DE102020124792A1 - Agricultural sprayer, method of applying spray liquid and agricultural sprayer - Google Patents

Abstract

The invention relates to an agricultural spray device (50), in particular a field sprayer (10), for spraying agricultural spray liquid, having a spray boom (14) with a support structure (22) and with spray nozzles (20). In order to create a spraying device (50) in a simple manner, with which the position of spray nozzles (20) can be adjusted to the working widths of a previous working process, it is provided that at least two can be attached independently of one another in the longitudinal direction by means of joint arrangements (34) on the support structure (22). (LR) of the spray boom (14) pivotally mounted nozzle carriers (36), each with a plurality of spray nozzles (20), wherein the positions of the nozzle carriers (36) can be controlled and/or regulated by means of an actuating device (40), as well as an the number of detection devices (42) adapted to the nozzle carrier (36) and/or to the plant row grid (32), the detection devices (42) being set up to determine a position of at least one spray nozzle (20) of the respective nozzle carrier (36) relative to a plant row grid (32) to detect on the agricultural area (12), and with a control device (60), which enger to The aim is to generate control and/or regulation signals for the adjusting device (40) as a function of the position. The invention also relates to a method for applying spray liquid and to an agricultural field sprayer

Description

The invention relates to an agricultural spray device, in particular a field sprayer, for spraying agricultural spray liquid on a plant row grid formed by plant rows on an agricultural area. The invention also relates to a method for dispensing spray liquid. In addition, the invention relates to an agricultural field sprayer.

A spray device, or a field sprayer was through the U.S. 5,279,068 A already known, which spray device comprises a plurality of spray nozzles, which are arranged on a spray boom and adapted to apply spray liquid on an agricultural area. The spray device comprises a detection device, which is set up to detect rows of plants on the agricultural area, an adjustment device, by means of which the impact area of the spray liquid emitted by one or more spray nozzles on the agricultural area can be changed during the application process, and a control device, which is set up for this purpose is to control the adjusting device depending on the rows of plants detected by the detection device on the agricultural area during the application process.

With the spraying device known from the prior art, the row-dependent distribution of spray liquid can be significantly improved, but only all nozzles can be adjusted together relative to the rows of plants by means of an adjustment mechanism.

However, since the spray devices often have a multiple of the working width of, for example, seed drills, an adjustment according to the U.S. 5,279,068 A often not sufficient for an exact application of spray liquid, especially not sufficient for row crops with large row spacings, since, for example, when driving the seed drills connected during sowing, there can be deviating distances between two rows of the row crop and due to the fixed regular arrangement of the spray nozzles on the spray boom an adaptation to these distances between the row cultures is not possible.

Another spray device was by the EP 3 366 134 A1 famous. Each spray nozzle is assigned a sensor for detecting a row of plants, and each spray nozzle can be adjusted transversely to the direction of travel in order to achieve a desired impact area of the spray fan of the spray nozzles. A disadvantage of this system, however, is that a large number of sensors and actuators, that is to say corresponding to the number of spray nozzles, is required, making this spray device expensive and susceptible to maintenance.

The object of the invention is therefore to eliminate the disadvantages of the prior art described. In particular, a spray device is to be created in a simple manner with which the position of spray nozzles can be adjusted to the working widths of a previous working process.

These objects are achieved by an agricultural spray device with the features of independent claim 1, by a method for applying spray liquid with the features of method claim 15, and by an agricultural field sprayer with the features of claim 16. Advantageous embodiments and developments of the invention are in the claims and the following description with partial reference to the figures.

The invention relates to an agricultural spray device, in particular a field sprayer for spraying agricultural spray liquid.

The spray device has a spray boom with a support structure. In addition, the spray device (or the spray boom) has spray nozzles. The spray nozzles are set up to spray (e.g. distribute, apply, or the like) spray liquid to generate a spray fan on a plant row grid formed by plant rows on an agricultural area.

In order to create a spray device in a simple manner, with which the position of spray nozzles can be adjusted to the working widths of a previous work process, it is provided according to the invention that at least two nozzle carriers, each with a large number of spray nozzles, are pivotably mounted on the support structure by means of joint arrangements and can be pivoted independently of one another in the longitudinal direction of the spray boom are provided, the positions of the nozzle holders being controllable and/or adjustable by means of an actuating device.

