Vehicle for combating weeds between cultivated plants, and method for operating such a vehicle

Abstract

The invention relates to a vehicle (100) for combating weeds between cultivated plants, said vehicle being movable, in particular in an automated manner, having: - a detection device (105) which is designed to identify the location at which a cultivated plant is arranged during a drive of the vehicle (100), - at least one spray device (1) for dispensing a plant protection agent or fertilizer, in particular a herbicide, - a controller (106) for controlling the spray device (1), said controller being configured so as to trigger the spray device (1) to dispense a plant protection agent or fertilizer, in particular a herbicide, at the location identified by the detection device (106) during the drive of the vehicle (100), and - a shielding device (11) for at least partly shielding a region between the spray device (1) and the underlying surface traversed by the vehicle (100) against external influences, in particular wind and / or solar radiation. The invention additionally relates to a method for operating such a vehicle (100).

Description

[0001] DESCRIPTION

[0002] title

[0003] Vehicle for controlling weeds between crops and method for operating such a vehicle

[0004] State of the art

[0005] The present invention relates to a vehicle for controlling weeds between crops. Furthermore, the invention relates to a method for operating such a vehicle.

[0006] In crop stands, unwanted accompanying vegetation is generally referred to as weeds, companion plants, or crop companions. Such weeds typically compete with crops for nutrients, light, and water, thereby reducing the yield of an agricultural area. Therefore, it is of paramount importance in agriculture to take measures against weeds. The following three approaches are used to combat weeds, among others.

[0007] Particularly in organic farming, weeds growing between crops are removed by mechanical means, such as weeding or hoeing tools. This can be done manually or by weeding or hoeing devices mounted on vehicles that specifically target the weeds. Such a vehicle for automated weeding is known, for example, from DE 20 2021 104 737 U1.

[0008] In conventional agriculture, however, it is common practice to apply pesticides, such as herbicides, over large areas. Herbicides can effectively control weeds. However, the widespread application of herbicides can cause overspray or abrasion dust to enter neighboring bodies of water or other landscape structures. They also flow into water bodies through runoff after rainfall and via drainage pipes and can enter drinking water. Therefore, there is increasing interest in reducing the amount of herbicides used. This can lower costs and reduce the impact on surrounding vegetation.

[0009] Finally, solutions are known in which weeds growing between crops are automatically detected. Herbicides are then applied to these detected weeds using spraying devices. One such method is called "spot spraying" and is described, for example, in WO 2022 / 195380 A1.

[0010] Disclosure of the invention

[0011] Against this background, it is an object of the present invention to provide a vehicle and a method for operating the same with improved weed control capabilities.

[0012] To solve the problem, a vehicle for controlling weeds between crops is proposed, which is movable, in particular automated, wherein the vehicle comprises:

[0013] - a detection device designed to detect a location where a crop is located while the vehicle is traveling,

[0014] - at least one spraying device for dispensing a plant protection, fertiliser, biostimulant, plant aid or soil additive, in particular herbicide,

[0015] - a control device for controlling the spraying device, which is configured to cause the spraying device to dispense a plant protection, fertiliser, biostimulant, plant aid or soil additive, in particular herbicide, at the location detected by the detection device while the vehicle is traveling, and

[0016] - a shielding device for at least partially shielding an area between the spraying device and a surface on which the vehicle travels against external influences, in particular wind and / or solar radiation.

[0017] The vehicle according to the invention enables the creation of a protected, in particular herbicide-protected, area around the crop without the need to apply the plant protection, fertilizer, biostimulant, plant aid, or soil additive, in particular herbicide, over a large area. It is not necessary for the detection device to detect a weed. By detecting the location where a crop is located, the crop can also be effectively protected against weeds that cannot be visually detected, for example, because they are concealed by the crop or are in an early stage of development. The shielding device shields the area between the spraying device and the ground from external influences, in particular wind and / or solar radiation.In this respect, unwanted drifting of the plant protection product, fertilizer, biostimulant, plant aid, or soil additive, in particular herbicide, into areas further away from the crop and / or unwanted evaporation of the herbicide delivered by the spraying device before reaching the detected location can be counteracted. Furthermore, the spray pattern resulting from the spraying of the plant protection product, fertilizer, biostimulant, plant aid, or soil additive, in particular herbicide, can be locally limited by the shielding device. Consequently, the effectiveness of the plant protection product, fertilizer, biostimulant, plant aid, or soil additive, in particular herbicide, and thus the vehicle's ability to control weeds, can be improved.

[0018] Even if reference is made below only to plant protection products, in particular herbicides, or fertilizers, the spraying device of the device according to the invention can nevertheless be used for applying biostimulants, plant additives or soil additives.

