DE102021121733A1 - Agricultural spray device and method for applying a spray liquid - Google Patents

Abstract

Agricultural spray device (10), in particular a field sprayer, for applying a spray liquid (S), with at least one dispensing element (12) which is set up to apply the spray liquid (S) on an agricultural area, at least one detection device (201) which is is set up to detect plants (P1-P3), in particular useful plants and/or wild growth, along the useful area, and at least one adjusting device (20) by means of which a position of the at least one dispensing element (12), in particular one on the dispensing element (12) trained outlet opening (120) for the spray liquid (S), on the spraying device (10) and depending on the detected plants (P1-P3) is variable. In order to design a spray device (10) in such a way that the application result is further improved even at relatively high driving speeds, it is provided that the position of the application element (12) can be adjusted by means of the adjustment device (20), preferably translationally, in a direction (F) of travel. the direction corresponding to the spraying device (10) can be adjusted.

Description

The invention relates to an agricultural spray device for applying a spray liquid according to the preamble of patent claim 1 and a method for applying spray liquid with an agricultural spray device according to the preamble of patent claim 6.

A large number of variants of towed, mounted and/or self-propelled working machines are known in the field of agriculture. These include, inter alia, agricultural spray devices for applying a spray liquid to an agricultural area. The application serves to apply the spray liquid to the plants located along the usable area, such as useful plants and/or wild growth, in particular weeds. Depending on the type of plants to be applied, such a spray liquid can be designed as a fertilizer, crop protection agent, pesticide and/or weed control agent, in particular as herbicides, fungicides and/or insecticides.

In order to achieve particularly good application results and/or yields during application, the precision of such spraying devices is extremely important. In addition, the use of generic spray liquids has to be reduced further and further due to ever-increasing requirements with regard to environmental protection.

The basis for such a precise and / or needs-based application of the spray liquid is an electronic detection of the plants, such as in the DE 196 42 439 C1 is revealed formed. Accordingly, a detection device is proposed which is set up to detect the plants, in particular their position, along the usable area before and/or during the application of the spray liquid.

Furthermore, adjustment devices have become known for such spraying devices which allow the position of at least one dispensing element which is located and/or arranged on the spraying device and via which the spray liquid can be dispensed and/or applied to be changed on the spraying device. In particular, the position of an outlet opening for the spray liquid formed on the dispensing element can be changed, so that in particular an impact area of the spray liquid on the usable area, in particular the plant, can be additionally influenced by means of the adjustment device during dispensing.

The pamphlet EP 3 469 904 B1 proposes the use of at least one height-adjustable dispensing element, which can be adjusted by means of the adjustment device perpendicularly or in a vertical direction to a direction of travel of the spray device.

From the pamphlet DE 10 2007 036 870 A1 is also known a spreading element that can be pivoted in the direction of travel, in particular about a pivot axis aligned transversely to the direction of travel, by means of which the respective plants are evenly applied or wetted with spray liquid from different sides, especially at varying driving speeds.

Another variant of generic spray devices is in the DE 10 2018 126 586 A1 described. Accordingly, the position of the at least one application element can be adjusted, in particular transversely to a direction of travel of the spray device, so that the at least one application element can be positioned as required towards and/or in the direction of the respective plant during application, in particular in the manner of a single-plant treatment.

The problem with spraying devices designed in this way is that such systems are overloaded relatively quickly at relatively high travel speeds and/or when there are a number of adjacent plants, in particular plants that are far apart from one another, which are to be applied and/or wetted with spray liquid by the at least one dispensing element and/or or are overwhelmed. So far, the application of the spray liquid has always represented a compromise between the driving or working speed of the spray device or the application result.

The object on which the invention is based is therefore to design a spray device in such a way that the application result is further improved even at relatively high driving speeds.

The object is achieved by a spray device of the type mentioned at the outset, the position of the dispensing element being adjustable by means of the adjustment device, preferably translationally, in a direction corresponding to the direction of travel of the spray device.