In addition, according to the invention, a number of detection devices adapted to the number of nozzle holders and/or plant row grids is provided, with the detection devices being set up to counter a position of at least one spray nozzle of the respective nozzle holder to be recorded via a plant row grid on the agricultural area.

In addition, a control device is provided according to the invention, which is set up to generate control and/or regulation signals for the actuating device as a function of the position.

The invention makes use of the knowledge that by arranging spray nozzles together on a nozzle carrier and by adjusting the nozzle carrier in the longitudinal direction of extension of the spray boom, deviations in the row spacing, which are generated during sowing, for example when seeding machines connect to each other, can be taken into account during the Spraying process can be reacted.

The invention also makes use of the knowledge that the row spacing of the plant rows is in a fixed plant row grid through the use of sowing machines, but only the spacing of the plant rows between two plant row grids can deviate from the actual plant row grid, which means that it is not necessary to adjust the position of individual spray nozzles . Accordingly, it is particularly sufficient according to the invention if the number of detection devices is adapted to the number of nozzle carriers.

As a result of the measures according to the invention and the use of a number of detection devices that is preferably adapted to the number of nozzle carriers, a significantly simpler spraying device is achieved compared to the prior art, while at the same time being highly flexible.

According to the invention, detecting a position of the spray nozzles of the respective nozzle carrier relative to a plant row grid can include indirect detection and/or direct detection, and accordingly also include calculating the position based on data from the detection device.

In particular crop protection agents such as fertilizers, pesticides, insecticides, fungicides and/or the like are used as the spray liquid. The spray liquid can also be a carrier liquid (e.g. water) with granular pesticides dissolved in it. The spray liquid can also include different types and/or multiple types of liquids.

Spraying includes, in particular, distribution, application or the like, this taking place in particular with the generation of a spray fan by means of the spray nozzle. In this case, the spray fans are produced in particular by atomizing the spray liquid, which is expediently atomized by means of the spray nozzle. The spray fans can, for example, comprise one or more spray cones, spray jets and/or the like. The spray fans can be symmetrical and/or asymmetrical. Also, the spray fan could be 3-dimensional. The spray nozzles can be formed, for example, by flat jet nozzles, hollow cone nozzles or the like.

It is possible for different spray nozzles to be attached to the nozzle carrier, which can be selectively activated by means of the control device.

In order to provide and carry along the respective spray liquid, the spray device or the field sprayer comprises at least one reservoir.

The spray device includes a spray boom. The sprayer boom can be composed in particular of a central part and cantilevers mounted on the left and right about, for example, an upright axis. The spray boom, expediently the middle part and the boom, each comprise a support structure. In particular, the support structure can be a frame construction and the support structure can preferably comprise joints (e.g. bearings, ball joints and/or the like) for mounting the joint arrangements.

According to the invention, a plant row grid comprises in particular at least two plant rows.

A plant row grid can be defined, for example, by a work process preceding the spraying process, for example by a sowing process using a seed drill. The plant row grid is specified in particular by a working width of the seed drill, which means that the distance between the plant rows and thus the plant row grid remains constant within the working width of the seed drill. Deviations between the rows of plants and thus the grid of rows of plants usually only occur between two working widths of the seed drill, i.e. in particular when the seed drill makes a connection, whereby the row spacing can be larger or smaller, but can also remain constant and/or may vary.

The detection device is expediently set up in particular for a position of the spray nozzles of the respective nozzle carrier opposite to capture a plant row grid on the agricultural area.

It is optionally possible for the detection device to be set up to detect a distance between two plant row grids, in which case the control device can be set up to generate control and/or regulation signals for the actuating device depending on the distance between two plant row grids.

A preferred embodiment variant of the invention can provide that the joint arrangement is formed by a four-bar arrangement, in particular by a parallelogram, which is set up to keep an angular position of the nozzle carrier relative to the carrier structure at least largely constant, in particular at least largely parallel to it, regardless of its pivoting position keep. This makes it possible to ensure that the angle at which the spray fan impinges on the area of the agricultural area to be treated remains constant, regardless of the position of the nozzle carrier, and the angular position of the spray fan relative to the agricultural area can preferably also be kept at least largely constant.

According to an alternative or additional embodiment variant, however, it is also possible for the joint arrangements, in particular the components forming the four-bar linkage, to have a variable length in order, for example, to compensate for different height distances to the rows of plants on the agricultural area and/or to adjust the angular position of the spray nozzles in a targeted manner to change.

