DE4140254A1 - Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment - Google Patents

Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment

Info

Publication number
DE4140254A1
DE4140254A1 DE4140254A DE4140254A DE4140254A1 DE 4140254 A1 DE4140254 A1 DE 4140254A1 DE 4140254 A DE4140254 A DE 4140254A DE 4140254 A DE4140254 A DE 4140254A DE 4140254 A1 DE4140254 A1 DE 4140254A1
Authority
DE
Germany
Prior art keywords
height
ultrasonic sensor
sensors
spray bar
above ground
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Withdrawn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
DE4140254A
Other languages
German (de)
Inventor
Gerd E. F. 8608 Memmelsdorf De Steffen
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.)
STEFFEN, CHRISTINE, 96117 MEMMELSDORF, DE
Original Assignee
Gerd E. F. 8608 Memmelsdorf De Steffen
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
Priority claimed from DE4134820A external-priority patent/DE4134820A1/en
Application filed by Gerd E. F. 8608 Memmelsdorf De Steffen filed Critical Gerd E. F. 8608 Memmelsdorf De Steffen
Priority to DE4140254A priority Critical patent/DE4140254A1/en
Publication of DE4140254A1 publication Critical patent/DE4140254A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/14—Control of position or direction using feedback using an analogue comparing device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/08—Agricultural vehicles
    • B60G2300/083—Boom carrying vehicles, e.g. for crop spraying

Abstract

A spray bar unit (1), fitted to an agricultural tractor, has sensors (S1, S2) fitted to the ends and these monitor the height (A) of the spray head above the ground level (F). The signals from the sensors are received by an on-board electronic controller (11) that identifies an error in required height and a difference in height between the ends. Corrective signals are applied to a hydraulic unit (12) that connects with a tilt control hydraulic actuator (Z1) and a lift actuator (Z2). ADVANTAGE - Copes with changing levels and crops including supported or staked ones.

Description

Um die Spritzmittel in der Landwirtschaft gleichmäßig auf dem Feld zu verteilen, ist es notwendig den Spritzbalken in jeder Lage beim Fahren über das Feld im gleichen Abstand zur Oberfläche zu halten. Dieser Abstand sollte auch gewahrt bleiben, wenn die Bestände sich ändern, oder eine Hanglage auftritt.To the spray in agriculture evenly in the field to distribute, it is necessary to spray bar in any position Keep driving across the field at the same distance from the surface. This distance should also be maintained if the stocks change change, or a slope occurs.

Die Erfindung beschreibt ein Regelsystem auf der Basis von Ultraschall- Sensoren, die die Feldoberfläche abtasten und so den Abstand messen.The invention describes a control system based on ultrasound Sensors that scan the field surface and so the Measure distance.

An den beiden Enden bzw. rechts und links des Spritzbalkens einer landwirtschaftlichen Spritze sind je ein Ultraschall-Sensor angebracht. Diese Sensoren messen jeweils den Abstand zur Feldoberfläche. Die Signale der Sensoren werden in einer Elektronik.At the two ends or on the right and left of the spray bar one agricultural syringes are each an ultrasonic sensor appropriate. These sensors measure the distance to the Field surface. The signals from the sensors are in one Electronics.

Bild 1Image 1

Der Sensor 1 (S1) und der Sensor 2 (S2) sind jeweils am Ende des Spritzbalkens (1) befestigt. Beide Sensoren (S1+S2) schauen senkrecht auf den Boden bzw. auf das Feld (F). Die Gesichtsfelder (G1+G2) der Sensoren (S1+S2) sind auf das Maß A(a) eingestellt. Die Elektronik (11) erkennt aufgrund der Signale der Sensoren (S1+S2) ob der Spritzbalken (1) auf beiden Seiten gleichweit vom Feld (F) entfernt ist und regelt diese Lage über den Hydraulikblock (12) den Zylinder 1 (Z1) nach. Dabei wird der Spritzbalken (1) mittels des Zylinders 1 (Z1) um den Drehpunkt des Spritzbalkens (3) gedreht.Sensor 1 (S1) and sensor 2 (S2) are each attached to the end of the spray bar ( 1 ). Both sensors (S1 + S2) look perpendicular to the ground or the field (F). The fields of view (G1 + G2) of the sensors (S1 + S2) are set to dimension A (a). The electronics ( 11 ) recognize on the basis of the signals from the sensors (S1 + S2) whether the spray bar ( 1 ) is equidistant from the field (F) on both sides and regulates this position via the hydraulic block ( 12 ) of cylinder 1 (Z1) . The spray bar ( 1 ) is rotated by means of the cylinder 1 (Z1) around the pivot point of the spray bar ( 3 ).

