DE102007049652A1 - Manure distributor controlling method for use in agricultural field, involves manipulating throw disks and/or feeding devices for mineral fertilizers in such manner that preset distribution of fertilizers at respective position is achieved - Google Patents

Abstract

The method involves determining driving direction, driving speed and environmental conditions using a satellite supported position determining system with a digitalized map during coarse control, where the map considers field borders and contours. Momentary position/direction and disturbed movements of a manure distributor and/or by throw disks are determined during fine control. The disks and/or feeding devices for mineral fertilizers are manipulated using actuators e.g. three point lifter, in such a manner that preset distribution of the fertilizers at a respective position is achieved. An independent claim is also included for a device for execution of manure distributor controlling method, comprising an electronic controller.

Description

The The invention relates to a method and a device for controlling a fertilizer spreader, with the mineral fertilizer with predeterminable distribution and changeable throw range Fields should be applied differentiated locally.

in the agricultural area includes the application of mineral fertilizer to the most important care work. Usually while predominantly spreaders with discs used. So trained fertilizer spreaders can immediately be arranged on vehicles and operated on it. You can but also with towing vehicles, such as tractors, moved become. With the known technique can be large Throw lengths or working widths that can exceed 30 m, be achieved. For a positionally accurate distribution of Mineral fertilizer transverse to the direction of travel is a constant or defined throw a key requirement. changed But in an undesirable form the appropriate throw can an unfavorable distribution to a partial undersupply lead to mineral fertilizer, which in turn yield losses can result. Conversely, it can cause over-fertilization also yield losses (eg due to storage grain) cause or increase the environmental impact can. An increased environmental impact, for example occur by nitrate leaching. For these reasons it is of great importance in practical use, one keep as constant or defined throw as possible to be able to.

Furthermore It is often desired, the amount to be applied mineral fertilizer to the particular soil condition, which can be locally different on a field but adapt to can. For this purpose, so-called harvest cadastre provided in digitized form. With such Crop registers can be a demand different locally differentiated Distribution of mineral fertilizer can be achieved. Such crop cadastre can on the basis of yields, which determines locally differentiated in advance have been created. So can areas of a Field, where, for example, in the previous year, a lower yield has been achieved with a larger amount Mineral fertilizer per unit area are supplied, as would be the case in higher yield field areas should.

• – physikalische Eigenschaften des Mineraldüngers, wie beispielsweise die Korngrößenverteilung, das spezifische Gewicht, die Oberflächenbeschaffenheit, die Festigkeit und Form von Düngerpartikeln,
• – die jeweilige Bauart des Streuorgans (Wurfscheibe), der jeweilige Aufgabeort von Mineraldünger auf Wurfscheiben, die Lage, der Ausrichtungswinkel in Bezug zum Erdboden, die jeweilige Anzahl und Form von Wurfscheiben, die Form von gegebenenfalls vorhanden Streuscheiben und die Drehzahl der Wurfscheiben,
• – die jeweilige Fahrgeschwindigkeit, eine Zapfwellendrehzahl, die zum Antrieb eines Düngerstreuers genutzt wird, die Anbauhöhe und Neigung eines Geräts, das Einhalten eines vorgegebenen Fahrspurabstandes (Überlappung), Schwank- und Nickbewegungen eines Düngerstreuers,
• – Umweltbedingungen, wie z. B. Luftfeuchte, Geländeneigung, Bodenunebenheiten, Windrichtung und -geschwindigkeit.

The particular range of the fertilizer spreaders in question can be influenced by a variety of parameters. The most important ones are:

• Physical properties of the mineral fertilizer, such as particle size distribution, specific gravity, surface texture, strength and shape of fertilizer particles,
• - the particular type of spreading device (disc), the respective task of mineral fertilizer on discs, the location, the orientation angle with respect to the ground, the respective number and shape of discs, the shape of possibly present discs and the speed of the discs,
• - the respective driving speed, a PTO speed which is used to drive a fertilizer spreader, the mounting height and inclination of a device, the maintenance of a given lane spacing (overlap), swaying and pitching movements of a fertilizer spreader,
• - environmental conditions, such. B. Humidity, terrain slope, uneven ground, wind direction and speed.

at the distribution of mineral fertilizers over fields but are also the geodetic conditions too consider. This affects a respective slope in relation to the direction of travel of a fertilizer spreader also on the achievable throw distance.

Options, with which the appropriate parameters are taken into account can be partially known from the prior art.

That's how it describes DE 198 30 858 A1 an apparatus and method for determining a virtual location. Here, a reference point on an agricultural vehicle or implement is to be determined. For determining the position when processing on fields, it is customary to use known satellite navigation systems, as is the system commonly referred to as GPS. The satellite signals are determined with arranged on a vehicle or implement antennas. In the solution described in this prepublished document, deviations from the particular position determined by means of the antenna should be compensated for as a result of inclination of a working device or vehicle.