[0019] A spray device within the meaning of the invention is understood to be a device with precisely one dispensing unit for dispensing a sprayable substance, for example, with precisely one nozzle. The vehicle according to the invention preferably comprises a plurality of spray devices. For example, a plurality of spray devices can be provided, which are arranged spaced apart from one another in a transverse direction of the vehicle, so that the spray devices can dispense a crop protection agent or fertilizer, in particular herbicide, in parallel to adjacent locations. For example, two crops planted in different rows on the ground can be arranged at these locations.

[0020] Preferably, the one or more spray devices are arranged in a fixed manner on a base body of the vehicle, for example on a vehicle chassis. Alternatively, it can be provided that the one or more spray devices are arranged on the base body of the vehicle so as to be movable in a transverse direction of the vehicle. In this case, the one or more spray devices can each be moved in the transverse direction via a drive assigned to the respective spray device, for example in order to enable the release of the crop protection agent or fertilizer, in particular herbicide, at a location that is offset from a row of crops (for example because a crop protrudes from this row).

[0021] According to an advantageous embodiment of the invention, the shielding device comprises at least one shielding wall which is arranged around the area between the spray device and the surface traveled by the vehicle. The shielding wall can be made of metal or plastic. Preferably, the shielding wall is designed to completely surround the area, i.e. with a closed cross-section. For example, the shielding wall can be designed in the manner of a tube, for example with a circular or rectangular cross-section. Alternatively, the shielding wall can only partially surround the area, i.e. with an open cross-section. In this respect, the shielding wall can be designed in the manner of an open profile.

[0022] According to an advantageous embodiment of the invention, the shielding device is movable relative to the spraying device and can be fixed in different positions, in particular at different heights relative to a surface traveled by the vehicle. This makes it possible to adapt the shielding device to different crops or different growth heights of the crops. For example, with short crops, it may be necessary to lower the shielding device further than with tall crops. The shielding device can be moved relative to the spraying device manually or, alternatively, via a controllable drive.

[0023] According to an advantageous embodiment of the invention, the shielding device comprises at least a first and a second shielding wall, which can be moved relative to the first shielding wall and secured in different shielding positions. The first and second shielding walls can have cross-sections adapted to one another, in particular such that the shielding walls abut one another. Preferably, the first shielding wall is arranged on the inside with respect to the second shielding wall. Alternatively, the first shielding wall can be arranged on the outside with respect to the second shielding wall. By moving the second shielding wall relative to the first shielding wall, the area shielded by the shielding device between the spray device and the substrate can be varied. Provision can be made for a locking device to be present for securing the second shielding wall relative to the first shielding wall.The locking device may comprise a recess and / or a bolt, for example a spring pin.

[0024] According to an advantageous embodiment of the invention, the control device is configured to receive as input data a current vehicle position and / or a current vehicle speed vector and / or positions of the crop plants. According to an advantageous embodiment of the invention, the control device is configured to cause the spraying device to emit several successive spray bursts, so that a spray pattern is produced at the location detected by the detection device, which spray pattern is formed by at least partial overlap of the individual spray patterns caused by the successive spray bursts. The overlap of the individual spray patterns makes it possible to produce a spray pattern with a more homogeneous distribution.Particularly in the peripheral areas, the individual spray patterns can exhibit an undesirably large drop in the intensity of the delivered crop protection agent or fertilizer, in particular herbicide. Overlapping, particularly in these peripheral areas, can compensate for the drop in intensity and achieve an overall more homogeneous distribution of the crop protection agent or fertilizer, in particular herbicide. Preferably, the control device is configured to cause the spraying device to deliver two, three, four, or five spray bursts. With such a number, good homogeneity can be achieved while simultaneously reducing the number of spray bursts.

[0025] The spray device preferably comprises a valve that can be controlled via a pulsed signal. By selecting the duration of the pulsed signal, a flow rate of crop protection agent or fertilizer, in particular herbicide, per spray can be adjusted. The amplitude of the pulsed signal is preferably constant. The pulsed signal is preferably provided by the control device. The control device calculates the parameters pulse frequency, pulse duration, and the switching on and off times of the pulse signal for the valve of the spray device - if multiple spray devices are present, for each valve of the spray devices - based on a previously recorded characteristic map of the respective spray device. The characteristic map provides information about the expected flow rate when varying the operating pressure and pulse duration.By using a nozzle-specific characteristic map, valves and / or nozzles with different operating data can be used – for example, because they have a relatively large manufacturing tolerance. The valve can be a solenoid valve, for example. A plunger is deflected from the open to the closed position of the valve, or vice versa, against a spring force by a magnetic field induced by a coil. In addition to the open and closed positions, the valve can also assume intermediate positions.

