Method and agricultural sprayer for applying spray fluid

Abstract

The invention relates to a method for applying spray fluid by means of an agricultural sprayer (100) having one or more detection units (16, 16a-16d), wherein the one or more detection units (16, 16a-16d) each comprise a multi-beam sensor (18), comprising the following step: detecting the distance between the one or more detection units (16, 16a-16d) and an agricultural area and / or the plant population (200) thereof by processing measurement values of the one or more detection units (16, 16a-16d) by means of an electronic data processing device, wherein the electronic data processing device carries out a measurement value correction when processing the measurement values of the one or more detection units (16, 16a-16d).

Description

[0001] Description

[0002] Method and agricultural sprayer for applying spray liquid

[0003] The invention relates to a method for applying spray liquid according to the preamble of claim 1 and an agricultural sprayer according to the preamble of claim 11.

[0004] Spraying liquid can be applied using agricultural sprayers. Such agricultural sprayers may include detection units with multi-beam sensors. The distance between the detection units and an agricultural area or its crop stand is usually determined by processing the measurement data from the detection units using an electronic data processing device.

[0005] The detection units can, for example, be mounted on the spray boom of an agricultural sprayer. The distance information recorded by the detection units can then be provided to a control or regulating device, which ensures that a target distance between the spray boom and the agricultural land and / or its crops is maintained.

[0006] Various solutions are known in the prior art for controlling the height and / or tilt of a boom of an agricultural sprayer. For example, German patent application DE 10 2017 004 808 B3 proposes the use of a transceiver that transmits multiple measurement signals and receives a reflection signal for each of the transmitted signals. This is intended to enable the detection of a large number of objects with high-quality and reliable accuracy.

[0007] Furthermore, EP 3 699 639 A1 discloses a spray boom for an agricultural sprayer with a detection unit to determine the distance to

[0008] P24-051 is designed to detect agricultural land and / or its vegetation. The detection unit includes a multi-beam sensor.

[0009] However, these and other known solutions for distance measurement have insufficient measurement precision and / or capture distance values ​​that are inaccurate depending on the situation.

[0010] The object underlying the invention is therefore to enable a more precise and less error-prone detection of the distance between a spray boom of an agricultural sprayer and an agricultural area and / or its crops.

[0011] The problem underlying the invention is solved by a method of the type mentioned at the outset, wherein the electronic data processing device performs a measurement correction when processing the measured values ​​from the one or more detection units. This measurement correction optimizes the detection of the distance between the one or more detection units and the agricultural land, and in particular allows the distance to be detected with increased accuracy. Based on the detected distance between the one or more detection units and the agricultural land and / or its vegetation, the height of the vegetation can be determined.

[0012] The measured values ​​can be acquired, for example, as electrical current, in particular current pulses, and / or electrical voltage, in particular voltage pulses. The multi-beam sensor can be designed as an optical multi-beam sensor. The detection beams emitted by the one or more detection units are reflected by the agricultural land and / or its vegetation. The reflected detection beams are received by the one or more detection units to generate the measured values. The measured values ​​include, in particular, the travel time of the detection beams, from which the distance between the one or more detection units and the agricultural land and / or its vegetation can be determined.

[0013] P24-051 Detection beams form a scanning fan that scans different contact areas of the agricultural land and / or its vegetation. The detection beams strike the agricultural land and / or its vegetation at an angle of incidence. The detection beams are reflected from the agricultural land and / or its vegetation at a reflection angle. The angle of incidence and the angle of reflection can be the same.

[0014] The spray liquid can comprise a carrier liquid, in particular water, and / or one or more active ingredients. The spray liquid can also comprise plant protection products, in particular herbicides and / or insecticides, and / or fertilizers. The spray liquid is applied by spraying. The spray liquid can be applied using one or more spray nozzles. The one or more spray nozzles can be adjusted according to the application. Spray nozzles, in particular multiple spray nozzles, can be mounted on a multi-nozzle body. For the application of spray liquid using spray nozzles, in particular multi-nozzle bodies, spray nozzles with an application-specific opening size can be used. One or more spray nozzles mounted on a multi-nozzle body can be selected according to the application.Alternatively, the opening, and in particular the opening size, of one or more spray nozzles can be adjusted or varied, especially depending on the application. Different nozzles can be provided on spray nozzles, especially multi-nozzle bodies, which, for example, can deliver different quantities of spray liquid or produce different droplet spectra. Different nozzles can be provided on spray nozzles, especially multi-nozzle bodies, which produce spray patterns of varying widths. This necessitates, for example, different vertical distances to the agricultural land and / or its crops in order to maintain a homogeneous overlap of the spray patterns. The spray pressure can be adjusted, and in particular varied, depending on the application.

[0015] P24-051 The one or more detection units each comprise one or more receiving elements that can receive or detect detection beams. The one or more

[0016] Detection units each comprise one or more emitting elements that emit detection beams. The one or more

[0017] Detection units can detect optical and / or acoustic signals. The emitting elements can emit optical and / or acoustic signals. Determining the distance between one or more detection units and an agricultural area and / or its crops can be done using radar (radio direction finding and ranging). Consequently, the one or more receiving elements of the one or more detection units can receive detection beams based on radar. Furthermore, the one or more emitting elements of the one or more detection units can emit detection beams based on radar. Thus, the detection beams can consist of electromagnetic waves. The optical signals can include light in the visible, infrared, and / or ultraviolet wavelength range. The optical signals can include laser light and / or LED light.The acoustic signals can include ultrasound. The emitting elements can include lasers or LEDs, especially light-emitting diodes. The emitting elements can emit point-like and / or area-like signals. The one or more detection units can detect point-like and / or area-like signals. The spray boom can include a reference sensor. Each multi-beam sensor can detect single and / or multiple detection beams. Each multi-beam sensor can emit detection beams. The one or more detection units and / or each multi-beam sensor can include emitting elements that emit detection beams.