As a result of this measure, the at least one dispensing element can be adjusted, in particular displaced, in a direction that is at least essentially parallel to the direction of travel, in particular when viewed relative to the spraying device. Depending on the embodiment, the adjustment can preferably be carried out in and/or against the direction of travel. The dispensing element is particularly preferably adjustable within and/or along a horizontal plane and/or a plane corresponding to the usable area. In other words, the distance between the dispensing element and the usable area or plant is preferably at least essentially maintained during the adjustment of the dispensing element. The adjustment is preferably remote-controlled and/or automated, in particular triggered by a control and/or regulation system assigned to the spray device. Alternatively or additionally, the adjustment can also be triggered manually by an operator. This embodiment has the decisive advantage that the respective plants can already be wetted with spray liquid before the spray device crosses the plants to be wetted. The application process can thus be started relatively early.

The dispensing element is preferably designed in the manner of a spray nozzle, for example a round-jet or flat-jet nozzle. Alternatively or additionally, the dispensing element can also be designed in the manner of a multi-nozzle body, preferably with several and/or different spray nozzles. The dispensing element is particularly preferably controllable and/or operable by means of pulse width and/or pulse frequency modulated signals, in particular PWM and/or PWM.

In a preferred embodiment of the spray device according to the invention, the adjusting device comprises at least one actuator which is set up to influence the position of the dispensing element on the spray device, preferably in or against the direction of travel. The at least one dispensing element is particularly preferably arranged indirectly by an additional holding device, in particular a holding rail or the like, or alternatively directly on the actuator. Depending on the embodiment, either only one dispensing element or several dispensing elements can be arranged on at least one actuator. Alternatively or additionally, the spraying device comprises a plurality of such actuators, one or more dispensing elements being assigned to each of the plurality of actuators. The at least one actuator is preferably designed in the manner of an, in particular, single-acting and/or double-acting actuating cylinder and can be operated by means of electrical, hydraulic and/or pneumatic actuating energy. An actuator or drive designed as a linear actuator is particularly preferred. Alternatively or additionally, rotary drives and/or rotary actuators, for example in the manner of stepper motors, with and/or without an additional gear combination are also conceivable. With such an embodiment, the position of the ringing element can be individually and thus particularly flexibly adapted to the need or the plants to be wetted.

In another preferred embodiment of the spraying device according to the invention, a control and/or regulating system assigned to the spraying device is set up to control the adjusting device, in particular the at least one actuator, automatically and as a function of detectable and/or specifiable environmental and/or operating parameters and/or to settle. Such environmental and/or operating parameters are preferably formed from a composition of the spray liquid that can be applied and/or from a development stage, a number, a position and/or a distance between individual, in particular adjacent and/or consecutive, plants. In particular, the number and/or the spacing of plants located on a path and/or stretch viewed at least essentially transversely to the direction of travel is decisive for such a control and/or regulation of the adjusting device. Alternatively or additionally, a quantity of spray liquid required or the necessary wetting of the respective plant and/or a resulting necessary residence time of the dispensing element above and/or in the vicinity of the respective plant is also taken into account. Furthermore, the driving speed of the spraying device can also preferably be taken into account for the activation and/or regulation of the adjusting device. The environmental and/or operating parameters can preferably be detected using sensors and/or cameras. Alternatively or additionally, at least one of the environmental and/or operating parameters can also be specified by the operator at least once, in particular via an assigned mobile operating and/or display device. In this embodiment, it is advantageous that the application result or the wetting result of the plants is further improved, so that particularly good application results can be achieved even at particularly high driving speeds. Due to the individual application duration for each plant, the speed of the spraying device can be increased even further.

In another development of the spray device according to the invention, the at least one dispensing element can be pivoted, preferably about a pivot axis aligned at least approximately parallel to the direction of travel, with the adjusting device being suitable for pivoting the dispensing element at least partially before and/or during the position of the dispensing element is adjusted in or against the direction of travel. The dispensing element can thus also be pivoted transversely to the direction of travel and/or to the actual working direction of the spray device. the adjustment In such a preferred embodiment, the application of the dispensing element consists of a translational and a rotational adjustment or movement course on the spray device. The adjustment device is preferably set up to start and/or end the pivoting process and the adjustment, in particular displacement, of the dispensing element in or against the direction of travel at least almost simultaneously. As an alternative or in addition to this, the adjusting device can also be set up to pivot the dispensing element after the position of the dispensing element has been adjusted in or against the direction of travel. The delivery and thus the application of the spray liquid via the delivery element are particularly preferably interrupted and/or blocked both during the adjustment of the position, in particular the displacement, of the delivery element and during the pivoting of the delivery element. In other words, the delivery element is adjusted and/or pivoted by the adjustment device at least almost exclusively during interruptions in delivery. This embodiment allows a particularly large adjustment range for the application surface or target surface of the spray liquid that can be discharged from the discharge element. A maximum target area adaptation is achieved with a minimum adjustment path.

