SPRAYING SYSTEM FOR AGRICULTURAL EQUIPMENT AND ASSOCIATED PROCESS

Abstract

The present invention relates to a product spraying system for agricultural machinery (2), comprising at least one product spray nozzle associated with a sprayable area (4) and a control system, said spraying system further comprising a heading measurement means configured to measure the heading of said spraying system, the control system being configured to compare said measured heading with a predetermined heading corresponding to a range of values ​​between a first limit and a second limit, said control system being configured to stop spraying the product when the measured heading of the system is greater than said first limit or when the measured heading of the system is less than said second limit, the second limit being less than the first limit. Abstract figure: Figure 1.

Description

Title of the invention: SYSTEM FOR SPRAYING A PRODUCT FOR AGRICULTURAL VEHICLE AND ASSOCIATED METHOD Technical field

[0001] The present invention relates to the field of agricultural spraying and, more specifically, to spraying using an agricultural machine. The invention relates in particular to a spraying system controlled as a function of data acquired by means of a device for measuring the trajectory of the agricultural machine and sensors configured to detect the vegetation of an area to be treated, as well as an associated method. STATE OF THE ART

[0002] The objective of agricultural spraying is to apply different treatment products to crops, generally aimed at increasing their growth, yield and / or quality. Treatment products can in particular be used to combat diseases, the invasion of insects or parasites, and to provide the nutrients necessary for the proper development of crops.

[0003] In the field of spraying large crops, spraying systems are known which conventionally comprise at least one tank arranged to contain a treatment product, possibly diluted, a spray boom comprising a plurality of spray sections each equipped with a nozzle or a plurality of spray nozzles, and a hydraulic circuit connecting the tank to the different spray sections. The spray boom generally extends along an axis transverse to a longitudinal direction in which the agricultural machine moves over the plot. The hydraulic circuit may in particular comprise a pump arranged to suck treatment product into the tank and conduct it towards the spray boom, and a pressure regulator arranged to maintain the pressure in the hydraulic circuit at a predetermined threshold pressure.Each spray nozzle is arranged to spray treatment product over a predetermined width of the plot defined along the transverse axis. Each nozzle, or each plurality of nozzles, is thus associated with a sprayable area on the ground, corresponding substantially to a geometric shape, such as a disc, an oval or, approximately, a rectangle, onto which it is possible to deliver treatment product. The sprayable area associated with each nozzle or a plurality of nozzles naturally changes with the movement of the spraying system.

[0004] In order to reduce the quantity of treatment product applied, the spraying systems have been adapted to allow localized treatment of the plots.

[0005] Localized treatment means spraying the product only on the areas of the plot actually requiring treatment. For this purpose, each spraying section is controlled, for example by means of a distributor arranged to take an open position, in which circulation of the product is possible from the tank to the corresponding spray nozzle, and a closed position, in which said circulation is blocked. The different distributors can in particular be controlled individually. Generally, each spraying section can be controlled individually by means of a suitable control unit.

[0006] Furthermore, in the field of viticultural spraying, phytosanitary product recovery panels are known which form screens around the spray nozzles, making it possible to recover a portion of the phytosanitary product which is not fixed on the plants to be treated. In particular, the agricultural machine supports at least two recovery panels by means of an articulated suspension mechanism. When the agricultural machine is moving in one direction and one direction of travel, the recovery panels are arranged on either side of the plants to be treated, making it possible to spray an appropriate treatment on the foliage of the plants.

[0007] Furthermore, in the field of arboricultural spraying, spraying systems are known which are arranged on agricultural machinery configured to circulate between the rows of plants to be sprayed. When the agricultural machinery circulates in one direction and one direction of advance between two rows of plants to be sprayed, the spraying system is arranged so as to spray on either side of the spraying system, on each of the rows of plants to be treated, making it possible to spray an appropriate treatment on the foliage of the plants.

[0008] Each of these spraying systems can detect vegetation and activate spraying accordingly.

[0009] However, these spraying systems do not prevent unwanted spraying, i.e. unwanted spraying of plants, and / or double spraying, repeated or excessively long spraying of plants.

