DE19913971A1 - Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content - Google Patents

Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content

Info

Publication number
DE19913971A1
DE19913971A1 DE19913971A DE19913971A DE19913971A1 DE 19913971 A1 DE19913971 A1 DE 19913971A1 DE 19913971 A DE19913971 A DE 19913971A DE 19913971 A DE19913971 A DE 19913971A DE 19913971 A1 DE19913971 A1 DE 19913971A1
Authority
DE
Germany
Prior art keywords
sensors
microprocessor
characterized
plants
measurement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19913971A
Other languages
German (de)
Inventor
Juergen Wollring
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Norsk Hydro ASA
Original Assignee
Norsk Hydro ASA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Norsk Hydro ASA filed Critical Norsk Hydro ASA
Priority to DE19913971A priority Critical patent/DE19913971A1/en
Publication of DE19913971A1 publication Critical patent/DE19913971A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C15/00Fertiliser distributors
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00Methods for working soil
    • A01B79/005Precision agriculture
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using infra-red, visible or ultra-violet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infra-red light
    • G01N21/3563Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infra-red light for analysing solids; Preparation of samples therefor
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using infra-red, visible or ultra-violet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using infra-red, visible or ultra-violet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infra-red light
    • G01N21/359Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infra-red light using near infra-red light

Abstract

Applying fertilizer comprises determining the chlorophyll content of the plants, using a microprocessor connected to the sensors to determine the nutritional status of the plants, using an on-board computer to control the fertilizer application rate, determining the position of the tractor by means of a digital global positioning system (GPS) and controlling the sensors and microprocessor. Applying fertilizer to plants by tractor comprises (1) determining the chlorophyll content of the plants using sensors for measuring reflectance in the visible or near infrared region of the spectrum; (2) using a microprocessor connected to the sensors to determine the nutritional status of the plants; (3) using an on-board computer to control the fertilizer application rate on the basis of nutritional status; (4) determining the position of the tractor by means of a digital global positioning system (GPS) and (5) controlling the sensors and microprocessor in real time by means of signals transmitted from the GPS and reference signals transmitted from a reference satellite. An Independent claim is also included for an apparatus for carrying out the process which comprises a drivable carrier e.g. a vehicle and/or trailer, equipped with a computer, one or more sensors mounted on the carrier in the direction of travel through the crop, a microprocessor connected to the sensors for determining the nutritional status of the plants, the microprocessor being connected to the computer, an applicator for variable distribution of the fertilizer and a digital GPS receiver connected to the microprocessor.

Description

The invention relates to a method for site-specific fertilization of plants, during which the application of fertilizer by reflection optical measurement in the visible and near infrared spectral range using sensors The chlorophyll content of the plants is determined, too the microprocessor belonging to the sensors is the measure for determines the nutritional status of the plants with which a Job computer the appropriate amount of fertilizer to be applied controls and the actual measuring position of the agricultural tractor is determined with a digital global positioning system.

The invention further relates to a device for area-specific fertilization of plants with a movable carrier, for example vehicle and / or coupled work machines with a job computer  is equipped, one or more on the crop sensors pointing in the direction of travel and attached to the carrier, which determine the nutritional state of the plants Microprocessor is assigned to the one with the job computer Spreaders connected to the variable distribution of the fertilizer is, and a dispenser for the variable distribution of the Fertilizer.

DE 197 27 528 A1 describes an on-board computer system for agricultural machine and / or implement combinations known from a tractor and on this coupled agricultural machinery, such as for example power harrows, seed drills, fertilizer spreaders and field sprayers, etc., with the Agricultural tractor and / or the on-board computer system coupled work machine or the self-propelled Working machine on the in the on-board computer system stored and / or entered setting values are adjustable, controllable and / or adjustable, the On-board computer system interacting with the on-board computer Has sensor elements, which information about the Condition and condition of the vegetation on the currently supplies the area to be processed or ordered. This known on-board computer system has a computer a storage unit in which setting data and site-specific data are stored. The computer interacts with a DGPS system that is satellite-based  determines the current location of the agricultural tractor. With one on the front wheel of the tractor Driving speed sensor, the computer pulses over fed the distance traveled.

