Method for storing an area worked on by a centrifugal fertilizer spreader

Abstract

The invention relates to a method for storing an area worked on by a centrifugal fertilizer spreader in a map, in particular a stored map, the method comprising: recording the travel path (1, 5) of the centrifugal fertilizer spreader in the map; marking the worked-on region (4a, 4b, 8a, 8b) in the map; and storing the area covered by the worked-on region as an already-worked-on area in the map, wherein the method is characterized in that, when cornering, marking the worked-on region in the map involves leading the center of the worked-on region along the travel path of the centrifugal fertilizer spreader.

Description

[0001] Method for storing an area worked with a centrifugal fertilizer spreader

[0002] The invention relates to the field of spreading fertilizer with a centrifugal fertilizer spreader.

[0003] It's common to spread fertilizer on an agricultural field using a centrifugal fertilizer spreader. To track which areas have already been worked, it's common to save previously worked areas on a map. This data can then be taken into account for subsequent processing steps.

[0004] It is known to display the processing area, i.e. the area that is currently being worked, on a map and to save the area covered by this processing area as an area already worked in the map. The processing area can be displayed by an (optionally curved or straight) line, e.g. a bar. In particular with a centifugal fertilizer spreader, where the processing area is well behind the fertilizer spreader or the tractor because the fertilizer falls about half the working width behind the fertilizer spreader during spreading, and where the spreading pattern has a spatial extent that is not reflected by the processing area, this can lead to an incorrect representation of the worked area, especially when cornering.

[0005] For example, if the application area of ​​a centrifugal fertilizer spreader is modeled in a fixed position relative to the fertilizer spreader, e.g., relative to the two spreading discs, areas on the inside of the curve will be marked as unfertilized due to the deflections that occur during cornering. However, due to the spatial extent of a spreading pattern, these areas are actually also fertilized, so marking these areas as unfertilized is incorrect.

[0006] The invention is based on the object of more accurately recording and / or storing the areas already worked. The invention comprises the method for storing an area worked with a centrifugal fertilizer spreader according to claim 1, an agricultural data processing system according to claim 11, and a centrifugal fertilizer spreader or a combination of a centrifugal fertilizer spreader and a tractor according to claim 12. Further embodiments are set forth in the dependent claims.

[0007] According to the invention, the method stores an area already worked with a centrifugal fertilizer spreader in a map. The map can, in particular, be a previously stored map, for example, a map of the worked agricultural field, which may, in particular, have been previously known and may optionally contain further details and information. In other examples, it can be a newly generated map that does not take into account any previously known information. Such a map can, for example, be generated based on measured GPS positions, other position measurements, speed and / or direction measurements, or other values.

[0008] The method comprises recording the path of the centrifugal fertilizer spreader on the map. Recording the path may, for example, involve measuring GPS positions, other speed and direction sensors, the rotational speeds of the wheels of the towing vehicle or the fertilizer spreader, or similar. However, the path may, in particular, correspond to the path traveled by the center of the fertilizer spreader or the towing vehicle, in particular the center between the (four) wheels of the fertilizer spreader or the towing vehicle, or the center between the front or rear wheels, or the center of the connecting line between the centers of the two spreading discs of the fertilizer spreader.

[0009] The method further comprises marking the processing area, i.e. the area in which processing is currently taking place, on the map. This marking can occur in particular during fertilizer application. For example, the processing area can be marked as a one-dimensional line or bar, which can be straight or curved, or as an area composed of line segments, in particular straight line segments, e.g. line segments of equal length. Typically, the processing area is arranged in a certain relationship to the centrifugal fertilizer spreader, e.g. at a certain distance, and has a certain extent. The extent (length or width) can depend in particular on the parameters set on the fertilizer spreader. Thus, the width in particular can accurately describe the actual working width.