[0010] Spraying systems equipped with a satellite location system, commonly called "GPS", are also known, making it possible to map the area to be sprayed and to stop spraying when the agricultural machine leaves this area.

[0011] However, the satellite tracking system is very expensive.

[0012] The present invention therefore aims to solve the aforementioned problems by proposing a system for spraying a product for agricultural machinery in which the change of direction of the agricultural machinery causes the spraying to stop, thus preventing unwanted spraying of plants, and / or double spraying, the spraying repeated or too long verification of plants, while remaining convenient and economical. PRESENTATION OF THE INVENTION

[0013] To achieve this result, the present invention relates to a system for spraying a product for agricultural machinery, comprising at least one nozzle for spraying the product associated with a sprayable zone and a control system, said spraying system further comprising an on-board heading measurement means configured to measure the heading of said spraying system, the control system being configured to compare said measured heading with a predetermined heading corresponding to a range of heading values ​​between a first terminal and a second terminal, said control system being configured to force the stopping of the spraying of the product when the measured heading of the system is greater than said first terminal or when the measured heading of the system is less than said second terminal, the second terminal being less than the first terminal.

[0014] Thus, when an agricultural machine, at the end of a row, is about to make a turn, the heading of the spraying system will change. If the measured heading is greater than the first terminal or if the measured heading of the system is less than the second terminal, the control system generates a closing signal which it sends to the nozzles so that the nozzles close and stop spraying. Thus, in the junction zone which connects two rows together, the control system stops spraying. The vegetation at the end of the first row is not sprayed while the agricultural machine is turning, thus avoiding overdosing of sprayed product.

[0015] Advantageously, the spraying system further comprises at least one ultrasonic sensor having a detection field, the control system being configured to process the information acquired by each sensor in their respective detection field so as to determine the presence or absence of vegetation in the sprayable zone of each spray nozzle and to stop the spraying of the product from said spray nozzle in the absence of vegetation.

[0016] When the control system detects the absence of vegetation in the detection field of the sensors, it generates and transmits a closing signal to the nozzles. This closing signal controls the closing of the nozzles and therefore the stopping of spraying. This makes it possible to avoid spraying product when there is no vegetation and therefore not to waste product and to save money.

[0017] Advantageously, the on-board heading measurement means comprises at least one gyroscope configured to measure the heading of said spraying system.

[0018] Advantageously, the on-board heading measurement means comprises an accelerometer and a magnetometer configured to measure the heading and / or the speed of said spraying system.

[0019] Advantageously, the spraying system comprises at least two sensors, each sensor being configured to be connected to a front wheel of the agricultural machine and to determine a change in direction of said spraying system.

[0020] Preferably, the spraying system further comprises a timing means configured to measure the duration during which the measured heading of the spraying system is greater than said first limit or when the measured heading of the system is less than said second limit, to compare it to a predetermined duration and to, as long as the measured duration is less than the predetermined duration, inhibit the forced stopping of the spraying, the forced stopping of the spraying only occurring when the measured duration reaches the predetermined duration.

[0021] The timing means measures the time during which the measured heading is greater than the first limit or the time during which the measured heading of the system is less than the second limit. When the measured time reaches the predetermined time, the timing means generates and transmits a signal to the control system. The control system then generates a closing signal which it sends to the nozzles so that the nozzles close and stop spraying. On the contrary, when the measured time does not reach the predetermined time, the timing means is configured to leave the spraying activated. The timing allows the spraying system to stop spraying while avoiding untimely stops due for example to uneven ground, a row with a trajectory defect, etc.

[0022] Preferably again, the control system allows for forced actuation and / or stopping of the spraying.

[0023] Thus, a stop or actuation of the spraying can be requested by the user through the control system regardless of the measured heading and regardless of the vegetation detected.

[0024] The present invention also relates to a method of spraying a product to be sprayed by means of a spraying system as previously described, carried or towed by an agricultural machine, the method comprising:

[0025] - the measurement of a heading of the spraying system by the on-board measuring means of the cape;

[0026] - the comparison, by the control system, of the measured heading with the pre-set heading determined corresponding to a range of values ​​between a first terminal and a second terminal;

[0027] and in which the control system:

[0028] - forces the product spraying to stop when the measured heading of the system is greater than said first terminal or when the measured heading of the system is less than said second terminal, the second terminal being less than the first terminal.

