Fertilizer system and method thereof

Abstract

There is provided a fertilizer system (100) arranged to be integrated with a forestry or agricultural vehicle (110) The fertilizer system comprises a ground preparing arrangement (120) configured to penetrate and prepare ground and a fertilizer distribution device (130) configured to intermittently distribute fertilizer (140) through an opening (150) of the fertilizer distribution device to the ground prepared by the ground preparing arrangement according to a fertilizer distribution pattern (160). The fertilizer system further comprises a control unit (170) configured to operate the fertilizer distribution device based on the fertilizer distribution pattern.

Description

[0001] FERTILIZER SYSTEM AND METHOD THEREOF

[0002] FIELD OF THE INVENTION

[0003] The present invention generally relates to a fertilizer system for preparing and fertilizing the ground for planting seedlings therein, and a method thereof. More specifically, the present invention relates to a fertilizer system for arrangement on a forestry or agriculture vehicle.

[0004] BACKGROUND OF THE INVENTION

[0005] In forestry and agriculture, the planting of seedlings may involve numerous critical steps to improve the yield rate of the seedlings, i.e., the amount of usable crops produced. In the past, planting seedlings has mostly been done manually by hand or simple tools to plant the plant seedlings into the ground. Today, specially designed planting machines for planting seedlings may instead be used to aid in the process. Prior planting the seedlings, various preparations may be done to the ground, such as clearing the soil from unwanted vegetation and debris, ploughing and harrowing, levelling, and / or supply fertilization to the soil. The fertilization may supply essential nutrients to the soil and may be applied according to different methods, such as broadcasting, banding, side-dressing, foliar feeding, etc. However, these methods may result in excessive fertilization which may be harmful to crop and soil health, human safety, and / or the environment, as well as represent a significant financial drain.

[0006] Based on the above, it is desired to provide a fertilizer system which facilitates the preparation and fertilization of the ground for planting seedlings therein, whilst reducing the risk for over-fertilization of the ground.

[0007] SUMMARY OF THE INVENTION

[0008] It is of interest of the present invention to provide a fertilizer system which combines the advantages presented by performing ground preparation and fertilization of the ground using a forestry or agriculture vehicle, whilst improving the efficiency of fertilization, at least in terms of resources usage.

[0009] This and other objects are achieved by providing a fertilizer system and a method for such fertilizer system having the features in the independent claims. Preferred embodiments are defined in the dependent claims.

[0010] Hence, according to a first aspect of the present invention, there is provided a fertilizer system arranged to be integrated with a forestry or agricultural vehicle. The fertilizer system comprises a ground preparing arrangement configured to penetrate and prepare ground, and a fertilizer distribution device configured to intermittently distribute fertilizer through an opening of the fertilizer distribution device to the ground prepared by the ground preparing arrangement according to a fertilizer distribution pattern. The fertilizer system further comprises a control unit configured to operate the fertilizer distribution device based on the fertilizer distribution pattern.

[0011] According to a second aspect of the present invention, there is provided a method for a fertilizer system arranged to be integrated with a forestry or agricultural vehicle, wherein the fertilizer system comprises a ground preparing arrangement and a fertilizer distribution device. The method comprises penetrating and preparing, by the ground preparing arrangement, the ground, and intermittently distributing, by the fertilizer distribution device, fertilizer according to a fertilizer distribution pattern.

[0012] Thus, the first and second aspects of the present invention are based on the common concept or idea of providing a fertilizer system arranged to be integrated with a forestry or agriculture vehicle, and a method for such fertilizer system, wherein the fertilizer system may distribute fertilizer in an optimized manner, at least in terms of use of resources, whilst aiding in the planting of seedlings. This is achieved by the fertilizer system comprising a fertilizer distribution device which is configured to intermittently distribute fertilizer according to a fertilizer distribution pattern. Hence, the first and second aspects of the present invention share a common general inventive concept of providing a fertilizer system or method for a fertilizer system which distributes fertilization in interrupted deposits, trails, piles, or the like, according to a fertilizer distribution pattern instead of e.g., in continuous trails.

[0013] It will be appreciated that the fertilizer system comprises a ground preparing arrangement configured to penetrate and prepare ground. For example, the ground preparing arrangement may be configured to harrow, plough, till, or the like, the ground surrounding the fertilizer system. This allows for breaking up compact soil and disrupts weed growth. Furthermore, the ground preparing arrangement may allow for creating air spaces desirable for roots of the seedlings to access oxygen more easily. Also, water penetration of the prepared ground may be more efficient, whilst also reducing the risk of waterlogging. Hence, the ground preparing arrangement may contribute to an increased yield rate of the area wherein the fertilizer system resides.

[0014] It will be further appreciated that the fertilizer system comprises a fertilizer distribution device configured to intermittently distribute fertilizer. In other words, the fertilizer distribution device is configured to alternately distribute fertilizer, and not to distribute fertilizer. The fertilizer may improve soil structure and health, as well as increasing crop yields and / or allow for faster seedling growth and better establishment. Nonetheless, over-fertilization may have the opposite effect on the soil and / or the seedlings, as well as negative impacts on the environment and on human health. By providing the fertilizer distribution device configured to intermittently distribute fertilizer, the total amount of distributed fertilizer may be reduced. Hence, the risk of over-fertilization may be reduced. Also, the financial strain may be alleviated due to the reduced amount of distributed fertilizer. Thus, the fertilizer distribution device may allow for a more sustainable fertilizer system in terms of e.g., the environment, waste management, financial impact, soil health, crop yield, etc.

[0015] It should be noted that the fertilizer distribution device is configured to intermittently distribute fertilizer according to a fertilizer distribution pattern. Hence, the fertilizer distribution device is configured to distribute fertilizer to the ground in distinctive piles, layers, deposits, trails, or the like. This is advantageous in that the fertilizer distribution pattern may accommodate for various fertilizer needs, requirements, and / or desires. For example, the size of the dispersion of each fertilizer pile, deposit, or the like may be tailored according to said need, requirement, and / or desire. According to another example, the distance between adjacent fertilizer deposits may be adapted.

[0016] It will be appreciated that the control unit is configured to operate the fertilizer distribution device. In the past, preparing the ground and distributing fertilizer have relied on the knowledge, experience, and / or manually operation of the (human) operator, which exposes the risk of human fallibility. The present invention is thus advantageous in that it may provide for increased preparation and fertilization efficiency and consistency, as well as increased safety and / or ergonomics for the operator.

[0017] It should also be noted that the control unit is configured to operate the fertilizer distribution device based on the fertilizer distribution pattern. This fertilizer distribution pattern may for example be usable by the fertilizer system and the control unit for later use. According to an example, the fertilizer distribution pattern may be saved in order for the control unit to match positions of planting of seedlings to the distributed fertilizer. According to another example, the fertilizer distribution pattern may be transferred to separate control unit, forestry / agriculture vehicle, and / or (planting) system configured to match positions of planting seedlings to the distributed fertilizer of the fertilizer distribution pattern. Hence, the fertilizer distribution pattern may facilitate the planting procedure and give rise to increased planting yields.