In a further preferred embodiment of the spray device according to the invention, the at least one dispensing element can be adjusted in a direction oriented transversely and/or perpendicularly to the direction of travel, in particular translationally, with the adjusting device being suitable for displacing the dispensing element transversely or perpendicularly to the direction of travel before and/or or while the position of the dispensing element is being adjusted in or against the direction of travel. Depending on the embodiment, the course of movement of a discharge element designed in this way relative to the spray device and viewed in one plane or in space is two-dimensional or three-dimensional. This embodiment offers a particularly large adjustment range for the position of the dispensing element. The dispensing element can thus be guided at least almost exactly above the respective plants to be wetted, so that an at least almost constant wetting result can be achieved.

• - Erfassen von Pflanzen, insbesondere Nutzpflanzen und/oder Wildbewuchs, entlang der Nutzfläche mittels einer der Spritzvorrichtung zugeordneten Erfassungsvorrichtung;
• - Verändern einer Position wenigstens eines an der Spritzvorrichtung angeordneten Ausbringelements, insbesondere einer am Ausbringelement ausgebildeten Austrittsöffnung für die Spritzflüssigkeit, an der Spritzvorrichtung und in Abhängigkeit der erfassten Pflanzen mittels wenigstens einer an der Spritzvorrichtung angeordneten Verstelleinrichtung; und
• - Ausbringen der Spritzflüssigkeit auf einer landwirtschaftlichen Nutzfläche über das wenigstens eine Ausbringelement;

und wobei die Position des Ausbringelements mittels der Verstelleinrichtung, vorzugsweise translatorisch, in einer zur Fahrtrichtung der Spritzvorrichtung korrespondierenden Richtung verstellt wird. Hinsichtlich der Vorteile und Modifikationen des erfindungsgemäßen Verfahrens wird zunächst auf die Vorteile und Modifikationen der erfindungsgemäßen Spritzvorrichtung verwiesen.The object on which the invention is based is also achieved by a method for applying spray liquid, the method comprising at least the following steps:

• - Detection of plants, in particular useful plants and/or wild growth, along the useful area by means of a detection device assigned to the spraying device;
• changing a position of at least one dispensing element arranged on the spraying device, in particular an outlet opening formed on the dispensing element for the spray liquid, on the spraying device and depending on the detected plants by means of at least one adjusting device arranged on the spraying device; and
• - Application of the spray liquid on an agricultural area via the at least one application element;

and wherein the position of the dispensing element is adjusted by means of the adjustment device, preferably translationally, in a direction corresponding to the direction of travel of the spray device. With regard to the advantages and modifications of the method according to the invention, reference is first made to the advantages and modifications of the spray device according to the invention.

For this purpose, the spraying device is preferably assigned a corresponding control and/or regulation system, which is set up to at least partially carry out the method according to the invention.

In a preferred development of the method according to the invention, the adjusting device is operated in an extended first operating position, in particular the basic position, in which the position of the dispensing element is adjusted in the direction of travel. In other words, during application, the dispensing element is brought into the first operating position, viewed from the spraying device, preferably projecting and/or protruding forwards or in the direction of travel. Furthermore, the adjusting device is operated in a retracted second operating position, in which the position of the dispensing element is adjusted with respect to the first operating position, in particular the basic position, counter to the direction of travel. During such a second operating position, the dispensing element is brought into a position that is shifted and/or pulled towards the spray device and the spray liquid is discharged via the dispensing element onto the usable area, in particular the plants. The operating position and thus the position of the dispensing element on the spray device is preferably adjusted by means of at least one actuator which is assigned to the adjusting device and which is controlled and/or regulated by means of the control and/or regulating system.

The operating position is preferably adjusted during and/or after the application of the spray liquid. The spray liquid is particularly preferred during interruptions in the application, in particular while the application of the spray liquid via the application element is briefly blocked, adjusted. This embodiment offers the advantage that relatively short distances between the plants seen in the direction of travel are compensated particularly well by the adjustment device or the adjustment of the operating position. The driving speed of the spray device can thus be at least approximately maintained and/or maintained during the application process despite unfavorable operating parameters.