[0029] Advantageously, the timing means:

[0030] - measures the duration during which the measured heading is greater than said first terminal or when the measured heading of the system is lower than said second terminal;

[0031] - compares said measured duration to a predetermined duration;

[0032] - inhibits the forced stopping of spraying as long as the measured duration is less than the predetermined duration; and

[0033] - allows forced stopping of spraying when the measured duration reaches the duration predetermined.

[0034] Advantageously, the control system of the spraying system:

[0035] - processes the information acquired in the detection field of the at least one sensor ; And

[0036] - determines the presence or absence of vegetation to be sprayed;

[0037] said control system forcing the stopping of the spraying of the product when the measured heading is greater than said first terminal or when the measured heading of the system is less than said second terminal, even if the control system has determined the presence of vegetation. PRESENTATION OF FIGURES

[0038] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given by way of non-limiting examples, in which identical references are given to similar objects and in which:

[0039] [Fig.l] is a very schematic representation of an agricultural machine comprising a spraying system of the invention, spraying product onto vegetation, the heading of said spraying system being shown;

[0040] [Fig.2] is a very schematic representation of the spraying system of the agricultural machine of [Fig.l];

[0041] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0042] The invention relates to an agricultural spraying system 1. The spraying system 1 is carried by an agricultural machine 2 making it possible to spray different treatment products on crops generally aimed at increasing their growth, their yield and / or their quality.

[0043] [Fig.l] schematically represents the agricultural machine on a plot containing crops on which it is necessary to spray the product. The crops bearing the reference 10 correspond to the crops which must be sprayed and the crops bearing the reference 11 correspond to crops that should not be sprayed, in particular because they are not part of the plot.

[0044] The spraying system 1 of the invention, notably shown diagrammatically in [Fig. 2], comprises at least one spraying nozzle 3, generally a set of nozzles 3.

[0045] The set of spray nozzles 3 is arranged on the spraying system 1 and each nozzle or group of nozzles is associated with a sprayable zone 4, visible in [Fig.l].

[0046] The nozzles 3 of the nozzle assembly are thus either independent of each other; or form groups of nozzles and are distributed by spray section.

[0047] The spraying system 1 comprises a control system 5.

[0048] The spraying system 1 further comprises an on-board means for measuring the heading 6. The on-board heading measuring means 6 is configured to measure the heading of the spray system 1.

[0049] The control system 5 is configured to compare the heading measured by the on-board heading measuring means 6 with a predetermined heading. The predetermined heading may be previously recorded in the control system 5, i.e. before the use of the spraying system 1, for example in correspondence with a predetermined trajectory on a plot to be treated. The predetermined heading may also be updated in the control system 5, as a function of each row 7 of the plot to be treated.

[0050] In particular, the predetermined heading may correspond to a range of heading values ​​between a first terminal and a second terminal.

[0051] For example, the predetermined heading may correspond to an angular heading range of -15 degrees to +15 degrees relative to a central value corresponding to a heading objective. This corresponds to an angular range of 30 degrees. When the heading measured by the onboard heading measuring means 6 is outside this range, for example the measured heading being more than 16 degrees from the heading objective, then the control system 5 determines that the measured heading is different from the predetermined heading since it is greater than the first limit. On the contrary, when the heading measured by the onboard heading measuring means 6 is within this range, then the control system 5 determines that the measured heading corresponds to the predetermined heading.

[0052] The control system 5 is further configured to stop spraying when the heading measured by the on-board heading measuring means 6 of the spraying system 1 is different from the predetermined heading, and does not fall within the value range between the first terminal and the second terminal of the predetermined heading.

[0053] In particular, the control system 5 is configured to stop spraying the product when the measured heading of the system is greater than the first terminal or when the measured heading of the system is less than the second terminal, the second terminal being less than the first limit.

