WO2019174934A1 - Procédé de réglage d'une quantité d'agent actif et/ou d'une position de buse de pulvérisation dans un dispositif de pulvérisation agricole - Google Patents

Procédé de réglage d'une quantité d'agent actif et/ou d'une position de buse de pulvérisation dans un dispositif de pulvérisation agricole Download PDF

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Publication number
WO2019174934A1
WO2019174934A1 PCT/EP2019/055169 EP2019055169W WO2019174934A1 WO 2019174934 A1 WO2019174934 A1 WO 2019174934A1 EP 2019055169 W EP2019055169 W EP 2019055169W WO 2019174934 A1 WO2019174934 A1 WO 2019174934A1
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WO
WIPO (PCT)
Prior art keywords
spray
unit
ground
camera unit
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.)
Ceased
Application number
PCT/EP2019/055169
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German (de)
English (en)
Inventor
Olaf Ohlhafer
Hans-Arndt Freudigmann
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2019174934A1 publication Critical patent/WO2019174934A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

Definitions

  • the invention relates to a method for adjusting an amount of active agent in a on a soil of an agricultural area by means of a
  • Spray nozzle unit of an agricultural sprayer Inventions, is also a control device and a computer program.
  • Sprays per time mainly calculated on the determined speed of the tractor or the self-propelled sprayer.
  • the quantity to be applied can be determined by a pressure change in the system or by the control of pulse-width modulated (PWM) valves
  • Decisive for a successful treatment of agriculturally used areas is the homogeneous and exact distribution of the sprays in the field.
  • the amount of spray agent to be delivered per time is set via the pressure or via the control of PWM valves.
  • the amount spent per time must be determined by the user or the on-board computer via the following parameters:
  • the quantity per area can now be set again while maintaining the above-mentioned parameters.
  • Acceleration sensors for speed determination or
  • Acceleration sensors the deflection of the sprayer boom in the direction of travel and thus the absolute position of a line in the spray boom is determined relative to the ground to influence an application rate of a good to be delivered.
  • the subject of the present invention is a method for adjusting an amount of active agent in a spraying liquid to be applied to a soil of an agricultural surface by means of a spray nozzle unit of an agricultural spraying device and / or a position of a
  • Spray nozzle unit of an agricultural sprayer relative to a soil of an agricultural surface comprising the steps of:
  • Camera unit of the agricultural spray device at a first time detected first image information of a first field portion of the agricultural area with at least one structure on the ground; Receiving a second image information signal with a captured by the camera unit of the agricultural spraying device at a second time second image information of a second field section agricultural area with the at least one structure on the
  • Camera unit relative to the ground and / or to determine a change in distance of the camera unit to the ground
  • Relative speed and / or the determined change in distance to a delivery unit of the spray device to adjust the amount of active agent in the Klamanden spray liquid and / or to a
  • Positioning unit to adjust the position of the spray nozzle unit relative to the ground.
  • the subject matter of the present invention is furthermore a control device which is set up to carry out all the steps of the method described above and an agricultural spraying device with a spraying nozzle unit, a camera unit, a conveyor unit and / or a positioning unit and furthermore the control device
  • the subject matter of the present invention is a computer program which is set up to carry out all the steps of a method described above and a machine-readable storage medium with the computer program stored thereon.
  • An agricultural purpose in the context of the present invention may be understood as a purpose which is directed to the economical cultivation of crops.
  • the agricultural spray device may in particular be part of an agricultural field sprayer or a plant protection device or be designed as an agricultural field sprayer or a plant protection device.
  • the spraying device can be arranged and / or arranged on or on a mobile unit.
  • the mobile unit may be used as a land vehicle and / or Aircraft and / or trailer may be formed.
  • the mobile unit may in particular be an agricultural work machine, for example a
  • Tractor a tractor, a self-propelled or autonomous sprayer or a self-propelled or autonomous robot.
  • the spray device may also be attached to a hydraulic device of the agricultural
  • the spraying device is constructed on a loading surface of the agricultural machine.
  • the spray device may be attached to the agricultural machine.
  • All steps of the method are preferably carried out during a movement, in particular a drive or a flight of the spray device over the agricultural area.
  • the spreading of the spray liquid takes place here on an agricultural area or an agriculturally used area.
  • This can be understood as a field or a cultivated area for plants or even a plot of such a cultivated area.
  • the agricultural area can thus be arable land, a grassland or a pasture.
  • the plants may include, for example, crops whose fruit is used for agriculture (for example as food, feed or as an energy crop) as well as weeds, weeds and grass weeds.
  • the plants can be part of the agricultural area.
  • oil here includes in particular plants or parts of plants to which the spray liquid is to be sprayed or applied in order to treat them.
  • the spray liquid has at least one active agent.
  • the spray liquid may also have two or more active agents.
  • the active agent may comprise a spraying agent, ie a preparation or pesticide, in particular a pesticide concentrate.
  • the active agent may, for example, comprise a herbicide, fungicide or an insecticide (pesticide).
  • the active agent may also comprise a fertilizer, in particular a fertilizer concentrate.
  • the active agent may accordingly have a liquid fertilizer and / or a growth regulator.
  • the active agent can be used as a liquid or as a solid, for example in the form of granules or pellets, or as a pre-dissolved solid, for example in the form of pre-dissolved granules or pellets.