In addition, a method according to the invention is preferred in which the dispensing element is pivoted before or during adjustment of the operating position, preferably about a pivot axis aligned at least approximately parallel to the direction of travel. The dispensing element is thus preferably pivoted transversely to the direction of travel during the adjustment of the position. If the plant to be wetted with spray liquid is laterally spaced from the dispensing element during application, seen in the direction of travel, the dispensing element, in particular a dispensing direction of the dispensing element, is preferably pivoted in the direction of the plant to be wetted. As a result, the respective plant can still be wetted with a satisfactory application result even at relatively large distances from the application element, since the application element can be individually aligned with the plant.

In another preferred embodiment of the method according to the invention, the dispensing element is adjusted before or during adjustment of the operating position in a direction oriented transversely and/or perpendicularly to the direction of travel, in particular translationally. The application element is adjusted laterally towards the respective plants to be wetted, so that the application element is at least almost above and/or in the vicinity of the respective plants to be wetted during application of the spray liquid.

In such an embodiment, the dispensing element can assume at least almost any position in a predetermined adjustment range for the dispensing element and can thus treat at least almost all plants to be wetted with essentially the same starting point.

In a particularly preferred development of the method according to the invention, an adjustment path and/or an adjustment speed of the at least one actuator is determined as a function of at least one detectable and/or specifiable environmental and/or operating parameter, in particular a number and/or a distance between detected plants and/or the Driving speed, controlled and/or regulated. In this preferred embodiment, the adjusting device is set up to also only partially adjust the dispensing element along a maximum adjustment path, in particular a maximum stroke. In this case, the dispensing element can in particular be brought into at least one further intermediate position, in particular between the first and second operating position, for dispensing the spray liquid. In addition, the dispensing element is preferably adjusted with a variable adjustment speed. In particular with large distances and/or a large number of plants, a relatively high adjustment speed is selected accordingly, while with smaller distances and/or a smaller number of plants a lower adjustment speed is selected.

In a further particularly preferred embodiment of the method according to the invention, the adjustment path and/or the adjustment speed is controlled and/or regulated as a function of a specific dwell time of the dispensing element above and/or in the vicinity of the plants to be wetted. In such an embodiment, the necessary residence time of the application element above the plant is preferably determined as a function of the spray liquid to be applied and/or the plant to be wetted. Alternatively or additionally, environmental parameters such as air humidity, air temperature, wind speed, wind direction or the like are also taken into account.

The spray device is preferably operated by the method according to the invention in such a way that the dispensing element is brought into the extended first operating position as far as possible during the dispensing of the spray liquid. Alternatively or additionally, the dispensing element is adjusted and/or pivoted transversely to the direction of travel, in particular towards the respective plants, while crossing the usable area and within the first operating position. The operating position is preferably adjusted from the first to the second operating position if the spraying device would be overloaded or overwhelmed if it remained in the first operating position due to the environmental and/or operating parameters. Thus, the operating position is preferably only adjusted when at least one of the recorded and/or specified environmental and/or operating parameters exceeds a specified and/or specific limit value and/or acceptance range. In addition, the operating position of the dispensing element is preferably adjusted back to the first operating position, in particular the basic position, after the spray liquid has been dispensed from the second operating position.

• 1A einen schematischen Ausschnitt einer erfindungsgemäßen landwirtschaftlichen Spritzvorrichtung in einer ersten Betriebsstellung in perspektivischer Ansicht;
• 1B die Spritzvorrichtung aus 1A zwischen der ersten Betriebsstellung und einer zweiten Betriebsstellung;
• 1C die Spritzvorrichtung aus 1A in einer zweiten Betriebsstellung; und
• 2 einen schematischen Ablaufplan eines erfindungsgemäßen Verfahrens.

Further details of the invention can be found in the example description and the drawings. The drawings show

• 1A a schematic detail of an agricultural spray device according to the invention in a first operating position in a perspective view;
• 1B the sprayer off 1A between the first operative position and a second operative position;
• 1C the sprayer off 1A in a second operating position; and
• 2 a schematic flow chart of a method according to the invention.