In this known solution, the corresponding sensor delivers Measurement data that are used to determine the nutritional status of the Plants serve in an on-board computer, in its memory current site-specific data and values from Area characteristics must be entered. This data and The farmer must first store values in the computer in order to ensure that the computer reads the measurement data from the sensors process and the actually required Can control fertilizer application accordingly. This one called differential global positioning system (DGPS) together with the vehicle speed sensor only for Determining the coordinates of the tractor, d. H. to Location, used. The known solution is with the Disadvantage connected that the current is not always site-specific data and values are available and external influences such as weather and special conditions at the tops, depressions or forest edges are not taken into account. Furthermore, variety changes in cultivation attract significant Changes in the site-specific data and values so that the farmer changes the Change the processing software in the on-board computer accordingly got to.  

It is also known to derive the site specific data withdrawal of the previous crop on the corresponding area (Field) by measuring the yield (see Brochure "The innovation for site-specific fertilization" Hydro Agri Deutschland GmbH, 1997). The dates of the Yield measurement are carried out by an on-board computer system on one Chip card saved and over this on the Farmer's personal computer transmitted. The one External computer accessible from the Internet address reads the data and creates a fertilizer application map. The Fertilizer application card is on the personal computer of the Retransfer farmer. The chip card is then used Application card in the tractor's on-board computer imported, which then controls the output accordingly. During fertilizer application, another Process step, the chlorophyll content of the plants measured. The measured values are with the on-board computer evaluated, which also controls the spreading. The implementation of this quasi online fertilization process is cumbersome and at the same time expensive, they have to determined measurement data and the application card on a chip Card loaded by the farmer into his on-board computer must store.

In this prior art, the object of the invention based on a method and a device of the introduction to improve the type mentioned so that the Processing software for the microprocessor of the sensor or  On-board computers in real time without caching on portable storage medium transferable and update-bar as well as access for the user regardless of time and place easier and safer handling is possible.

This task is accomplished by a method of the type mentioned at the beginning Genus with the characterizing features of claim 1 and by a device with the characteristic features of claim 10 solved.

Advantageous embodiments of the method and Device can be found in the subclaims.

The inventive method makes it possible for a The nutritional status of the plants is variable fertilization necessary for specific areas Application card without intermediate storage on a chip Map to the farmer quickly, easily and with high accuracy to provide. Those installed on the tractor Sensors for determining the current nutritional status of the plants are at any time with software controlled, which corresponds to the latest version. For the The measuring process becomes easier, clearer and farmer less time consuming. It also becomes cumbersome Handling with chip cards completely avoided. The The inventive method is also characterized in that that for the first time it will be possible to add variety correction data and growth stages, the current weather data in the  Include fertilizer spreading. Possible errors when loading the chip card through direct access bypassed to the current version of the processing software. At any time and in any place, the farmer can go on for the processing of the measurement data required software access. He only needs a corresponding one from the distributor the software provided access code, for example in Form of a password or a PIN number with which it can be sent via Satellite the new software for the microprocessor can download.

The inventive method also makes it possible to detected by the sensors and preprocessed by the microprocessor Measured data of the nutritional status of the plants over the Reference satellites and the earth station for the purpose To transfer further processing to a basic computer, the a fertilizer application value for the scanned area determined and stores this value in the memory of the computer. These values can then be called up via the Internet.

The inventive device for performing the The process has the advantage of being compact and robust Construction with easier usability at the same time.

With all these features it is achieved that the Solution according to the invention the complex requirements of a area-specific fertilization with high efficiency and Accuracy better.  

Further advantages and details emerge from the following description with reference to the attached drawings.

The invention is based on two exemplary embodiments are explained in more detail.

Show it:

Fig. 1 is a schematic representation of the process of the invention without active re-transmission of the measurement data,

Fig. 2 shows the basic structure of DGPS receiver, the microprocessor of the sensors and the job computer,

Fig. 3 is a side view of the vehicle on-board computer,

Fig. 4 is a rear view of the vehicle with a sensor arrangement attached to the side of the vehicle roof and a DGPS receiver arranged above it

Fig. 5 is another schematic diagram of the inventive method with retransmission of the measurement data to the ground station, processing of the measurement data for fertilizer application card and integration in the Internet.

example 1

The principle of the method according to the invention is shown schematically in FIG . On the roof 2 of a towing vehicle 1 , a support arm 3 projecting laterally beyond the roof 2 is fastened transversely to the direction of travel. The support arm 3 (see FIGS . 3 and 4) each carries at its front end two pivotably adjustable sensors 4 , which are preferably oriented at an angle β of 60 ° (inclined position) to the crop. Both sensors 4 form an angle α of preferably 90 ° with one another. The sensors 4 have a microprocessor MP, which processes the measurement data. The microprocessor MP is connected to the job computer 5 of the dispenser. A DGPS receiver 6 is fastened in the center of the roof 2 , the antenna 7 of which has a clear view of the satellites 8 and 15 . Of course, it is also possible to arrange the receiver 6 with the antenna 7 on the work machine. It is only necessary to ensure that the view of the satellites 8 remains clear.