In order to achieve a spray device that can be used flexibly, it is possible according to one embodiment that the spray device can also be operated with spray nozzles without a nozzle carrier, whereby provision can be made for liquid nozzles to be arranged on the carrier structure, which are operatively connected to a storage container by means of a liquid line system (e.g fluidly connected). In addition, to achieve a simply constructed liquid line system, it can be provided that when using the spray nozzles of a nozzle carrier, at least some spray nozzles of a nozzle carrier are operatively connected to at least some liquid nozzles by means of connecting lines (e.g. hose lines, pipelines and/or the like).

According to a development of the invention, it is possible for the liquid nozzles arranged on the carrier structure and the spray nozzles arranged on the nozzle carriers to each have different distances from one another and/or have different numbers. For example, the liquid nozzles can have a distance of 25 cm or 50 cm from one another and the spray nozzles can have a spray nozzle distance of 25 cm or 50 cm or 75 cm from one another, which is particularly adapted to the distance between the rows of plants.

It is possible for a number of liquid nozzles to be divisible by a number of spray nozzles in such a way that a resulting quotient value is an integer. For example, 144 liquid nozzles (e.g. with a 36 meter working width of the sprayer boom and a distance of 25 cm between the liquid nozzles) and e.g. only 48 spray nozzles (e.g. to achieve an adjustment to a plant row grid with a distance of 75 cm between the plant rows) can be provided where the resulting quotient value is 3 and is therefore an integer.

In order to be able to use the spraying device to spray spray liquid in lower-lying areas of the plant rows, it is possible according to a further development of the invention for trailing hoses (e.g. so-called droplegs) to be attached to the nozzle carriers, to which in turn the spray nozzles are attached. The drag hoses can in turn be connected to the liquid nozzles by means of connecting lines.

The spraying device can be adapted to, for example, different working widths of sowing machines, hoeing machines or the like by designing the carrier structure in such a way that nozzle carriers having different widths can be mounted on it. What can be achieved in particular in that the support structure has a plurality of joints.

According to a development of the invention, it is possible for a large number of nozzle carrier segments to be attached to the carrier structure, which in turn can be coupled and/or connected to one another in order to achieve a width of the nozzle carrier adapted to a plant row grid. For example, nozzle carrier segments with a width of 2 meters or 3 meters or 4 meters or 6 meters can be provided, which can be coupled to one another in order to obtain nozzle carriers with a width of, for example, 6 meters or 9 meters or 12 meters.

In a preferred embodiment of the spray device according to the invention, a working width of the spray boom can be divided by a working width of the spray nozzles arranged on a nozzle carrier in such a way that the resulting quotient value is an integer. It may also be possible that the Quo tientenwert defines the number of nozzle carriers attached to the carrier structure.

It is thus possible, for example, to adapt a number of nozzle holders to a working width of a seed drill, i.e. if the spray boom has a working width of 36 meters and a seed drill has a working width of 12 meters, for example, the resulting quotient value is 4, which means that 3 nozzle carriers are arranged on the spray boom, each with a working width of the spray nozzles attached to this of 12 meters.

In order to achieve sufficient pivotability of the nozzle carriers in the longitudinal direction of the spray boom, it is possible for the nozzle carriers to have a minimum distance from one another in the longitudinal direction that is less than or equal to a spray nozzle distance of two spray nozzles from one another.

In a preferred embodiment, it is possible for a pivoting range of the nozzle holders to be limited in at least one direction in the longitudinal direction of the sprayer boom (e.g. by means of the actuating device and/or by means of mechanical limiting stops), with a maximum pivoting range being less than or equal to half a spray nozzle distance of two spray nozzles to each other. This ensures that collisions of the nozzle carriers are prevented.

In order to achieve an even better adaptation of the distribution of spray liquid, it is possible, according to an alternative or additional embodiment variant, for the detection device to be and/or be signal-connectable to a position-determining system (e.g. GPS system and/or similar satellite-linked system) and is set up using the data from the position determination system to detect a position of at least one spray nozzle of the respective nozzle carrier in relation to a grid of rows of plants on the agricultural area. It is thus possible, for example, for plant row grids to be recorded by the position determination system during a sowing process, which grids can then (ie in a subsequent work process) be processed by the detection device.

In order to achieve a targeted distribution of spray liquid in relation to a plant row grid, it is also possible according to a development of the invention for the nozzle carrier to be controlled and/or regulated in such a way that a defined distance in the longitudinal direction of the spray boom between the spray nozzle and at least one Plant row of the plant row grid is generated.