[0018] In a further embodiment of the method according to the invention, the one or more detection units each emit a multi-beam sensor fan comprising several detection beams in the direction of the agricultural land and / or its vegetation, wherein the one or more detection units are arranged and aligned in such a way as to

[0019] P24-051 states that the emitted detection fan lies in a fan plane that is inclined relative to a horizontal first reference plane, a second reference plane extending vertically and longitudinally, and / or a third reference plane extending vertically and transversely. The detection fan can have a planar and / or elongated detection area. The distance between the one or more detection units and the agricultural land and / or its vegetation is determined by each of the detection beams of the detection fan. The one or more detection units are oriented such that the multi-beam detection fan does not necessarily cover the shortest distance between the one or more detection units and the agricultural land and / or its vegetation.The first reference plane can be perpendicular to the second and / or third reference plane. The second reference plane can be perpendicular to the third reference plane. If the agricultural land is level, the first reference plane is coincident with and / or parallel to the agricultural land. If the agricultural land is level, the second reference plane is perpendicular to the agricultural land. If the agricultural land is level, the third reference plane is perpendicular to the agricultural land. The first reference plane can be defined by the geometry of the sprayer. The second reference plane can be defined by the geometry of the sprayer. The third reference plane can be defined by the geometry of the sprayer.The one or more detection units can be arranged and aligned such that the sensor beam is emitted rotated around a vertical yaw axis of the spray boom. The one or more detection units can be arranged and aligned such that the sensor beam is emitted rotated around a longitudinal roll axis of the spray boom. The one or more detection units can be arranged and aligned such that the sensor beam is emitted at an angle around a transverse pitch axis of the spray boom.

[0020] P24-051 In another embodiment of the method according to the invention, the measurement correction comprises a conversion formula by means of which a vertical component of the detected distance between the one or more detection units and the agricultural land and / or its crop stand is calculated. The conversion formula can be dynamically variable or fixed. The conversion formula can include a matrix, in particular a transformation matrix. Because the measurement correction includes a conversion formula, the conversion formula can be modified as required. The conversion formula can include a conversion along several tilt angles.By multiplying and / or adding and / or subtracting one or more reference values, in particular one or more reference distances, with the measured distance between the one or more detection units and the agricultural land and / or its vegetation, the conversion formula can be used to determine the vertical component of the measured distance between the one or more detection units and the agricultural land and / or its vegetation. The conversion formula can be adapted to the specific sprayer. Several sprayers can be manufactured in one production run.The manufacturing process for multiple spray guns comprises the following steps: assembling a first spray gun, determining the conversion formula for the first spray gun, and storing this formula on the electronic data processing unit of the first spray gun; and assembling further spray guns, storing the conversion formula determined for the first spray gun on the respective electronic data processing unit of each subsequent spray gun. Alternatively, the manufacturing process comprises the following steps: assembling each spray gun, determining the conversion formula for each individual spray gun, and storing this formula on the electronic data processing unit of each individual spray gun.

[0021] In another preferred embodiment of the invention

[0022] The conversion rule is applied as part of a calibration process.

[0023] P24-051 is determined by the sprayer, particularly on agricultural land. The method preferably includes performing a calibration procedure to determine the conversion formula. The calibration procedure is initiated and / or carried out by the electronic data processing unit. The calibration procedure is based on known properties of the agricultural land and / or its vegetation and / or the spatial relationship between the one or more detection units and the agricultural land and / or its vegetation. Alternatively or additionally, the calibration procedure can take into account when the detection beams strike the agricultural land and / or its vegetation at an angle. A conversion formula can be determined for the first time during the calibration procedure.The conversion formula determined during the calibration process can be replaced or overwritten by a previously determined conversion formula. The known properties can include the slope of the agricultural land, the stand height of the crop on the agricultural land, the stand density of the crop on the agricultural land, and / or the parallel position of one or more detection units to the agricultural land and / or its crop. Alternatively or additionally, known properties of the agricultural sprayer can be taken into account during the calibration process.The known characteristics of the agricultural sprayer may include, for example, the arrangement and / or positions of the one or more detection units of the agricultural sprayer, the inclination of the one or more detection units of the agricultural sprayer, or the dimensions of the agricultural sprayer.

[0024] In a further preferred embodiment of the method according to the invention, the calibration process takes place after or simultaneously with the detection of the distance between one or more detection units and the agricultural land and / or its vegetation. During the calibration process, the measurements taken within the scope of the

[0025] P24-051 Measurement correction: Corrected measurement values ​​are processed by the electronic data processing device.

[0026] In a further preferred embodiment of the method according to the invention, the measurement correction comprises adjusting the distances detected by several detection beams to one another. Adjusting the detected distances to one another can include multiplication by one or more correction factors. Alternatively or additionally, adjusting the detected distances to one another can include addition or subtraction by one or more correction values. The correction values ​​can take into account the inclination of the one or more detection units and / or the vertical distance of the detection units arranged on the spray boom to the lower edge of the spray boom.Consequently, by adjusting the measured distances to one another, a measurement correction can be taken into account with respect to the inclination of one or more detection units and / or the vertical distance of the detection units arranged on the spray boom to the lower edge of the spray boom. This adjustment of the measured distances can be achieved through an offset correction. The adjustment of the measured distances can be made with respect to, in particular, a measured reference distance or a predetermined target distance. Because the measurement correction involves adjusting the distances measured by multiple detection beams to one another, a correction, especially a measurement correction, can be made for different plant stands and / or plant densities.Measurement correction can involve providing a dataset with different parameters, which were previously generated through clustering, particularly cluster analysis. The clustering process includes an input and an output variable. It also includes a method for detecting similarity structures. The input variable is the variation of individual detection beams across different plant stands. The output variable is the type of plant stand, such as corn, potatoes, row crops, and / or open stands. This can be used by the user, for example, to...

[0027] P24-051 Users of the agricultural sprayer are advised to perform a measurement correction using a corresponding correction data set for the determined type of plant population.