[0054] For example, when the control system 5 determines that the measured heading is different from the predetermined heading, then it can generate a closing signal that it sends to the nozzles 3 so that the nozzles 3 close and stop spraying. On the contrary, when the control system 5 determines that the measured heading corresponds to the predetermined heading, it can generate a control signal that it sends to the nozzles 3 so that the nozzles 3 open and activate or leave activated the spraying.

[0055] In a first embodiment, the on-board heading measurement means 6 comprises a gyroscope configured to measure the heading of the spraying system 1.

[0056] In a second embodiment, the on-board heading measurement means 6 comprises a gyroscope, an accelerometer and a magnetometer configured to measure the heading and / or the speed of said system.

[0057] In a third embodiment, the on-board heading measurement means 6 comprises two sensors, each sensor being connected to a front wheel of the agricultural machine 2 and making it possible to determine a change in heading of said spraying system.

[0058] In particular, in this third embodiment each sensor can determine the speed of the wheel of the agricultural machine with which it is associated. If one wheel is faster than the other, a change of direction is inevitable.

[0059] Furthermore, the on-board heading measurement means 6 can make it possible to determine the direction of travel of the agricultural machine 2.

[0060] In any event, according to the invention, the on-board means for measuring the heading 6 of the spraying system is embedded in the spraying system, so that, in accordance with the invention, an external system such as a satellite positioning system of the GPS or differential GPS type is not implemented.

[0061] The spraying system 1 further comprises a timing means 8.

[0062] The timing means 8 is configured to measure the duration during which the measured cap of the spraying system 1 is greater than the first terminal or when the measured cap of the system is less than the second terminal. The timing means 8 is configured to then compare the measured duration to a predetermined duration. As long as the measured duration is less than the predetermined duration, the timing means 8 is configured to inhibit the forced stopping of the spraying. When the measured duration reaches the predetermined duration, the timing means 8 is configured to authorize the forced stopping of the spraying.

[0063] The predetermined duration may be previously recorded in the timing means 8 or in the control system 5, i.e. before the use of the spraying system. The predetermined duration may also be updated in the control system 5 at each row 7 of the plot.

[0064] When the control system 5 determines that the heading measured by the means on-board heading measurement system 6 is greater than said first terminal or the measured heading of the system is less than said second terminal, it generates and transmits a counting signal to the timing means 8. The timing means 8 then times the duration during which the measured heading is greater than said first terminal or the duration during which the measured heading of the system is less than said second terminal. When the timed duration reaches the predetermined duration, the timing means 8 generates and transmits to the control system 5 a signal.

[0065] Thus, the timing means 8 measures the duration during which the measured heading is greater than said first limit or the duration during which the measured heading of the system is less than said second limit. When the timed or measured duration reaches the predetermined duration, the timing means 8 generates and transmits a signal to the control system 5. The control system 5 then generates a closing signal which it sends to the nozzles 3 so that the nozzles 3 close and stop spraying. On the contrary, when the timed or measured duration does not reach the predetermined duration, the timing means does not generate a signal, the control system 5 determines that the measured heading corresponds to the predetermined heading and generates a control signal which it sends to the nozzles 3 so that the nozzles 3 open and activate or leave activated the spraying.

[0066] Opening the nozzles 3 allows the spraying of crops, while closing the nozzles 3 stops and prevents the spraying. Thus, when the control system 5 sends the control signal to the nozzles 3, the stopping of the spraying is inhibited. When the control system 5 sends the closing signal to the nozzles 3, the spraying is stopped.

[0067] The time delay allows the spraying system to stop spraying while avoiding untimely stops due, for example, to uneven ground, a row with a trajectory defect, etc.

[0068] The control system 5 can also allow actuation and / or forced stopping of the spraying. In particular, the user of the spraying system 1 can actuate a command generating a control signal allowing the forced opening of the nozzles 3 and therefore the spraying, or on the contrary generating a closing signal allowing the forced closing of the nozzles 3 and therefore the stopping of the spraying.

[0069] The spraying system 1 may further comprise at least one ultrasonic sensor 9 with which a detection field is associated.