[0026] According to an advantageous embodiment of the invention, the spray device comprises a flat jet nozzle arranged such that it has a first discharge angle in a direction of travel of the vehicle that is smaller than a second discharge angle in a transverse direction perpendicular to the direction of travel. Such a configuration offers the advantage that the extent of the spray pattern in the direction of travel of the vehicle can be adjusted by selecting the number of spray bursts. For example, a higher number of spray bursts can be delivered to achieve a spray pattern that is longer or wider in the direction of travel.

[0027] In this context, an embodiment of the invention has proven to be structurally advantageous in which the first discharge angle is in the range from 5 degrees to 10 degrees, in particular 7.5 degrees, and the second discharge angle is in the range from 25 degrees to 30 degrees, in particular 29 degrees.

[0028] According to an advantageous embodiment of the invention, the vehicle comprises a holding device for holding the spraying device, which is configured to selectively arrange the spraying device at one of at least two different heights relative to a surface traveled by the vehicle. By changing the height relative to the surface, the size of the spray pattern can be adjusted, i.e., the size of the area covered by the herbicide can be adjusted. The holding device can be configured to change the position of the spraying device manually or, alternatively, via a controllable drive.

[0029] According to an advantageous embodiment of the invention, the vehicle is movable in a direction of travel and has at least one hoeing device designed to destroy weed structures through mechanical action while the vehicle is moving in the direction of travel. Such a design combines the advantages of using a hoeing device with those of herbicides. The hoeing device(s) can automatically destroy weeds located between the crops. Furthermore, the spraying device can create a herbicide-protected area around the crop without the need to apply the crop protection agent or fertilizer, in particular herbicide, over a large area.

[0030] The at least one hoeing device is preferably designed as a hoeing device that is fixed relative to the vehicle, for example as a fixed hoeing share. Such a fixed hoeing device can be used, for example, for hoeing between two rows of crops. Alternatively, the at least one hoeing device is preferably designed as a hoeing device that is movable relative to the vehicle, for example as a movable, in particular pivotable, hoeing share. The movable hoeing device can be used for hoeing within a row of crops, between these crops and / or under the leaves of the crops. For example, the movable hoeing device can be moved into the row between the crops and out again, in particular pivoted in and out again, for example to hoe weeds in the row between the crops.

[0031] In this context, a design has proven particularly advantageous in which the spray device for dispensing the crop protection agent or fertilizer, in particular herbicide, is arranged in the direction of travel in front of the hoeing device, in particular in front of the stationary hoeing device, so that the spray device can dispense a crop protection agent or fertilizer, in particular herbicide, at a location while the vehicle is moving in the direction of travel, before the hoeing device reaches this location. Dust can be stirred up by the at least one hoeing device, particularly in dry weather. This dust can impair the application of the crop protection agent or fertilizer, in particular herbicide, to the crop and its surroundings, particularly if it enters the area between the spray device and the ground, and can undesirably reduce the effectiveness of the crop protection agent or fertilizer, in particular herbicide.The spray device is positioned in front of the hoeing device in the direction of travel. Therefore, the spray device is offset from the hoeing device in the longitudinal direction of the vehicle. By positioning the spray device in front of the hoeing device in the direction of travel, the crop protection agent or fertilizer, especially herbicide, can be applied to the crop or its surroundings before the hoeing device affects the immediate surroundings of the crop. Any dust generated during use of the hoeing device can then no longer significantly impair the effectiveness of the crop protection agent or fertilizer, especially herbicide.

[0032] According to an advantageous embodiment of the invention, the spraying device is arranged at a distance from the hoeing device in a transverse direction perpendicular to the direction of travel. This makes it possible to move the spraying device linearly along a row of crops by moving the vehicle, while the hoeing device is moved laterally past this row of crops. The hoeing devices can act on the weeds from the side of the crops. The spraying device, on the other hand, can deliver the plant protection agent or fertilizer, in particular herbicide, from above onto the crops and their immediate surroundings.

[0033] According to an advantageous embodiment of the invention, the vehicle has a plurality of hoeing devices and the spraying device is arranged at a distance from a first of the hoeing devices and a second of the hoeing devices in a transverse direction perpendicular to the direction of travel. The spraying device is preferably arranged between the first and second hoeing devices in the transverse direction. With such an embodiment, the spraying device can be moved linearly above a row of crops, while the hoeing devices are moved past them on two opposite sides of this row of crops. The hoeing devices can thus act on the weeds from both sides of the crops. The spraying device can deliver the plant protection agent or fertilizer, in particular herbicide, from above onto the crops and their immediate surroundings.