[0018] There is provided a fertilizer system arranged to be integrated with a forestry or agriculture vehicle. By “integrated”, it is here meant that the fertilizer system is arranged to be integrable, compatible, linkable, etc. with a forestry / agriculture vehicle, such that the fertilizer system may be utilized together with said vehicle. The fertilizer system further comprises a ground preparing arrangement configured to penetrate and prepare the ground. By “ground preparing arrangement”, it is here meant any equipment, tool, device, instrument, etc., able to penetrate and prepare ground. For example, the ground preparing arrangement may comprise rippers, ploughs, harrows, tillers, chisels, grubbers, or the like. By the phrase “penetrate and preparing the ground”, it is here meant processes of getting the ground or soil ready for e.g., distributing fertilizer and / or planting seedlings in the ground or soil. Such processes may comprise breaking up compact soil and / or turning over the soil. By “intermittently distribute fertilizer”, it is here meant that the fertilizer is distributed to the ground in a discontinuous, interrupted, fragmented, or the like, process. Thus, the distributed fertilizer in the ground forms discontinuous, interrupted, fragmented, etc., piles, trails, deposits, layers, etc., according to the fertilizer distribution pattern. Furthermore, it is to be understood that by “fertilizer”, it is here meant any substance to aid in the growth of plants. For example, “fertilizer” may comprise organic fertilizer, inorganic fertilizer, compost, peat, microorganisms, plant growth regulators (PGRs), biostimulants, pesticides, herbicides, etc.

[0019] According to an embodiment of the present invention, the fertilizer distribution pattern may comprise sequential distribution instances of fertilizer separated by intervals along an intended propulsion direction of the vehicle. The embodiment is advantageous in that the uniformity and / or accuracy of the placement of the fertilizer may be improved.

[0020] According to an embodiment of the present invention, the fertilizer system may further comprise a sensor configured to at least one of detect an amount of distributed fertilizer by the at least one fertilizer distribution device and detect a terrain impediment relative to the surrounding of the at least one fertilizer distribution device. Furthermore, the control unit may be configured to apply an adjustment of the fertilizer distribution pattern based on at least one of the detected amount of distributed fertilizer, and the detected terrain impediment. By “terrain impediment”, it is here meant any natural or artificial feature of the surface of the ground surrounding the fertilizer system that obstructs, limits, or complicates the movement, operation, or efficiency of the fertilizer system, such as intermittent distribution of fertilizer by the at least one fertilizer distribution device. For example, such terrain impediments may comprise, but is not limited to, uneven ground, rocks, stumps, slopes, vegetative overgrowth, and / or excessive soil moisture. The present embodiment is advantageous in that the control unit is configured to apply an adjustment of the fertilizer distribution pattern based on one of, or both, the detected amount of distributed fertilizer and the detected terrain impediment. According to an example, if the sensor detects an insufficient amount of distributed fertilizer compared to the fertilizer distribution pattern, the control unit may be configured to apply an adjustment of the fertilizer distribution pattern. According to another example, if the sensor detects a terrain impediment relative to the surroundings of the at least one fertilizer distribution device, the control unit may be configured to apply an adjustment of the fertilizer distribution pattern. Hence, the present embodiment allows for a fertilizer system which is more accurate, adaptable, and / or reliable in relation to the intended distribution of fertilizer according to the fertilizer distribution pattern. Furthermore, the present embodiment allows fertilizer to be distributed in a manner which may enhance fertilizer uptake by the soil and / or subsequent planted seedlings relative to the distributed fertilizer. For example, if a large rock is positioned in the ground overlapping with a distribution instance of the fertilizer distribution pattern, the distributed fertilizer may be prevented in reaching the ground. Hence, the soil may be prevented to absorb any, or only absorbing a relatively small amount, of the distributed fertilizer. Hence, the present embodiment may improve nutrient uptake from the fertilizer by the soil and / or promoting more effective plant growth of e.g., a subsequent planted seedling overlapping with the distributed fertilizer. In other words, the present embodiment allows for more efficient distribution of fertilizer. Furthermore, the operation of the fertilizer system may rely less on the knowledge, experience, and manual operation of the operator. Hence, the fertilizer system according to the present embodiment may be automated to a higher degree.

[0021] According to an embodiment of the present invention, the fertilizer system may comprise a first fertilizer distribution device, and a second fertilizer distribution device, wherein the control unit may be configured to apply the adjustment of the fertilizer distribution pattern by operating at least one of the first and second fertilizer distribution devices. Hence, the control unit may operate one, or both, of the first and second fertilizer distribution device to apply the adjustment to the fertilizer distribution pattern. In other words, the adjustment of the fertilizer distribution pattern applied by the control unit may be achieved by the control unit operating one, or both, of the first and second fertilizer distribution device for distributing fertilizer. For example, if the detected amount of distributed fertilizer and / or the detected terrain impediment (only) relates to the first fertilizer distribution device, the control unit may nonetheless apply the adjustment of the fertilizer distribution pattern by operating both the first and second fertilizer distribution device for distributing fertilizer. It is equally possible for the control unit to operate (only) the second fertilizer distribution device if the detected amount of fertilizer and / or the detected terrain impediment (only) relates to the first fertilizer distribution device, and vice versa. The present embodiment is advantageous in that it provides for a more adaptable and robust fertilizer system. For example, if e.g., a hindrance or obstacle prevents the first fertilizer distribution device to distribute fertilizer according to the fertilizer distribution pattern, the control unit may apply an adjustment to the fertilizer distribution pattern such that the second fertilizer distribution device at least partially compensate for the prevention of distribution of fertilizer. Furthermore, with the fertilizer system comprising (at least) two fertilizer distribution devices, the present embodiment allows for a more efficient distribution of fertilizer at least in terms of time.

[0022] According to an embodiment of the present invention, if the detected amount of distributed fertilizer corresponds to a deviation from the fertilizer distribution pattern by at least a threshold, the control unit may be configured to apply an adjustment of the fertilizer distribution pattern to at least partially compensate for the deviation. For example, if an amount of fertilizer distributed by the fertilizer distribution device(s) is detected by the sensor to be less than an intended amount of fertilizer according to the fertilizer distribution pattern, the control unit may apply an adjustment of the fertilizer distribution pattern to at least partially compensate for the omitted amount of fertilizer. Hence, according to the example, the fertilizer distribution device(s) may be operated by the control unit to at least partially compensate for the insufficient amount of fertilizer. The present embodiment is advantageous in that the control unit may, if the sensor has detected a deviation of the distributed fertilizer compared to the fertilizer distribution pattern, adjust the fertilizer distribution pattern. As an example, a hindrance or an obstacle of the surroundings of the fertilizer distribution device(s) may prevent fertilizer to be correctly distributed by the fertilizer distribution device(s) according to the fertilizer distribution pattern. Hence, the present embodiment enables a more adaptable and reliable fertilizer system.