  • the spray liquid further preferably comprises a liquid, in particular a carrier liquid for diluting the active agent.
  • Carrier liquid can be understood in the context of the present invention, a liquid which is adapted to be mixed with the active agent to a dispensing or dispensing of the active agent, eg.
  • a present as a solid or granules active agent is suspended in the carrier liquid. It is also conceivable that a non-soluble in the carrier liquid active agent is emulsified in the carrier liquid.
  • the carrier liquid is preferably water.
  • the spray liquid can be formed, for example, as: liquid, suspension, emulsion, solution or a combination thereof.
  • Spray liquid is preferably formed as a water-diluted plant protection or water-diluted fertilizer.
  • the spray liquid can be a spray mixture.
  • the spray nozzle unit is designed to apply the spray liquid, in particular to an agricultural surface.
  • the spray nozzle unit has at least one spray nozzle for dispensing the spray liquid.
  • the spray nozzle unit may include at least one valve for controlling the amount of spray liquid discharged. The valve can be
  • Upstream injection nozzle ie (in the flow direction of the spray liquid) be arranged upstream of the spray nozzle.
  • the spray nozzle unit may have a plurality of spray nozzles, each with an upstream valve.
  • the spray nozzle unit may also have a plurality of spray nozzles with only one of the spray nozzles upstream valve, so that upon actuation of the valve, the spray liquid is applied by means of all spray nozzles of the spray nozzle unit.
  • the spray nozzle unit may be formed as a partial width of a nozzle system.
  • the valve can also be arranged or integrated in the spray nozzle or the spray nozzles. Accordingly, the spray nozzle can be controllable or actuated, ie be designed to be openable and closable.
  • the camera unit has at least one camera. This can be an optical and / or multispectral and / or hyperspectral and / or infrared and / or 3D camera.
  • the camera unit can be designed to capture or record images in the NIR and / or visual area.
  • the spray nozzle unit and the camera unit are preferably at one
  • At least one camera of the camera unit can be arranged in the region of an outer end of the spray boom. Further or alternatively, at least one camera of the camera unit may be located in an area, i. be arranged in the vicinity of the spray nozzle unit or a spray nozzle.
  • the step of acquiring the image information is preferably carried out in a defined, in particular fixed, time interval. That is, in other words, the image information is detected at a defined repetition rate.
  • the field portion may be a captured portion of the camera.
  • the structure is preferably selected from the group consisting of: weeds, grass, crop, plant residue, stone, wood, debris, insects, patterns, or parts thereof.
  • the structure may also be a leaf, bud or other detectable plant part.
  • the structure can be part of the soil or the surface of the
  • the soil may also include the structure.
  • the determined relative speed of the camera relative to the ground is ultimately the relative speed of the spray boom at the corresponding position of the camera. The same applies to the
  • the change in distance of the camera unit or the camera to the ground is preferably a change in height relative to the ground.
  • the structure of the first image information is compared with the structure of the second image information.
  • the step of comparing may thus comprise a step of identifying the structure in the two image information.
  • a position and / or a geometric property of the structure in the first image information is compared with the position and / or the geometric property of the structure in the second image information.
  • a relative geometric displacement or a geometric distance of the structure in the field sections is preferably determined. The determination of relative geometric
  • Displacement takes place here relative to the field sections.
  • the amount of active agent can in particular by means of a conveyor unit
  • Adjust spray fluid The set amount of active agent is chosen in particular such that a homogeneous agent distribution results on the ground.
  • the delivery unit can be designed to convey or direct a liquid and / or a granulate under pressure, in particular to meter it. Accordingly, the delivery unit, for example, in each case one / a / one or more pumps, feed pumps, metering pumps,
  • Accumulators, augers, valves, diaphragms, etc. include.
  • the adjusted position of the spray nozzle unit or the spray nozzle may also include an angle relative to the ground.
  • the set position of the spray nozzle unit or the spray nozzle corresponds in particular to a desired position which would have the spray nozzle unit or the spray nozzle without deformation of the spray boom.
  • the position of the spray nozzle unit can in particular by means of a
  • Positioning be adjustable.
  • the positioning unit may be configured to raise and lower the spray nozzle unit relative to the ground and / or to move the spray nozzle unit forward and backward along a direction of movement of the spray device and / or the spray nozzle unit tilt.
  • the positioning unit can also be designed, a
  • a camera which is already mounted on the sprayer boom for performing other tasks, can additionally be used to record time-delayed image information with a structure on the ground, so that by means of the control device by comparing the image information, a relative speed of the camera unit relative to the ground and / or a change in the distance of the camera unit to the ground determined and in
  • Spray liquid and / or the position of the spray nozzle unit can be adjusted relative to the ground.
  • Spray nozzles and the camera unit having a plurality of cameras, wherein in each case a camera is arranged in the region of a spray nozzle and the
  • Positioning unit is designed to adjust the position of each spray nozzle relative to the ground separately.
  • every spray nozzle must be assigned a separate camera. Rather, for example, a camera can be arranged between two spray nozzles and assigned to both.
  • Measure may be, e.g. by means of a PWM (pulse width modulated) - valve control, the amount to be applied per unit time for each spray nozzle depending on the distance to the ground individually adjusted or adjusted.
  • PWM pulse width modulated