As shown schematically in FIG. 2, a receiver is provided in the receiver 6 , the code distances to at least three identical satellites 8 being measured simultaneously in a reference station known in terms of coordinates and in the receiver of the towing vehicle 1 . The antenna 7 of the receiver 6 receives the signals S from all satellites 8 . The signals S are sent to the preamplifier 9 and then to the radio frequency unit 10 as the actual receiving unit, which is controlled by a navigation processor 11 . This is connected to the microprocessor MP of the sensors 4 via an interface.

The microprocessor MP of the sensors 4 regulates the data acquisition, carries out the corresponding calculations and transmits the application values obtained from the measurement data to the job computer 5 , which in turn controls the application of the fertilizer accordingly.

About one consisting of display and keyboard control unit 12, which is part of the job computer 5, the user MK and the job computer 5 can communicate interactively with the microprocessor. The on-board power supply 13 supplies the receiver 6 , the microprocessor MK and the job computer 5 with current. The reference signals S R are transmitted from the earth station 14 to the receiver 6 via the reference satellite 15 . With the reference signals S R , control signals for the connection or disconnection of the receiver 6 and thus the sensors 4 are also transmitted from the earth station 14 . The receiver 6 is activated by an access authorization given by the operator as a password or PIN number or by a corresponding software identification of the sensors 4 , which can be limited in time. The latest version of the processing software for the sensors 4 can also be read from the earth station 14 into the microprocessor MP via the reference satellite 15 and the receiver 6 . The microprocessor MP therefore always has the latest versions of the processing software available for recording and preprocessing the measured values. At the same time, information about the variety changes, data on growth stages and weather data can be accessed via the reference satellites, which help to ensure optimal fertilizer application.

Example 2

The towing vehicle 1 is additionally equipped with a transmitter 16 (see FIG. 5), which retransmits the possibly preprocessed measurement data stored in the microprocessor MP via the satellite 15 to the earth station 14 , which receives the measurement data, demodulates it and forwards it to a basic computer 17 . In the base computer 17 , the measurement data are processed into a fertilization application card and kept available for retrieval in a database for the user via the Internet 18 using a specific password.

List of the reference symbols used

1

Towing vehicle

2nd

top, roof

3rd

Beam

4th

Sensors

5

Job calculator

6

DGPS receiver

7

Antenna from

6

8th

Satellites

9

Preamplifier

10th

Radio frequency unit

11

Navigation processor

12th

Control unit

13

Power supply

14

Earth station

15

Reference satellite

16

Channel

17th

Basic computer

18th

Internet

19th

Spreaders
MP microprocessor of the sensors

4th

S satellite signals
S R

Reference signals
α Viewing angle of the sensor
β Oblique position of the sensor

Claims (13)