[0023] According to an embodiment of the present embodiment, if the terrain impediment is detected by the sensor, the control unit may be configured to cancel the subsequent distribution instance of fertilizer by the at least one fertilizer distribution device to cause a cancelation of the subsequent distribution instance of fertilizer, and apply the adjustment of the fertilizer distribution pattern to at least partially compensate for the cancelation of the subsequent distribution instance of fertilizer. The present embodiment is advantageous in that the subsequent distribution instance of fertilizer by the control unit may be canceled if the sensor detects a terrain impediment. Furthermore, if such cancelation occurs, the control unit may be configured to apply an adjustment to the fertilizer distribution pattern. Therefore, the fertilizer may be distributed more efficiently in terms of e.g., nutrient uptake by the soil of the fertilizer. Furthermore, the present embodiment improves the waste management of fertilizer by canceling the distribution of fertilizer relative a distribution instance of fertilizer if a terrain impediment has been detected by the sensor. Hence, fertilizer loss may be minimized. The distribution accuracy may also be improved, as terrain impediments may hinder distributed fertilizer to reach the intended distribution instance of fertilizer according to the fertilizer distribution pattern.

[0024] According to an embodiment of the present invention, if the detected amount of distributed fertilizer is below a minimum threshold of distributed fertilizer according to the fertilizer distribution pattern, the control unit may be configured to apply the adjustment of the fertilizer distribution pattern according to at least one of i) distribute at least two of the subsequent distribution instances of fertilizer of the fertilizer distribution pattern closer to each other in relation to an intended propulsion direction of the vehicle such that a same quantity of total distributed fertilizer instances compared to the fertilizer distribution pattern is achieved, ii) distribute fertilizer after detecting the amount of distributed fertilizer being below the minimum threshold of distributed fertilizer, and thereafter distribute fertilizer such that a minimum distance between the subsequent distribution instances of fertilizer according to the fertilizer distribution pattern is achieved, and iii) distribute fertilizer at the subsequent distribution instance according to the fertilizer distribution pattern. Hence, depending on which adjustment i)-iii) is applied by the control unit to the fertilizer distribution pattern, different types of compensation for the deviation may be achieved. For example, the adjustment according to i) may result in a same (total) amount of distribution instances of fertilizer compared to the intended (total) amount of distribution instances of fertilizer according to the fertilizer distribution pattern. On the contrary, the adjustments according to ii) and iii) may not result in a same (total) amount of distribution instances of fertilizer as compared to the intended (total) amount of distribution instances of fertilizer according to the fertilizer distribution pattern. The present embodiment is advantageous in that if an insufficient amount of distributed fertilizer is detected by the sensor, the control unit may adjust the fertilizer distribution pattern to at least partially compensate for the detected deviation of distributed fertilizer. Therefore, the present embodiment provides for a more flexible, efficient, and reliable fertilizer system. This allows the fertilizer system to be less dependent on human interference from e.g., an operator of the fertilizer system and / or vehicle. In other words, the fertilizer system according to the present embodiment may be automated to a higher degree. Therefore, the operation of the fertilizer system may rely less on the knowledge, experience, and manual operation of the operator. Furthermore, the present embodiment is advantageous in that it provides a more adaptable fertilizer system according to different fertilizer needs, requirements and / or desired settings of e.g., an operator.

[0025] According to an embodiment of the present invention, the fertilizer system may comprise a plant arm comprising a plant head configured to penetrate the ground for planting seedlings. The control unit may be configured to operate the plant arm to plant seedlings at planting positions overlapping with distributed fertilizer of the fertilizer distribution pattern. Hence, the control unit may be configured to match the planting of the seedlings with distributed fertilizer in the ground. The control unit may be configured to plant seedlings at planting positions overlapping with distributed fertilizer based on the fertilizer distribution pattern. The present embodiment is advantageous in that the control unit may plant seedlings at planting positions overlapping with distributed fertilizer. In other words, the seedlings may be more accurately and optimized planted where they will thrive and grow the most, i.e., adjacent to fertilizer. This may allow for an increased yield rate, whilst simultaneously optimizing the usage of fertilizer. The present embodiment is further advantageous in that control unit is configured to operate the plant arm to plant seedlings. This allows for at least partial automation of the fertilizer system, which may enhance operational efficiency, accuracy, safety, and / or productivity.

[0026] According to an embodiment of the present invention, at least one of the fertilizer distribution pattern and a planting gap between adjacent planting positions may be predetermined. Thus, both, or only one of the fertilizer distribution pattern and the planting gap between adjacent planting positions may be predetermined. For example, an operator may provide the control unit with at least one of the fertilizer distribution pattern and the planting gap. By “planting gap”, it is here meant a distance between the planting positions of adjacent (succeeding) planting seedlings. The present embodiment is advantageous in that the predetermined fertilizer distribution pattern and / or the predetermined planting gap, also jointly referred to as planting parameters, may allow for consistency and reliability in the ground preparation and / or planting procedure. Also, providing (a) predetermined planting parameter(s) allows for said planting parameter(s) to be determined according to various planting requirements, needs, and / or desires of the operator. For example, a specific seedling may benefit from a specific fertilizer distribution pattern and / or a specific planting gap.

[0027] According to an embodiment of the present invention, the fertilizer distribution device may comprise an ejector configured to apply pressurized air through the opening of the fertilizer distribution device. Hence, a flow of air may be created in the fertilizer distribution device. The present embodiment is advantageous in that the ejector may aid the fertilizer distribution device in controlling, regulating, managing, etc., the distribution of the fertilizer through the opening of the fertilizer distribution device. Thus, the distribution of fertilizer may be enhanced in terms of efficiency and / or accuracy.

[0028] According to an embodiment of the present invention, the ejector may be configured to apply pressurized air through the opening of the fertilizer distribution device in case the fertilizer distribution device detects an obstruction in the opening. In other words, if the fertilizer distribution device detects an obstacle, a blockage, a hindrance, etc., in the opening of the fertilizer distribution device, the fertilizer distribution device may be configured to instruct the ejector to apply pressurized air in order to remove, dismiss, discharge, etc., at least a portion of the obstruction. It should be noted that the obstacle may be detected elsewhere the fertilizer distribution device other than in its opening. Also in this case, the ejector may be configured to apply pressurized air in order to (at least partially) remove said obstacle. The present embodiment is advantageous in that the ejector enhances the proper functionality of the fertilized distribution device. Thus, the distribution of fertilizer may be enhanced in terms of efficiency and / or accuracy. Also, the longevity of the fertilizer distribution device may be improved and / or the maintenance frequency of the fertilizer distribution device may be reduced. Hence, the ejector may provide for a fertilizer system which is automated to a higher degree, thus decreasing the need of human intervention.

[0029] According to an embodiment of the present invention, the ejector may be configured to apply pressurized air through the opening of the fertilizer distribution device during at least a portion of the distribution of fertilizer by the fertilizer distribution device. In other words, the ejector may be configured to apply pressurized air to the fertilizer distribution device at least partially in tandem with the fertilizer distribution device distributing fertilizer to the ground. For example, the ejector may apply pressurized air to the fertilizer distribution device during the whole extent of time of each intermittent distribution of fertilizer, during only some of the intermittent distributions of fertilizer, and / or during only a period of time of (an) intermittent distribution s) of fertilizer. The present embodiment is advantageous in that the fertilizer may be distributed during application of pressurized air to the fertilizer distribution device. This facilitates the fertilizer distribution in e.g., time efficiency and / or accuracy. Furthermore, the ejector may mitigate the risk of the fertilizer to cause a blockage in the fertilizer distribution device. The blockage may for example comprise soil and / or aggregated fertilizer. In addition, the risk of clustering of fertilizer may be reduced. It may be preferable to distribute the fertilizer in a uniform and evenly distribution according to the fertilizer distribution pattern. This due to that a uniform fertilizer distribution may reduce the risk of over-fertilization as a result of accumulated fertilizer in specific portions of the ground. Also, facilitating a more evenly fertilizer distribution may allow the fertilizer to be more readily available to the plants according to the fertilizer distribution pattern.