  • the camera unit is at least partially used for further tasks, in particular for detecting plant information and / or soil information, in particular a degree of coverage of the soil by plants.
  • a camera already present on the spraying device can additionally be used for the method according to the invention, without the need for an additional camera.
  • a step of determining the reproduction scale of the camera unit by means of
  • Camera unit for determining the relative speed to perform.
  • the image scale here is to be understood as the number of pixels per unit length on the field. In this way, a calibration of the pixel resolution can be carried out very simply and inexpensively.
  • a spray linkage information detected by means of at least one further camera of the camera unit is received, which represents a twisting and / or bending of the spray linkage, in order to prevent the spray boom from being sprayed
  • Fig. 1 is a schematic representation of an agricultural item
  • Fig. 2a, b is a schematic representation of the comparison of the image information for determining the relative geometric displacement
  • 3a, b a schematic representation of the comparison of the image information for determining the relative dimensional change
  • Fig. 1 is a schematic representation of an agricultural item
  • Spray device shown, which is provided in its entirety by the reference numeral 10.
  • the agricultural spraying device 10 is designed as a field sprayer 10.
  • the field sprayer 10 is arranged on a tractor 12 or a tractor 12.
  • the agricultural spray device 10 has a spray boom 14. At the spray boom 14, a spray nozzle unit 16 and a camera unit 18 is arranged.
  • the spray nozzle unit 16 has a multiplicity of spray nozzles 20 for discharging a spray liquid 22 onto a ground 26 of an agricultural surface 28.
  • the camera unit 18 has a plurality of cameras 24 which are located in an area, i. are arranged in the vicinity of the spray nozzles 20.
  • the agricultural spraying device 10 furthermore has a conveying unit (not shown) by means of which the quantity of active agent in the spraying liquid 22 to be dispensed is adjustable or variable. Furthermore, the agricultural spraying device has a positioning unit 30, by means of which the position of the spraying nozzle unit 16 or of the spraying nozzles 20 relative to the ground 26 can be adjusted or varied.
  • the camera unit 18 is designed to record time-shifted image information of field sections of the
  • Agricultural surface 28 with at least one structure 29 to detect which can be compared by means of a control device 32.
  • the structure 29 is a plant 29. Based on the result of the comparison, a relative speed of the camera unit 18 or the
  • Conveyor unit 45 are driven accordingly to adjust the Wirkmitelmenge in Exammeden spray liquid 22 and / or the
  • Positioning unit 30 are driven accordingly to adjust the position of the spray nozzle unit 16 and the spray nozzles 20 relative to the ground 26.
  • FIG. 2a shows how the step of the comparison for determining a relative speed of the camera 24 and the spray boom 14 is carried out relative to the ground 26.
  • FIG. 2 a shows how a first image information 33 of a first field section 34 of the agricultural surface 28 having a structure 29 - 1 or plant 29 - 1 on the ground 26 is first detected at a first time t 1. Subsequently, time-delayed, i. after a defined time interval at a second time t2 a second image information
  • the image information 33, 35 is then compared with one another in order to determine a relative geometric displacement (s) of the plant 29-1, 29-2 in the field sections 34, 36. Mitels the time interval t2-tl then the relative speed of the camera 24 and the spray boom 14 relative to the ground 26 can be calculated.
  • FIG. 3a b is shown how the step of the comparison for determining a change in distance of the camera 24 and the spray boom 14 is carried out relative to the ground 26.
  • FIG. 3 a it is shown in FIG. 3 a how a first image information 33 of a first field section 34 of the agricultural surface 28 having a structure 29 - 1 or plant 29 - 1 on the ground 26 is first detected at a first time t 1 , Subsequently, time-delayed, i. after a defined time interval at a second time t2, a second image information 35 of a second field section 36 of FIG
  • control device 32 is configured to receive from the camera unit or the camera 24 a first image information signal 38 with the first image information 33 and a second image information signal 40 with the second image information 35.
  • the control device 32 is further set up, by means of a computing unit 42 using the
  • Image information 33, 35 i. to compare the structure 29 in the image information 33, 35, and to determine a relative speed of the camera unit 18 relative to the ground 26 and / or a change in the distance of the camera unit 18 to the ground 26.
  • the control device 32 is also designed to store the received and determined values by means of a memory unit 44.
  • the control device 32 is finally set up to output a control signal 46 as a function of the determined relative speed and / or the determined change in distance to a delivery unit 45 of the spray device 10 in order to adjust the amount of active agent in the spray liquid 20 to be dispensed and / or to output to a positioning unit 30 adjust the position of the spray nozzle unit 16 relative to the ground 26.
  • FIG. 5 shows a flowchart of a method 100 for setting an amount of active agent in a soil 26 of an agricultural area 28 by means of a spray nozzle unit 16 of an agricultural
  • the method 100 comprises a step of receiving 102 a first image information signal 38 with a by means of a camera unit 18 of the agricultural
  • the method 100 further includes a step of receiving 104 a second one
  • the method 100 further comprises a step of comparing 106 of the image information 33, 35, by a relative speed the camera unit 18 relative to the ground 26 and / or a change in the distance of the camera unit 18 to the ground 26 to determine.
  • the method 100 comprises a step of outputting a control signal 46 as a function of the determined relative speed and / or the determined change in distance to a delivery unit 45 of the spray device 10 in order to adjust the amount of active agent in the spray liquid 22 to be dispensed and / or to a
  • Positioning unit 30 to adjust the position of the spray nozzle unit 16 relative to the ground 26. If an exemplary embodiment comprises an "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