A section of an agricultural spraying device 10, which is designed as a field sprayer for applying spray liquid S, is shown in a perspective front view in FIG 1 shown. It can be seen that the spray device 10 comprises a distributor linkage 11 and at least one dispensing element 12 . In this case, the application element is designed as a spray nozzle 12 and is set up to apply the spray liquid S to an agricultural area, in particular to a plant P1-P3. Furthermore, it can be seen that the spraying device 10 has at least one detection device 201, which is set up to detect plants P1-P3, in particular useful plants and/or wild growth, along the useful area. In addition, an adjustment device 20 can be seen, via which the dispensing element 12 is arranged on the spray device 10, in particular on the distributor linkage 11, and by means of which a position of the dispensing element 12, in particular an outlet opening 120 formed on the dispensing element 12 for the spray liquid S, can be set at the Spraying device 10 is changeable. The position of the dispensing element 12 , in particular of the outlet opening 120 , is thereby changed, inter alia, depending on the plants P1 - P3 detected by the detection device 201 .

The position of the dispensing element 12 can be adjusted by means of the adjusting device 20 in a manner according to the invention, in particular translationally, in a direction corresponding to the direction of travel F of the spray device 10 . The adjusting device 20 is set up here in particular to change the position of the dispensing element 12 along a pivot axis 22 corresponding to the direction of travel F, both in and against the direction of travel F.

It can also be seen that the adjustment device 20 is additionally set up to pivot the dispensing element 12 about the pivot axis 22 or a pivot axis in the direction of the respective plants P1 - P3 and thus also a position and/or orientation of the dispensing element 12, in particular the outlet opening 120 to change on the spray device 10. As an alternative or in addition to the exemplary embodiment shown, the adjusting device 20 can also be provided to adjust or change the position of the dispensing element 12, in particular translationally, in a direction oriented transversely and/or perpendicularly to the direction of travel F. Thus, the dispensing element 20 can also be adjusted by means of the adjustment device 20 alternatively or additionally along a longitudinal axis 110 of the distributor linkage 11 and/or in a vertical direction. In addition, an alternative embodiment is also conceivable, in which the adjusting device 20 is set up to change the position of the dispensing element 12 exclusively in a direction that is at least essentially parallel to the direction of travel F.

To carry out the movements described and/or to change the position of the dispensing element 12 , the adjusting device 20 comprises at least one actuator 21 which is designed in particular as a linear actuator and/or is arranged on the distributor linkage 11 . The actuator 21 is also designed here, for example, as an actuating cylinder which, depending on the embodiment variant, can be operated by means of electrical, hydraulic and/or pneumatic actuating energy. In the exemplary embodiment shown, the dispensing element 12 is arranged directly on the actuator 21 , in particular on a piston rod 210 of the actuator 21 . As an alternative to this, the adjustment device 20 can comprise at least one holding device, for example a holding rail, via which the at least one deployment element 12 or, alternatively, a plurality of deployment elements 12 are indirectly coupled to the actuator 21 .

The Sprit device 10 is as in the 1A - 1C shown, is assigned at least one control and/or regulation system 200, which is set up to automatically adjust the adjustment device 20, in particular the at least one actuator 21, and as a function of detectable and/or specifiable environmental and/or operating parameters and/or the detectable plants P1 - P3 to control and / or regulate. As an alternative or in addition to this, it is also conceivable that the adjustment device 20, in particular the actuator 21, can be actuated remotely and/or manually by an operator, in particular from a driver's cab not shown in the figures.

The 1 shows a first operating position I, in particular a basic position, of the spraying device 10, in which the adjusting device 20 is fully extended and the position of the dispensing element 12 is adjusted in the direction of travel F of the spraying device 10. It can be seen that the spray liquid S, which is designed as a weed killer or herbicide for the treatment of individual plants shown as an example, is applied to a second plant P2 along the usable area in the form of a spray cone emanating from the application element 12, in particular the outlet opening 120. Furthermore, a first plant P1 that has already been wetted can be seen, to which spray liquid S has already been applied via the dispensing element 12 at a previous point in time. While the spray device 10 continues to travel over the usable area and the spray liquid S is applied to the plant P2, the first operating position I shown is maintained. Alternatively, it would also be conceivable for the dispensing element 12, in particular its position on the spray device 10, to be gradually retracted or adjusted towards the spray device 10 or the distributor linkage 11 during the dispensing of the spray liquid S, in particular corresponding to a travel speed of the spray device 10 .