[0030] According to an embodiment of the present invention, the control unit may be configured to control the depth, D, of the ground preparing arrangement in the ground based on a comparison between at least one load threshold, Ti, of the ground preparing arrangement and a load applied on the ground preparing arrangement, registered by the fertilizer system. Hence, based on a comparison between the load threshold(s), Ti, of the ground preparing arrangement and the applied load on the ground preparing arrangement, the control unit may control, regulate, adjust, etc., the depth, D, of the ground preparing arrangement in the ground. The present embodiment is advantageous in that the fertilizer system may be automated to a higher degree, thus decreasing the need of human intervention. Thus, the operation of the ground preparing arrangement may rely less on the knowledge, experience, and manual operation of the operator. As the control unit may be configured to control the depth, D, of the ground preparing arrangement based on comparing effective loads with load thresholds, the present embodiment may provide for a more efficient fertilizer system at least in terms of time. Also, the wear and / or damage of the system or vehicle may be reduced by investigating applied load of the ground preparing arrangement and control the depth of the ground preparing arrangement based on said applied load. In other words, the longevity and / or the maintenance frequency of the fertilizer system and / or the vehicle may be improved.

[0031] According to an embodiment of the present invention, the control unit may be configured to indicate a raising of the ground preparing arrangement in case the registered load applied on the ground preparing arrangement exceeds the at least one load threshold. The control unit may further be configured to indicate a lowering of the ground preparing arrangement if the registered load applied on the ground preparing arrangement subceeds the at least one load threshold. The present embodiment is advantageous in that the indication of the raising and lowering of the ground preparing arrangement may improve the efficiency of the ground preparation, the fertilization distribution, and / or the planting procedure. Also, the indication of the raising and lowering of the ground preparing arrangement may minimize wear or damage of the fertilizer system and / or the vehicle. According to an embodiment of the present invention, there is provided a forestry or agricultural vehicle arranged for fertilization, comprising a fertilizer system according to any embodiment of such fertilizer system described herein. Hence, the fertilizer system may be integrated with the forestry or agriculture vehicle. The present embodiment is advantageous in that the fertilizer system may be unified with a forestry / agriculture vehicle, providing for a more efficient, precise, and / or scalable approach of preparing ground and fertilizing ground compared to manual operations.

[0032] According to an embodiment of the present invention, the fertilizer system may comprise a plant arm comprising a plant head configured to penetrate the ground for planting seedlings. The method for the fertilizer system may comprise planting, by the plant arm, seedlings at planting positions overlapping with distributed fertilizer of the fertilizer distribution pattern. Hence, the planting positions of seedlings may match with distributed fertilizer of the fertilizer distribution pattern. The present embodiment is advantageous in that it may improve the environment of the planted seedlings in terms of e.g., readily access to the nutrients of the fertilizer. Hence, the present embodiment allows for an increased yield rate, whilst simultaneously optimizing the usage of fertilizer.

[0033] Further objectives of, features of, and advantages with, the present invention will become apparent when studying the following detailed disclosure, the drawings, and the appended claims. Those skilled in the art will realize that different features of the present invention can be combined to create embodiments other than those described in the following.

[0034] BRIEF DESCRIPTION OF THE DRAWINGS

[0035] This and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing embodiment(s) of the invention.

[0036] Fig. 1 schematically shows a fertilizer system together with an inset view of a selected portion of the fertilizer system according to an exemplifying embodiment of the present invention,

[0037] Fig. 2 schematically shows a fertilizer system according to an exemplifying embodiment of the present invention,

[0038] Fig. 3 is a perspective view of a forestry or agriculture vehicle comprising a fertilizer system according to an exemplifying embodiment of the present invention, and

[0039] Fig. 4 schematically shows a method for a fertilizer system according to exemplifying embodiments of the present invention.

[0040] Fig. 5 schematically shows distributed fertilizer according to fertilizer distribution patterns, and examples of adjustments to the fertilizer distribution pattern. DETAILED DESCRIPTION

[0041] The present invention will now be described more fully hereinafter with reference to the accompanying figures, in which currently preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and fully convey the scope of the invention to the skilled person.

[0042] Fig. 1 schematically shows a fertilizer system 100 together with an inset view of a selected portion of the fertilizer system 100 according to an exemplifying embodiment of the present invention.

[0043] The fertilizer system 100 of Fig. 1 is arranged to be integrated with a forestry or agricultural vehicle 110. A more detailed description of the forestry or agriculture vehicle 110 will be provided later herein. The fertilizer system 100 comprises a ground preparing arrangement 120 configured to penetrate and prepare ground. The ground preparing arrangement 120 may comprise scarifiers, rippers, ploughs, harrows, tillers, chisels, grubbers, or the like. For example, the ground preparing arrangement 120 may be configured to break up compact ground or soil.

[0044] The fertilizer system 100 further comprises a fertilizer distribution device 130 configured to intermittently distribute fertilizer 140 through an opening 150 of the fertilizer distribution device 130 to the ground prepared by the ground preparing arrangement 120 according to a fertilizer distribution pattern 160. Hence, the fertilizer 140 is distributed to the ground in interrupted, distinctive piles, layers, deposits, trails, or the like, as depicted in Fig. 1. In other words, the fertilizer distribution pattern 160 comprises portions of distributed fertilizer 140 and portions without any distributed fertilizer 140. The fertilizer distribution pattern 160 may be uniform or nonuniform.

[0045] Fig. 1 also depicts the fertilizer distribution device 130 being arranged along a length direction of the ground preparing arrangement 120. It should be noted that the ground preparing arrangement 120 is arranged to move in a direction of movement, Dm. A first side of the ground preparing arrangement 120 faces ground not yet penetrated or prepared by the ground preparing arrangement 120. Hence, the first side of the ground preparing arrangement 120 faces the direction of movement, Dm. A second side of the ground preparing arrangement 120 is arranged opposite the first side of the ground preparing arrangement 120. According to Fig. 1, the fertilizer distribution device 130 is arranged along the second side of the ground preparing arrangement 120. In other words, the fertilizer distribution device 130 faces penetrated and prepared ground by the ground preparing arrangement 120. Hence, the ground preparing arrangement 120 may first penetrate and prepare a portion of the ground, and the fertilizer distribution device 130 may subsequently distribute fertilizer 140 to the same portion of the ground. According to another example, the ground preparing arrangement 120 may penetrate and prepare a portion of the ground at least partially simultaneously as the fertilizer distribution device 130 distributes fertilizer 140 to said portion of the ground. It should be noted that the fertilizer distribution device 130 may be arranged elsewhere relative the ground preparing arrangement 120 other than that arrangement depicted in Fig. 1.