[0034] Particularly preferably, the vehicle comprises a plurality of hoeing devices, in particular at least one hoeing device that is stationary relative to the vehicle and one that is movable relative to the vehicle. Particularly preferably, the plurality of hoeing devices are combined to form hoeing modules, wherein each hoeing module is assigned to a spraying device. Such a combination of hoeing module and spraying device can be designed to combat weeds in the area of ​​a row of cultivated plants. For example, the hoeing module can comprise two movable hoeing devices, wherein the spraying device is arranged in the transverse direction of the vehicle between the two movable hoeing devices, such that when the vehicle moves, the hoeing devices can act on the spaces between the cultivated plants in a row from two opposite sides, while the spraying device acts on the cultivated plants.Furthermore, the hoeing module may comprise two fixed hoeing devices, wherein the spraying device is arranged in the transverse direction of the vehicle between the two fixed hoeing devices, so that the two fixed hoeing devices can act on the areas next to the row of crops, while the spraying device acts on the crops.

[0035] According to an advantageous embodiment of the invention, the vehicle has a feeler wheel, which is connected to a chassis of the vehicle and is movable at least in a vertical direction perpendicular to the direction of travel (and perpendicular to the transverse direction), for rolling along a surface. The spray device is coupled to the feeler wheel in such a way that the spray device can follow a movement of the feeler wheel in the vertical direction. Such an arrangement of the spray device ensures that the spray device is as constant a distance from the surface as possible, even on uneven surfaces.

[0036] According to an advantageous embodiment of the invention, it is provided that the chopping device has a rotatably arranged chopping element, in particular a milling head or a chopping share.

[0037] Preferably, the detection device is an electromagnetic, in particular optical, detection device. In this respect, the detection device can be configured to detect the condition of the soil, in particular to scan the soil. Alternatively, the detection device can be an acoustic detection device. In this respect, a lidar, radar, or sonar detection device can be used. Alternatively, the detection device can contain a combination of several of the aforementioned techniques. Optionally, a satellite navigation system, which knows the positions of the crops, can also be used to detect the location at which a crop is located.

[0038] According to an advantageous embodiment of the invention, the vehicle comprises a control device for controlling the hoeing device, which is configured to cause the hoeing device to exert a mechanical effect on the surroundings of the location detected by the detection device while the vehicle is traveling. The control device for controlling the hoeing device can be designed as a common control device with the control device for controlling the spraying device or as a separate control device.

[0039] The vehicle according to the invention can be a vehicle with a drive. Preferably, the vehicle is an autonomous vehicle. Optionally, the spraying device can be provided as part of an attachment to the vehicle. Alternatively, the vehicle can be a trailer intended for use with a towing vehicle, for example, a tractor.

[0040] A plant protection agent, for example a herbicide or a fungicide, or a fertilizer can be applied by the spraying device. Furthermore, it is possible to apply biostimulants, plant additives, or soil additives by the spraying device. To achieve the object, a method for operating a vehicle, in particular for controlling weeds between crops, is further proposed, which is movable, in particular in an automated manner. The vehicle has a detection device for detecting crops, at least one spraying device, and a shielding device for at least partially shielding an area between the spraying device and a surface traveled by the vehicle from external influences, in particular wind and / or solar radiation, comprising the following method steps:

[0041] - detecting a location where a crop is located by means of the detection device while the vehicle is moving; and

[0042] - Controlling the spraying device in such a way that, while the vehicle is moving, a plant protection product, in particular a herbicide, or a fertilizer or a biostimulant, plant additive or soil additive is dispensed at the location detected by the detection device.

[0043] The method according to the invention makes it possible to achieve the same technical advantages and effects that have already been explained in connection with the vehicle according to the invention.

[0044] Even if reference is made below only to plant protection products, in particular herbicides, or fertilizers, the spray device in the method according to the invention can nevertheless be used to apply biostimulants, plant additives or soil additives.

[0045] According to an advantageous embodiment, the crop plants are formed as beets, in particular sugar beets.

[0046] According to an advantageous embodiment, it is provided that the spray device is controlled to emit a plurality of successive spray bursts, so that a spray pattern is produced at the location detected by the detection device, which spray pattern is formed by at least partial overlapping of the individual spray patterns caused by the successive spray bursts.