[0010] The area covered by the cultivation area can be saved in the map as an area already cultivated. By saving the area already cultivated, this can be displayed visually, for example by marking areas already cultivated in a different way on the map, e.g. in color, than areas not yet cultivated. The area saved as already cultivated can also be taken into account for further cultivation steps. This can be particularly relevant if a centrifugal fertilizer spreader is used which allows individual sections to be switched on and off. In particular, with a centrifugal fertilizer spreader with section switch-off, if areas are marked as uncultivated and these are then driven over again, the corresponding sections of the centrifugal fertilizer spreader can be switched on.If the treated area is marked incorrectly, this can lead to over-fertilization during subsequent processing steps.

[0011] Marking the cultivation area on the map during curve travel can involve guiding the center of the cultivation area along the path of the centrifugal fertilizer spreader. In particular, the center of the cultivation area, which can represent the center of the spreading pattern, especially when traveling straight ahead, is guided along the path (even when traveling in curves). This ensures that the cultivation area is not tilted relative to the path in curves due to its distance from the tractor or centrifugal fertilizer spreader. It can be particularly advantageous as it prevents inner areas of the curve from being incorrectly marked as unfertilized.

[0012] The processing area can be marked, in particular, as a processing line or processing bar, or modeled in a parabolic shape. A parabolic model is advantageous because it more closely corresponds to the natural shape of a spreading pattern, which can be kidney-shaped, and thus enables a more realistic representation and storage of the processed area and the area already processed.

[0013] The cultivation area can be modeled in the map as a set of sub-areas, particularly sections. For example, the cultivation area can be formed as a set of straight, particularly equally long, sections, whose respective centers are arranged on a parabola. In particular, if a centrifugal fertilizer spreader with a section shutoff, particularly a section shutoff, is used, a corresponding cultivation with only sections can also be modeled.

[0014] In particular, the center of the processing area can be guided based on an offset of the center of the processing area along the travel path of the centrifugal fertilizer spreader.

[0015] The offset can, for example, be determined as an angle between the center of the treatment area and the travel path starting from a reference point, which can, for example, correspond to a representation of the center point between the two spreading discs. In particular, the angle can be on a circle around the reference point with the radius of the spreading distance (the circle around the reference point with the radius of the throwing distance, which in turn can, in particular, be the median of the distance distribution of the throwing distances). Alternatively, the offset of the center of the treatment area from the travel path can also be determined by an (absolute) distance of the center of the treatment area from the travel path, the distance of the center of the spreading pattern from the travel path along the previously described circle or another direction, or in another way.

[0016] The center of the tillage area that is considered here (i.e. to determine the offset between the tillage area and the travel path) can in particular correspond to the center of the tillage area when driving straight ahead, i.e. a point at a fixed relationship to the fertilizer spreader (which can in particular depend on the parameters of the fertilizer spreader set when driving straight ahead and can correspond to the center of the spreading pattern when driving straight ahead). The center of the tillage area that is considered to determine the offset between the tillage area and the travel path can in particular be arranged at a fixed distance and fixed angle, e.g. at a certain distance from the center point between the two spreading discs on the 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).Marking the cultivation area on a map during curved travel can include shifting, in particular rotating, the cultivation area or the individual sub-areas of the cultivation area relative to their position during straight-ahead travel based on an offset of the center of the cultivation area from the path of the agricultural implement, in particular by the offset, in order to rotate the center of the cultivation area onto the path. A shift or rotation can occur, for example, relative to the center point between the two spreading discs. Alternatively, the sub-areas of the cultivation area can be positioned centrally around the lane with the same width as during straight-ahead travel.

[0017] The width of the agricultural working area perpendicular to the travel path can in particular be provided as constant (compared to straight-ahead travel) or can be changed, for example based on the parameter settings such as the drop point and / or the speed of the respective centrifugal discs of the fertilizer spreader.