[0028] In another embodiment of the method according to the invention, the agricultural area comprises tramlines and / or gaps in the crop stand, wherein the tramlines and / or gaps in the crop stand are detected by one or more detection units. Each tramline comprises two driving lanes. A tramline system comprises one or more tramlines. By having the tramlines detected by one or more detection units, a tramline system is detected. By having the tramlines detected by one or more detection units, it is possible to exclude tramlines. By having the tramlines and / or gaps in the crop stand detected by one or more detection units, incorrect control of the spray boom is avoided.A malfunctioning spray boom control system involves the boom lowering due to the distance between one or more detection units and the tramline or gaps in the crop stand. Because the tramlines and / or gaps in the crop stand are detected by the one or more detection units, tramline positions and / or paths can be compared with information from a known tramline system.

[0029] In a further preferred embodiment, the method according to the invention comprises one, several, or all of the following steps: detecting tramlines and / or gaps in the crop stand by a first detection unit, storing the information about the detected tramlines and / or gaps in the crop stand on the electronic data processing unit, hiding the detected tramlines and / or gaps in the crop stand when evaluating the measured values ​​of a second detection unit, and detecting the distance between the second detection unit and the agricultural land and / or its crop stand after hiding a detected tramline and / or gaps.

[0030] P24-051 in the plant stand. Hiding the detected tramlines and / or gaps in the plant stand involves modifying the detected distances or measured values. For example, when hiding the detected tramlines and / or gaps in the plant stand, the detected tramlines and / or gaps are disregarded, so that the determined distances in the area of ​​the detected tramlines and / or gaps in the plant stand are adjusted to, in particular, a measured reference distance or a predefined target distance. The reference distance includes, for example, the distances detected in the area outside the detected tramlines and / or gaps in the plant stand.The masking of detected tramlines and / or gaps in the crop stand can involve measuring the distance between one or more detection units and the agricultural area and / or its crop stand exclusively in the areas outside the tramline and / or gaps in the crop stand. By masking the detected tramlines and / or gaps in the crop stand during the evaluation of the measured values ​​from a second detection unit, predictive masking of tramlines, such as 45° tramlines, can be achieved. Predictive masking of tramlines that run at an angle relative to the direction of the spray boom, for example, at 45°, can also be achieved. Predictive masking of tramlines that have the same orientation as the detection units, particularly the outer detection units, can also be achieved.

[0031] In a further preferred embodiment of the method according to the invention, tramlines on the agricultural land are detected, in particular by means of a satellite-based positioning system, and the information about the detected tramlines is processed by the electronic data processing unit during measurement correction. The satellite-based positioning system can be a global

[0032] This includes a positioning system (GPS), in particular NAVSTAR GPS. The satellite-based positioning system can be a global

[0033] The satellite navigation system (GLONASS) is included. The satellite-based

[0034] The P24-051 positioning system can include Galileo satellite navigation. The satellite-based positioning system can include Beidou satellite navigation. The satellite-based

[0035] Positioning systems can be based on the use of geostationary satellites. Positioning systems can be based on optical methods. Positioning systems can be based on image analysis of images taken by drones or satellites.

[0036] In a preferred embodiment of the method according to the invention, the agricultural sprayer comprises a spray boom, and the position and / or orientation of the sprayer is controlled depending on the detected distance between one or more detection units and the agricultural area and / or its crop. Controlling the position and / or orientation of the spray boom can include lowering and / or raising the spray boom. Controlling the position and / or orientation of the spray boom can be achieved by means of active boom guidance, which can, in particular, counteract boom vibrations. Controlling the position and / or orientation of the spray boom can be achieved by means of one or more actuators, which, in particular, allow the height and / or inclination of the spray boom to be changed.One or more actuators are connected to a control unit of the agricultural sprayer. One or more actuators are connected to the spray boom. One or more detection units can be arranged on the spray boom. One or more detection units can be angled, in particular skew, on the spray boom and / or arranged on the spray boom in such a way that one or more detection units are rotated laterally out of the direction of travel. Consequently, the plane of the detection beam emitted by one or more detection units is rotated laterally out of the direction of travel. Because one or more detection units are angled on the spray boom, the detection beams strike the agricultural land and / or its crops at an oblique angle.One or more detection units can be located below the.

[0037] P24-051 The detection area of ​​the spray boom is located, with a rear end section of the detection area situated behind the spray boom and / or a front end section of the detection area situated in front of the spray boom. The spray boom may have at least two lateral boom arms, and at least one detection unit may be arranged on each boom arm. The spray boom may be mounted on the agricultural sprayer by means of a parallelogram linkage. The spray boom may be mounted on the agricultural sprayer with spring or shock damping or may include an active damping system to dampen vertical and / or horizontal vibrations of the spray boom.

[0038] The problem underlying the invention is further solved by an agricultural sprayer of the type mentioned above, wherein the electronic data processing device is configured to perform a measurement correction when processing the measured values ​​of one or more detection units. The agricultural area comprises soil. The soil may be sandy soil and / or silty soil and / or clay soil and / or loam. The vegetation may have a uniform height or vary locally. The vegetation may have a uniform density or vary locally. The vegetation may comprise one or more plant varieties.

[0039] In an advantageous further development of the agricultural sprayer according to the invention, the sprayer is configured to carry out the method according to one of the embodiments described above. With regard to the advantages and modifications of the agricultural sprayer according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention.