[0047] According to a structurally advantageous embodiment, it is provided that the discharge duration of the spray device per spray is in the range of 5 ms to 40 ms, preferably in the range of 10 ms to 20 ms, particularly preferably in the range of 7 ms to 12 ms. According to an advantageous embodiment, it is provided that at least one input variable specified by a user is detected, and depending on the detected input variable(s),

[0048] - a number of consecutive sprays per location detected by the detection device and / or

[0049] - a height of the spray device relative to a surface travelled by the vehicle, for example a height adjustment of the holding device of the spray device, and / or

[0050] - a pressure to provide the herbicide for the spraying device and / or

[0051] - a spray pattern width perpendicular to a direction of travel and / or

[0052] - a spray pattern length in the direction of travel is calculated and optionally displayed. The calculation can be carried out by an internal computing unit of the vehicle or by a computing unit provided externally of the vehicle. The external computing unit can be a server in a cloud environment or a mobile device, for example a tablet computer or a smartphone. The display can be via a display device of the vehicle or a display device provided externally of the vehicle. The external display device can be part of a mobile device, for example a tablet computer or a smartphone. The respective calculated value is preferably used to control a unit of the vehicle. The calculated number of consecutive spray bursts is preferably used to control the spray device. The calculated height of the spray device is preferably used to control a drive for adjusting the height of the spray device.The calculated pressure for delivering the crop protection agent or fertilizer, especially herbicide, is preferably used to control a pump. The calculated spray pattern width and / or spray pattern length is preferably used to control a drive for adjusting the height of the spray device. Alternatively, the respective calculated value can simply be displayed so that a user can make the respective adjustment manually.

[0053] In this context, it is advantageous if the at least one input variable is / are one or more of the following variables:

[0054] - a desired width of the spray pattern perpendicular to the direction of travel;

[0055] - a desired minimum length of the spray pattern in the direction of travel;

[0056] - a sinking depth of a wheel, in particular the jockey wheel, of the vehicle;

[0057] - a quantity of plant protection product or fertiliser, in particular herbicide, applied per unit area; a tolerance range perpendicular to the direction of travel within which the crops are arranged.

[0058] According to a structurally advantageous embodiment, it is provided that the plant protection agent, in particular herbicide, or fertilizer is supplied to the spraying device under a pressure in the range of 2 to 3 bar, for example by means of a pump.

[0059] According to an advantageous embodiment, the spraying device is monitored by a monitoring device, in particular a camera, and the spraying device is controlled depending on monitoring data, for example image data, recorded by the monitoring device. Blockages or leaks, in particular in the area of ​​the spraying device, can be detected by the monitoring device, in particular the camera. The crop protection agent or fertilizer, in particular herbicide, released by the spraying device, the so-called nozzle cone, can be recorded and evaluated, in particular classified. The evaluation is preferably carried out by a classifier that has been trained by machine learning. Depending on the recorded monitoring data, in particular image data, orBased on the result of the evaluation, a flow rate through the spray device, the operating pressure of the pump supplying the spray device with crop protection or fertilizer, in particular herbicide, and / or a control signal for controlling the nozzle can be changed. Optionally, the detection device can be provided to include the monitoring device or be identical to it.

[0060] According to an advantageous embodiment, the total amount of plant protection products, in particular herbicides, or fertilizers dispensed by the vehicle's one or more spraying devices while the vehicle is in motion is stored. This makes it possible to document the total amount of plant protection products or fertilizers applied. Alternatively or additionally, the amount of plant protection products or fertilizers applied to individual locations on the crops can be stored for several, in particular all, locations. This makes it possible to provide plant-specific mapping of the plant protection product or fertilizer application.

[0061] According to an advantageous embodiment, the vehicle comprises a detection device that detects a location where a crop is located while the vehicle is traveling. Preferably, the detection device further classifies the crops with regard to crop diseases and / or damage to the crop and / or the nutrient supply or nutrient deficiency of the crop. This information is preferably transmitted to a database, a farm management system, or other systems. This enables these systems and / or persons using these systems to make decisions that lead to actions that maintain the health of the crops and / or maximize yield.For example, the detection devices can classify crops with regard to herbicide damage, allowing conclusions to be drawn about potential yield effects and / or herbicide mixtures to be adjusted to minimize future negative yield effects. Alternatively or additionally, a geographical map of the detected diseases and / or damage and / or the nutrient supply or nutrient deficiency of the sugar beet can be created. Based on these geographical maps, it becomes possible to more accurately estimate the required quantities of crop protection products and / or insecticidal and / or herbicidal active ingredients and / or nutrient solutions and / or plant adjuvants and / or biostimulants. This serves to improve production planning and / or purchasing of the aforementioned product classes.

[0062] According to an advantageous embodiment, an insecticide is released, either alone or together with a herbicide, at the location identified by the detection device while the vehicle is moving. This can prevent insect damage to crops and increase yields. The amount of insecticide and / or herbicide applied can be documented and verified.

[0063] According to an advantageous embodiment, while the vehicle is moving, a nutrient solution and / or biostimulants and / or plant adjuvants are applied to the crop at the location identified by the detection device, either alone or in combination with insecticides and / or herbicides. This allows for optimal nutrient supply to the crop. Nutrient deficiencies are prevented, thus maximizing yield. The amount of nutrient solution applied can be documented and verified.