La présente invention concerne un procédé de réglage d'une quantité d'agent actif dans un liquide de pulvérisation à appliquer sur un sol d'une surface agricole au moyen d'une unité de buse de pulvérisation d'un dispositif de pulvérisation agricole et/ou d'une position d'une unité de buse de pulvérisation d'un dispositif de pulvérisation agricole par rapport au sol d'une surface agricole, comprenant les étapes consistant à: recevoir un premier signal d'informations d'image (38) comportant les premières informations d'image (33), détectées au moyen d'une unité de caméra (18) du dispositif de pulvérisation agricole à un premier moment, d'une première section de champ de la surface agricole présentant au moins une structure au sol ; recevoir un deuxième signal d'informations d'image (40) comportant des deuxièmes informations d'image (35), détectées au moyen d'une unité de caméra (18) du dispositif de pulvérisation agricole à un deuxième moment, d'une deuxième section de champ de la surface agricole présentant au moins une structure au sol ; comparer les informations d'image (33, 35) pour déterminer une vitesse relative de l'unité de caméra (18) par rapport au sol et/ou une modification de distance de l'unité caméra (18) par rapport au sol ; et émettre un signal de commande (46) en fonction de la vitesse relative déterminée et/ou de la modification de distance déterminée à une unité de transport (45) du dispositif de pulvérisation pour ajuster la quantité d'agent actif dans le liquide de pulvérisation à appliquer et/ou à une unité de positionnement (30) pour régler la position de l'unité de pulvérisation par rapport au sol.
PCT/EP2019/055169 2018-03-13 2019-03-01 Procédé de réglage d'une quantité d'agent actif et/ou d'une position de buse de pulvérisation dans un dispositif de pulvérisation agricole Ceased WO2019174934A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018203758.2A DE102018203758A1 (de) 2018-03-13 2018-03-13 Verfahren zum Einstellen einer Wirkmittelmenge und/oder einer Spritzdüsenposition in einer landwirtschaftlichen Spritzvorrichtung
DE102018203758.2 2018-03-13

