EP4161242A1 - Procédé de culture de récoltes en rangées - Google Patents

Procédé de culture de récoltes en rangées

Info

Publication number
EP4161242A1
EP4161242A1 EP21729260.6A EP21729260A EP4161242A1 EP 4161242 A1 EP4161242 A1 EP 4161242A1 EP 21729260 A EP21729260 A EP 21729260A EP 4161242 A1 EP4161242 A1 EP 4161242A1
Authority
EP
European Patent Office
Prior art keywords
care
measure
care device
agricultural plant
agricultural
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21729260.6A
Other languages
German (de)
English (en)
Inventor
Rainer Resch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amazonen Werke H Dreyer SE and Co KG
Original Assignee
Amazonen Werke H Dreyer SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Amazonen Werke H Dreyer SE and Co KG filed Critical Amazonen Werke H Dreyer SE and Co KG
Publication of EP4161242A1 publication Critical patent/EP4161242A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/005—Following a specific plan, e.g. pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Machines specially adapted for working soil on which crops are growing
    • A01B39/12—Machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding

Definitions

  • the invention relates to a method for maintaining row crops according to the preamble of claim 1, an agricultural plant care device for row crops according to the preamble of claim 12 and a care system for row crops according to the preamble of claim 15.
  • the recording of the positions and courses of rows of plants while maintenance measures are being carried out on a row crop can be done with the aid of sensors and satellites.
  • the publication DE 10 2005 010 686 A1 discloses a satellite-based application of seeds so that position and progression information on the rows of plants is already available before the plants emerge on the agricultural area. In this way, the course of the rows can be determined without the plants having to be visible on the soil surface.
  • the seed position information recorded during the sowing process can then be used when maintenance measures are subsequently carried out on the crop. From the publications DE 10 2017 126 222 A1 and US 6,199,000 B1, for example, the targeted local
  • the object on which the invention is based is thus to improve the precision when carrying out row-guided, controlled maintenance measures.
  • the object is achieved by a method of the type mentioned at the outset, in which, within the scope of the method according to the invention, the movement and / or operation of an agricultural plant care device during the
  • Carrying out a second maintenance measure on the row crop is controlled as a function of the recorded positions and / or courses of the plant rows.
  • the invention makes use of the knowledge that the positions and courses of rows of plants do not change during the growth phase of the plant population.
  • a sensor and satellite-supported recording of positions and / or courses of rows of plants while carrying out a first maintenance measure on the row crop the plants at this point in time only making slight wind-related plant movements and not yet having a pronounced canopy.
  • the positions and courses of rows of plants with comparatively young plants can be determined much more precisely than the positions and courses of rows of plants with older plants which, due to their height, perform wind-related movements and already have a pronounced canopy.
  • positions and / or courses of the rows of plants recorded during a first maintenance measure on the row crop can then be used for precise control of the movement and / or the operation of the agricultural plant care device used when performing a second maintenance measure on the row crop.
  • geo-reference data of the plant rows are recorded, on the basis of which the second care measure is then carried out on the row crop.
  • the reuse of the geo-reference data means that sensor-supported, for example camera-based, row detection is no longer absolutely necessary when performing the second maintenance measure, so that the result of the second maintenance measure is no longer or less intensive due to wind-related plant movements, heavy weed growth, an already formed canopy or the row closure is affected.
  • the sensor and / or satellite-supported determination of positions and / or courses of rows of plants can be dispensed with entirely.
  • positions and / or courses of plant rows can also be taken into account, which are determined with the aid of sensors and / or satellites while the second care measure is being carried out.
  • the geo-reference and / or sensor data can be weighted.
  • the weighting can be based, for example, on the recording difficulties during the recording. If the recorded position and / or history data indicate that there are significant difficulties in recording the templates, a comparatively low weighting factor can be assigned to this data. If the position and / or history data indicate that there are no or only slight difficulties in capturing the documents during the recording, a comparatively high weighting factor can be assigned to this data.
  • the agricultural plant care device is preferably controlled in rows. By controlling the movement of the agricultural plant care device while the second care measure is being carried out on the row crop, row guidance is preferably also implemented. Before and / or between the first and the second care measure, one or more further care measures can be carried out on the row crop.
  • the second maintenance measure does not have to immediately follow the first maintenance measure.
  • the second maintenance measure is carried out at a different time after the first maintenance measure. Several days, weeks or months can elapse between the implementation of the first maintenance measure and the implementation of the second maintenance measure.
  • the first care measure and the second care measure are carried out with the same agricultural plant care device.
  • the first maintenance measure and the second maintenance measure preferably relate to the same processing operation.
  • the first maintenance measure and the second maintenance measure are preferably carried out with an agricultural hoe, the first maintenance measure and the second maintenance measure relating to a hoeing process.