[0046] The fertilizer system 100 further comprises a control unit 170 configured to operate the fertilizer distribution device 130 based on the fertilizer distribution pattern 160. According to an example, the fertilizer distribution pattern 160 may be received, by the control unit 170, from an operator display coupled to the control unit 170. According to another example, the fertilizer distribution pattern 160 may be determined by the control unit 170. The control unit 170 may be wireless coupled to the fertilizer system 100 or coupled by wire. The fertilizer distribution pattern 160 may be saved by the control unit 170 for later use by the control unit 170 and / or the fertilizer system 100. For example, the fertilizer distribution pattern 160 may be used to calibrate the fertilizer distribution device 130. The fertilizer distribution pattern 160 may also be used to match the positions of the planting of seedlings with distributed fertilizer 140 by the fertilizer distribution device 130. According to another example, the fertilizer distribution pattern 160 may be transferred, by e.g., the control unit, to a separate control unit, forestry / agriculture vehicle, and / or system. For example, the fertilizer distribution pattern 160 may be transferred to a separate system configured to plant seedlings at planting positions 200 overlapping with distributed fertilizer 140 of the fertilizer distribution pattern 160. Hence, the fertilization of the ground and the planting of seedlings in the ground may be performed by different, separate forestry / agriculture vehicles and / or different systems. The fertilizer distribution pattern 160 may comprise coordinates of each distributed fertilizer 140. Also, the fertilizer distribution pattern 160 may comprise size information indicating a size of each distribution, trail, pile, etc., of the fertilizer distribution pattern 160, such as a length and / or a width. Furthermore, the fertilizer distribution pattern 160 may comprise count information indicating a total number of fertilizer 140 distributions, trails, piles, etc., and / or amount information indicating a total amount of fertilizer 140 per fertilizer 140 distribution, trail, pile, etc., of the fertilizer distribution pattern 160. Additionally, the fertilizer distribution pattern 160 may comprise gap information indicating a distance between adjacent fertilizer 140 distributions, trails, piles, etc.

[0047] Fig. 2 schematically shows a fertilizer system 100 according to an exemplifying embodiment of the present invention. It should be noted that the fertilizer system 100 shown in Fig. 2 has several features in common with the fertilizer system 100 shown in Fig. 1, and some references have been omitted in Fig. 2 for this reason. It is hereby referred to Fig. 1 and the associated text for an increased understanding of some of the features and / or functions of the fertilizer system 100.

[0048] The fertilizer distribution pattern 160 in Fig. 2 comprises sequential distribution instances 165 of fertilizer 140 separated by intervals along an intended propulsion direction of the vehicle (not shown). However, the intended propulsion direction of the vehicle may align with the direction of movement, Dm, of the at least one ground preparing arrangement 120. Furthermore, the fertilizer system 100 of Fig. 2 comprises a sensor 175 configured to at least one of detect an amount of distributed fertilizer 140 by the at least one fertilizer distribution device 130 and detect a terrain impediment relative to the surrounding of the at least one fertilizer distribution device 130. The control unit 170 is configured to apply an adjustment of the fertilizer distribution pattern 160 based on at least one of the detected amount of distributed fertilizer, and the detected terrain impediment. The sensor 175 is communicatively connected to the control unit 170. The sensor 175 may be wirelessly connected to the control unit 170 or by wires. According to Fig. 2, the at least one ground preparing arrangement 120 comprises the sensor 175. The sensor 175 may be configured to detect a terrain impediment relative to the surrounding of the at least one fertilizer distribution device 130 and / or the at least one ground preparing arrangement 120. However, it should be noted that the sensor 175 could be arranged elsewhere in the fertilizer system 100 than depicted herein. For example, the at least one fertilizer distribution device 130 may comprise the sensor 175. Furthermore, the sensor 175 may comprise a system of sensor modules. Hence, a first sensor module of the sensors 175 may be configured to detect an amount of distributed fertilizer by the at least one fertilizer distribution device. A second sensor module of the sensors 175 may be configured to detect a terrain impediment relative to the surrounding of the at least one fertilizer distribution device 130.

[0049] The sensor 175 may be configured to detect the amount of distributed fertilizer 140 by the at least one fertilizer distribution device 130 for each distributed fertilizer instance 165. According to an example, such detection by the sensor 175 may be binary i.e., indicating merely the presence or absence of distributed fertilizer 140. According to another example, such detection by the sensor 175 may be non-binary i.e., providing a quantitative measure of the distributed fertilizer 140 such as weight, volume, flow rate, concentration, or the like.

[0050] If the detected amount of distributed fertilizer 140 corresponds to a deviation from the fertilizer distribution pattern 160 by at least a threshold, the control unit 170 is configured to apply an adjustment of the fertilizer distribution pattern 160 to at least partially compensate for the deviation. For example, if the detected amount of distributed fertilizer 140 is greater or less than an intended amount of distributed fertilizer 140 according to the fertilizer distribution pattern 160 by a (predetermined) threshold, the control unit 170 is configured to apply an adjustment to the fertilizer distribution pattern 160. The (predetermined) threshold may for example entail that the detected amount of distributed fertilizer 140 deviates from the intended amount of distributed fertilizer 140 by at least 50% in amount. According to another example, the (predetermined) threshold may entail that the detected amount of distributed fertilizer 140 deviates from the intended amount of distributed fertilizer 140 by at least 100% in amount. It should be noted that the control unit 170 is configured to at least partially compensate for the deviation of distributed fertilizer 140 if a deviation of distributed fertilizer 140 is detected by the sensor 175. Hence, the control unit 170 may be configured to apply an adjustment to the fertilizer distribution pattern 160 such that the deviation is fully, or only partially, compensated for.

[0051] If the terrain impediment is detected by the sensor 175, the control unit 170 is configured to cancel the subsequent distribution instance 165 of fertilizer 140 by the at least one fertilizer distribution device 130 to cause a cancelation of the subsequent distribution instance 165 of fertilizer 140, and apply the adjustment of the fertilizer distribution pattern 160 to at least partially compensate for the cancelation of the subsequent distribution instance 165 of fertilizer 140. It should be noted that the cancelation of the subsequent distribution instance 165 of fertilizer 140 due to a detected terrain impediment by the sensor 175 may correspond to an amount of, or lack of, distributed fertilizer 140 which may (also) be detected by the sensor 175. If a terrain impediment is detected by the sensor 175, the control unit 170 may cancel the subsequent distribution instance 165 of fertilizer 140. The sensor 175 may then detect this amount of, or lack of, distributed fertilizer 140. Hence, the control unit 170 may apply the adjustment of the fertilizer distribution pattern 160 based on both the terrain impediment and the detected amount of distributed fertilizer 140. Additional details concerning the adjustment to the fertilizer distribution pattern 160 by the control unit 170 will be discussed in conjunction with Fig. 5.