The control and/or regulation system 200 determines and/or sets the necessary dwell time for the application element 12 above and/or in the vicinity of the plant P2 as a function of at least one of the detectable and/or specifiable environmental and/or operating parameters. Such environmental and/or operating parameters include, for example, plant-dependent parameters such as type, surface properties, growth stage and/or position of the respective plant P1 - P3 and/or the number and/or the distance between neighboring and/or consecutive plants P1 - P3, in particular of the plants P2, P3 that are located within a path and/or path 30 viewed transversely to the direction of travel F. Furthermore, this also includes parameters such as the driving speed of the spray device 10 and/or a height distance of the dispensing element 12 to the usable area. Furthermore, the composition or the properties of the spray liquid S, such as the wetting property and/or the temperature of the spray liquid S or similar, can also be dependent parameters. In addition, environmental parameters relating to wind movements, air temperature and/or humidity can also be relevant.

The 1B shows the spraying device 10 after the spray liquid S has been applied to the plant P2 in an intermediate position between the first operating position I and a second operating position II. The position of the dispensing element 12 is in this case at least partially adjusted towards the spray device 10, in particular towards the spray boom 11, or is retracted in a translatory manner, while the spray device 10 moves along the usable area with regard to the 1 has moved further. In addition, the dispensing element 12 is at least partially pivoted about the pivot axis 22, in particular in a clockwise direction. In this view, the intermediate position shown is not to be understood as an additional operating position, but rather shows only a state and/or a course of movement of the dispensing element 12 during the adjustment from the first operating position I to the second operating position II Delivery of the spray liquid S interrupted by the delivery element 12.

In the 1C the advancement of the spray device 10 has progressed even further. The spray device 10 can be seen here in the second, in particular fully retracted, second operating position II. It can be seen that the position of the dispensing element 12 is opposite 1A and 1 B is now adjusted to the spray device 10, in particular the distributor linkage 11. It can also be seen that the dispensing element 12, in particular its position and/or alignment, is pivoted and/or aligned towards a third plant P3. After the second operating position II has been reached, as shown, the application of the spray liquid S for wetting the plant P3 via the application element 12 is released again.

In the further course of application, which is not shown in the figures, the adjusting device 20 and thus the application element 12 are moved back into the first operating position I and brought there after the spray liquid F has been applied to the third plant P3. This process is constantly repeated while the spray liquid S is being applied to the usable area.

The 2 shows a schematic flowchart according to the invention of a method for applying spray liquid S with an agricultural spray device 10, in particular a field sprayer, which is set up to apply spray liquid S on an agricultural area N.

• 100) Erfassen von Pflanzen, insbesondere Nutzpflanzen und/oder Wildbewuchs, entlang der Nutzfläche mittels einer der Spritzvorrichtung zugeordneten Erfassungsvorrichtung.

The method according to the invention is initiated by the step:

• 100) Detection of plants, in particular useful plants and/or wild growth, along the useful area by means of a detection device assigned to the spraying device.

• 110) Betreiben der Verstelleinrichtung 20 und/oder der Spritzvorrichtung 10 in einer ausgefahrenen ersten Betriebsstellung I, insbesondere Grundstellung, bei der die Position des Ausbringelements 20 in Fahrtrichtung F verstellt ist.

After the method has been initiated and/or at least one plant P1 - P3 has been detected, a position of at least one dispensing element 12 on the spraying device 10 is prepared and/or maintained by the following step:

• 110) Operating the adjusting device 20 and/or the spraying device 10 in an extended, first operating position I, in particular the basic position, in which the position of the dispensing element 20 is adjusted in the direction of travel F.

While the adjusting device 20 and/or the spraying device 10 is in the first operating position I, in particular the basic position, the spray liquid S is applied or applied to at least one plant P1 - P3 via the at least one dispensing element 20 .

• 120) Verändern einer Position wenigstens eines an der Spritzvorrichtung 10 angeordneten Ausbringelements 12, insbesondere einer am Ausbringelement 12 ausgebildeten Austrittsöffnung 120 für die Spritzflüssigkeit S, an der Spritzvorrichtung 10 und in Abhängigkeit der erfassten Pflanzen P1 - P3 mittels wenigstens einer an der Spritzvorrichtung angeordneten Verstelleinrichtung 20.