  • the first maintenance measure and the second maintenance measure are carried out with an agricultural sprayer, the first maintenance measure and the second maintenance measure relate to a spraying process.
  • Plant care devices are carried out. Different plant care devices are plant care devices of the same type, for example two different hoeing devices or two different spraying devices. Different plant care devices differ in terms of their device type, so that, for example, the first care measure is carried out with a hoe and the second care measure with a spray device.
  • one or more optical sensors of the agricultural plant care device are used to record the positions and / or courses of the rows of plants while the first care measure is being carried out.
  • the one or more optical sensors can each be part of a camera.
  • the positions and / or courses of the rows of plants are preferably recorded with the aid of a camera.
  • the agricultural plant care device used to carry out the first care measure on the row crop preferably has one or more cameras.
  • the positions and / or courses of the plant rows can be recorded while the first Maintenance measure can also be carried out by means of one or more non-contact distance sensors.
  • the position and / or course recording can also be done with one or more ultrasonic sensors, one or more feeler wheels and / or one or more row sensors.
  • the one or more feeler wheels can, for example, detect a furrow which was made in the soil of the agricultural area during the sowing process.
  • the use of row sensors requires a certain degree of plant stability, so that they can be used when the plants have reached a certain minimum age or a certain minimum size.
  • the movement of the agricultural plant care device is controlled while the second care measure is being carried out on the row crop without taking measured values from optical sensors of the agricultural plant care device into account.
  • the movement of the agricultural plant care device while the second care measure is being carried out on the row crop no measured values from optical sensors of a drive vehicle to which the plant care device is attached are taken into account.
  • the second maintenance measure is carried out, there is preferably no separate row recognition in relation to the row crop to be processed.
  • a plant care device can also be used which does not have any cameras or sensors for row detection.
  • a receiver unit for satellite signals of the agricultural plant care device is used to record the positions and / or courses of the rows of plants while the first care measure is being carried out.
  • the receiving unit can be a GPS receiver.
  • RTK Real Time Kinematic
  • the positions and / or courses of the plant rows are recorded while the first care measure is being carried out, in addition to the GPS signals and the sensor readings from the one or more sensors, the dimensions of the plant care device used and / or the relative position or positions between the receiving unit are also preferably recorded taken into account for satellite signals and the one or more sensors of the row detection device.
  • the row detection device can determine the positions and / or courses of the rows of plants and the determined row information can be stored georeferenced.
  • the stored geo-referenced row information relates to the actual one
  • the stored georeferenced row information can therefore also be used by another plant care device to carry out the second care measure. Furthermore, the stored geo-referenced row information can also be used by other devices and
  • the agricultural plant care device is used by an agricultural one while the second care measure is being carried out on the row crop
  • the second maintenance measure is carried out on the row crop by controlling a steering movement of the agricultural drive vehicle.
  • the agricultural plant care device can generate steering commands for the drive vehicle and transmit them to the drive vehicle so that the drive vehicle can convert the steering commands into a steering movement.
  • the geometric dimensions of the device combination of plant care device and drive vehicle are preferably taken into account.
  • the agricultural plant care device which is used to carry out the second care measure on the row crop can be a self-propelled plant care device.
  • the movement of the agricultural plant care device is controlled while the second care measure is being carried out on the row crop by controlling the steering movement of the agricultural plant care device.
  • the agricultural plant care device can in this case be, for example, a self-propelled crop protection sprayer.
  • steering commands for the drive vehicle are generated on the basis of the recorded positions and / or courses of the rows of plants and transmitted to a steering control of the drive vehicle.
  • the steering control of the drive vehicle preferably initiates row-related guidance of the plant care device on the basis of the transmitted steering commands.
  • the transmission of the generated steering commands from the plant care device to the drive vehicle can be wireless or wired.
  • a method according to the invention is advantageous in which controlling the operation of the agricultural plant care device while performing the second care measure on the row crop includes positioning and / or aligning one or more care tools.
  • the one or more care tools can be fastened to one or more cross members of the agricultural plant care device and arranged in the transverse direction, that is to say transverse to the direction of travel, next to one another and at a distance from one another.
  • the one or more maintenance tools can be positioned and / or aligned manually and / or by means of a positioning and / or alignment drive.
  • the one or more positioning and / or alignment drives can be pneumatic, hydraulic and / or electrical drives.
  • the maintenance tools are preferably chopping tools. When positioning, one or more maintenance tools can be moved across the direction of travel, for example, to precisely set the intended relative positioning to the recorded rows of plants. When aligning, one or more maintenance tools can be pivoted, for example.
  • controlling the operation of the agricultural plant care device while performing the second care measure on the row crop includes positioning, aligning, activating and / or deactivating individual application nozzles.