[0052] According to Fig. 2, the fertilizer system 100 comprises a plant arm 180 comprising a plant head 190 configured to penetrate the ground for planting seedlings. The plant arm 180 may be configured to receive plant seedlings and to guide the plant seedlings to the plant head 190. The control unit 170 is configured to operate the plant arm 180 to plant seedlings at planting positions 200 overlapping with distributed fertilizer 140 of the fertilizer distribution pattern 160. Hence, the planting of seedlings at planting positions 200 by the plant arm 180 operated by the control 170 may be performed based on the fertilizer distribution pattern 160. Hence, if the control unit 170 applies an adjustment to the fertilizer distribution pattern 160 based on at least one of the detected amount of distributed fertilizer 140 and / or the detected terrain impediment, the control unit 170 is thus configured to operate the at least one plant arm 180 to plant seedlings according to the adjusted fertilizer distribution pattern 160. As the control unit 170 is configured to operate the plant arm 180 to plant seedlings at planting positions 200 overlapping with distributed fertilizer 140 of the fertilizer distribution pattern 160, the control unit 170 is configured to not plant seedlings if a (full) omission of distributed fertilizer 140 occurs. It should be noted that the fertilizer system 100 herein can be referred to as a cultivation system, a distribution system, a dispensing system, a material delivery system, or the like. Hence, the fertilizer system or the like according to the present invention comprises at least one distribution device 130 configured to distribute fertilizer 140 as discussed herein. Furthermore, the fertilizer system or the like as described in conjunction with Fig. 2 further comprises at least one plant arm 180, wherein the control unit 170 is configured to operate the at least one plant arm 180 to plant seedlings as discussed herein.

[0053] Thus, the fertilizer system 100 may be considered a planting system. According to an example, the control unit 170 may be configured to operate the plant arm 180 to plant at least one seedling adjacent to a center along the direction of movement, Dm, of each distributed fertilizer 140 of the fertilizer distribution pattern 160. In other words, the control unit 170 may be configured to operate the plant arm 180 to plant (a) seedling(s) at (a) planting position(s) 200 corresponding to half the length of each fertilizer 140 distribution, relative the direction of movement, Dm.

[0054] Fig. 2 also depicts a planting gap 210 between adjacent planting positions 200. Hence, a planting gap 210 indicates a distance between two adjacent planting positions 200. The planting gap 210 may be predetermined. For example, the planting gap 210 may be determined by an operator via an operator display. The control unit 170 may be configured to receive information from the operator display, such as the planting gap 210. According to another example, the planting gap 210 may at least partially be determined based on the fertilizer distribution pattern 160. Furthermore, the fertilizer distribution pattern 160 may be predetermined. The fertilizer distribution pattern 160 may be determined by the operator via the operator display. According to another example, the fertilizer distribution pattern 160 may at least partially be determined based on the planting gap 210.

[0055] The fertilizer distribution device 130 of the fertilizer system 100 according to Fig. 2 comprises an ejector 220 configured to apply pressurized air through the opening 150 of the fertilizer distribution device 130. The ejector 220 is configured to apply pressurized air through the opening 150 of the fertilizer distribution device 130 in case the fertilizer distribution device 130 detects an obstruction in the opening 150. The fertilizer distribution device 130 may also be configured to detect an obstruction in case the obstruction is positioned elsewhere relative the fertilizer distribution device 130 other than in the opening 150 of the fertilizer distribution device 130. In such a case, the ejector 220 may be configured to similarly apply pressurized air through the opening 150 of the fertilizer distribution device 130. The ejector 220 may be configured to apply pressurized air through the opening 150 of the fertilizer distribution device 130 until no such obstruction may be detected by the fertilizer distribution device 130.

[0056] The ejector 220 is further configured to apply pressurized air through the opening 150 of the fertilizer distribution device 130 during at least a portion of the distribution of fertilizer 140 by the fertilizer distribution device 130. The ejector 220 may be configured to apply pressurized air through the opening 150 of the fertilizer distribution device 130 during the full, or only a portion, of the period of time of each, or only some, distributions of fertilizer 140 according to the fertilizer distribution pattern 160. The control unit 170 of the fertilizer system 100 is configured to control the depth, D, of the ground preparing arrangement 120 in the ground based on a comparison between at least one load threshold, Ti, of the ground preparing arrangement 120 and a load applied on the ground preparing arrangement 120, registered by the fertilizer system 100. The fertilizer system 100 may comprise at least one sensor configured to measure the applied load on the ground preparing arrangement 120. Fig. 2 depicts a direction of movement, Dm, of the ground preparing arrangement 120, as well as an upwards direction, Du, and a downwards direction, Da, wherein said directions are relative the ground.

[0057] The control unit 170 is further configured to indicate a raising of the ground preparing arrangement 120 in case the registered load applied on the ground preparing arrangement 120 exceeds the at least one load threshold, Ti. Furthermore, the control unit 170 is configured to indicate a lowering of the ground preparing arrangement 120 if the registered load applied on the ground preparing arrangement 120 subceeds the at least one load threshold, Ti. For example, if the surrounding ground of the ground preparing arrangement 120 is relatively compact, dense, or the like, the applied load on the ground preparing arrangement 120 may exceed the at least one load threshold, Ti. If the surrounding ground is instead relatively loose, porous, soft, etc., the applied load on the ground preparing arrangement 120 may subceed the at least one load threshold, Ti. Such scenario may occur if the ground preparing arrangement 120 is relatively near the surface of the ground.

[0058] Fig. 3 is a perspective view of a forestry or agriculture vehicle 110 comprising a fertilizer system 100 according to an exemplifying embodiment of the present invention. It should be noted that the fertilizer system 100 shown in Fig. 3 has several features in common with the fertilizer system 100 shown in Figs. 1 and 2, and it is hereby referred to Figs. 1 and 2, and the associated text, for an increased understanding of some of the features and / or functions of the fertilizer system 100.

[0059] Fig. 3 illustrate a forestry or agriculture vehicle 110 arranged for fertilization, comprising a fertilizer system 100 described herein. The fertilizer system 100 is integrated with the forestry / agriculture vehicle 110. In Fig. 3, the fertilizer system 100 comprises two ground preparing arrangements 120 and two fertilizer distribution devices 130. Furthermore, the fertilizer system 100 comprises two plant arms 180. The fertilizer system 100 may comprise one plant arm 180 for each ground preparing arrangement 120 and fertilizer distribution device 130. The plant arm 180 may be arranged such that the ground preparing arrangement 120 and the fertilizer distribution device 130 may prepare the ground prior to planting seedlings by the fertilizer system 100 using the plant arm(s) 180. The plant arm 180 may be arranged at the rear part of the vehicle 110. By the rear part of the vehicle 110, it may be meant a first section of the vehicle 110, wherein the first section may be in the aft part of the vehicle 110. The ground preparing arrangement 120 and the fertilizer distribution device 130 may be arranged in front of the plant arm 180. In other words, the ground preparing arrangement 120 and the fertilizer distribution device 130 may be arranged in a second section of the vehicle 110, wherein the second section may be arranged in front of the first section of the vehicle 110.

[0060] Hence, the fertilizer system 100 may comprise at least one ground preparing arrangement 120 and at least one fertilizer distribution device 130. Furthermore, the fertilizer system 100 may comprise at least one plant arm 180. The two fertilizer distribution devices 130 depicted in Fig. 3 may be referred to as a first fertilizer distribution device 130a, and a second fertilizer distribution device 130b. According to the fertilizer system 100 of Fig. 3, the control unit 170 is configured to apply the adjustment of the fertilizer distribution pattern 160 by operating at least one of the first and second fertilizer distribution devices 130a, 130b. As discussed herein, the control unit 170 is configured to apply such adjustment to the fertilizer distribution pattern 160 based on at least one of the detected amount of distributed fertilizer 140 and the detected terrain impediment. Additional details concerning the adjustment to the fertilizer distribution pattern 160 by the control unit 170 will be discussed in conjunction with Fig. 5.