[0064] In this context, it is particularly advantageous if the previously described release of a nutrient solution and / or biostimulants and / or plant adjuvants at the location of a crop only occurs if the crop has previously been classified with regard to nutrient deficiency and a nutrient deficiency of this crop has been determined. According to an advantageous embodiment, the crop is a herbicide-resistant crop, for example, a herbicide-resistant sugar beet, and a herbicide is released by means of the spray device. In this way, herbicide damage to the crop can be avoided and weeds can still be controlled with the herbicide.

[0065] If the vehicle is equipped with a recording device, it is preferably provided that the recording device is used to collect information about the condition of the field, in particular the condition of the soil and the crops and weeds, which can be used to estimate crop development and thus draw conclusions about potential yield. The data can be collected in such a way that not the entire field with all crops is documented, but rather plots of a specific size. Furthermore, these photoplots can be distributed in such a way that they correspond to a distribution and / or size that is representative of the research question. The representative distribution and / or size of the data plots can also be achieved using software that determines the relative yield potential in a field independently of the respective crop. This means that less data needs to be transmitted.

[0066] Alternatively or in addition to the advantageous embodiments and features of the method explained above, the advantageous embodiments and features explained in connection with the vehicle according to the invention can also be used in the method alone or in combination.

[0067] Further details, features, and advantages of the invention will become apparent from the drawings and the following description of a preferred embodiment based on the drawings. The drawings merely illustrate an exemplary embodiment of the invention, which does not limit the scope of the invention.

[0068] Short description of the characters

[0069] Fig. 1 shows a side view of a spray device according to an embodiment of the vehicle according to the invention.

[0070] Fig. 2 shows an alternative side view of the spray device according to Fig. 1.

[0071] Fig. 3 shows a plan view of the spray device according to Fig. 1. Fig. 4 shows a perspective view of the spray device according to Fig. 1.

[0072] Fig. 5 shows a schematic plan view of a first embodiment of the vehicle according to the invention.

[0073] Fig. 6 shows a schematic plan view of a second embodiment of the vehicle according to the invention.

[0074] Embodiments of the invention

[0075] In the various figures, identical parts are always provided with the same reference symbols and are therefore usually named or mentioned only once.

[0076] Fig. 5 shows a schematic plan view of a first exemplary embodiment of the vehicle 100 according to the invention for controlling weeds between cultivated plants, for example beets, in particular sugar beets. The vehicle 100 is movable, in particular automatically, in a direction of travel F. For this purpose, the vehicle 100 comprises a plurality of running wheels 102. The running wheels 102 can be designed as driven running wheels or as non-driven running wheels. For example, the rear running wheels 102 in the direction of travel F can be driven, and the front wheels in the direction of travel F can be non-driven. The front running wheels 102 can also be steerable. The vehicle 100 can thus move freely on an agricultural area.Typically, the vehicle 100 is moved such that it moves along a row of crops, for example such that a longitudinal axis L of the vehicle 100 is aligned parallel to the row of crops.

[0077] The vehicle comprises a plurality of hoeing devices 104, 104', which are configured to destroy weed structures through mechanical action while the vehicle 100 is moving in the direction of travel F. According to the exemplary embodiment, movable hoeing devices 104 and stationary hoeing devices 104' are provided. The movable hoeing devices 104 can, for example, have rotatable coulters that chop the weeds and, if necessary, dig up the soil hosting the weeds. The vehicle 100 is moved along a row of crops such that the hoeing devices 104 are guided past them on two opposite sides of the row of crops. The vehicle 100 comprises a detection device 105 for detecting crops. A control device 106 of the vehicle 100 then controls the hoeing devices 104 such that they remove the weeds located between the individual detected crop ends.The fixed hoeing devices 104' hoe the area next to and between the rows of crops.

[0078] In the embodiment according to Fig. 5, several spray devices 1 for dispensing a crop protection agent or fertilizer, here a herbicide, are also provided as part of the vehicle. The spray devices are controlled by the control device 106 such that, while the vehicle 100 is traveling, a herbicide is dispensed at the location where the detection device 106 has detected a crop. The spray devices 1 are arranged in front of the hoeing devices 104, 104', as seen in the direction of travel F, so that the spray device 1 can dispense the herbicide at a specific location as the vehicle 100 moves in the direction of travel F, before the hoeing device 104, 104' reaches this location. Thus, viewed in the direction of the longitudinal axis L of the vehicle 100, there is a distance dF by which the spray devices 1 are arranged in front of the movable hoeing devices 104 in the direction of travel F.