According to the invention, it is preferably possible for the number of detection devices to be identical to the number of nozzle carriers and/or nozzle segments.

The detection device is formed in particular by a sensor and/or a camera and/or a plurality of sensors and/or a plurality of cameras, which is set up to detect a plant row grid. The detection device is preferably set up to detect a row of plants and to use this row of plants to define a position of the grid of rows of plants, in particular in relation to the spray nozzles of a nozzle carrier.

According to an alternative embodiment variant, the detection device can be attached to the nozzle carrier and/or attached to the carrier structure.

It is possible for a large number of detection devices to be attached to the nozzle carrier and/or to the support structure, with only a number of detection devices corresponding to the number of nozzle carriers being set up to determine a position of the spray nozzles of the respective nozzle carrier relative to a grid of rows of plants on the agricultural area to capture.

The actuating device can be formed, for example, by one or more actuators, motors, actuating drives or the like. The adjusting device can preferably be formed by a double-acting cylinder or by two single-acting cylinders (e.g. hydraulic cylinders, pneumatic cylinders), preferably acting in opposite directions.

A sensor arrangement (e.g. angle sensor, displacement sensor) can be assigned to the actuating device and/or the joint arrangement, which is set up to detect a position of the nozzle carrier relative to the carrier structure and/or a length of the actuating device and/or a distance between two nozzle carriers. In turn, the control device can be set up to generate control and/or regulation signals for the adjusting device depending on the position of the plant row grid and based on the data from the sensor arrangement.

According to an optional embodiment variant of the invention, it is possible to maintain a desired height distance of the sprayer boom in relation to a plant row grid formed by plant rows on an agricultural area Liable that a height position of the sprayer boom relative to a plant row grid formed by rows of plants on an agricultural area can be changed by means of an adjustment device, with the control device being set up to transmit control signals for the adjustment device using distance sensors (e.g Ultrasonic sensors) detected distance data and / or based on the offset value defined by a distance between the support structure and the nozzle carrier.

It should also be pointed out that recording can also include determining, generating and/or the like.

It should also be pointed out that generating can also include calculating, generating and/or the like.

In the context of the invention, the direction of travel corresponds in particular to a forward direction and/or a direction in which the spray device or field sprayer is moved along an agricultural area. In addition, the direction of longitudinal extent corresponds to an extent of the sprayer boom extending transversely to the direction of travel. The direction of longitudinal extension of the sprayer boom is defined in particular by a working width of the sprayer boom.

The control device has, e.g /or control circuit is expediently designed for hydraulic and/or pneumatic and/or electrical signal and/or command transmission. Which signal and/or command transmission can also take place wirelessly (e.g. via WLAN).

In the context of the invention, the concept of the control device includes, in particular, the entirety of the components for signal and/or command transmission. Accordingly, computer units, CPUs and/or the like are also included. Control devices integrated in the respective sensors or sensor units or sensor arrangements are also included. It should also be pointed out that the signals/data from the sensors/measuring devices/detection devices and/or the like can each be used as feedback for a control and/or regulation variable.

It should also be pointed out that the terms "control" and "regulation" and "control device" and "regulation device" can refer to electronic and/or pneumatic and/or hydraulic controls or regulations that, depending on the training, have control tasks and/or regulation tasks can take over. Even if the term “control” is used here, it can also appropriately include “rules”. Likewise, when using the term “rules” a “control” can also be included.

In order to avoid repetition, features disclosed in connection with the agricultural spraying device should also apply and be claimable according to the method and disclosed for an agricultural field sprayer. The aforementioned aspects and features and embodiment variants according to the invention, in particular with regard to the spray device, therefore also apply to the method and to the field sprayer and can be freely combined with one another in any way. The same applies in reverse, so that all aspects, features and design variants according to the invention that are disclosed in connection with the method or the field sprayer are accordingly also disclosed for the spraying device and can be claimed accordingly.

In order to achieve the objects, the invention also includes a method for applying spray liquid to an agricultural area.

The method comprises providing a spray boom with a support structure and with at least two nozzle carriers, which are pivotably mounted independently of one another in the longitudinal direction of the spray boom by means of joint arrangements on the support structure and each have a plurality of spray nozzles, wherein the spray nozzles are set up to spray liquid, creating a spray fan on one, by To spray plant rows formed plant row grid on an agricultural area and the positions of the nozzle holders are controlled and / or regulated by means of an adjusting device.