[0018] The processing area can be guided at a fixed distance behind the centrifugal fertilizer spreader. Alternatively, the processing area can be guided at a variable distance behind the centrifugal fertilizer spreader, which can depend in particular on the parameters set on the fertilizer spreader, such as the application point and / or the speed of the respective centrifugal discs. The processing area can be guided in particular depending on the parameters set on the centrifugal fertilizer spreader, in particular on the parameters set for straight-ahead travel. The processing area can intersect the travel path orthogonally, particularly in the intersection area. This can lead in particular to the processing area always being drawn in the same orientation to the travel path.

[0019] In one method, the stored, previously treated area can be displayed on a terminal, particularly a terminal connected to the fertilizer spreader or tractor. A terminal can enable real-time monitoring of fertilizer application.

[0020] The saved, previously worked area can be taken into account for further processing steps, especially with the centrifugal fertilizer spreader. In particular, with a centrifugal fertilizer spreader with section shutoff, the sections that cover the worked areas can be shut off.

[0021] The method may in particular comprise the application of further fertiliser taking into account the stored area already worked, whereby in particular sections which cover areas which have already been fertilised can be switched off and / or sections which cover areas which have not yet been worked can be switched on.

[0022] When cornering, the actual center of the spreading pattern, whereby the center of the spreading pattern can describe in particular the median of the fertilizer distribution in radial and concentric directions, may be different from the path of the centrifugal fertilizer spreader.

[0023] In particular, the center of the processing area, as it is displayed and saved, may deviate from the position of the center of the spreading pattern that is actually spread. In particular, the center of the spreading pattern may be located away from the travel path, e.g. on the outside of the curve, while at the same time the center of the processing area is guided along the travel path of the centrifugal fertilizer spreader to save the area already worked. Guiding the center of the processing area along the travel path to save the area already worked can prevent areas that have actually already been fertilized from being incorrectly marked as not spread due to the spatial extent of the processing area explained above. Thus, guiding the center of the processing area along the travel path can lead in particular to better visualization and / or more accurate recording of the areas that have already been worked.

[0024] The invention further comprises an agricultural data processing system for visualizing an area already worked in a map, in particular a stored map, and / or for taking into account an area already worked in a map, in particular a stored map, for further processing steps.

[0025] This agricultural data processing system can be configured, in particular, to carry out the steps of a previously described method. The agricultural data processing system can, in particular, comprise means for recording the route and a screen, in particular for displaying the visualization of the area already worked on a map. The data processing system can further comprise one or more processors and a storage medium with machine-readable instructions that, when executed by a processor, control the execution of a method as described above.

[0026] The invention further comprises a centrifugal fertilizer spreader or a combination of a centrifugal fertilizer spreader and a tractor. The centrifugal fertilizer spreader or the combination of a centrifugal fertilizer spreader and a tractor comprises means designed to carry out the steps of a previously described method. In particular, these means can comprise an agricultural data processing system as described above. The means can further comprise means for recording the path of the centrifugal fertilizer spreader on the map, in particular, for example, a GPS positioning system or other measuring means as previously described with regard to the method, which allow recording of the path. Further aspects of the invention emerge from the figures, which schematically show relevant aspects and are not to scale. Here:

[0027] Figure 1 a shows a representation of a processing area known from the prior art,

[0028] Figure 1 b shows a processing area whose center is guided along the travel path,

[0029] Figure 1 c shows the stored already processed area resulting from the prior art;

[0030] Figure 1 d shows the already machined surface as it results from the described procedure.

[0031] Figure 1a shows, by way of example, the travel path 1 of a centrifugal fertilizer spreader, boundaries 2a and 2b of the processing area when traveling straight ahead, which are spaced apart by a working width. The center point of a centrifugal fertilizer spreader in a first position 3a and a second position 3b and the associated processing areas 4a and 4b, each of which is arranged at a fixed position relative to the centrifugal fertilizer spreader, are shown as a cross. As shown, this arrangement, which leads to correct recording of the processed area when traveling straight ahead, leads to an incorrect representation of the processed area when cornering due to the pivoting of the processing area relative to the travel path. The grid lines shown serve to improve comparability with the other figures, in particular Figure 1c.