1.Procedure for the area-specific fertilization of plants, in which the chlorophyll content of the plants is determined by sensors during the application of the fertilizer by reflection-optical measurement in the visible and near-infrared spectral range Job computer controls the amount of fertilizer to be spread and the actual measuring position of the tractor is determined with a digital global positioning system, characterized in that the measurement and processing of the measured values in the microprocessor of the sensors by the Global Positioning System (GPS) - Signals sent by satellites and the reference signals sent by a reference satellite are controlled in real time.
2. The method according to claim 1, characterized in that the sensors ( 4 ) from an earth station ( 14 ) on the reference satellite ( 15 ) for the user are enabled or disabled.
3. The method according to claim 1, characterized in that changes in the measurement algorithm and in the processing software are transmitted from the earth station via the reference satellite ( 15 ) to the microprocessor of the sensors ( 4 ).
4. The method according to claim 1 to 3, characterized in that for Processing of the measurement data in the microprocessor specific External data, preferably data on grade corrections and Stages of growth, meteorological data, special Conditions on depressions, crests or forest edges of the measuring area transmitted from the satellites to the microprocessor.
5. The method according to claim 1, characterized in that the measurement data corresponding to the respective measurement position from the microprocessor (MP) of the sensors ( 4 ) to the reference satellite ( 15 ) and then to the earth station ( 14 ) for further processing and then the processed data in one Base computer ( 17 ) is stored as a fertilizer application value for the scanned area, which is available when called up from the base computer ( 17 ) via an Internet address for controlling the fertilizer application by the microprocessor of the sensors.
6. The method according to claim 1 to 4, characterized in that the measurement is carried out as a one-way method.
7. The method according to claim 1 to 5, characterized in that the measurement is carried out as a two-way method.
8. The method according to claim 1 to 7, characterized in that access of the end user to the sensor for a preselectable time can be activated.
9. The method according to claim 1 to 8, characterized in that the measurement is carried out with natural or artificial light.
10. Device for the fertilization of plants specific to the area for carrying out the method according to claim 1 with a movable carrier, for example a vehicle and / or coupled working machine, which is equipped with a job computer, one or more sensors directed towards the crop in the direction of travel and attached to the carrier, which is assigned a microprocessor determining the nutritional state of the plants, which is connected to the job computer, and a dispenser for variable distribution of the fertilizer, characterized in that the sensors ( 4 ) are assigned a DGPS receiver ( 6 ) which is connected to the interface of the microprocessor (MP) of the sensors ( 4 ) is connected.
11. The device according to claim 10, characterized in that the antenna ( 7 ) of the receiver ( 6 ) is arranged on a with the carrier ( 3 ) moving, freely visible from the satellite position.
12. The apparatus of claim 10 and 11, characterized in that the sensors ( 4 ) on the carrier ( 3 ) or dispenser, preferably in a laterally projecting the roof of the carrier is arranged.
13. The apparatus according to claim 9 to 13, characterized in that the microprocessor (MP) of the sensors ( 4 ) is connected to a transmitter ( 16 ) for emitting the measurement data.
DE19913971A 1999-03-18 1999-03-18 Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content Withdrawn DE19913971A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19913971A DE19913971A1 (en) 1999-03-18 1999-03-18 Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19913971A DE19913971A1 (en) 1999-03-18 1999-03-18 Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content

Publications (1)

Publication Number Publication Date
DE19913971A1 true DE19913971A1 (en) 2000-09-28

Family

ID=7902662

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19913971A Withdrawn DE19913971A1 (en) 1999-03-18 1999-03-18 Computer controlled fertilizer application includes using digital global positioning system to control sensors for determining chlorophyll content

Country Status (1)

Country Link
DE (1) DE19913971A1 (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003009669A1 (en) * 2001-07-24 2003-02-06 The Board Of Regents For Oklahoma State University A process for in-season nutrient application based on predicted yield potential
US6601341B2 (en) 2001-07-24 2003-08-05 The Board Of Regents For Oklahoma State University Process for in-season fertilizer nitrogen application based on predicted yield potential
CN1299558C (en) * 2002-11-20 2007-02-14 北京农业信息技术研究中心 Precision variable fertilizing machine
EP1754405A1 (en) * 2005-08-16 2007-02-21 Deere & Company Mobile station for an unmanned vehicle
DE102006002437A1 (en) * 2006-01-11 2007-07-12 Agrocom Gmbh & Co. Agrarsysteme Kg Measuring device for agricultural harvester, has optical sensor system that detects chlorophyll content of cultivated plants during harvesting process, and evaluation unit that generates weed signal
CN1326442C (en) * 2005-06-21 2007-07-18 吉林大学 Virtual GPS accurate agricultural variable subsoil application system
WO2008097283A1 (en) * 2007-02-09 2008-08-14 Tsd Integrated Controls, Llc Method and system for applying materials to crops
CN102598941A (en) * 2012-03-29 2012-07-25 中国农业科学院农业资源与农业区划研究所 Precision control intelligent fertilizing machine
CN102626026A (en) * 2012-04-13 2012-08-08 南京工业职业技术学院 Precise management system for tea garden based on GPS (Global Positioning System), GIS (Geographic Information System) and sensor network technology
DE102011050877A1 (en) 2011-03-04 2012-09-06 Technische Universität München Method for determining the fertilizer requirement, in particular the nitrogen fertilizer requirement and apparatus for carrying out the method
WO2012156490A1 (en) 2011-05-18 2012-11-22 Georg Fritzmeier Gmbh & Co.Kg Method for determining an amount to be applied and device for carrying out the method
CN103592887A (en) * 2013-11-22 2014-02-19 江苏大学 Full-automatic control device and method for agricultural frost prevention machine
WO2016186523A1 (en) * 2015-05-21 2016-11-24 C-Dax Limited Plant matter sensor
EP3216659A1 (en) 2016-03-08 2017-09-13 Deere & Company Assembly for monitoring functions of a working machine
DE102004055217B4 (en) 2004-11-16 2018-07-19 Agro-Sat Consulting Gmbh Process for optimizing the use of fertilizers or the like in agriculture
GR20170100203A (en) * 2017-05-05 2019-02-25 Δημητριος Αριστειδη Ευαγγελοπουλος System for variable-dose fertilisation of cereal crops with use of multispectral cameras
DE102018210583B3 (en) 2018-06-28 2019-08-14 Zf Friedrichshafen Ag Method and device for communication with self-propelled machines