  • the application nozzles are preferably spray nozzles for a spray liquid.
  • the position of the dispensing nozzle is preferably changed in relation to a linkage.
  • the setting angle of the application nozzle is preferably changed in relation to a reference plane, for example the floor of the agricultural area or a horizontal or vertical plane, or in relation to a spray boom.
  • the application nozzles can, for example, be positioned and / or aligned manually or via a positioning and / or alignment drive.
  • the one or more positioning and / or alignment drives can be pneumatic, hydraulic or electrical drives.
  • the spray cone By positioning and / or aligning application nozzles, the spray cone can be positioned and / or aligned in an intended manner in relation to the rows of plants.
  • a series connection By activating and deactivating individual application nozzles, for example, a series connection can be implemented so that the application of spray liquid can be temporarily interrupted in segments.
  • the first maintenance measure and / or the second relates to
  • Plant care device is preferably an agricultural hoe.
  • the hoe is preferably on a front
  • Coupling device or attached to a rear coupling device of the drive vehicle Coupling device or attached to a rear coupling device of the drive vehicle.
  • a method according to the invention is advantageous in which the first care measure and / or the second care measure involve an injection process relates to which spray liquid is applied.
  • the first care measure and / or the second care measure involve an injection process relates to which spray liquid is applied.
  • the plant care device used for the care measure is preferably an agricultural sprayer, in particular a field sprayer.
  • the object on which the invention is based is also achieved by an agricultural plant care device of the type mentioned at the beginning, the agricultural plant care device according to the invention having a control device which is set up to operate the agricultural plant care device while a second care measure is being carried out on the row crop as a function of the recorded positions and / or to control courses of the rows of plants and / or a control of the movement of the agricultural
  • Plant care device during the implementation of the second care measure on the row crop depending on the recorded positions and / or courses of the plant rows.
  • the plant care device is preferably set up to carry out a method for caring for row crops according to the embodiments described above.
  • Row detection device one or more optical sensors and / or a receiving unit for satellite signals.
  • the one or more optical sensors can be components of one or more cameras.
  • the sensors can also be sensors for contactless distance measurement.
  • the sensors of the row detection device are designed as ultrasonic sensors.
  • the receiving unit can be a GPS receiver.
  • this is set up to be carried, pulled or pushed by an agricultural drive vehicle while the second care measure is being carried out on the row crop
  • the control device of the agricultural plant care device is preferably set up to generate steering commands for the drive vehicle on the basis of the recorded positions and / or courses of the rows of plants and to transmit them to a steering control of the drive vehicle.
  • the agricultural plant care device is preferably set up to form a Tractor Implement Management (TIM) system with the drive vehicle.
  • TIM Tractor Implement Management
  • FIG. 1 shows a care system according to the invention while a first care measure is being carried out on a row crop in a schematic plan view;
  • FIG. 2 shows the care system depicted in FIG. 1 while a second care measure is being carried out on the same row crop in a schematic plan view
  • FIG. 3 shows the sequence of a method according to the invention for cultivating row crops in a block diagram.
  • FIG. 1 and 2 show a care system 100 comprising a drive vehicle 102 and a plant care device 10.
  • the drive vehicle 102 is designed as a tractor
  • the plant care device 10 designed as an agricultural chopping device, being attached to a front device receptacle of the drive vehicle 102 via a coupling device 18.
  • the plant care device 10 has a transverse support 12 extending transversely to the direction of travel F, a plurality of care tools 14a-14m designed as chopping tools being attached to the transverse support 12.
  • the maintenance tools 14a-14m are arranged in the transverse direction next to one another and at a distance from one another.
  • the cross member 12 is supported by the wheels 16a, 16b of the plant care device 10 against the floor of an agricultural area.
  • a row crop 200 is located on the agricultural area, the row crop 200 having several parallel rows of plants 202a-202I.
  • the agricultural plant care device 10 has a row detection device 20 by means of which the positions and courses of the rows of plants 202a-202l can be recorded with the aid of sensors and satellites while maintenance measures are being carried out on the row crop 200.
  • the row detection device 20 has a receiving unit for satellite signals, via which GPS data can be recorded while maintenance measures are being carried out on the row crop 200.
  • the receiving unit is therefore a GPS receiver.
  • the row detection device 20 also has a camera 22 and a sensor 24.
  • the camera 22 is oriented in the direction of travel F and comprises an image sensor, so that while maintenance measures are being carried out on the row crop 200, image recordings of the plant rows 202a-202l can be generated.
  • the sensor 24 is a contactless distance sensor, via which the distance between the sensor 24 and the rows of plants 202a-202l can be determined. The positions and courses of the rows of plants 202a-202l are thus recorded with the aid of sensors and satellites.
  • the row detection device 20 can during the implementation of
  • a control device of the plant care device 10 is connected to a steering control 104 of the drive vehicle 102 via a data connection 26.
  • the operation of the plant care device 10 can be controlled automatically on the basis of row information while a care measure is being carried out.