[0032] Figure 1b shows a corresponding situation according to the described method, in which the center of the cultivation area is guided along the travel path 5 of the centrifugal fertilizer spreader. The boundaries of the cultivation area are designated 6a and 6b, and the crosses 7a, 7b mark the center points of the centrifugal fertilizer spreader at various points along its travel. The centers of the cultivation areas 8a and 8b are guided along the travel path of the centrifugal fertilizer spreader when cornering. The drawn grids serve to improve comparability with the other figures, particularly Figure 1d. Figure 1c shows the area already cultivated on a map when the cultivation areas are managed as in Figure 1a. As can be seen there, areas 9a, 9b arise within the boundaries 2a, 2b, which are marked as unfertilized due to the pivoting of the cultivation area outside the cultivation boundaries.However, due to the spatial extent of the litter fan, this representation of the area as unfertilized is incorrect.

[0033] Figure 1d, on the other hand, shows the already cultivated area in a map generated with a cultivation area as shown in Figure 1b. In the example shown, the method prevents the incorrect marking of areas within the cultivation boundaries 6a, 6b as unfertilized, and can thus serve as a more accurate visualization and / or correct data basis for further cultivation of the field.

Claims

Claims 1. A method for storing an area worked with a centrifugal fertilizer spreader in a map, in particular a stored map, the method comprising: recording the travel path (1, 5) of the centrifugal fertilizer spreader in the map; Marking the processing area (4a, 4b, 8a, 8b) on the map; Storing the area covered by the processing area as an already processed area in the map, the method being characterized in that marking the processing area in the map when cornering comprises guiding the center of the processing area along the travel path (1, 5) of the centrifugal fertilizer spreader.

2. Method according to claim 1, wherein the processing area (4a, 4b, 8a, 8b) is modeled as a processing bar or parabolic.

3. Method according to one of the preceding claims, wherein the processing area (4a, 4b, 8a, 8b) is modeled in the map as a set of sub-areas.

4. Method according to one of the preceding claims, wherein the center of the processing area is guided based on an offset of the center of the processing area along the travel path (1, 5) of the centrifugal fertilizer spreader.

5. Method according to one of the preceding claims, wherein the marking of the processing area (4a, 4b, 8a, 8b) in the map during cornering comprises shifting, in particular rotating, the individual sub-areas based on an offset of the center of the processing area from the travel path of the centrifugal fertilizer spreader.

6. Method according to one of the preceding claims, wherein the processing area (4a, 4b, 8a, 8b) is guided at a fixed distance behind the centrifugal fertilizer spreader.

7. Method according to one of the preceding claims, wherein the processing area (4a, 4b, 8a, 8b) is displayed depending on the parameters set in the centrifugal fertilizer spreader.

8. Method according to one of the preceding claims, wherein the processing area intersects the travel path perpendicularly in the cutting area.

9. Method according to one of the preceding claims, wherein the stored, already processed area is displayed in a terminal.

10. Method according to one of the preceding claims, wherein the stored, already processed area is taken into account for further processing steps, in particular with the centrifugal fertilizer spreader.

11. Method according to one of the preceding claims, wherein during cornering the actual center of the processing area is different from the travel path of the centrifugal fertilizer spreader.

12. Agricultural data processing system for visualising an area already worked in a map, in particular a stored map, and / or for taking into account an area already worked in a map, in particular a stored map, for further processing steps, characterized in that it is designed to carry out the steps of a previously described method according to one of claims 1 to 10.

13. Centrifugal fertilizer spreader or combination of centrifugal fertilizer spreader and traction device, characterized in that the centrifugal fertilizer spreader or the combination of centrifugal fertilizer spreader and traction device comprises means designed to carry out a method according to one of claims 1 to 10.

14. A centrifugal fertilizer spreader or combination of centrifugal fertilizer spreader and tractor according to claim 12, wherein the means comprise an agricultural data processing system according to claim 11.

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