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19514223A1 (en) * 1995-04-15 1996-10-17 Claas Ohg Method for use optimization of agricultural machinery
DE19727528A1 (en) * 1997-06-30 1999-01-07 Amazonen Werke Dreyer H On-board computer system for agricultural tractor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19514223A1 (en) * 1995-04-15 1996-10-17 Claas Ohg Method for use optimization of agricultural machinery
DE19727528A1 (en) * 1997-06-30 1999-01-07 Amazonen Werke Dreyer H On-board computer system for agricultural tractor

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003009669A1 (en) * 2001-07-24 2003-02-06 The Board Of Regents For Oklahoma State University A process for in-season nutrient application based on predicted yield potential
US6601341B2 (en) 2001-07-24 2003-08-05 The Board Of Regents For Oklahoma State University Process for in-season fertilizer nitrogen application based on predicted yield potential
US6880291B2 (en) 2001-07-24 2005-04-19 The Board Of Regents For Oklahoma State University Process for in-season fertilizer nutrient application based on predicted yield potential
US7188450B2 (en) 2001-07-24 2007-03-13 The Board Of Regents For Oklahoma State University Use of within-field-element-size CV for improved nutrient fertilization in crop production
CN1299558C (en) * 2002-11-20 2007-02-14 北京农业信息技术研究中心 Precision variable fertilizing machine
DE102004055217B4 (en) 2004-11-16 2018-07-19 Agro-Sat Consulting Gmbh Process for optimizing the use of fertilizers or the like in agriculture
CN1326442C (en) * 2005-06-21 2007-07-18 吉林大学 Virtual GPS accurate agricultural variable subsoil application system
US8442700B2 (en) 2005-08-16 2013-05-14 Deere & Company Mobile station for unmanned vehicle
EP1754405A1 (en) * 2005-08-16 2007-02-21 Deere & Company Mobile station for an unmanned vehicle
DE102006002437A1 (en) * 2006-01-11 2007-07-12 Agrocom Gmbh & Co. Agrarsysteme Kg Measuring device for agricultural harvester, has optical sensor system that detects chlorophyll content of cultivated plants during harvesting process, and evaluation unit that generates weed signal
US7848865B2 (en) 2007-02-09 2010-12-07 Tsd Integrated Controls, Llc Method and system for applying materials to crops
WO2008097283A1 (en) * 2007-02-09 2008-08-14 Tsd Integrated Controls, Llc Method and system for applying materials to crops
DE102011050877A1 (en) 2011-03-04 2012-09-06 Technische Universität München Method for determining the fertilizer requirement, in particular the nitrogen fertilizer requirement and apparatus for carrying out the method
WO2012119931A1 (en) 2011-03-04 2012-09-13 Technische Universität München Method for ascertaining the fertilizer requirement, in particular the nitrogen fertilizer requirement, and apparatus for carrying out the method
US10007640B2 (en) 2011-03-04 2018-06-26 Technische Universität München Method for ascertaining the fertilizer requirement, in particular the nitrogen fertilizer requirement, and apparatus for carrying out the method
DE102011050877B4 (en) * 2011-03-04 2014-05-22 Technische Universität München Method for determining the fertilizer requirement, in particular the nitrogen fertilizer requirement and apparatus for carrying out the method
DE102012104294A1 (en) 2011-05-18 2012-11-22 Georg Fritzmeier Gmbh & Co. Kg Method for determining an application quantity and apparatus for carrying out the method
WO2012156490A1 (en) 2011-05-18 2012-11-22 Georg Fritzmeier Gmbh & Co.Kg Method for determining an amount to be applied and device for carrying out the method
CN102598941A (en) * 2012-03-29 2012-07-25 中国农业科学院农业资源与农业区划研究所 Precision control intelligent fertilizing machine
CN102626026A (en) * 2012-04-13 2012-08-08 南京工业职业技术学院 Precise management system for tea garden based on GPS (Global Positioning System), GIS (Geographic Information System) and sensor network technology
CN103592887B (en) * 2013-11-22 2015-12-30 江苏大学 A kind of device for automatically controlling of agricultural frost preventing machine and method
CN103592887A (en) * 2013-11-22 2014-02-19 江苏大学 Full-automatic control device and method for agricultural frost prevention machine
WO2016186523A1 (en) * 2015-05-21 2016-11-24 C-Dax Limited Plant matter sensor
US10209181B2 (en) 2015-05-21 2019-02-19 C-Dax Limited Plant matter sensor to determine health and/or nutritional content based on reflected signals at vertically displaced points on the plant matter
EP3216659A1 (en) 2016-03-08 2017-09-13 Deere & Company Assembly for monitoring functions of a working machine
DE102016203715A1 (en) 2016-03-08 2017-09-14 Deere & Company Arrangement for controlling functions of a work machine
GR20170100203A (en) * 2017-05-05 2019-02-25 Δημητριος Αριστειδη Ευαγγελοπουλος System for variable-dose fertilisation of cereal crops with use of multispectral cameras
GR1009533B (en) * 2017-05-05 2019-05-31 Δημητριος Αριστειδη Ευαγγελοπουλος System for variable-dose fertilisation of cereal crops with use of multispectral cameras
DE102018210583B3 (en) 2018-06-28 2019-08-14 Zf Friedrichshafen Ag Method and device for communication with self-propelled machines

