader with two spreading discs. Such fertilizer spreaders can comprise dosing means for each spreading disc that measure the amount of fertilizer to be applied to the spreading disc and an introduction system that is designed to apply the (measured) amount of fertilizer to the application points of the associated spreading discs. The dosing amount, the application points and / or the rotational speed of the spreading discs can be adjustable, in particular for each individual spreading disc.The application point can be adjustable in particular radially (i.e. inwards (towards the centre of the spreader disc) and / or outwards (away from the centre of the spreader disc)) and / or in terms of the angular range, i.e. in particular adjustable in or against the direction of rotation of the spreader disc.
[0011] The method for spreading fertilizer when cornering may in particular comprise determining the offset of the center of a spreading pattern from the driving track.
[0012] The center of a spreading pattern can be considered to be a point that lies at a distance of the throwing distance from the center point between the two spreading discs on a line perpendicular to the line connecting the centers of two spreading discs. The center point between the two spreading discs is in particular in the middle of the connecting line that extends from the center point of the first spreading disc to the center point of the second spreading disc. The throwing distance is the distance (again away from the center point between the two spreading discs) where the median of the fertilizer distribution lies, i.e. where 50% of the fertilizer amount lands further away from the center point between the two spreading discs and 50% of the fertilizer amount lands closer to the center point between the two spreading discs.Another way to determine the center of a spreading pattern can be to determine the throwing distance (as defined above) and - on a circle with the radius of the throwing distance around the center point between the two spreading discs - to determine the angle along the circle that describes the median of the angular distribution of the fertilizer. The center of the spreading pattern can also be specified in another way, e.g., determined from a spreading chart or determined in another way. Determining an offset can, for example, be done by means provided on the fertilizer spreader, such as using one or more cameras, GPS positioning devices, radar measuring devices, means for determining a yaw rate, means for determining a combination of steering angle and ground speed, and / or other means.
[0013] The offset can, for example, be determined as an angle between the center of the spreading pattern and the driving track, starting from a reference point on the fertilizer spreader, for example, the center point between the two spreading discs. In particular, the angle can be measured on a circle around the center point between the two spreading discs of the fertilizer spreader through the center of the spreading pattern (the circle around the center point between the two spreading discs with the radius of the throwing distance, which in turn can be the median of the spreading distance distribution), so that it is measured between the center of the spreading pattern, the center point of the previously described circle, and the intersection point of the previously described circle with the driving track.Alternatively, the offset of the center of the spreading pattern from the lane can also be determined by an (absolute) distance of the center of the spreading pattern from the lane, the distance of the center of the spreading pattern from the lane along the previously described circle or another direction, or in another way. Using the offset of the center of the spreading pattern from the lane can be particularly advantageous because it takes into account that the changes in the fertilizer spreader parameters necessary for optimal lateral distribution can vary in magnitude even when driving a constant curve radius while cornering, for example, in the corner of a field.For example, when entering a curve with a small radius, only small changes to the spreading pattern may be necessary compared to the throwing distance immediately after entering the curve (which is evident from the small offset of the spreading pattern to the lane), even though the maximum curve radius and also the curve speed have already been reached there.
[0014] The center of the spreading pattern that is considered here (i.e. to determine the offset between the spreading pattern and the driving track) can in particular correspond to the center of the spreading pattern with the settings of one or more parameters of the fertilizer spreader as they are set when driving straight ahead (i.e. the center of the spreading pattern relative to the fertilizer spreader when driving straight ahead). The center of the spreading pattern that is considered to determine the offset between the spreading pattern and the driving track can therefore in particular be a point arranged at a fixed relationship to the fertilizer spreader, in particular to the spreading discs (which depends in particular on the parameters of the fertilizer spreader set when driving straight ahead). The center of the spreading pattern that is considered to determine the offset between the spreading pattern and the driving track can in particular be a point at a fixed distance and fixed angle, e.g.a straight line running perpendicular to the connecting line between the centers of the two spreading discs, which straight line can in particular run parallel to the field (in the plane of the direction of travel), at a specific distance from the center point between the two spreading discs. The center of the spreading pattern, which is considered to determine the offset between the spreading pattern and the driving track, can in particular be determined depending on the one or more parameters set on the fertilizer spreader when driving straight ahead. At the center of the spreading pattern, which is considered to determine the offset between the spreading pattern and the driving track, the maximum fertilizer concentration can in particular be achieved when driving straight ahead.