After the at least one plant P1 - P3 has been wetted with spray liquid S and at least one adjacent and/or consecutive other plant P1 - P3 has been detected, in particular within a path and/or stretch 30 viewed transversely to the direction of travel F, the following step is carried out :

• 120) Changing a position of at least one dispensing element 12 arranged on the spraying device 10, in particular an outlet opening 120 formed on the dispensing element 12 for the spray liquid S, on the spraying device 10 and depending on the detected plants P1 - P3 by means of at least one adjusting device 20 arranged on the spraying device .

• 121) Anpassen der Betriebsstellung und damit der Position des Ausbringelements 12 mittels wenigstens eines der Verstelleinrichtung 20 zugeordneten Aktors 21, welcher mittels des Steuer- und/oder Regelsystems 200 gesteuert und/oder geregelt wird.

This step can alternatively or additionally be supplemented and/or replaced by the following step:

• 121) Adjusting the operating position and thus the position of the dispensing element 12 by means of at least one actuator 21 assigned to the adjusting device 20, which is controlled and/or regulated by means of the control and/or regulation system 200.

To change the position of the dispensing element 12 and/or to adjust the operating position, the position of the dispensing element 12 is adjusted by means of the adjusting device 20, in particular translationally, in a direction corresponding to the direction of travel F of the spray device 10.

In addition to this, the dispensing element 12 can also be pivoted before or during adjustment of the operating position, in particular about a pivot axis 22 aligned at least approximately parallel to the direction of travel F. As an alternative or in addition to this, the dispensing element 12 can also be adjusted before or during the adjustment of the operating position in a direction oriented transversely and/or perpendicularly to the direction of travel F, in particular translationally.

During the changing of the position of the dispensing element 12 and/or the adjustment of the operating position, the dispensing of the spray liquid S via the dispensing element 12 is interrupted.

• 130) Betreiben der Verstelleinrichtung 20 und/oder der Spritzvorrichtung 10 in einer eingefahrenen zweiten Betriebsstellung II, bei der die Position des Ausbringelements 12 hinsichtlich der ersten Betriebsstellung I, insbesondere Grundstellung, entgegen der Fahrtrichtung F verstellt ist;

Während die Verstelleinrichtung 20 und/oder der Spritzvorrichtung 10 in der zweiten Betriebsstellung II betrieben wird, wird die Spritzflüssigkeit S auf die wenigstens eine weitere Pflanze P1 - P3 ausgebracht und/oder appliziert.After the position has been changed and/or the operating position is adjusted, the following step is carried out:

• 130) Operating the adjusting device 20 and/or the spraying device 10 in a retracted second operating position II, in which the position of the dispensing element 12 is adjusted with respect to the first operating position I, in particular the basic position, counter to the direction of travel F;

While the adjusting device 20 and/or the spraying device 10 is operated in the second operating position II, the spray liquid S is applied and/or applied to the at least one other plant P1 - P3.

As soon as the at least one other plant P1 - P3 has been wetted with spray liquid S, the position of the dispensing element 12 is changed back to the original extended position. In other words, the extended first operating position I is then moved to again by means of the adjustment device 20 .

The procedure is constantly repeated during the application process.

It goes without saying that the features mentioned in the exemplary embodiments described above are not limited to these special combinations and are also possible in any other combinations. Furthermore, it goes without saying that the geometries shown in the figures are only examples and are also possible in any other configurations.

Reference List

10

Agricultural sprayer

11

distributor linkage

110

longitudinal axis

12

Delivery element, spray nozzle

120

exit port

20

adjusting device

200

control and/or regulation system

201

detection device

21

actuator

210

piston rod

22

pivot axis

30

train and/or route

f

driving direction

P1-P3

plant

S

spray liquid

I

first operating position

II

second operating position

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

• DE 19642439 C1 [0004]
• EP 3469904 B1 [0006]
• DE 102007036870 A1 [0007]
• DE 102018126586 A1 [0008]

Claims (12)