[0040] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show:

[0041] P24-051 Fig. 1 an agricultural sprayer according to the invention in a

[0042] Top view;

[0043] Fig. 2 shows a spray boom comprising an extension arm of an agricultural sprayer according to the invention in a perspective view;

[0044] Fig. 3 shows another spray boom comprising an extension arm of an agricultural sprayer according to the invention in a perspective view;

[0045] Fig. 4 shows a detection unit of an agricultural sprayer according to the invention in a schematic representation;

[0046] Fig. 5 shows another spray boom comprising an extension arm of an agricultural sprayer according to the invention in a perspective view;

[0047] Fig. 6 shows a graphic representation of the distances detected on the basis of the detection units of an agricultural sprayer according to the invention;

[0048] Fig. 7 shows a graphical representation of the distances detected on the basis of the detection units of an agricultural sprayer according to the invention and corrected according to the measurement correction of the method according to the invention;

[0049] Fig. 8 shows a schematic representation of a stand of plants irradiated with detection beams from a detection unit of an agricultural sprayer according to the invention;

[0050] Fig. 9 shows a spray boom comprising an extension arm of an agricultural sprayer according to the invention above a crop comprising one driving lane in a schematic perspective view;

[0051] P24-051 Fig. 10 a graphic representation of the distances detected on the basis of a detection unit of an agricultural sprayer according to the invention on a crop having a driving lane;

[0052] Fig. 11 shows a further graphic representation of the distances detected on the basis of a detection unit of an agricultural sprayer according to the invention on a crop having a driving lane;

[0053] Fig. 12 shows a conversion rule for a method according to the invention; and

[0054] Fig. 13 Angle offsets of several detection units of an agricultural sprayer according to the invention.

[0055] Fig. 1 shows an agricultural sprayer 100 designed as a field sprayer with a spray boom 10 and an active boom guidance system 102.

[0056] The spray boom 10 extends transversely to the direction of travel F and has two foldable, lateral boom sections 12a, 12b, each comprising a pivotally connected boom segment. A central segment 14 is arranged between the lateral boom sections 12a, 12b, with the boom sections 12a, 12b pivotally connected to the central segment 14. Several application elements designed as spray nozzles are arranged along the spray boom 10 for applying a spraying liquid. The application elements are fluidly connected to the reservoir 104 of the sprayer 100. The reservoir 104 may contain spraying liquid. The application elements, designed as spray nozzles, can distribute the spraying liquid onto an agricultural area and / or its crops. The spraying liquid may contain several active ingredients. These active ingredients in the spraying liquid may be water-soluble.

[0057] With the active boom guidance system 102, the spray boom 100 can be actively guided above agricultural land and / or its crop stand 200. The boom guidance system 102 has actuators via which the inclination

[0058] The height of the spray boom 10 can be influenced by the actuators. The actuators are connected to a control unit of the agricultural sprayer 100, which controls the active boom guidance 102 based on detected distance information relating to the distance of the spray boom 10 to the agricultural area and / or its crop stand 200. The crop stand 200 can include, for example, cereals, potatoes, or corn. To detect the distance information, several detection units 16 are arranged on the spray boom 10, via which the distance to the agricultural area and / or its crop stand 200 can be detected. The several detection units 16 can each include multi-beam sensors 18.

[0059] According to the illustrated embodiment, two detection units 16 are arranged on each boom 12a, 12b. In an alternative embodiment, only one detection unit 16 can be arranged on each of the two booms 12a, 12b, with a further detection unit 16 being arranged on the central segment 14 of the spray boom 10 located between the booms 12a, 12b. In a further alternative embodiment, at least three detection units 16 can be arranged on each of the two booms 12a, 12b.

[0060] The control unit of the agricultural sprayer 100 can also determine the height of the crop stand 200 on the agricultural land. This determination is also based on data recorded by the detection units 16. To determine the crop stand height, the data recorded by the detection units 16 is processed by an electronic data processing unit, specifically using a conversion formula. The electronic data processing unit is an integral part of the sprayer 100.

[0061] The detection units 16 are each fixedly and / or movably attached to a boom section of the spray boom 10 and each serves to detect the distance to the agricultural land and / or

[0062] P24-051 whose crop cover 200. The detection units 16 each have a multi-beam sensor 18. The multi-beam sensor 18 is designed as an optical multi-beam sensor and has a planar and elongated detection area. The multi-beam sensors 18 implement distance detection via time-of-flight measurement. The multi-beam sensors 18 of the respective detection units 16 have no moving parts and are each configured to emit a multi-beam sensor beam 28 in the direction of the agricultural area and / or its crop cover 200. The multi-beam sensors 18 of the detection units 16 on the booms 12a, 12b emit the multi-beam sensor beams 28 essentially in the direction of travel F. The multi-beam sensor 18 of the detection unit 16 arranged on the central segment 14 in an alternative embodiment emits a sensor fan 28 essentially in the opposite direction of travel F.

[0063] The sensor fan 28 of each multi-beam sensor 18 lies in a fan plane which is inclined relative to a reference plane extending vertically and longitudinally. Fig. 1 shows that the multi-beam sensor 18 is arranged and oriented such that the sensor fan 28 is emitted rotated about a yaw axis of the spray boom 10 extending in the vertical direction. This results in an inclination angle α between the fan plane of the sensor fan 28 and a longitudinal axis L of the spray boom 10. The longitudinal axis L of the spray boom 10 extends parallel to the direction of travel F. In the illustrated embodiment, the inclination angle α is 40°. The inclination angle α, whose angular field lies in a horizontal plane, can also be referred to as the yaw angle of the sensor fan 28. The inclination angle α can be varied or adjusted within an inclination range.When varying the tilt angle a, the tilt angle a is selected application-specifically such that the largest possible area of ​​the agricultural land and / or its crop cover is scanned. Furthermore, when varying the tilt angle a, the tilt angle a is selected application-specifically such that the scanning area 28 exclusively covers the contact areas to be scanned.

[0064] P24-051 scans agricultural land and / or its vegetation. Furthermore, when varying the tilt angle a, the tilt angle a is selected such that the scanning fan 28 is oriented without overlap with the spray patterns produced by the spray nozzles.