[0015] Based on the determined offset, one or more parameters of the fertilizer spreader are now changed according to the invention. The parameters are changed in particular compared to one or more parameters of the fertilizer spreader when driving straight ahead. The change is made based on the determined offset and in order to adapt the lateral distribution of the fertilizer, in particular to improve it compared to the lateral distribution resulting without a change to one or more parameters of the fertilizer spreader. In particular, the lateral distribution of the fertilizer should be adjusted so that when cornering it is more similar to the lateral distribution when driving straight ahead than without adjusting the parameters, i.e. for example the lateral distribution is symmetrical to the axis of the direction of travel.Advantageously, it should be adjusted so that the even distribution, even when driving over multiple tramlines, also in curves, results in the respective lateral distribution adding up to an even fertilizer distribution on the field. The driving track refers in particular to the actual track traveled, i.e. the track actually traveled by the towing vehicle of the fertilizer spreader. This can in particular be the track covered by the center of the towing vehicle (e.g. center point between the (four) wheels or center point between the front wheels or between the rear wheels) of the fertilizer spreader or towing vehicle. The driving track can be determined, for example, by GPS positioning, determining a yaw rate, determining a combination of steering angle and driving speed, using one or more cameras, radar measuring devices or in another way.Alternatively or additionally, the fertilizer spreader's track can be inferred from a track defined for the tractor vehicle. For this purpose, stored geometric relationships between the tractor vehicle and the fertilizer spreader are taken into account. This allows the actual track of the fertilizer spreader in use, whether self-propelled, mounted, semi-mounted, or towed, to be determined.
[0016] Changing one or more parameters of the fertilizer spreader can, in particular, lead to a changed spreading pattern of the fertilizer spreader (where the changed spreading pattern corresponds to the spreading pattern of the fertilizer spreader with the changed one or more parameters, which in particular produce a change in the spreading pattern compared to the spreading pattern when driving straight ahead). These changes to the spreading pattern can, in particular, remain unconsidered during the subsequent control steps. The method for spreading fertilizer when driving around a curve can, in particular, always be based on the offset of the center of the spreading pattern as it is arranged relative to the fertilizer spreader when driving straight ahead, i.e. the center of the spreading pattern as it would result without settings for one or more parameters of the fertilizer spreader in the curve being taken into account compared to driving straight ahead.The offset of the spreading pattern can be determined, in particular, by the offset between a point, determined in particular by the fertilizer spreader parameters set during straight-ahead travel, and the driving track, arranged in a fixed relationship to the fertilizer spreader. However, due to changes in one or more fertilizer spreader parameters, the center of the changed spreading pattern in the curve can be located at a different location in the curve than the center of the spreading pattern considered to determine the offset between the spreading pattern and the driving track (i.e., the center of the spreading pattern as it would be if the same spreading pattern were set as during straight-ahead travel).A change in one or more parameters of the fertilizer spreader can therefore in particular result in a change in the center of the spreading pattern, whereby in particular the center of the changed spreading pattern can be located away from the lane (i.e. in particular not on the lane) when cornering, at least in parts of the curve. In particular, the center of the spreading pattern changed when cornering can be arranged on the outer side of the lane in the curve, for part or all of the curve. Such an arrangement can in particular counteract over-fertilization on the inside of the curve and under-fertilization on the outside of the curve. Alternatively or additionally, the center of the spreading pattern changed when cornering can be located on the lane and / or on the inner side of the lane in part or all of the curve.