[0070] Advantageously, the spraying system 1 may comprise a plurality of ultrasonic sensors 9, each associated with a detection field.

[0071] The control system 5 is configured to process the information acquired by each sensor in their respective detection field, so as to determine the presence or absence of vegetation in the sprayable zone of each spray nozzle. verification 3.

[0072] When the control system 5 detects the presence of vegetation in the detection field of the sensors, it generates and transmits a control signal to the nozzles 3. This control signal controls the opening of the nozzles 3 and therefore the spraying.

[0073] When the control system 5 detects the absence of vegetation in the detection field of the sensors, it generates and transmits a closing signal to the nozzles 3. This closing signal controls the closing of the nozzles 3 and therefore the stopping of the spraying.

[0074] However, when the control system 5 detects the presence of vegetation and at the same time determines that the heading measured by the on-board heading measuring means 6 is greater than the first terminal or less than the second terminal and that the timed or measured duration during which the measured heading is greater than the first terminal or less than the second terminal reaches the predetermined duration, the control system 5 generates a closing signal which controls the closing of the nozzles 3 and therefore the stopping of the spraying.

[0075] Thus, with reference to [Fig.l], when the agricultural machine 2 advances in the row 7 of the plot, the sensors 9 allow the control system 5 to detect the presence or absence of vegetation in their detection field. In the event of the presence of a crop to be sprayed 10, the control system 5 generates and transmits the control signal to the nozzles 3, controlling the spraying of the crop to be sprayed 10. In the event of the absence of a crop to be sprayed, the control system 5 generates and transmits the closing signal to the nozzles 3, stopping the spraying. This makes it possible to avoid spraying product when there is no vegetation and therefore not to waste product and to save money.

[0076] At the end of row 7, the agricultural machine 2 must make a turn in a junction zone 12 to move into the next row. However, during the turn, the vegetation at the end of the first row will be sprayed continuously during the turn but also when the agricultural machine 2 is at the beginning of the next row. This continuous spraying causes an overdose of product on this vegetation. In addition, when the agricultural machine is in the junction zone 12, the vegetation 11 is also sprayed even though we do not want to spray it.

[0077] Thus, the agricultural machine 2, at the end of row 7, will begin to make its turn. The heading of the spraying system will then change. If the duration during which the measured heading is greater than the first limit or less than the second limit reaches the predetermined duration, the control system 5 generates a closing signal which it sends to the nozzles 3 so that the nozzles 3 close and stop spraying. Thus, in the junction zone 12, even if the sensors 9 detect the vegetation 11, the control system 5 forces the spraying to stop. At the same time, the ve generation 10 at the end of the first row 7 is not sprayed during the turn of the agricultural machine 2, thus avoiding overdosing.

[0078] The spraying system 1 can make it possible to count the rows 7 of the plot. Indeed, each entry into a junction zone 12 indicates the end of a row 7 and / or the start of a following row. Thus, at each spraying break due to a change of direction, the number of rows can be incremented by one unit.

[0079] In addition, the spraying system 1 can make it possible to map the plot. In particular, it can make it possible to determine, using the sensors 9, the location of the vegetation and the location of the lack of vegetation. The system 1 can also make it possible to determine the tracing of the spraying work carried out by the agricultural machine 2.

[0080] Thanks to system 1, it is possible to count the number of rows in the plot and to map it without having to be equipped with a GPS-type satellite positioning system.

[0081] The invention also relates to a method for spraying a product to be sprayed by means of a spraying system 1 carried or towed by an agricultural machine. In the spraying method, the on-board heading measuring means 6 measures the heading of the spraying system 1 and compares the measured heading with the predetermined heading corresponding to a value range between a first terminal and a second terminal, and in which the spraying system 1 stops spraying the product when the measured heading of the spraying system 1 is greater than said first terminal or when the measured heading of the spraying system 1 is less than said second terminal.

[0082] In addition, the timing means 8 can measure the duration during which the measured heading is greater than the first limit or when the measured heading of the system is less than the second limit, compare the measured duration to a predetermined duration, inhibit the forced stopping of the spraying as long as the measured duration is less than the predetermined duration and authorize the forced stopping of the spraying when the measured duration reaches the predetermined duration.