[0065] Fig. 2 shows that the multi-beam sensor 18 is also arranged and aligned such that the sensor beam 28 is emitted rotated about a roll axis of the spray boom 10 running in the longitudinal direction of the spray boom 10. This results in a lateral tilt angle β between the plane of the sensor beam 28 and a vertical axis V of the spray boom 10. In the illustrated embodiment, the lateral tilt angle β is 50°. The lateral tilt angle β, whose angular field lies in a vertical plane V extending in the transverse direction, can also be referred to as the roll angle of the sensor beam 28. The sensor beam 28 comprises several detection beams 22a-22k. The individual detection beams 22a-22k strike the agricultural area and / or its crop stand 200 at different angles.The different detection beams 22a-22k each have different contact areas, in particular cross-sectional areas, with the agricultural land and / or its vegetation 200. The lateral tilt angle β can be varied or adjusted within a lateral tilt angle range. When varying the lateral tilt angle β, it is selected application-specifically so that the largest possible area of ​​the agricultural land and / or its vegetation is scanned. Furthermore, when varying the lateral tilt angle β, it is selected application-specifically so that the scanning array 28 scans only the contact areas of the agricultural land and / or its vegetation to be scanned.Furthermore, when varying the lateral tilt angle β, the lateral tilt angle β is chosen such that the sensing fan 28, or the detection beams 22a-22k of the sensing fan 28, is oriented without overlap with the spray fans generated by the spray nozzles.

[0066] P24-051 Fig. 3 shows that the multi-beam sensor 18 is also arranged and aligned such that the sensor beam 28 is emitted at an angle about a pitching axis of the spray boom 10 running transversely to the spray boom 10. This inclined emission results in a longitudinal tilt angle y between the central axis M of the sensor beam 28 and a vertical axis V of the spray boom 10. In the illustrated embodiment, the longitudinal tilt angle y is 35°. The longitudinal tilt angle y, whose angular field lies in a longitudinally extending vertical plane V, can also be referred to as the pitch angle of the sensor beam 28. The longitudinal tilt angle y can be varied or adjusted within a range. When varying the longitudinal tilt angle y, it is selected according to the application so that the largest possible area of ​​the agricultural land and / or its crop cover is scanned.Furthermore, when varying the longitudinal tilt angle y, the longitudinal tilt angle y is selected application-specifically such that the sensing fan 28 scans exclusively the contact areas of the agricultural land and / or its vegetation. In addition, when varying the longitudinal tilt angle y, the longitudinal tilt angle y is selected such that the sensing fan 28, or rather the detection beams 22a-22k of the sensing fan 28, are oriented without overlap with the spray patterns generated by the spray nozzles.

[0067] Because the sensor fan 28 has a longitudinal tilt angle y, both the rear end section and the front end section of the detection area of ​​the multi-jet sensor 18 are located in front of the spray boom 10. In an alternative embodiment, however, the rear end section of the detection area of ​​the multi-jet sensor 18 can also be located behind the spray boom 10.

[0068] Fig. 4 shows a detection unit 16 comprising a multi-beam sensor 18. The multi-beam sensor 18 is arranged in a housing 24 of the detection unit 16. The multi-beam sensor 18 includes, by way of example, eleven transmitting elements configured to emit detection beams 22a-22k. The transmitting elements are designed as light sources, for example, LEDs.

[0069] P24-051 and have different orientations. Alternatively, the transmitting elements can be configured to emit laser light. Due to the different orientations of the transmitting elements, different main beam directions result for the individual transmitting elements, and consequently, the detection beams 22a-22k are emitted in different main beam directions. The transmitting elements are combined into a transmitting unit and are arranged side by side along a curved straight line. The resulting detection fan 28 has a fan angle θ, where the fan angle θ is 88° in the illustrated embodiment. The detection beams 22a-22k encounter different areas of the agricultural land, or rather its vegetation 200. The detection beams 22a-22c encounter the vegetation of a first height 202a. The detection beams 22d-22g encounter a gap in the vegetation 204.The gap in the vegetation 204 represents a lane 206 of a tramline in the agricultural area. The detection beams 22h-22k encounter the vegetation at a second height 202b. The fan angle θ can be varied or adjusted within a fan angle range. When varying the fan angle θ, it is selected application-specifically so that the largest possible area of ​​the agricultural land and / or its vegetation is scanned. Furthermore, when varying the fan angle θ, it is selected application-specifically so that the scanning fan 28 scans only the contact areas of the agricultural land and / or its vegetation to be scanned.Furthermore, when varying the fan angle ö, the fan angle ö is chosen such that the sensing fan 28, or the detection beams 22a-22k of the sensing fan 28, is oriented without overlap with the spray fans generated by the spray nozzles.

[0070] Fig. 5 shows the outer region of the boom 12b of the spray boom 10. A multi-beam sensor 18 is shown mounted on the upper side of the boom 12b. The multi-beam sensor 18 mounted on the upper side of the boom 12b comprises several detection units 16. The several detection units 16 emit several detection beams 22a-22k in the direction of the

[0071] P24-051 Plant stand 200 of the agricultural area. The detection beams 22a-22k striking the plant stand 200 each have a different contact area K1, K2 with the plant stand 200. The detection beams 22a-22k that strike the plant stand 200 at the steepest angle relative to the vertical axis V have the smallest contact area K1 with the plant stand 200. The detection beams 22a-22k that travel the shortest distance between the multi-beam sensor 18 and the plant stand 200 have the smallest contact area K1 with the plant stand 200. The detection beams 22a-22k that strike the plant stand 200 at the most obtuse, in particular shallowest, angle relative to the vertical axis V have the largest contact area K2 with the plant stand.The detection beams 22a-22k, which travel the longest distance between the multi-beam sensor 18 and the crop stand 200, have the largest contact area K2 with the crop stand 200. The spray boom 10 moves along the direction of travel F across the agricultural area, or rather its crop stand 200. Consequently, the boom 12b, whose boom direction G extends along the horizontal axis H, is moved transversely to its boom direction G in the direction of travel F across the agricultural area, or rather its crop stand 200. By moving the spray boom 10, or rather the boom 12b, across the agricultural area, or rather its crop stand 200, the sensor array 28 scans different areas of the agricultural area, or rather its crop stand 200.The plane of the sensor fan 28 is angled relative to the horizontal axis H, the direction of travel F, and the vertical axis V. The spatial path of the detection beams 22a-22k each has a first and second horizontal component as well as a vertical component. Consequently, for example, the position of the contact surface K2 of the detection beam 22b with the plant stand 200 can be described based on the first horizontal component HA1, the second horizontal component HA2, and the vertical component VA1.