[0017] Changing one or more parameters of the fertilizer spreader based on the offset can in particular comprise changing the application rate of a spreading disc based on the offset. For example, the change in the application rate, in particular the difference between the application rate applied by this spreading disc when traveling straight ahead and the application rate applied when cornering or the ratio between the application rate applied by this spreading disc when traveling straight ahead and the application rate applied when cornering, can represent a function of the specific offset, for example a linear function of the specific offset. Alternatively, the function can also be polynomial and / or exponential or take on a different form. Alternatively or additionally, the function can be specified as characteristic maps or sets of curves that take one or more other variables, e.g. the driving speed, into account.Changing one or more parameters of the fertilizer spreader based on the determined offset can alternatively or additionally comprise increasing the application rate of an outer spreading disc and / or reducing the application rate of an inner spreading disc based on the determined offset. The two application rates can in particular be adjusted independently or dependently of one another. Outside and inside or the outer and inner refer in this text in particular to the curve being driven through or to be driven through, whereby outside and inside can each be viewed in relation to the lane. In particular, the outer spreading disc can cover a longer distance in one part of the curve than the inner spreading disc. In particular, based on the determined offset, the application rate of the outer spreading discs can be increased and at the same time the application rate of the inner spreading discs can be reduced.
[0018] Changing one or more parameters of the fertilizer spreader based on the determined offset can alternatively or additionally comprise changing the drop point of a spreading disc based on the determined offset. By changing the drop point of a spreading disc, in particular the spreading angle at which the spreading discs spread can be changed. 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 fertilizer spreader when traveling straight ahead (in the longitudinal direction of the fertilizer spreader; in particular perpendicular to the connecting line between the centers of the spreading discs) through the pivot point of an associated spreading disc of a fertilizer spreader and the axis through the pivot point of the associated spreading disc of a centrifugal spreader and the intersection point of the radial and concentric 50% percentile for the respective spreading disc.
[0019] The drop point of the inner and / or outer spreading disc(s) can be offset concentrically and / or radially inwards and / or outwards, in particular relative to the direction of rotation of the spreading disc. The drop point of the inner and outer spreading discs can, in particular, be adjustable independently of one another. An offset further concentrically in the direction of rotation of the spreading disc results in the fertilizer leaving the spreading disc at a different position, thus creating a larger discharge angle (spreading angle). If the drop point is shifted concentrically against the direction of rotation of the spreading disc, the opposite occurs, so that the fertilizer is discharged at a smaller discharge angle (spreading angle). Alternatively or additionally, the drop point of the inner and / or outer spreading disc(s) can be offset radially inwards or outwards. In this case, the residence time of the fertilizer on the spreading disc increases or decreases.Thus, the spreading pattern can be changed by changing the application point.
[0020] The change in the drop point of the scattering disc(s) can in particular be a function of the offset. The change in the drop point can in particular represent a function of the specific offset, for example represent a linear function of the specific offset. Alternatively, the function can also be polynomial and / or exponential or take a different form, e.g. the form of characteristic maps or sets of curves that take one or more other variables, e.g. the driving speed, into account. The change in the drop point can here be specified, for example, as an absolute value or a relative change in the drop point with respect to the drop point.