[0079] In the transverse direction Q of the vehicle 100, the spraying devices are also arranged at a distance from the hoeing devices 104. This results in an offset dQ of the spraying devices 1 relative to the hoeing devices 104. This allows the spraying devices 1 to be moved above the crops, in particular a row of crops. The spraying devices 1 are controlled such that the herbicide is released whenever the spraying device 1 is located above a crop.

[0080] Fig. 6 shows a schematic plan view of a second embodiment of a vehicle 100 according to the invention. The vehicle 100 essentially corresponds to the vehicle according to the first embodiment, so reference is made to the description of Fig. 5. In contrast to the first embodiment, in the vehicle 100 according to the second embodiment, the movable hoeing devices 104 are arranged in front of the spraying devices 1 in the direction of travel. However, the stationary hoeing devices 104' are arranged behind the spraying devices 1 in the direction of travel F, as in the first embodiment.

[0081] Details of the spray devices 1 for dispensing a herbicide contained in the embodiments according to Figs. 5 and 6 and the components surrounding them will be explained below with reference to the illustrations in Figs. 1 to 4.

[0082] The respective herbicide can be stored in a tank (not shown) of the vehicle. A pump (not shown) can provide the operating pressure for operating the spray device 1.

[0083] The spray device 1 has a valve 2. The herbicide, brought to operating pressure by the pump, can be fed to the valve 2 via a supply line. The valve 2 can be controlled by a pulsed signal. From the valve 2, the herbicide is directed to a nozzle 4, through which the herbicide is applied. The nozzle 4 is designed as a flat jet nozzle and is connected to the spray device 1 via a nozzle holder 3.

[0084] The spray device 1 can be mounted on a vehicle 100 via a mounting device 5, allowing its height to be adjusted. The mounting device 5 has recesses 8, here through holes, through which the spray device 1 can be locked at different heights. By selecting the height above the ground, the size of the area wetted by the nozzle 4, i.e., the spray pattern, can be influenced.

[0085] A shielding device 11 is provided to shield an area between the spray device 1 and a surface traveled by the vehicle 100—that is, the area below the spray device 1. The shielding device 11 can at least partially shield this area from external influences, in particular from wind and / or solar radiation.

[0086] The shielding device 11 according to the exemplary embodiment comprises a first, inner shielding wall 6 and a second, outer shielding wall 7. The shielding walls 6, 7 have a tubular shape and are arranged such that the nozzle 4 of the spraying device 1 is located substantially on a longitudinal axis of the tubular shielding walls 6, 7. In this respect, the tubular shielding walls 6, 7 surround the nozzle and the area between the nozzle 4 and the ground. The first, inner shielding wall 6 is fixedly connected to the vehicle 100. The second, outer shielding wall 7 is arranged so as to be movable relative to the first shielding wall 6. In particular, the height of the second shielding wall 7 can be adjusted in order to be able to make adjustments to the working depth and to adjust the height so that it does not touch and thus damage the crops at different stages of growth. The second, outer shielding wall 7 can be adjusted to the height of the crops.For this purpose, the inner shielding plate 6 has recesses, here through holes 9, at different heights, into which a spring pin 10 can engage to fix the outer shielding wall 7 to the inner shielding wall 6. List of reference symbols.

[0087] 1 spray device

[0088] 2 valve

[0089] 3 nozzle holders

[0090] 4 nozzle

[0091] 5 Holding device

[0092] 6 inner shielding wall

[0093] 7 outer shielding wall

[0094] 8 recesses

[0095] 9 recesses

[0096] 10 spring pin

[0097] 11 Shielding device

[0098] 100 vehicles

[0099] 102 wheel

[0100] 103 T astrad

[0101] 104, 104' hoeing device

[0102] 105 Detection device

[0103] 106 Control device

[0104] F Direction of travel

[0105] H Altitude direction

[0106] L Longitudinal axis

[0107] Q Transverse direction dF Distance in direction of travel dQ Distance in transverse direction

Claims

PATENT CLAIMS 1. A vehicle (100) for controlling weeds between crops, which is movable, in particular automated, the vehicle (100) comprising: - a detection device (105) which is designed to detect a location at which a cultivated plant is arranged while the vehicle (100) is traveling, - at least one spraying device (1) for dispensing a plant protection, fertiliser, biostimulant, plant aid or soil additive, in particular herbicide, - a control device (106) for controlling the spraying device (1), which is configured to cause the spraying device (1) to dispense a plant protection, fertilizing, biostimulant, plant aid or soil additive, in particular herbicide, at the location detected by the detection device (106) while the vehicle (100) is traveling, and - a shielding device (11) for at least partially shielding an area between the spraying device (1) and a surface traveled by the vehicle (100) against external influences, in particular wind and / or solar radiation.