In addition, the method according to the invention includes detecting a position of at least one spray nozzle of the respective nozzle holder relative to a plant row grid on the agricultural area by means of a number of detection devices adapted to the number of nozzle holders.

In addition, the method according to the invention includes generating actuating signals for the actuating devices by means of a control device as a function of a detected position.

To achieve the objects, the invention also includes an agricultural field sprayer for spraying agricultural spray liquid.

According to the invention it is provided that the field sprayer has a spraying device as described herein, in particular a spraying device according to one of claims 1 to 14. Alternatively or additionally, it can be provided that this is set up to carry out a method as described herein, in particular to carry out a method according to claim 15.

The field sprayer is used in particular for spraying (e.g. applying, distributing) spray liquid (e.g. pesticides) and has a spray boom with a large working width of 6 meters, 12 meters, 18 meters or more. In particular, the sprayer boom has a multiple of the width of a carrier vehicle on which the sprayer boom is mounted.

The field sprayer also includes a spray device with spray nozzles, which are attached to a spray boom. In addition, the spray device or the field sprayer comprises at least one reservoir for agricultural spray liquid.

The field sprayer can be self-propelled or towed by a towing vehicle (e.g. tractor) or mounted on a towing vehicle (e.g. by means of a three-point hitch). The field sprayer can also be an autonomous (e.g. semi-autonomous or fully autonomous) vehicle.

• 1 eine Perspektivansicht einer Ausführungsvariante einer Feldspritze mit einer Spritzvorrichtung, ohne Düsenträger,
• 2A eine schematische Ansicht einer Spritzvorrichtung mit gegenüber der Trägerstruktur nicht verschwenkten Düsenträgern,
• 2B eine schematische Ansicht einer Spritzvorrichtung mit gegenüber der Trägerstruktur verschwenkten Düsenträgern,
• 3 ein schematisches Blockschaltbild einer Steuereinrichtung.

Further details and advantages of the invention are described below with reference to the accompanying drawings. The proportions of the individual elements to one another in the figures do not always correspond to the real proportions, since some forms are shown in simplified form and other forms are shown enlarged in relation to other elements for better illustration. Show it:

• 1 a perspective view of an embodiment of a field sprayer with a spray device, without a nozzle holder,
• 2A a schematic view of a spraying device with nozzle carriers that are not pivoted relative to the carrier structure,
• 2 B a schematic view of a spraying device with nozzle carriers pivoted relative to the carrier structure,
• 3 a schematic block diagram of a control device.

The in the 1 until 3 The embodiments shown correspond at least in part, so that similar or identical parts are provided with the same reference numbers and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition. The illustrated embodiments only represent examples of how the agricultural spraying device according to the invention, the method according to the invention and the agricultural field sprayer according to the invention can be designed and implemented and do not represent any final limitation.

1 shows an embodiment variant of an agricultural field sprayer 10 in a perspective view. The field sprayer 10 is used for spraying agricultural spray liquid on an area to be treated on an agricultural area 12 .

The field sprayer 10 has a spraying device 50 as described herein, in particular a spraying device 50 according to one of claims 1 to 14. In addition, the field sprayer 10 can be set up to carry out a method as described here, in particular to carry out a method according to claim 15.

The field sprayer 10 is used for spraying (e.g. applying, distributing) agricultural spray liquid and has a spray device 50 with a spray boom 14 . In a working position, the sprayer boom 14 has in particular a multiple of the width of a carrier vehicle 16 on which carrier vehicle 16 the sprayer boom 14 is mounted. The spray boom can have working widths of 12 meters, 18 meters, 30 meters or more, extending transversely to the direction of travel.

The spray device 50 or the field sprayer 10 comprises at least one reservoir 18 for carrying and providing the respective spray liquid. The reservoir 18 is operatively connected to spray nozzles 20 and/or liquid nozzles by means of a liquid line system.

The field sprayer 10 is designed as a field sprayer 10 towed by a towing vehicle (tractor), which means that the carrier vehicle can be towed by a towing vehicle. However, the field sprayer 10 could also be embodied as a tractor-mounted (e.g. by means of a three-point connection) or as a self-propelled field sprayer 10 . The self-propelled sprayer 10 could also be an autonomous (e.g., fully autonomous or semi-autonomous) vehicle.