Similar Documents

Publication Publication Date Title
US20190075706A1 (en) Robotic platform and method for performing multiple functions in agricultural systems
US9301447B2 (en) Control arrangement for controlling the transfer of agricultural crop from a harvesting machine to a transport vehicle
US8494726B2 (en) Agricultural autopilot path adjustment
US8583315B2 (en) Multi-antenna GNSS control system and method
US9179595B2 (en) Assembly and method for the precision drilling of seed grains
US10410149B2 (en) Agricultural work management system and agricultural crop harvester
JP4904404B2 (en) Method and system for spraying substances on crops
US20190277636A1 (en) Method and system for planning the path of an agricultural vehicle
CN1550758B (en) Direct modification of DGPS information with inertial measurement data
AU2013200397B2 (en) Agricultural machine having a system for automatic setting of a working parameter, and associated method
US6745128B2 (en) Methods and systems for managing farmland
US6703973B1 (en) Guiding vehicle in adjacent swaths across terrain via satellite navigation and tilt measurement
RU2382544C2 (en) System of controlling transfer of harvested mass to agricultural vehicles
EP0835962B1 (en) Vehicle for spreading products on the road surface, in particular de-icing products
DE102004039460B3 (en) A system for determining the relative position of a second agricultural vehicle with respect to a first agricultural vehicle
US6199000B1 (en) Methods and apparatus for precision agriculture operations utilizing real time kinematic global positioning system systems
JP4001933B2 (en) Vehicle combination
US6813544B2 (en) Method and apparatus for spatially variable rate application of agricultural chemicals based on remotely sensed vegetation data
Blackmer et al. Using precision farming technologies to improve management of soil and fertiliser nitrogen
EP1915894B1 (en) Method and apparatus for creating curved swath patterns for farm machinery
US7188450B2 (en) Use of within-field-element-size CV for improved nutrient fertilization in crop production
US8781685B2 (en) System and method for integrating automatic electrical steering with GNSS guidance
US6070673A (en) Location based tractor control
US8213964B2 (en) Communication system and method for mobile and stationary devices
WO2014112154A1 (en) Farm work machine, farm work management method, farm work management program, and recording medium recording farm work management program

Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8139 Disposal/non-payment of the annual fee