2. Vehicle (100) according to claim 1, characterized in that the shielding device (11) comprises at least one shielding wall (6, 7) which is arranged around the area between the spraying device (1) and the surface traveled by the vehicle (100).

3. Vehicle (100) according to one of the preceding claims, characterized in that the shielding device (11) is movable relative to the spraying device (1) and can be fixed in different positions, in particular at different heights relative to a surface traveled by the vehicle (100).

4. Vehicle (100) according to one of the preceding claims, characterized in that the shielding device (11) has at least a first shielding wall (6) and a second shielding wall (7) which is movable relative to the first shielding wall (6) and can be fixed in different shielding positions.

5. Vehicle (100) according to one of the preceding claims, characterized in that the control device (106) is designed to control the spray device (1) to cause several successive spray bursts to be emitted, so that a spray pattern is produced at the location detected by the detection device (105), which spray pattern is formed by at least partial overlapping of the individual spray patterns caused by the successive spray bursts.

6. Vehicle (100) according to one of the preceding claims, characterized in that the spray device (1) has a flat jet nozzle (3) which is arranged such that it has a first discharge angle in a direction of travel of the vehicle (100) which is smaller than a second discharge angle in a transverse direction arranged perpendicular to the direction of travel.

7. Vehicle (100) according to one of the preceding claims, characterized by a holding device (5) for holding the spray device (1), which is configured to arrange the spray device (1) selectively at one of at least two different heights relative to a surface traveled by the vehicle (100).

8. Vehicle (100) according to one of the preceding claims, characterized in that the vehicle (100) is movable in a direction of travel (F) and has at least one hoeing device (104) which is designed to destroy structures of the weeds by mechanical action during a movement of the vehicle (10) in the direction of travel (F).

9. Vehicle (100) according to claim 8, characterized in that the spraying device (1) is arranged in front of the hoeing device (104) in the direction of travel (F), so that the spraying device (1) can deliver a plant protection agent or fertilizer, in particular a herbicide, at a location during the movement of the vehicle (100) in the direction of travel (F) before the hoeing device (104) reaches this location.

10. A method for operating a vehicle (100), in particular for controlling weeds between cultivated plants, which is movable, in particular in an automated manner, wherein the vehicle (100) has a detection device (105) for detecting cultivated plants, at least one spraying device (1) and a shielding device (11) for at least partially shielding an area between the spraying device (1) and a surface traveled by the vehicle (100) from external influences, in particular wind and / or solar radiation, with the following method steps: - detecting a location at which a crop is arranged by means of the detection device (105) while the vehicle (100) is traveling; and - Controlling the spraying device (1) in such a way that, while the vehicle is traveling, a plant protection agent, in particular a herbicide, or a fertilizer or a biostimulant, plant additive or soil additive is dispensed at the location detected by the detection device (105).

11. The method according to claim 10, characterized in that the spray device (1) is controlled to deliver a plurality of successive spray bursts, so that a spray pattern is produced at the location detected by the detection device (105), which spray pattern is formed by at least partial overlapping of the individual spray patterns caused by the successive spray bursts, in particular wherein a delivery duration of the spray device (1) per spray burst is in the range from 5 ms to 40 ms, in particular in the range from 10 ms to 20 ms.

12. Method according to one of claims 10 or 11, characterized in that at least one input variable specified by a user is detected, and depending on the detected input variable(s) - a number of consecutive spray bursts per location detected by the detection device (105) and / or - a height of the spray device (1) relative to a surface traveled by the vehicle (100) and / or - a pressure for providing the plant protection product or fertilizer, in particular herbicide, for the spraying device (1) and / or - a spray pattern width perpendicular to a direction of travel (F) and / or - a spray pattern length in the direction of travel (F) is calculated and optionally displayed.

13. The method according to claim 12, characterized in that the at least one input variable is / are one or more of the following variables: - a desired width of the spray pattern perpendicular to the direction of travel (F); - a desired minimum length of the spray pattern in the direction of travel (F); - a sinking depth of a wheel, in particular a feeler wheel, of the vehicle (100); - a quantity of plant protection product or fertilizer, in particular herbicide, to be applied per unit area; - a tolerance width perpendicular to the direction of travel (F) within which the crops are arranged.

14. Method according to one of claims 10 to 13, characterized in that the plant protection agent, in particular herbicide, is supplied to the spraying device (1) under a pressure in the range of 2 to 3 bar, for example by means of a pump.

15. Method according to one of claims 10 to 14, characterized in that the spraying device (1) is monitored by a monitoring device, in particular a camera, and the spraying device (1) is controlled as a function of monitoring data, for example image data, acquired by the monitoring device.

Images