[0061] Fig. 4 schematically shows a method 1000 for a fertilizer system 100 according to exemplifying embodiments of the present invention. It should be noted that the fertilizer system 100 associated with the method 1000 shown in Fig. 4 has several features in common with the fertilizer system 100 shown in Figs. 1-3, and it is hereby referred to Figs. 1-3, and the associated text, for an increased understanding of some of the features and / or functions of the fertilizer system 100.

[0062] The method 1000 for a fertilizer system 100 depicted in Fig. 4 is arranged to be integrated with a forestry or agricultural vehicle 110, wherein the fertilizer system 100 comprises a ground preparing arrangement 120 and a fertilizer distribution device 130. The method 1000 comprises penetrating and preparing 1100, by the ground preparing arrangement 120, the ground, and intermittently distributing 1200, by the fertilizer distribution device 130, fertilizer 140 according to a fertilizer distribution pattern 160. By “penetrating and preparing the ground”, it is here meant processes of getting the ground or soil ready for e.g., distribution of fertilizer 140 and / or planting seedlings. Such processes may comprise breaking up compact soil and / or turning over the soil. By “intermittently distributing fertilizer”, it is here meant that the fertilizer 140 is distributed to the ground in a discontinuous, interrupted, fragmented, or the like, process. Hence, the distributed fertilizer 140 in the ground forms discontinuous, interrupted, fragmented, etc., piles, trails, deposits, layers, etc., according to the fertilizer distribution pattern 160. The step of penetrating and preparing 1110 the ground, and the step of intermittently distribution 1200 fertilizer 140, may be performed at least partially concurrently.

[0063] Furthermore, the fertilizer system 100 may comprise a plant arm 180 comprising a plant head 190 configured to penetrate the ground for planting seedlings. The method 1000 may further comprise planting 1300, by the plant arm 180, seedlings at planting positions 200 overlapping with distributed fertilizer 140 of the fertilizer distribution pattern 160. Hence, the plant arm 180 may match planting positions 200 of the seedlings with distributed fertilizer 140 in the ground. In other words, the plant arm 180 may avoid planting seedlings at planting positions 200 in the ground where no fertilizer 140 has been distributed. Said match between planting positions 200 and distributed fertilizer 140 may be based on the fertilizer distribution pattern 160.

[0064] Fig. 5 schematically shows distributed fertilizer 140 according to fertilizer distribution patterns 160, and examples of adjustments to the fertilizer distribution pattern 160. More specifically, Fig. 5 displays six different fertilizer distribution patterns 160; default, Al, A2, Bl, B2, and C. The fertilizer system in each example of Fig. 5 comprises two fertilizer distribution devices, but it should be noted that other amount of fertilizer distribution devices is equally feasible. A filled square represents distributed fertilizer 140 as intended according to the fertilizer distribution pattern 160, a blank square represents an instance without fertilizer 140 as intended according to the fertilizer distribution pattern 160, and a lined square represents a detected amount of distributed fertilizer 140 corresponding to a deviation from the fertilizer distribution pattern 160 by at least a threshold and / or a cancelation of a distribution instance 165 according to the fertilizer distribution pattern 160. For example, the lined squares in Fig. 5 may represent a complete omission of distributed fertilizer 140 compared to the fertilizer distribution pattern 160. Furthermore, the lined squares in Fig. 5 may represent a cancelation of distributed fertilizer 140 due to detection of a terrain impediment by the sensor 175.

[0065] The default fertilizer distribution pattern 160 corresponds to a fertilizer distribution pattern 160 without any adjustments applied thereto, whereas patterns A-C corresponds to examples of fertilizer distribution patterns 160 where the control unit has applied an adjustment to the fertilizer distribution pattern 160. In other words, the default fertilizer distribution pattern 160 corresponds to a fertilizer system wherein the control unit has not applied an adjustment of the fertilizer distribution pattern 160, whereas patterns A-C corresponds to a fertilizer system wherein the control unit has applied an adjustment of the fertilizer distribution pattern 160 based on at least one of the detected amount of distributed fertilizer 140 and the detected terrain impediment. For example, the default fertilizer distribution pattern 160 may correspond to a fertilizer system wherein the sensor has not detected a deviating amount of distributed fertilizer 140 compared to the fertilizer distribution pattern 160, whereas patterns A-C may correspond to a fertilizer system wherein the sensor has detected a deviating amount of distributed fertilizer 140. More specifically, patterns A-B may correspond to the sensor detecting an amount of distributed fertilizer 140 by a first fertilizer distribution device corresponding to a deviation from the fertilizer distribution pattern 160 by at least a threshold. Pattern C may correspond to the sensor detecting an amount of distributed fertilizer 140 by both a first fertilizer distribution device and a second fertilizer distribution device corresponding to a deviation from the fertilizer distribution pattern 160 by at least a threshold. Furthermore, patterns Al and Bl shows how the control unit applies an adjustment of the fertilizer distribution pattern by operating the first fertilizer distribution device. Patterns A2 and B2 shows how the control unit applies an adjustment of the fertilizer distribution pattern by operating both the first fertilizer distribution device and the second fertilizer distribution device.

[0066] More specifically, if the detected amount of distributed fertilizer 140 by the sensor is below a minimum threshold of distributed fertilizer 140 according to the fertilizer distribution pattern 160, the control unit is configured to apply the adjustment of the fertilizer distribution pattern 160 according to at least one of i) distribute at least two of the subsequent distribution instances 165 of fertilizer 140 of the fertilizer distribution pattern 160 closer to each other in relation to the intended propulsion direction of the vehicle such that a same quantity of total distributed fertilizer instances 165 compared to the fertilizer distribution pattern 160 is achieved, ii) distribute fertilizer 140 after detecting the amount of distributed fertilizer 140 being below the minimum threshold of distributed fertilizer 140, and thereafter distribute fertilizer 140 such that a minimum distance between the subsequent distribution instances 165 of fertilizer 140 according to the fertilizer distribution pattern 160 is achieved, and iii) distribute fertilizer 140 at the subsequent distribution instance 165 according to the fertilizer distribution pattern 160. The detected amount of distributed fertilizer 140 being below a minimum threshold of distributed fertilizer 140 according to the fertilizer distribution pattern 160 may, according to an example, correspond to a complete omittance of distributed fertilizer 140. Hence, the adjustments i)-iii) explained above may be applied by the control unit if the sensor detects a terrain impediment and the control unit therefore cancels the subsequent distribution instance 165 of fertilizer 140.

[0067] As mentioned above, the fertilizer distribution pattern 160 comprises sequential distribution instances 165 of fertilizer 140 separated by intervals along an intended propulsion direction of the vehicle. Such intervals may be referred to a nominal interval Io, i.e., an intended interval of an intended length according to the fertilizer distribution pattern 160. Hence, by distributing at least two of the subsequent distribution instances 165 of fertilizer 140 of the fertilizer distribution pattern 160 closer to each other, it is here meant distributing at least two of the subsequent distribution instances 165 with an interval Ii < Io. For example, Ii may fulfil Ii = O.l-O.9Io. Furthermore, by distributing fertilizer 140 such that a minimum distance between the subsequent distribution instances 165 of fertilizer 140 according to the fertilizer distribution pattern 160 is achieved, it is here meant distributing the subsequent distribution instances 165 with an interval H > Io.