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WO2019174934A1 true WO2019174934A1 (fr) 2019-09-19

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PCT/EP2019/055169 Ceased WO2019174934A1 (fr) 2018-03-13 2019-03-01 Procédé de réglage d'une quantité d'agent actif et/ou d'une position de buse de pulvérisation dans un dispositif de pulvérisation agricole

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WO (1) WO2019174934A1 (fr)

Families Citing this family (4)

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CN114119736B (zh) * 2020-08-28 2025-03-11 中联农业机械股份有限公司 用于农业机械的控制方法、控制装置、农业机械及处理器
DE102020215878A1 (de) 2020-12-15 2022-06-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausbringen eines Spritzmittels auf eine landwirtschaftliche Fläche
CN112616812B (zh) * 2021-01-07 2022-12-06 重庆妙栽生物科技有限公司 一种农业用农作物喷药装置
US20250185642A1 (en) * 2022-03-10 2025-06-12 Basf Agro Trademarks Gmbh Computer-implemented method for providing variable application rate data

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DE102011108480A1 (de) 2011-07-25 2013-01-31 Carbofibretec Gmbh Feldspritze mit Schwingungskompensation an einer Feldspritzleitung
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FR2964047B1 (fr) * 2010-08-31 2015-05-22 Exel Ind Ensemble de pulverisation et pulverisateur equipe d'au moins un tel ensemble
US9717171B2 (en) * 2013-03-07 2017-08-01 Blue River Technology Inc. System and method for automated odometry calibration for precision agriculture systems
EP2835050B1 (fr) * 2013-08-09 2020-10-07 Lemken GmbH & Co. KG Pulvérisateur agricole comprenant une rampe d'pulvérisation
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Publication number Priority date Publication date Assignee Title
DE102011108480A1 (de) 2011-07-25 2013-01-31 Carbofibretec Gmbh Feldspritze mit Schwingungskompensation an einer Feldspritzleitung
WO2015181642A2 (fr) * 2014-05-05 2015-12-03 Horticulture Innovation Australia Limited Procédés, systèmes et dispositifs concernant l'identification d'objets en temps réel
KR101550812B1 (ko) * 2015-02-05 2015-09-18 (주)비엔씨하이텍 무인 약제 분사 시스템
WO2016144795A1 (fr) * 2015-03-06 2016-09-15 Blue River Technology Inc. Système modulaire d'agriculture de précision
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