Further details of the invention are evident from the schematic views of a spray device 50 of FIG 2 out. Where according to the 2A the nozzle holders are not pivoted to one another and the nozzle holders according to FIG 2 B are pivoted to each other.

the 2 first show, represented by broken lines, a sprayer boom 14. The sprayer boom 14 is composed of a central part 24 and side arms 26 mounted on upright axes 28 on the left and right of this. The central part 24 and the side extensions 26 each comprise and form a support structure 22, the support structure 22 being formed in particular by a frame construction (see 1 ).

How from the 2A and 2 B also shows that there are plant rows 30 shown in highly simplified form on the agricultural area 12, which plant rows 30 form a fixed plant row grid 32, i.e. have the same distances from one another, with four such plant row grids 32 each corresponding to a working width (i.e. longitudinal extent) of the spray boom 14. A plant row grid 32 can in particular correspond to a working width of a seed drill and/or be generated by a seed drill. How from the 2 B As can be seen, however, it can happen that the distances between the rows of plants 30 of two adjacent rows of plants 32 can be different, which can occur, for example, as a result of connecting journeys during sowing using the seed drill.

In order to achieve a precisely positioned distribution of agricultural spray liquid even with varying distances between plant row grids 32, it is provided that at least two nozzle carriers 36 (four in each case according to the exemplary embodiments) by means of joint arrangements 34 on the support structure 22 can be pivoted independently of one another in the longitudinal direction LR of the sprayer boom 14, each with a plurality of spray nozzles 20 (e.g. corresponding to a number of plant rows 30) are provided. The spray nozzles 20 being configured to spray spray liquid to create a spray fan 38 on an area to be treated on an agricultural area 12 .

According to the invention, it is provided that the positions of the nozzle holders 36 can each be controlled and/or regulated by means of an actuating device 40 . Wherein the adjusting device 40 according to the 2 is formed by a double-acting cylinder, but could also be formed by two single-acting cylinders working in opposite directions or other actuators, motors or the like.

A detection device 42 is provided on each of the nozzle carriers 36, i.e. a number of detection devices 42 adapted to the number of nozzle carriers 36 and/or to the number of plant row grids 32 is provided, according to the exemplary embodiments corresponding to four detection devices 42. The detection device 42 is set up to detect a position of the spray nozzles 20 of the respective nozzle carrier 36 in relation to a plant row grid 32 on the agricultural area 12.

As in particular from the 3 As can be seen, a control device 62 is also provided according to the invention, which is expediently set up to generate control and/or regulation signals for the actuating device(s) as a function of the position, i.e. as a function of the position (of the plant row grid 32) detected by the detection device 42. to create.

The spray fans 38 according to the exemplary embodiments comprise a symmetrical spray cone, but could also comprise two or more spray cones, sprays or the like and/or comprise asymmetrical spray cones, sprays and/or the like.

As can be seen from the exemplary embodiments, the spray fan 38 is symmetrical to a row of plants 32, but it would also be conceivable for the nozzle carrier 36 to be controlled and/or regulated in such a way that a defined distance in the direction of longitudinal extent LR between the spray nozzle 20 and at least one Plant row 30 of the plant row grid 32 is generated.

For mounting the joint arrangements 34, the support structure 22 and the nozzle carrier each comprise joints 44.

The joint arrangements 34 are each designed as a four-bar linkage, for example in the form of a parallelogram, which ensures that one position of the nozzle carrier 36 remains parallel to the carrier structure 22 regardless of the respective position.

As can be seen from a highly simplified example of 2 B As can be seen, it is possible for liquid nozzles 46 (only one shown according to the exemplary embodiment for the sake of simplicity) to be arranged on the carrier structure 22, which are operatively connected (eg fluidically connected) to a reservoir by means of a liquid line system. Moreover, the spray nozzles 20 with are operatively connected to the liquid nozzles 46 by means of connecting lines 48 .

According to the exemplary embodiments, four nozzle carriers 36 are attached to the carrier structure 22, with a working width of the spray boom 14 (e.g. 28 meters, 32 meters, 36 meters) being divisible by a working width of the spray nozzles 20 arranged on a nozzle carrier 36 in such a way that the resulting resulting quotient value is an integer, according to the exemplary embodiments is 4, respectively. This quotient value also preferably defines the number of nozzle carriers 36 .