[0072] In Fig. 6, the distances A1-A8 detected by the detection beams 22a-22h to the agricultural land, or its vegetation 200, are shown as a function of the distance traveled D (shown in

[0073] P24-051 Fig. 6 and subsequent similar figures (from left to right) graphically depict the spray boom 10. The measured distances A1-A8 are shifted relative to each other in the vertical direction. The measured distances A1-A8 each exhibit a vertical offset from one another. The vertical offset between the measured distance A1 and the measured distance A8 is the largest. The measured distances A1-A8 can be adjusted to each other by means of a measurement correction.

[0074] Figure 7 shows the measured distances A1-A8 adjusted to each other based on a measurement correction. By adjusting the measured distances A1-A8 to each other, the vertical offset between the measured distances A1-A8 is reduced, in particular minimized. For clarity, the lines in Figure 7 are shown superimposed; it is understood that the vertical offset cannot actually be completely avoided, so that in reality a minimal distance remains within the limits of metrological accuracy. By adjusting the measured distances A1-A8 to each other, the almost identical distance to the agricultural land, or rather its crop stand 200, can be determined for each of the detection beams 22a-22h.The distance to the agricultural land, or its plant stock 200, detected by the detection beams 22a-22h, represents the distance between the multi-beam sensor 18 and the agricultural land, or its plant stock 200.

[0075] Figure 8 shows the detection beams 22a, 22h emitted by a detection unit 16 and striking the crop 200. The crop 200 consists of barley. The detection beams 22a, 22h each spread out in a fan shape, thus striking the crop 200 at a contact point. Because the detection beams 22a, 22h spread out in a fan shape, they each have regions with different path lengths S. The path length S comprises the distance traveled in a detection beam 22a, 22h between the detection unit 16 and the crop 200. The path length S includes a shortest path length.

[0076] P24-051 Smin - The vertically measured distances A1, A8 between the detection unit 16 and the plant stand 200 are each based on the shortest running length S min the respective detection beams 22a and 22h. The vertically measured distance A1 is based on the shortest path length Smin of detection beam 22h. The vertically measured distance A8 is based on the shortest path length Smin of detection beam 22a. Additionally, the vertically measured distances A1 and A8 can each be based on the shortest path length Smin in combination with a conversion formula. Furthermore, the vertically measured distances A1 and A8 can also be based on filtering and / or geometric correction of the measured values. Determining the shortest path lengths Smin of detection beams 22a and 22h can each be based on identifying a minimum in the measured signal. The shortest path length, Smin of the detection beam 22h, has a steeper angle relative to the vertical axis V than the shortest path length Smin of the detection beam 22a.Because the shortest path length Smin of detection beam 22h has a steeper angle than the shortest path length Smin of detection beam 22a, detection beam 22h has a smaller contact area with the vegetation than detection beam 22a. Due to the smaller contact area of ​​detection beam 22h with the vegetation 200, detection beam 22h can penetrate deeper into the vegetation 200 than detection beam 22a. Consequently, a larger distance value can be determined for the detected distance A1 than for the detected distance A8. The different values ​​of the detected distances A1 and A8 can be adjusted to each other by a measurement correction, which is described in Figures 6 and 7. Alternatively or additionally, the different values ​​of the recorded distances A1, A8 can be aligned using a percentile, in particular a 10% percentile.

[0077] Fig. 9 shows the spray boom 10, which includes the extension arm 12b and moves in the direction of travel F over the crop stand 200. The detection units 16a and 16b are mounted on the upper side of the extension arm 12b. Detection unit 16a is located on the side of the extension arm 12b facing the central segment 14 of the spray boom 10. Detection unit 16b is located on the side opposite the central segment 14 of the spray boom 10.

[0078] P24-051 on the outer side of the boom 12b. The detection unit 16a emits the sensor fan 28a. The detection unit 16b emits the sensor fan 28b. The sensor fan 28a runs obliquely to the sensor fan 28b. The driving lane 205 extends through the vegetation 200. The driving lane 205 includes the parallel driving tracks 206a and 206b. The driving lane 205, or the driving tracks 206a and 206b, has a straight, in particular linear, course. The sensor fan 16b runs parallel to the driving lane 205, or the driving tracks 206a and 206b. The detection unit 16b is located above the driving track 206b. Consequently, the sensor array 28b extends along the lane 206b. Thus, the vertical distance between the detection unit 16b and the lane 206b is determined based on the sensor array 28b. The sensor array 28a irradiates exclusively the plant stand 200.Consequently, the vertical distance between the detection unit 16a and the plant stand 200 is determined based on the sensor array 28a. Based on the distances detected by the detection unit 16b between the detection unit 16b and the driving lane 206b, tramline detection can be performed. Based on the tramline detection, a measurement correction can be made. Tramline detection can, for example, be performed based on at least one detection unit 16 passing over a tramline.Furthermore, tramline detection can be based, for example, on processing and / or evaluating the measured values ​​from one or more detection units, in particular the measured values ​​recorded when driving over a tramline. With this measured value correction, the distances recorded between detection unit 16b and the tramline 206b can be adjusted to match the distances recorded between detection unit 16a and the crop stand 200. Alternatively, with this measured value correction, the distances recorded between detection unit 16b and the tramline 206b can be adjusted to a target value or corrected by this target value. The target value can be a distance value preset in the electronic data processing unit of the sprayer 100.Adjusting or correcting the distances detected between the detection unit 16b and the lane 206b to a target value can be used to hide lanes. The sensor array 28a.

[0079] P24-051 extends perpendicularly to the sensing fan 28b. Consequently, the sensing fan 28a intersects the driving lane 205, or the driving lanes 206a, 206b, at a right angle when the detection unit 16a moves over the driving lane 205, or the driving lanes 206a, 206b, during the driving process of the sprayer 100 in the direction of travel F.