  • the control of the plant care device 10 can cause steering movements to be carried out on the drive vehicle 102 via steering commands which are transmitted to the steering control 104 of the drive vehicle 102 via the data connection 26.
  • the data link 26 can be wireless or wired
  • a first care measure is carried out on the row crop 200 by means of the plant care device 10.
  • the plants of the row crop 200 are comparatively young and small, so that the plants only make slight wind-related movements. Furthermore, the plants do not yet have a pronounced canopy. In addition, there is only insignificant weed growth in the agricultural area. Based on the condition of the plants, a comparatively precise sensor and satellite-supported recording of the positions and courses of the plant rows 202a-202l while the first
  • the geo-reference data determined when recording the positions and courses of the plant rows 202a-202l can be used at a later point in time for row guidance when a second maintenance measure is carried out on the row crop 200.
  • 2 shows the care system 100 comprising the plant care device 10 and the drive vehicle 102 while a second care measure is being carried out on the row crop 200. Due to the advanced plant growth, the plants in the row crop 200 now have a pronounced canopy. Furthermore, the wind acting on the row crop 200 causes wind-related plant movements due to the advanced height of the plants. In addition, the soil of the agricultural land has become weed. In the present situation, the sensor-assisted determination of the positions and courses of the rows of plants 202a-202l is only possible to a limited extent. Due to the Recording difficulties can lead to considerable inaccuracies in the position and course recording.
  • the movement and the operation of the agricultural plant care device 10 are controlled while the second care measure is being carried out on the row crop 200 as a function of the positions recorded while the first care measure is being carried out on the row crop 200 and courses of the plant rows 202a-202l. While the second care measure is being carried out, measurement data from the row detection device 20 can also be taken into account, which data is recorded while the second care measure is being carried out.
  • the use of the camera 22 or the sensor 24 is, however, not absolutely necessary due to the available data from the first maintenance measure. If the movement and operation of the agricultural plant care device 10 is controlled when the second care measure is carried out, both on the basis of geo-reference data that were recorded while the first care measure was being carried out and on the basis of sensor data that is determined while the second care measure is being carried out the geo-reference data and the sensor data can be weighted. The weighting can be based, for example, on the recording difficulties during the recording.
  • FIG. 3 shows, by way of example, the sequence of a method for maintaining row crops 200.
  • step 300 there is initially a sensor-supported and satellite-supported recording of positions and courses of plant rows 202a-202l while a first maintenance measure is being carried out on a row crop 200 by means of an agricultural cultivation device 10.
  • the sensor-supported and satellite-supported recording includes the recording of GPS signals ( Method step 302) and the recording of sensor data (method step 304).
  • the sensor data can be recorded, for example, with an image sensor of a camera or a contactless distance sensor. Taking into account the positions of the GPS receiver and the sensors, an evaluation of the GPS signals and the Made sensor data, via which the positions and courses of the plant rows 202a-202l are determined.
  • the determined positions and courses of the plant rows 202a-202l are then stored in method step 308.
  • the data can be stored in a device-internal memory of the plant care device 10, for example. Alternatively or additionally, the data can also be saved in an external database. For this purpose, it may be necessary for the position and course data on the plant rows 202a-202l to be sent to the external database via radio and / or using the Internet.
  • the method step 310 is already assigned to the second maintenance measure and relates to the retrieval of the position and course data recorded during the implementation of the first maintenance measure for the
  • Plant rows 202a-202l by the plant care device 10 used for the second care measure The position and course data recorded during the performance of the first care measure for the
  • rows of plants 202a-202l can also be accessed and used by other devices or machines.
  • the movement of the agricultural plant care device 10 is controlled in method step 312 while the second care measure is being carried out on the row crop 200 as a function of the positions and courses of the plant rows 202a-202l recorded while the first care measure is being carried out.
  • steering commands for the drive vehicle 102 to which the plant care device 10 is attached are generated on the basis of the recorded positions and courses of the plant rows and transmitted to a steering control of the drive vehicle 102 (method step 314).
  • the operation of the agricultural plant care device can also
  • Controlling the operation of the plant care device while the second care measure is being carried out on the row crop 200 can include, for example, positioning and / or Alignment of one or more care tools 14a-14m of the plant care device (method step 318).
  • individual or all of the care tools 14a-14m can be shifted transversely to the direction of travel F, so that an intended position relative to the rows of plants 202a-202l is set.
  • the maintenance tools 14a-14m can also be inclined or pivoted in order to bring about an intended relative alignment with respect to the rows of plants 202a-202l.
  • the plant care device 10 can comprise application nozzles for a spray liquid.
  • method step 318 could relate, for example, to the positioning, aligning, activating or deactivating individual application nozzles as a function of the positions and courses of the plant rows 202a-202l of the row crop 200 recorded while the first care measures were being carried out.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Guiding Agricultural Machines (AREA)
  • Cultivation Of Plants (AREA)