[0083] Furthermore, the control system 5 can process the information acquired in the detection field of the sensors and determine the presence or absence of vegetation to be sprayed. The control system 5 stops spraying the product when the measured heading is greater than the first terminal or when the measured heading of the system is less than the second terminal, even if the control system 5 has determined the presence of vegetation.

[0084] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching that has just been revealed to him.

[0085] In the detailed presentation of the invention which is made above, the terms used must not be interpreted as limiting the invention to the embodiment set out in the present description, but must be interpreted to include all equivalents whose prediction is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching which has just been disclosed to them.

Claims

Claims

1. A system (1) for spraying a product for agricultural machinery (2), comprising at least one spray nozzle (3) for the product associated with a sprayable zone (4) and a control system (5), said spraying system (1) further comprising an on-board heading measurement means (6) configured to measure the heading of said spraying system (1), the control system (5) being configured to compare said measured heading with a predetermined heading corresponding to a range of heading values ​​between a first terminal and a second terminal, said control system (5) being configured to force the stopping of the spraying of the product when the measured heading of the system is greater than said first terminal or when the measured heading of the system is less than said second terminal, the second terminal being less than the first terminal.

2. Spraying system (1) according to the preceding claim, further comprising at least one ultrasonic sensor (9) having a detection field, the control system (5) being configured to process the information acquired by each ultrasonic sensor (9) in their respective detection field so as to determine the presence or absence of vegetation (10) in the sprayable zone (4) of each spray nozzle (3) and to stop the spraying of the product from said spray nozzle (3) in the absence of vegetation (10).

3. Spraying system (1) according to the preceding claim, wherein the on-board heading measuring means (6) comprises at least one gyroscope configured to measure the heading of said spraying system

4. A spraying system (1) according to any preceding claim, wherein the on-board heading measuring means (6) comprises an accelerometer and a magnetometer configured to measure the heading and / or speed of said spraying system (1).

5. Spraying system (1) according to any one of the preceding claims, comprising at least two sensors, each sensor being configured to be connected to a front wheel of the agricultural machine (2) and to determine a change of direction of said spraying system (1).

6. A spray system (1) according to any preceding claim, further comprising timing means (8) configured to measure the duration during which the measured heading of the spraying system (1) is greater than said first terminal or when the measured heading of the system is less than said second terminal, to compare it to a predetermined duration and to, as long as the measured duration is less than the predetermined duration, inhibit the forced stopping of the spraying, the forced stopping of the spraying only occurring when the measured duration reaches the predetermined duration.

7. Spraying system (1) according to any one of the preceding claims, wherein the control system (5) allows actuation and / or forced stopping of the spraying.

8. A method of spraying a product to be sprayed by means of a spraying system (1) according to one of claims 1 to 7, carried or towed by an agricultural machine (2), the method comprising: - measuring a heading of the spraying system (1) by the on-board heading measuring means (6); - comparing, by the control system (5), the measured heading with the predetermined heading corresponding to a range of values ​​between a first terminal and a second terminal; and wherein the control system (5): - forces the stopping of the spraying of the product when the measured heading of the system is greater than said first terminal or when the measured heading of the system is less than said second terminal, the second terminal being less than the first terminal.

9. Spraying method according to the preceding claim, wherein the timing means (8): - measures the duration during which the measured heading is greater than said first limit or when the measured heading of the system is less than said second limit; - compares said measured duration with a predetermined duration; - inhibits the forced stopping of the spraying as long as the measured duration is less than the predetermined duration; and - authorizes the forced stopping of the spraying when the measured duration reaches the predetermined duration.

10. Spraying method according to any one of claims 8 to 9, wherein the control system (5) of the spraying system (1): - processes the information acquired in the detection field of the at least one ultrasonic sensor (9); and - determines the presence or absence of vegetation to be sprayed; said control system (5) forcing the stopping of the spraying of the product when the measured heading is greater than said first terminal or when the measured heading of the system is less than said second terminal, even if the control system (5) has determined the presence of vegetation.

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