[0080] Fig. 10 shows a graphical representation of the distances A1-A8 detected by the detection unit 16a shown in Fig. 9 between the detection unit 16a and the agricultural area, or its crop stand 200, as a function of the distance D traveled in the direction of travel F. Because the detection area 16a of the sensor array 28a in Fig. 9 is oriented perpendicular to the tramline 205, the individual detection beams 22a-22i of the sensor array 28a successively cross the tramline 206b and the tramline 206a, respectively. Consequently, the distances A1-A8 in Fig. 10 each exhibit a maximum value at different positions along the traveled distance D. The percentile P represents a 10% percentile P. By forming a percentile P based on the measured distances A1-A8, the measured distances A1-A8, each of which has a maximum value, are significantly aligned with each other.The formation of the percentile P, or the adjustment of the recorded distances A1-A8, represents a measurement correction, which in particular represents a filtering out of the driving lane 205, or the driving lanes 206a, 206b.

[0081] Figure 11 shows a graphical representation of the distances detected by the detection unit 16b shown in Figure 9 during the travel of the sprayer 100 in direction F. The distances A1-A8 detected by the detection beams 22a-22h of the sensor array 28b are plotted against the distance D traveled in direction F. The maximum E1 occurs when the detection unit 16b crosses the lane 206b, with the sensor array 28b extending along the lane 206b. The maximum E2 occurs when the detection unit 16b crosses the lane 206a, with the sensor array 28b extending along the lane 206a. The percentile P represents the 10th percentile of the detected distances A1-A8. Based on the maximum value E1, lane 206b is therefore detected. Based on the maximum value E2, lane 206a is therefore detected.Additionally, the accuracy, or reliability, of tramline or lane detection can be increased based on the percentile P. This increase in accuracy is achieved primarily by reducing the respective error dispersion of the detected distances A1-A8 within the percentile P. The vertical distance between the detection unit 16b and the agricultural land, or its crop stand 200, can be determined based on the percentile P. Alternatively or additionally, the accuracy, or reliability, of determining the distance between the detection unit 16b and the agricultural land can be increased based on the percentile. The vertical distance between the detection unit 16b and the agricultural land, or its crop stand 200, can be determined based on a percentile P.Based on the percentile P, the vertical distances determined between the detection unit 16a and the agricultural land, or its plant stock 200, can be corrected for measurement value.

[0082] Figure 12 shows a conversion formula by which the distances detected by the detection units 16a, 16b, mounted at an angle on the spray boom 10, to the agricultural land, or its plant stand 200, can be converted into a vertical distance between the respective detection unit 16a, 16b and the agricultural land, or its plant stand 200. The vertical distance represents, in particular, a vertical component of the detected distance. The conversion formula is formulated as a transformation matrix R, specifically a rotation matrix. The transformation matrix R can be derived by a cardan rotation. The transformation matrix R depends on the tilt angles. <t>, 1 , 0 of the detection unit 16, with which the detection unit 16 is attached to the spray boom 10. The distances detected by the detection units 16 are transformed into a Cartesian coordinate system by the transformation matrix R. The transformation by the transformation matrix R involves a rotation based on trigonometric functions. These trigonometric functions include, for example, cosine and / or sine functions. The tilt angle α of the sensor fan 28 depends on the tilt angle. of the detection unit 16. Consequently, if the tilt angle The detection unit 16 has a value other than 0°, and the tilt angle α of the sensor array 28 has a value other than 0°, causing the sensor array 28 to be angled relative to the longitudinal axis L, or direction of travel F. The lateral tilt angle β of the sensor array 28 depends on the tilt angle 1 of the detection unit 16. Consequently, if the tilt angle 1 If the detection unit 16 has a value other than 0°, the lateral tilt angle β of the sensor array 28 may also have a value other than 0°, causing the sensor array 28 to be angled in the direction of travel F relative to the vertical axis V. The longitudinal tilt angle y of the sensor array 28 depends on the tilt angle 0 of the detection unit 16. Consequently, if the tilt angle 0 of the detection unit 16 has a value other than 0°, the longitudinal tilt angle y of the sensor array 28 may also have a value other than 0°, causing the sensor array 28 to be angled in the direction of the horizontal axis H relative to the vertical axis V.

[0083] Fig. 13 shows the angular offsets A <t>, A^P, A0, with which the detection units 16a-16d are mounted on the booms 12a, 12b of the spray boom 10. When mounting the detection units 16a-16d on the booms 12a, 12b of the spray boom 10, the detection units 16a-16d are to be mounted at specified target angles relative to the boom 12a and boom 12b, respectively. The target angles include the tilt angles. <t>, 1 , 0 of the detection units 16a-16d. When mounting the detection units 16a-16d on the arms 12a, 12b, deviations from the target angles can occur. These deviations can affect the angle offsets A <t>, A^P, A0 include. A calibration process can be carried out in which the sprayer 100, or the spray boom 10 of the sprayer 100, is located on an agricultural area, in particular a level agricultural area. During the calibration process, the angular offsets A <t>, A^P, A0 of the detection units 16a-16d are determined. If the sensor fields 28 irradiate a flat agricultural area, they detect without errors.

[0084] P24-051 aligned detection units 16a-16d ensure that all detection units 16a-16d maintain the same vertical distance between themselves and the agricultural land. If the sensor arrays 28 irradiate a flat agricultural area and the detection beams systematically deviate from one another, consequently causing the detection units 16a-16d to detect differing vertical distances, then an incorrect alignment of the detection units 16a-16d can be assumed. With an incorrect alignment of the detection units 16a-16d, the angular offsets A <t>, A^P, A0 determined, where the angle offsets A <t>, A^P, A0 depend on the differing vertical distances of the detection units 16a-16d. The detection unit 16a exhibits the following for the angular offsets A <t>, A^P, A0 each have a value of 0°. Consequently, the detection unit 16a was installed with tilt angles of the detection unit. <t>, ^P, 0 are mounted, which correspond to the target angles. The detection unit 16b has the following for the angle offsets A <t>, A^P, A0 each have a non-zero value. Consequently, the tilt angles correspond <t>, ^P, 0 each do not correspond to the target angle. The detection unit 16c has an angle offset A. <t>a value of 0. Consequently, the tilt angle corresponds to The angle offset A^P of detection unit 16c is not the target angle. Therefore, the tilt angle ^P of detection unit 16c does not correspond to the target angle. The angle offset A0 of detection unit 16c has a value of 0. Consequently, the tilt angle 0 of detection unit 16c corresponds to the target angle. The angle offsets A <t>The angle offsets A and A of detection unit 16d each have a value other than 0. Consequently, the tilt angles ^P, 0 of detection unit 16d each correspond to the target angle. The angle offset A^P of detection unit 16d has a value of 0. Consequently, the tilt angle ^P of detection unit 16d corresponds to the target angle. The angle offsets A <t>, A^P, A0 of the detection units 16a-16d can have a positive or negative sign depending on the direction.