Abstract

L'invention concerne un procédé de culture de récoltes en rangées (200), le procédé comprenant les étapes suivantes consistant à : enregistrer, à l'aide de capteurs et d'un satellite, des emplacements et/ou des parcours de rangées de plantes (202a-202l) tandis qu'une première mesure de culture est réalisée sur une récolte en rangées (200) au moyen d'un dispositif de culture de plantes agricoles (10) et commander le mouvement et/ou le fonctionnement d'un dispositif de culture de plantes agricoles (10) tandis qu'une seconde mesure de culture est réalisée sur la récolte en rangées (200) sur la base des emplacements et/ou des parcours des rangées de plantes (202a-202l) enregistrés.
EP21729260.6A 2020-06-05 2021-05-25 Procédé de culture de récoltes en rangées Pending EP4161242A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020114970.0A DE102020114970A1 (de) 2020-06-05 2020-06-05 Verfahren zum Pflegen von Reihenkulturen
PCT/EP2021/063782 WO2021244887A1 (fr) 2020-06-05 2021-05-25 Procédé de culture de récoltes en rangées

Publications (1)

Publication Number Publication Date
EP4161242A1 true EP4161242A1 (fr) 2023-04-12

Family

ID=76217839

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21729260.6A Pending EP4161242A1 (fr) 2020-06-05 2021-05-25 Procédé de culture de récoltes en rangées

Country Status (5)

Country Link
US (1) US12527243B2 (fr)
EP (1) EP4161242A1 (fr)
CA (1) CA3185667A1 (fr)
DE (1) DE102020114970A1 (fr)
WO (1) WO2021244887A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023101389A1 (de) 2023-01-20 2024-07-25 Amazonen-Werke H. Dreyer SE & Co. KG Landwirtschaftliches Gerät mit Windausgleich

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US20230217851A1 (en) 2023-07-13
CA3185667A1 (fr) 2021-12-09
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US12527243B2 (en) 2026-01-20

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