[0021] Changing one or more parameters of the fertilizer spreader based on the offset can alternatively or additionally comprise moving the drop point of an outer spreading disc concentrically to the inside of the curve, i.e. concentrically against the direction of rotation of the outer spreading disc, based on the determined offset. Alternatively or additionally, the drop point of the inner spreading discs can be moved concentrically to the outside of the curve, i.e. concentrically also against the direction of rotation of the inner spreading disc. The outer and inner spreading discs rotate in opposite directions. In particular, changing one or more parameters of the fertilizer spreader in which the drop point of the outer spreading discs is moved concentrically to the inside of the curve and at the same time the drop point of the inner spreading disc is moved concentrically to the outside of the curve based on the determined offset can result in the lateral distribution being particularly even.Changing one or more parameters of the fertilizer spreader based on the determined offset can alternatively or additionally comprise changing the speed of a spreading disc, in particular increasing or decreasing it. Increasing the speed of the spreading disc can in particular lead to fertilizer being dropped with a higher impulse (at a higher speed) and thus flying further; conversely, reducing the speed of a spreading disc can lead to fertilizer being dropped at a lower speed and therefore flying less far. Thus, by changing a speed, the spreading pattern and thus the resulting lateral distribution of the fertilizer can be further optimized. In particular, the speed of a first spreading disc can be changed independently of or dependent on the speed of a second spreading disc. In particular, the speed of a first and second, e.g.an inner and outer control disc can be changed independently of each other as a function of the specific offset, in particular increased or decreased. The change in speed can be a linear function of the specific offset. Alternatively, the function can also be polynomial and / or exponential, or take another form.
[0022] Changing one or more parameters of the fertilizer spreader may include determining, based on the determined offset, which of several parameters of the fertilizer spreader are changed, in particular determining for each spreading disc whether the application rate and / or the application point and / or the rotational speed are changed. In particular, it may be determined that the application rate and the application point are changed.
[0023] The method can further comprise determining the offset, in particular using means attached to the fertilizer spreader. For example, the fertilizer spreader can comprise one or more cameras, which can in particular be directed rearward, one or more GPS measuring devices, one or more radar measuring devices, one or more yaw rate sensors, means for determining a combination of steering angle and driving speed, or other sensors or measuring devices that allow the offset to be determined in real time, i.e. while cornering. Thus, in particular while cornering, the method can enable further control based on the measured offset. The functions and means used for the control can be determined, for example, based on algorithms. Such algorithms can be determined and specified, for example, based on simulations or measurements.
[0024] A driving path can be determined using the means attached to the fertilizer spreader. This can be done taking into account driving speeds, driving conditions, changes in these conditions, and / or measured time periods. In particular, a yaw rate and / or a change in the yaw rate of the fertilizer spreader and / or the towing vehicle can be determined using one or more yaw rate sensors.
[0025] The invention further comprises a fertilizer spreader for spreading fertilizer, or a combination of an agricultural tractor and a fertilizer spreader for spreading fertilizer. The fertilizer spreader or the combination of an agricultural tractor and a fertilizer spreader comprises a controller designed to control the fertilizer spreader during cornering so that it carries out a method for spreading fertilizer during cornering according to one of the methods described above. The fertilizer spreader can, in particular, be designed as a centrifugal fertilizer spreader as described above (in connection with the method), in particular a rotary spreader, in particular with two spreading discs.In particular, the controller can be designed to change one or more parameters of the fertilizer spreader when cornering, in particular compared to one or more parameters of the fertilizer spreader when driving straight ahead, based on the determined offset in order to adapt the lateral distribution of the fertilizer.
[0026] Further details of the invention will become clear from the following figures, which illustrate further aspects of the invention only schematically and not to scale. Herein:
[0027] Figure 1 shows a transverse distribution during cornering without changing one or more parameters; Figures 2a, b show a transverse distribution of fertilizer when a method according to the invention was used, namely Figure 2a shows an improved transverse distribution when using the method according to the invention, and Figure 2b shows an optimal transverse distribution when using the method according to the invention.
[0028] Figure 3 shows schematically the offset of a spreading pattern to a lane;
[0029] Figure 4 shows schematically how the transverse distribution is generated by superimposing several spreading patterns, namely Figure 4a for fertilizer that was not applied using a method according to the invention and Figure 4b a method in which fertilizer was applied using a method according to the invention;
[0030] Fig. 5 shows exemplary steps of a method.