[0085] P24-051 Reference mark

[0086] 10 spray booms

[0087] 12a, 12b cantilever

[0088] 14 Middle segment

[0089] 16, 16a-16d detection units

[0090] 18 multi-beam sensors

[0091] 22a-22k detection beams

[0092] 24 cases

[0093] 28, 28a, 28b Keypads

[0094] 100 spray guns

[0095] 102 Linkage guide

[0096] 104 Storage tank

[0097] 200 plant population

[0098] 202a Plant stock of a first height

[0099] 202b Plant stock of a second height

[0100] 204 Gap in plant population

[0101] 205 Driving lane

[0102] 206, 206a, 206b Lane

[0103] F Direction of travel

[0104] H Horizontal axis

[0105] L Longitudinal axis

[0106] V Vertical axis

[0107] M Central axis of the keypad

[0108] HA1, HA2 Horizontal components

[0109] VA Vertical component a Tilt angle ß Lateral tilt angle

[0110] Y longitudinal tilt angle ö fan angle

[0111] P24-051 K1 , K2 contact surfaces

[0112] G Linkage direction

[0113] D distance travelled A1-A9 recorded distances

[0114] S running length

[0115] Smin shortest running length

[0116] E1, E2 Maximum P percentile Tilt angle of the detection unit Angle offsets

[0117] P24-051< / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t> < / t>

Claims

Patent claims 1. Method for applying spray liquid by means of an agricultural sprayer (100) having one or more detection units (16, 16a-16d), wherein the one or more detection units (16, 16a-16d) each comprise a multi-beam sensor (18), comprising the step: Determining the distance between one or more detection units (16, 16a-16d) and an agricultural area and / or its vegetation (200) by processing measured values ​​from one or more detection units (16, 16a-16d) using an electronic data processing device; characterized in that the electronic data processing device performs a measurement correction when processing the measured values ​​from one or more detection units (16, 16a-16d).

2. Method according to claim 1, characterized in that the one or more detection units (16, 16a-16d) each emit a multi-beam sensor fan (28, 28a, 28b) comprising several detection beams (22a-22k) in the direction of the agricultural land and / or its vegetation (200), wherein the one or more detection units (16, 16a-16d) are arranged and aligned such that the emitted sensor fan (28, 28a, 28b) lies in a fan plane which is inclined relative to a horizontal first reference plane, a second reference plane extending in the vertical and longitudinal direction and / or a third reference plane extending in the vertical and transverse direction.

3. Method according to claim 1 or 2, characterized in that the measurement correction comprises a conversion rule by means of which a vertical component of the P24-051 The distance between the one or more detection units (16, 16a-16d) and the agricultural land and / or its vegetation (200) is calculated.

4. Method according to claim 3, characterized in that the conversion rule is determined within the framework of a calibration process by the spraying device (100), in particular on the agricultural land.

5. Method according to claim 4, characterized in that the calibration process takes place after or simultaneously with the detection of the distance between the one or more detection units (16, 16a-16d) and the agricultural land and / or its crops (200).

6. Method according to one of the preceding claims, characterized in that the measurement correction comprises adjusting the distances detected by means of several detection beams (22a-22k) to each other.

7. Method according to one of the preceding claims, characterized in that the agricultural area comprises tramlines (205) and / or gaps in the crop stand (204), wherein the tramlines (205) and / or gaps in the crop stand (204) are detected by one or more detection units (16, 16a-16d).

8. The method of claim 7, characterized by one, several or all of the following steps: Detection of tramlines (205) and / or gaps in the plant stand (204) by a first detection unit (16, 16a-16d); P24-051 Storing the information about the recorded tramlines (205) and / or gaps in the plant stand (204) on the electronic data processing unit; Hiding the detected tramlines (205) and / or gaps in the plant stand (204) when evaluating the measured values ​​of a second detection unit (16, 16a-16d); Determining the distance between the second detection unit (16, 16a-16d) and the agricultural land and / or its vegetation (200) after excluding a detected tramline (205) and / or gaps in the vegetation (204).

9. Method according to one of the preceding claims, characterized in that tramlines (205) on the agricultural land are recorded, in particular by means of a satellite-based positioning system, and the information about the recorded tramlines (205) is processed by the electronic data processing unit during measurement correction.

10. Method according to one of the preceding claims, characterized in that the agricultural sprayer (100) comprises a spray boom (10) and the position and / or orientation of the spray boom (10) is controlled depending on the detected distance between the one or more detection units (16, 16a-16d) and the agricultural land and / or its crop stand (200).

11. Agricultural sprayer (100), comprising one or more detection units (16, 16a-16d) each having a multi-jet sensor (18); and an electronic data processing device, wherein the one or more detection units (16, 16a-16d) are configured to determine the distance between the one or more detection units (16, 16a-16d) and the agricultural land and / or its crop stand (200) by processing measured values P24-051 to acquire the measurement values ​​of one or more detection units (16, 16a-16d) by means of the electronic data processing device, characterized in that the electronic data processing device is configured to perform a measurement value correction when processing the measurement values ​​of one or more detection units (16, 16a-16d).

12. Agricultural sprayer (100) according to claim 11, characterized in that the sprayer (100) is configured to carry out the method according to one of claims 1 to 10. P24-051

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