In the DE 196 47 523 A1 Also, an agricultural utility vehicle is described that can be controlled using a satellite navigation system. It should also be possible to adjust the position and / or orientation of existing on the respective vehicle processing devices using the respective satellite navigation position signals.

In DE 198 35 487 A1 a method for operating a centrifugal spreader is described with a reservoir in which with an on-board computer system an accurate and automatic Application of fertilizer according to the required mineral fertilizer supply and the respective contour of the field should be made. Again, a satellite navigation system will be used.

In the DE 10 2004 030 240 A1 described technical solution relates to a device for distributing grit, especially fertilizer, seeds or derglei surfaces. It should also be possible for large working widths an exact Streobarkeit.

Out EP 1 181 857 A1 For example, a method for controlling and / or regulating agricultural processing and / or distribution machines is known. It should be stored in a computer machine-specific data for setting the machine per site and area. On the basis of this data, a processing and / or distribution machine should be controlled or regulated. There is also provided a position sensor for generating field coordinate signals for indicating the relative position of the vehicle in the field, wherein the control and / or regulation is to take place as a function of the respective current position.

at none of the known technical solutions but all essential parameters, and here in particular, suddenly and possibly unpredictably changing parameters considered.

It is therefore an object of the invention, the accuracy of a control for the distribution of mineral fertilizers with fertilizer spreaders to improve per unit area on a field.

According to the invention this task with a method that the features of the claim 1, solved. The method can be used with a device be carried out according to claim 12.

advantageous Embodiments and developments of the invention can with features referred to in the subordinate claims be achieved.

at the method of the invention for control a fertilizer spreader, with the mineral fertilizer with predeterminable distribution and changeable throw range Fields should be differentiated locally, this is with a coarse and a fine control achieved. It can be per area under Consideration of the prevailing outer Influences and possibly also a previously determined need the amount of fertilizer to be distributed will be affected.

For the coarse control becomes a satellite-based positioning system with digitized map, showing the field boundaries and also contour lines are used. In addition, will Direction of travel and travel speed, jamming movements (Pitching, rolling, accelerations in different directions or vibrations) as well as environmental conditions and in which Control taken into account.

at the fine control will be at least the current position / orientation of the fertilizer spreader, jamming movements and / or of Throwing discs of a fertilizer spreader determined.

With Help of the coarse and fine control are using actuators the flying discs, Rotational speed of the discs, baffles and / or task devices so manipulated for mineral fertilizer on clay targets that a given distribution of mineral fertilizer at the respective position can be achieved. Throwing discs can be adjusted, which in at least two directions of the Case can be. For this example, a gimbal Suspension can be selected.

This can the respective desired throw, also under consideration the slope in relation to the respective position to the direction of travel, which takes into account each transverse to the direction of travel it's his. In addition, as in the introductory part of the Description already explained, but also a harvest cadastre be taken into account.

at The invention is also possible, suddenly and to consider unexpected influences like this when driving over bumps of the ground or a sinking of individual wheels at locally occurring reduced soil strength may be the case. It can too brief swaying and pitching movements, even with higher ones Frequencies come to be used by inventively Sensors detected and then in the control of the fertilizer spreader can be considered.

at Acceleration and / or tilt sensors can be used with the invention are used, preferably directly on, but at least in close to a fertilizer spreader and here most preferably arranged in the vicinity of discards should be.

With If possible, the sensors should be given a determination of the inclination and / or acceleration in three mutually perpendicular axes to be possible. This can be done with a single one each Sensors, but also with several then in the respective axis directions sensitive sensors can be achieved.

The controller according to the invention can then influence the already mentioned actuators be so that, depending on a detected position / orientation of the distance to the ground, the angle of inclination, the speed, baffles and / or the task of Mi nereral fertilizer on discs by the coarse and fine control can be adjusted. Actuators can be hydraulically adjustable top links, adjustable lifting struts, hexapods or cardanic suspensions. But it can also be used a three-point lifter on a vehicle.

additionally But there is also the possibility of a corresponding addition of mineral fertilizer to be distributed also under consideration make a harvest cadastre.

at but the parameters of the control can also be the humidity, Wind speed, wind direction and / or physical properties of the respective mineral fertilizer are taken into account. Humidity, wind speed and wind direction can either by manual entry into the respective electronic control, but preferably also suitable for this purpose Sensors are taken into account.

The physical properties of a mineral fertilizer can but also via an interface of the electronic control be supplied. In this case, for example, with an optical interface a corresponding barcode is read before the start of the mission. But there is also the possibility of such physical Parameter wirelessly using an RFID system in an electronic Control read in and then later when applying the Mineral fertilizer to consider.

Prefers Each should be present on a fertilizer spreader Speeding disc can be controlled individually, as possible in both directions across and possibly also along the direction of travel the optimally desired distribution of mineral fertilizer to reach.