Agricultural spray device (10), in particular a field sprayer, for applying a spray liquid (S), with - at least one dispensing element (12) which is set up to apply the spray liquid (S) on an agricultural area, - at least one detection device (201), which is set up to detect plants (P1-P3), in particular useful plants and/or wild growth, along the useful area, and - at least one adjusting device (20), by means of which a position of the at least one dispensing element (12), in particular one on the dispensing element (12) formed outlet opening (120) for the spray liquid (S), on the spraying device (10) and depending on the detected plants (P1-P3) can be changed, characterized in that the position of the dispensing element (12) by means of the adjustment device ( 20), preferably in a translatory manner, in a direction corresponding to the travel direction (F) of the spray device (10). tion is adjustable. Spray device (10) after claim 1 , characterized in that the adjusting device (20) comprises at least one actuator (21) which is set up to influence the position of the dispensing element (12) on the spray device (10), preferably in or against the direction of travel (F). Spray device (10) after claim 2 , characterized by a control and/or regulating system (200) assigned to the spraying device (10), which is set up to automate the adjusting device (20), in particular the at least one actuator (21), and as a function of the detectable and/or predeterminable environment - and/or to control and/or regulate operating parameters. Spraying device (10) according to at least one of the preceding claims, characterized in that the at least one dispensing element (12) can be pivoted, preferably about a pivot axis (22) aligned at least approximately parallel to the direction of travel (F), the adjustment device (20) is suitable for pivoting the dispensing element (12) at least partially before and/or while the position of the dispensing element (12) is adjusted in or against the direction of travel (F). Spraying device (10) according to at least one of the preceding claims, characterized in that the at least one dispensing element (12) can be adjusted, in particular translationally, in a direction oriented transversely and/or perpendicularly to the direction of travel (F), the adjustment device (20) being used for this purpose is suitable for adjusting the dispensing element (12) transversely or perpendicularly to the direction of travel (F) before and/or while the position of the dispensing element (12) is adjusted in or against the direction of travel (F). Method for applying spray liquid (S) with an agricultural spraying device (10), in particular a spraying device (10) according to at least one of the preceding claims, with the steps: - detecting plants (P1-P3), in particular useful plants and/or wild growth, along the usable area by means of a detection device (201) associated with the spraying device (10); - Changing the position of at least one dispensing element (12) arranged on the spraying device (10), in particular an outlet opening (120) formed on the dispensing element (12) for the spray liquid (S), on the spraying device (10) and depending on the detected plants ( P1-P3) by means of at least one adjusting device (20) arranged on the spraying device (10); and - applying the spray liquid (S) to an agricultural area via the at least one dispensing element (12); characterized in that the position of the dispensing element (12) is adjusted by means of the adjusting device (20), preferably translationally, in a direction corresponding to the direction of travel (F) of the spray device (10). procedure after claim 6 , wherein the spraying device (10) is assigned a control and/or regulation system (200), characterized by the steps: - operating the adjustment device (20) in an extended, first operating position (I), in particular the basic position, in which the position of the dispensing element (12) is adjusted in the direction of travel (F); - Operating the adjusting device (20) in a retracted second operating position (II), in which the position of the dispensing element (12) is adjusted with respect to the first operating position (I), in particular the basic position, counter to the direction of travel (F); and - adjusting the operating position (I, II) and thus the position of the dispensing element (12) by means of at least one actuator (21) assigned to the adjustment device (20), which is controlled and/or regulated by means of the control and/or regulation system (200). becomes. procedure after claim 7 , characterized in that the dispensing element (12) is pivoted before or during adjustment of the operating position (I, II), preferably about a pivot axis (22) aligned at least approximately parallel to the direction of travel (F). Method according to at least one of the aforementioned Claims 7 and/or 8, characterized in that the dispensing element (12) is adjusted before or during adjustment of the operating position (I, II) in a direction oriented transversely and/or perpendicularly to the direction of travel (F), in particular translationally. procedure after claim 7 , characterized in that the operating position (I, II) is adjusted during and/or after the application of the spray liquid (S) on a plant (P1-P3), preferably while the application of the spray liquid (S) via the application element (12) Is blocked. Method according to at least one of the aforementioned Claims 7 and/or 8, characterized in that an adjustment path and/or an adjustment speed of the at least one actuator (21) as a function of at least one detectable and/or predeterminable environmental and/or operating parameter, in particular a number and/or a distance between detected plants ( P1-P3) and/or the driving speed, is controlled and/or regulated. procedure after claim 9 , characterized in that the adjustment path and/or the adjustment speed is controlled and/or regulated as a function of a specific dwell time of the dispensing element (12) above and/or in the vicinity of the plants (P1-P3) to be wetted.

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