[0068] Example i) is visualised as patterns Al and A2, example ii) is visualised as patterns Bl and B2, and example iii) is visualised as pattern C. It can be seen in patterns Bl and B2 that the applied adjustment of the fertilizer distribution pattern 160 results in an overall new fertilizer distribution pattern 160 compared to the intended fertilizer distribution pattern 160, see the default fertilizer distribution pattern 160, whereas the adjustments according to patterns Al, A2 and C eventually re-aligns with the intended fertilizer distribution pattern 160 prior to the applied adjustment. However, other types of adjustments applied to the fertilizer distribution pattern 160 by the control unit is feasible. Which type of adjustment the control unit should apply to the fertilizer distribution pattern 160 may be based on input from e.g., an operator or predetermined.

[0069] The person skilled in the art realizes that the present invention by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims. For example, ground preparing arrangement 120, the fertilizer distribution device 130, the plant arm 180, the ejector 220, etc., may have different shapes, dimensions and / or sizes than those depicted / described.

Claims

1. CLAIMS1. A fertilizer system (100) arranged to be integrated with a forestry or agricultural vehicle (110), wherein the fertilizer system comprises at least one ground preparing arrangement (120) configured to penetrate and prepare ground, at least one fertilizer distribution device (130) configured to intermittently distribute fertilizer (140) through an opening (150) of the at least one fertilizer distribution device to the ground prepared by a corresponding ground preparing arrangement of the at least one ground preparing arrangement according to a fertilizer distribution pattern (160), and a control unit (170) configured to operate the at least one fertilizer distribution device based on the fertilizer distribution pattern, wherein the at least one fertilizer distribution device comprises an ejector (220) configured to apply pressurized air through the opening of the at least one fertilizer distribution device.

2. The fertilizer system according to claim 1, wherein the fertilizer distribution pattern comprises sequential distribution instances (165) of fertilizer separated by intervals along an intended propulsion direction of the vehicle.

3. The fertilizer system according to claim 2, further comprising a sensor (175) configured to at least one of detect an amount of distributed fertilizer by the at least one fertilizer distribution device, and detect a terrain impediment relative to the surrounding of the at least one fertilizer distribution device, wherein the control unit is configured to apply an adjustment of the fertilizer distribution pattern based on at least one of the detected amount of distributed fertilizer, and the detected terrain impediment.

4. The fertilizer system according to claim 3, comprising a first fertilizer distribution device (130a), and a second fertilizer distribution device (130b),wherein the control unit is configured to apply the adjustment of the fertilizer distribution pattern by operating at least one of the first fertilizer distribution device and the second fertilizer distribution device.

5. The fertilizer system according to claim 3 or 4, wherein, if the detected amount of distributed fertilizer corresponds to a deviation from the fertilizer distribution pattern by at least a threshold, the control unit is configured to apply an adjustment of the fertilizer distribution pattern to at least partially compensate for the deviation.

6. The fertilizer system according to any of claims 3-5, wherein, if the terrain impediment is detected by the sensor, the control unit is configured to cancel the subsequent distribution instance of fertilizer by the at least one fertilizer distribution device to cause a cancelation of the subsequent distribution instance of fertilizer, and apply the adjustment of the fertilizer distribution pattern to at least partially compensate for the cancelation of the subsequent distribution instance of fertilizer.

7. The fertilizer system according to any of claims 3-6, wherein, if the detected amount of distributed fertilizer is below a minimum threshold of distributed fertilizer according to the fertilizer distribution pattern, the control unit is configured to apply the adjustment of the fertilizer distribution pattern according to at least one of distribute at least two of the subsequent distribution instances of fertilizer of the fertilizer distribution pattern closer to each other in relation to the intended propulsion direction of the vehicle such that a same quantity of total distributed fertilizer instances compared to the fertilizer distribution pattern is achieved, distribute fertilizer after detecting the amount of distributed fertilizer being below the minimum threshold of distributed fertilizer, and thereafter distribute fertilizer such that a minimum distance between the subsequent distribution instances of fertilizer according to the fertilizer distribution pattern is achieved, and distribute fertilizer at the subsequent distribution instance according to the fertilizer distribution pattern.

8. The fertilizer system according to any of the preceding claims, comprising at least one plant arm (180) comprising a plant head (190) configured to penetrate the ground for planting seedlings, wherein the control unit is configured to operate the at least one plant armto plant seedlings at planting positions (200) overlapping with distributed fertilizer of the fertilizer distribution pattern.

9. The fertilizer system according to claim 8, wherein at least one of the fertilizer distribution pattern and a planting gap (210) between adjacent planting positions is predetermined.

10. The fertilizer system according to any of the preceding claims, wherein the ejector is configured to apply pressurized air through the opening of the at least one fertilizer distribution device in case the at least one fertilizer distribution device detects an obstruction in the opening.

11. The fertilizer system according to any of the preceding claims, wherein the ejector is configured to apply pressurized air through the opening of the at least one fertilizer distribution device during at least a portion of the distribution of fertilizer by the at least one fertilizer distribution device.

12. The fertilizer system according to any of the preceding claims, wherein the control unit is configured to control the depth, D, of the at least one ground preparing arrangement in the ground based on a comparison between at least one load threshold, Ti, of the at least one ground preparing arrangement and a load applied on the at least one ground preparing arrangement, registered by the fertilizer system.

13. The fertilizer system according to claim 12, wherein the control unit is configured to indicate a raising of the at least one ground preparing arrangement in case the registered load applied on the at least one ground preparing arrangement exceeds the at least one load threshold, and indicate a lowering of the at least one ground preparing arrangement if the registered load applied on the at least one ground preparing arrangement subceeds the at least one load threshold.

14. A forestry or agricultural vehicle (110) arranged for fertilization, comprising a fertilizer system (100) according to any one of the preceding claims.

15. A method (1000) for a fertilizer system (100) arranged to be integrated with a forestry or agricultural vehicle (110), wherein the fertilizer system comprises at least oneground preparing arrangement (120), at least one fertilizer distribution device (130) and a control unit (170), wherein the method comprises penetrating and preparing (1100), by the at least one ground preparing arrangement, the ground, intermittently distributing (1200), by the at least one fertilizer distribution device, fertilizer (140) through an opening (150) of the at least one fertilizer distribution device according to a fertilizer distribution pattern (160), wherein the control unit is configured to operate the at least one fertilizer distribution device based on the fertilizer distribution pattern, and wherein the at least one fertilizer distribution device comprises an ejector (220) configured to apply pressurized air through the opening of the at least one fertilizer distribution device.

16. The method according to claim 15, wherein the fertilizer system comprises at least one plant arm (180) comprising a plant head (190) configured to penetrate the ground for planting seedlings, wherein the method comprises planting (1300), by the at least one plant arm, seedlings at planting positions (200) overlapping with distributed fertilizer of the fertilizer distribution pattern.

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