[0031] Figure 1 shows the lateral distribution of a curve as it results when spreading fertilizer if no changes are made to the parameters on the fertilizer spreader compared to straight-ahead travel. Fictitious boundary lines are drawn at a distance of one working width of the fertilizer spreader 1 a, 1 b, which in this case form a 90° curve, for example. Also drawn is lane 2, which is the path actually covered by the fertilizer spreader or its towing vehicle, in particular the center point of the fertilizer spreader or towing vehicle, in particular the center point between the front or rear wheels or the (four) wheels. The dotted line shows the amount of fertilizer per area that results when driving along the lane and spreading fertilizer without changing the parameters of the fertilizer spreader. Areas with a higher fertilizer concentration are marked with more dots, i.e. darker, than areas with less fertilization.As can be seen in Figure 1, the superimposition of spreading patterns results in a relatively symmetrical lateral distribution, which can be represented, for example, by a trapezoidal distribution, when driving straight ahead. By superimposing the spreading patterns with the spreading patterns of adjacent tramlines, such a trapezoidal lateral distribution can result in an overall uniform fertilizer distribution.
[0032] CORRECTED SHEET (RULE 91). However, in the example shown, over-fertilization occurs on the inside of the curve in area 3, as the application rate per unit time remains the same, but fertilizer is applied for a longer time when cornering. Likewise, under-fertilization occurs on the outside in area 4. If the transverse distributions of several spreading patterns overlap in the desired manner when driving straight ahead to create an even fertilizer distribution on the field, local fertilizer misdistribution occurs in the area of the curves, so that there is too much fertilizer on the inside of the curve and too little on the outside. In other examples, a different fertilizer distribution may also result.
[0033] Figure 2a shows an example of a resulting fertilizer distribution for spreading fertilizer along a lane when the fertilizer is spread according to the described method. It again shows fictitious boundary lines 1a, 1b and lane 2 as above, as well as the fertilizer distribution, whereby here the transverse distribution of the fertilizer is more advantageous due to the adjustment of one or more parameters of the fertilizer spreader. In particular, in the example shown, there is still slight over-fertilization in an inner area 5, but at the same time, the increased amount of fertilizer in the outer area of the curve also results in slight over-fertilization in area 6; only near the lane on the outside of the curve does slight under-fertilization occur in an area 7 in the example.Overall, the distribution of fertilizer is more even thanks to the method, so that in particular by superimposing the different transverse distributions in the desired manner, the overall resulting fertilizer distribution on the field is more even than without application according to the method according to the invention. In other examples, a different pattern of fertilizer distribution can develop, e.g. slight over-fertilization on the outside of the curve and slight under-fertilization on the inside of the curve. Overall, the transverse distribution when cornering is adapted, in particular optimized, in a method according to the invention so that the desired overlap of spreading patterns of several tramlines results in an even fertilizer distribution. An optimal, even fertilizer distribution is shown in Figure 2b, which shows an even fertilizer distribution across the entire working width.Additionally, Figure 2b shows that the method according to the invention can be used for improved spreading of the outer curve area 8. Figure 3 shows a schematic example of how the offset of the spreading pattern relative to the lane can be determined or specified.
[0034] Also shown there, as an example, are the three-point point of the tractor 9, the center 10 between the two spreading discs, the driving track 11, the center 12 of the spreading pattern, a circle 13 with a radius of the throwing distance around the center 10 between the two spreading discs through the center 12 of the spreading pattern (which can in particular be a circle with a radius the length of the median of the spreading distribution width) and its intersection point 14 with the driving track. The offset of the spreading pattern to the driving track can now be shown, for example, as the angle 15 shown, which represents an angle between the center of the spreading pattern (when driving straight ahead) and the driving track around the center 10 between the spreading discs. Alternatively, the distance could be specified as a perpendicular to the driving track or in another way.