In a basic position, i.e. in a non-pivoted setting or position (cf. 2 ) has a minimum distance A1 from one another, which is smaller (could also be the same) than a spray nozzle distance A2 from two spray nozzles 20 to one another.

It would also be possible for the pivoting range of the nozzle holders 36 to be limited in at least one direction (preferably in two directions), which can be implemented, for example, by means of the actuating device 40, as a result of which collisions of the nozzle holders can be prevented in particular.

Further details of the invention, in particular of the control device 60, can be found in the schematic block diagram of FIG 3 out. In the context of the invention, the control device 60 includes, in particular, all of the components for signal and/or command transmission. Accordingly, there is also a computer unit 70, for example. The computer unit 70 and thus the control device are set up in particular to generate control and/or regulation signals for the actuating device 40 on the basis of data from the detection device 40. A control and/or regulation program can be stored in the computer unit 70 for this purpose.

According to the exemplary embodiments, the number of detection devices 42 is identical to the number of nozzle carriers 36, although this could also be different. In addition, the detection devices 42 are attached to the nozzle holder 36 . Alternatively or additionally, the detection devices 42 could also be attached to the support structure 22 .

The detection device 42 can be formed by one or more sensors and/or one or more cameras, which are set up to detect a plant row grid 32 and/or one or more plant rows 30 .

According to an optional embodiment variant, the detection device 42 can also be signal-connected and/or signal-connectable to a position determination system 80 and can thus use the data from the position determination system 80 to detect a position of the spray nozzles 20 of the respective nozzle bar relative to a plant row grid 32.

A sensor arrangement 90 (e.g. angle sensor, path measuring sensor) can be assigned to actuating device 40 and/or joint arrangement 34, which is set up to detect a position of nozzle carrier 36 relative to support structure 22 and/or a length of actuating device 40 and/or a distance of to detect two nozzle holders 36 to each other. In turn, the control device 60 can be set up to generate control and/or regulation signals for the adjusting device 40 depending on the position of the plant row grid 32 and based on the data from the sensor arrangement 90 .

Although the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents substituted without departing from the scope of the invention. In addition, many modifications can be made without leaving the associated area. Accordingly, the invention should not be limited to the disclosed embodiments, but should include all embodiments falling within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to.

Reference List

10

sprayer

12

surface

14

spray boom

16

carrier vehicle

18

reservoir

20

spray nozzle

22

support structure

24

center part

26

boom

28

axis

30

row of plants

32

plant row grid

34

joint arrangement

36

nozzle holder

38

spray fan

40

adjusting device

42

detection device

44

joint

46

liquid nozzle

48

connection line

50

spray device

60

control device

70

computing unit

80

positioning system

90

sensor arrangement

FR

driving direction

LR

longitudinal direction

A1

minimum distance

A2

spray tip clearance

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US 5279068 A [0002, 0004]
• EP 3366134 A1 [0005]

Claims (16)