As already mentioned, can a fertilizer spreader on one Be operated vehicle mounted. But it is often the case that a fertilizer spreader is attached to the vehicle or pulled by a vehicle. In this case should also the Position of the respective fertilizer spreader in relation to a Vehicle determined and taken into account in the control can be. This is especially the case when the satellite-based position determination of the respective Traction vehicle takes place. This can be done on the fertilizer spreader or at connecting elements between fertilizer spreader and be arranged respective sensors corresponding sensors, with each of which the position and orientation of the vehicle and fertilizer spreader determined and subsequently for the control of the fertilizer spreader then be considered accordingly.

at Advantageously, the invention may also proceed as follows be that one at a distribution of mineral fertilizer occurred reduced or increased range in one lane, taking into account each subsequent lane and a constant overlap when applying mineral fertilizer is complied with. This can be the case, for example, if the direction of travel when applying mineral fertilizer across Slope on a field and thus a reduced throw in a direction transverse to the direction of travel and an elevated Throwing distance in the opposite direction has occurred. there should also be an appropriate adaptation to the area to be distributed fertilizer mass.

With the controller according to the invention can also the driving speed when applying mineral fertilizer to be influenced. This should be the case in particular when floor tricks have been run over or increased Slopes on the fertilizer spreader have occurred. This is whole especially favorable when such swaying and pitching motion occurred in short succession with increased frequency. When the conditions improve again, the driving speed can be improved be automatically increased again.

As Already addressed, signals from sensors or also input parameters wirelessly transmitted to the electronic control become. But this is also alone or in addition to possibly already existing bus systems possible.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 19830858 A1 [0007]
• - DE 19647523 A1 [0008]
• - DE 19835487 A1 [0009]
• DE 102004030240 A1 [0010]
• EP 1181857 A1 [0011]

Claims (20)

Method for controlling a fertilizer spreader, with the mineral fertilizer with predeterminable distribution and changeable Throwing distance on fields is applied locally differentiated, whereby this is done with a coarse and a fine control becomes; there for the coarse control a satellite based Positioning system with digitized map showing the field boundaries and contour lines, the determination of direction of travel and travel speed as well as environmental conditions be used or taken into account; and in the Fine control of the current position / alignment, interference movements of the fertilizer spreader and / or spreading discs of a fertilizer spreader determined and by means of actuators the flying discs and / or task devices be manipulated for mineral fertilizer so that a predetermined distribution of mineral fertilizer at the respective Position is reached. Method according to claim 1, characterized in that that for the momentary determination of location / orientation and / or jamming movements of the fertilizer spreader acceleration and / or tilt sensors are used. Method according to claim 1 or 2, characterized that with actuators, the distance to the ground, the angle of inclination, the speed, baffles and / or the task of mineral fertilizer Scales are set by coarse and fine control / are. Method according to one of the preceding claims, characterized in that in the coarse control the humidity, Wind speed, wind direction and / or physical properties of the respective mineral fertilizer are taken into account. Method according to one of the preceding claims, characterized in that each individual disc is controlled individually becomes. Method according to one of the preceding claims, characterized in that in the fine control, the acceleration, Noise movements and / or inclination relative to three at right angles to each other aligned axes and taken into account in the control will be. Method according to one of the preceding claims, characterized in that the position of the fertilizer spreader determined in relation to a towing vehicle and taken into account in the control. Method according to one of the preceding claims, characterized in that a predetermined amount of mineral fertilizer per unit area taking into account one pre-created crop cadastre for coarse and fine control depending on the particular position becomes. Method according to one of the preceding claims, characterized in that one in a distribution of mineral fertilizer reduced or increased throw in one Track, taking into account each subsequent track and a constant overlap is maintained. Method according to one of the preceding claims, characterized in that physical parameters of the respective Mineral fertilizer visually and / or electronically readable Coarse control are supplied. Method according to one of the preceding claims, characterized in that the driving speed when driving over bumps or increased inclination is reduced by the controller. Apparatus for carrying out the method according to one of claims 1 to 11, characterized in that an electronic control with a satellite-based Positioning system, a stored digital map of the respective field to be fertilized and at least one sensor for determining the position / orientation of a fertilizer spreader are present, the actuators to influence the throw of Control flying discs. Device according to claim 12, characterized in that that the sensor (s) at least in the immediate vicinity arranged the fertilizer spreader or its spreading discs is / are. Device according to claim 12 or 13, characterized that at least one acceleration or inclination sensor is present is. Device according to one of claims 12 to 14, characterized in that one or more actor (s) is designed as a hexapod or as a three-point lifter / are. Device according to one of claims 12 to 15 characterized in that the place of impact of mineral fertilizer is changeable on rotating discs. Device according to one of claims 12 to 16, characterized in that flying discs in at least two axis directions are adjustable. Device according to one of claims 12 to 17, characterized in that an optical or wireless Interface for collecting data at the electronic control is available. Device according to claim 18, characterized in that that physical parameters of a mineral fertilizer over the interface of the electronic control fed are. Device according to one of claims 12 to 19, characterized in that sensor signals from sensors wirelessly and / or via a bus system to the electronic Control are transferable.