[0035] Figure 4a shows examples of individual spreading patterns from which the lateral distribution results, without a change in the parameters of the fertilizer spreader. Figure 4b shows individual spreading patterns from which the lateral distribution results with a change in the parameters according to a method according to the invention. In the curve area in Figure 4a, the center of the spreading pattern is not on the lane, so that there is an offset between the spreading pattern and the lane. According to a method according to the invention, one or more parameters of the fertilizer spreader are changed based on this offset in order to adjust the lateral distribution of the fertilizer. Figure 4b shows examples of schematic individual spreading patterns in which fertilizer was applied according to the method, i.e. with one or more changed parameters of the fertilizer spreader based on the determined offset. This results in a different fertilizer distribution.For example, the centers of the spreading patterns in the curve area are still offset outwards from the lane, but the lateral distribution corresponds more closely to the desired lateral distribution, i.e., a lateral distribution that, with the planned superimposition of the driven tramlines next to each other, leads to an overall even fertilizer distribution across the field. Figure 5 shows an example of the steps in a process. In the first step of the process, the offset of the center of the spreading pattern from the lane is determined while cornering. Subsequently, one or more parameters of the fertilizer spreader are changed based on the determined offset in order to adjust the lateral distribution of the fertilizer.
[0036] For example, depending on the offset, the amount of fertilizer supplied to an outer spreading disc can be increased, the amount of fertilizer supplied to an inner spreading disc can be decreased, and the application point of the outer spreading disc can be shifted to the inside of the curve and the application point of the inner spreading disc to the outside of the curve. The necessary parameter changes can, in particular, represent functions of the specific offset, e.g., linear functions of it. Additionally, the rotational speeds of the inner and / or outer spreading discs, or other parameters, can optionally be adjusted.
Claims
Claims 1. A method for spreading fertilizer with a fertilizer spreader, in particular a centrifugal fertilizer spreader, while cornering, comprising: - determining an offset (8) of the center of a spreading pattern to the lane (2, 11); - Changing one or more parameters of the fertilizer spreader, in particular compared to one or more parameters of the fertilizer spreader when driving straight ahead, based on the determined offset (8) in order to adjust the lateral distribution of the fertilizer.
2. Method according to claim 1, wherein the center of the spreading pattern changed in the curve is arranged on the outer side of the lane in the curve.
3. Method according to one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the offset (8) comprises changing the application rate of a spreading disc based on the determined offset.
4. Method according to one of the preceding claims, wherein the change in the application rate is a, in particular linear, function of the determined offset (8).
5. The method according to any one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises increasing the application rate of an outer spreading disc and / or reducing the application rate of an inner spreading disc based on the determined offset (8).
6. Method according to one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader is based on the determined offset (8) comprises changing the drop point of a spreading disc based on the determined offset (8).
7. Method according to one of the preceding claims, wherein the change in the application point of the scattering disc is a function of the offset (8), in particular a linear function of the determined offset.
8. Method according to one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the offset (8) comprises shifting the drop point of an outer spreading disc to the inside of the curve and / or shifting the drop point of an inner spreading disc to the outside of the curve based on the determined offset.
9. Method according to one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises changing the speed of a spreading disc, in particular increasing or decreasing it.
10. Method according to one of the preceding claims, wherein the change in the rotational speed is a, in particular linear, function of the determined offset (8).
11. A method according to any one of the preceding claims, wherein changing one or more parameters of the fertilizer spreader based on the determined offset (8) comprises determining which of a plurality of parameters of the fertilizer spreader are changed based on the determined offset (8).
12. Method according to one of the preceding claims, wherein the center of the spreading pattern changed in the curve is located at a different location in the curve than the center of the spreading pattern used to determine the offset between the center of the spreading pattern and the lane, in particular on the outer side the lane, or remains the same.
13. A method according to any one of the preceding claims, the method further comprising: determining the offset using means attached to the fertilizer spreader.
14. Fertilizer spreader, in particular a centrifugal fertilizer spreader, or a combination of an agricultural tractor and a fertilizer spreader, in particular a centrifugal fertilizer spreader, for spreading fertilizer, comprising a control system which is designed to control the fertilizer spreader when cornering so that it carries out a method for spreading fertilizer when cornering according to one of the preceding claims.