Agricultural spray device (50), in particular a field sprayer (10), for spraying agricultural spray liquid, having a spray boom (14) with a support structure (22) and with spray nozzles (20), the spray nozzles (20) being set up to produce spray liquid a spray fan (38) on a plant row grid (32) formed by plant rows (30) on an agricultural area (12), characterized by - at least two by means of joint arrangements (34) on the support structure (22) independently of one another in the longitudinal direction ( LR) of the spray boom (14) pivotally mounted nozzle carriers (36), each with a plurality of spray nozzles (20), wherein the positions of the nozzle carriers (36) can each be controlled and/or regulated by means of an actuating device (40), - as well as a the number of nozzle carriers (36) and/or number of detection devices (42) adapted to plant row grids (32), wherein the Detection devices (42) are set up to detect a position of at least one spray nozzle (20) of the respective nozzle carrier (36) in relation to a plant row grid (32) on the agricultural area (12), - and with a control device (60) which is used for this purpose is set up to generate control and / or regulation signals for the adjusting device (40) depending on the position. Spray device (50) after claim 1 , characterized in that the joint arrangement (34) is formed by a four-bar arrangement, in particular by a parallelogram, which is set up to keep an angular position of the nozzle carrier (36) relative to the carrier structure (22) at least largely constant, regardless of its pivot position, in particular to keep them at least largely parallel. Spray device (50) according to one of the preceding claims, characterized in that liquid nozzles (46) are arranged on the carrier structure (22) and are operatively connected to a storage container (18) by means of a liquid line system, with at least some spray nozzles (20) of a nozzle carrier ( 36) are operatively connected to at least some liquid nozzles (46) by means of connecting lines (48). Spray device (50) according to one of the preceding claims, characterized in that the liquid nozzles (46) arranged on the support structure (22) and the spray nozzles (20) arranged on the nozzle carriers (36) each have different distances from one another and/or have different numbers . Spray device (50) according to one of the preceding claims, characterized in that drag hoses are attached to the nozzle carriers (36), to which in turn the spray nozzles (20) are attached. Spraying device (50) according to one of the preceding claims, characterized in that the carrier structure (22) is designed in such a way that nozzle carriers (36) having different widths can be mounted on it. Spraying device (50) according to one of the preceding claims, characterized in that a working width of the sprayer boom (14) can be divided by a working width of the spray nozzles (20) arranged on a nozzle carrier (36) in such a way that the resulting quotient value is an integer . Spraying device (50) according to one of the preceding claims, characterized in that the nozzle carriers (36) have a minimum distance (A1) from one another, oriented in the direction of longitudinal extent (LR) of the sprayer boom (14), which is less than or equal to a spray nozzle distance (A2) of two spray nozzles (20) to each other. Spraying device (50) according to one of the preceding claims, characterized in that a pivoting range of the nozzle carrier (36) is limited in at least one direction in the longitudinal direction (LR) of the sprayer boom (14), with a maximum pivoting range being less than or equal to half a Spray nozzle spacing (A2) between two spray nozzles (20). Spraying device (50) according to one of the preceding claims, characterized in that the detection device (42) is and/or can be signal-connected to a position-determining system (80) and is set up to use the data from the position-determining system (80) to determine a position of at least one spray nozzle (20 ) of the respective nozzle carrier (36) relative to a plant row grid (32) on the agricultural area (12). Spraying device (50) according to one of the preceding claims, characterized in that the nozzle carrier (36) is controlled and/or regulated in such a way that there is a defined distance in the direction of longitudinal extent (LR) of the spray boom (14) between the spray nozzle (20) and at least one plant row (30) of the plant row grid (32) is generated. Spraying device (50) according to one of the preceding claims, characterized in that the number of detection devices (42) is identical to the number of nozzle carriers (36), the detection device (42) being formed by a sensor and/or a camera and/or a plurality of sensors and/or a plurality of cameras, which is set up to form a plant row grid (32). to capture. Spraying device (50) according to one of the preceding claims, characterized in that the adjusting device (40) and/or the joint arrangement (34) is assigned a sensor arrangement (90) which is set up to determine a position of the nozzle carrier (36) relative to the carrier structure (22) and/or a length of the adjusting device (40) and/or a distance between two nozzle carriers (36) to one another, the control device (60) being set up to transmit control and/or regulating signals for the adjusting device (40) depending on the position of the plant row grid (32) and on the basis of the data from the sensor arrangement (90). Spraying device (50) according to one of the preceding claims, characterized in that a height position of the sprayer boom (14) relative to an area of an agricultural area (12) to be treated can be changed by means of an adjusting device, the adjusting device (40) being set up to transmit adjusting signals for to generate the adjusting device based on distance data recorded by means of distance sensors arranged on the carrier structure (22) and/or the nozzle carrier (36) and/or based on an offset value defined by a distance between the carrier structure (22) and the nozzle carrier (36). Method for applying spray liquid on an agricultural area (12), characterized by - providing a spray boom (14) with a support structure (22) and with at least two means of joint arrangements (34) on the support structure (22) independently of one another in the direction of longitudinal extension ( LR) of the spray boom (14) pivotally mounted nozzle carriers (36), each with a plurality of spray nozzles (20), the spray nozzles (20) being set up to spray liquid while generating a spray fan (38) on a plant row grid formed by plant rows (30). (32) on an agricultural area (12) and wherein the positions of the nozzle holders (36) can each be controlled and/or regulated by means of an adjusting device (40), - detecting a position of at least one spray nozzle (20) of the respective nozzle holder (36) opposite a plant row grid (32) on the agricultural area (12) by means of an Anza a number of detection devices (42) adapted to the nozzle carrier (36), - generation of control signals for the control devices (40) by means of a control device (60) as a function of a detected position. Agricultural field sprayer (10) for spraying agricultural spray liquid, characterized in that it has a spray device (50) according to one of Claims 1 until 14 has and/or that it is set up according to a method claim 15 to execute.

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