Ist der Abstand (A) am Sensor 1 (S1) und Sensor 2 (S2) gleichzeitig zu klein oder zu groß, regelt die Elektronik den Zylinder 2 (Z2) nach und hebt oder senkt über das Hubgestell (2) die ganze Spritze.If the distance (A) at sensor 1 (S 1 ) and sensor 2 (S 2 ) is too small or too large at the same time, the electronics readjust cylinder 2 (Z2) and raise or lower the entire syringe via the lifting frame ( 2 ) .

Auflistung der PositionenList of positions

S1 Sensor 1
S2 Sensor 2
G1 Gesichtsfeld-Sensor 1
G2 Gesichtsfeld-Sensor 2
A Abstand zum Feld
F Feld
Z1 Zylinder 1 (Schwenkzylinder)
Z2 Zylinder 2 (Hubzylinder)S1 sensor 1
S2 sensor 2
G1 field of view sensor 1
G2 field of view sensor 2
A distance to the field
F field
Z1 cylinder 1 (swivel cylinder)
Z2 cylinder 2 (lifting cylinder)

 1 Spritzbalken
 2 Hubgestell
 3 Drehpunkt für Spritzbalken 1 spray bar
2 lifting frame
3 pivot point for spray bars

11 Elektronik
12 Hydraulik
13 Zuleitung elektrisch
14 Zuleitung hydraulisch
15 Leitung für Steuersignale
16 Sensorkabel 11 electronics
12 hydraulics
13 Electric supply line
14 Hydraulic supply line
15 line for control signals
16 sensor cables

Claims (5)

1. Ultraschall-Sensor-gesteuerte Höhenregelung dadurch gekennzeichnet, daß der gesteuerte Balken mit Ultraschall-Sensoren den gewünschten Abstand von der bewegten Unterlage behält.1. Ultrasonic sensor-controlled height control, characterized in that the controlled beam with ultrasonic sensors keeps the desired distance from the moving surface. 2. Ultraschall-Sensor-gesteuerte Höhenregelung nach Position 1, dadurch gekennzeichnet, daß die Ultraschall-Sensoren auf die gewünschte Höhe einstellbar sind.2. Ultrasonic sensor-controlled height control according to position 1, characterized in that the ultrasonic sensors on the desired height are adjustable. 3. Ultraschall-Sensor gesteuerte Höhenregelung nach Position 1, dadurch gekennzeichnet, daß die Ultraschall-Sensoren die gewünschte Höhe durch ein elektrisches Signal darstellen können.3. Ultrasound sensor controlled height control according to position 1, characterized in that the ultrasonic sensors represent the desired height by an electrical signal can. 4. Ultraschall-Sensor gesteuerte Höhenregelung nach Position 1 bis 3, dadurch gekennzeichnet, daß der Untergrund auf den die Sensoren reflektieren nicht einheitlich sein muß.4. Ultrasonic sensor controlled height control according to position 1 to 3, characterized in that the substrate on the Sensors reflect need not be uniform. 5. Ultraschall-Sensor gesteuerte Höhenregelung nach Position 1 bis 4, dadurch gekennzeichnet, daß die Signale der Ultraschall- Sensoren von einer Elektrik oder Elektronik in für die angewandte Maschine logische Signale umgewandelt werden, und zur Steuerung der Maschine beitragen.5. Ultrasonic sensor controlled height control according to position 1 to 4, characterized in that the signals of the ultrasonic Sensors from an electrical system or electronics in for the applied machine logical signals are converted, and to Control of the machine.
DE4140254A 1991-10-22 1991-12-06 Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment Withdrawn DE4140254A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4140254A DE4140254A1 (en) 1991-10-22 1991-12-06 Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4134820A DE4134820A1 (en) 1991-10-22 1991-10-22 Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals
DE4140254A DE4140254A1 (en) 1991-10-22 1991-12-06 Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment

Publications (1)

Publication Number Publication Date
DE4140254A1 true DE4140254A1 (en) 1993-06-09

Family

ID=25908429

Family Applications (1)

Application Number Title Priority Date Filing Date
DE4140254A Withdrawn DE4140254A1 (en) 1991-10-22 1991-12-06 Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment

Country Status (1)

Country Link
DE (1) DE4140254A1 (en)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998030088A1 (en) * 1997-01-13 1998-07-16 Brian George Knight Ground attitude control means
EP1444894A1 (en) * 2003-02-10 2004-08-11 Norac Systems International Inc. Roll control system and method for a suspended boom
US6834223B2 (en) 2003-02-10 2004-12-21 Norac Systems International, Inc. Roll control system and method for a suspended boom
WO2006011125A2 (en) * 2004-07-26 2006-02-02 Richard Murphy A stabilising and release system for and boom holding and positioning system for an agricultural apparatus
DE102008009753B3 (en) * 2008-02-18 2009-09-10 Yara International Asa Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source
EP2186405A1 (en) 2008-11-12 2010-05-19 Leeb Mechanik GmbH Spray bar and method for controlling it
FR2965453A1 (en) * 2010-10-05 2012-04-06 Exel Ind AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR
FR2965454A1 (en) * 2010-10-05 2012-04-06 Exel Ind AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR
EP2446724A1 (en) * 2010-10-29 2012-05-02 John Deere Fabriek Horst B.V. Agricultural machine
EP2591657A1 (en) * 2011-11-08 2013-05-15 HORSCH LEEB Application Systems GmbH Moveable device for dispensing fluid and/or solid substances and method for controlling the device
CN103141461A (en) * 2012-12-14 2013-06-12 江苏大学 Lance boom capable of actively adjusting pose
EP2835050A1 (en) * 2013-08-09 2015-02-11 Lemken GmbH & Co. KG Agricultural spreader machine with distributor rods
EP2839739A1 (en) * 2013-08-22 2015-02-25 HORSCH LEEB Application Systems GmbH Agricultural spreader machine with distribution device and system for controlling the movement of the distribution device
WO2015025015A1 (en) * 2013-08-22 2015-02-26 Horsch Leeb Application Systems Gmbh Method for the open-loop and/or closed-loop motion control of an agricultural distributing device
EP3064061A1 (en) 2015-03-02 2016-09-07 HORSCH LEEB Application Systems GmbH Device for dispensing fluid and/or solid agents and method for controlling the device
EP3165090A1 (en) * 2015-11-06 2017-05-10 Amazonen-Werke H. Dreyer GmbH & Co. KG Regulation and/or control system for an agricultural machine
DE202014011019U1 (en) 2013-10-14 2017-05-16 Horsch Leeb Application Systems Gmbh Device for dispensing liquid and / or solid active substances
EP3366134A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and vehicle with adjustable row unit
EP3366130A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and sprayer vehicle with adjustable row unit
EP3366133A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and vehicle with adjustable row unit
US10244747B2 (en) 2013-11-10 2019-04-02 Horsch Leeb Application Systems Gmbh Apparatus and method for discharging liquid and/or solid active substances
US10654063B2 (en) 2017-02-28 2020-05-19 Deere & Company Adjustable row unit and agricultural vehicle with adjustable row unit
FR3093620A1 (en) 2019-03-13 2020-09-18 Robert Bosch Gmbh Method of adjusting a parameter of an agricultural sprayer and agricultural sprayer for its implementation
US10882065B2 (en) 2017-02-28 2021-01-05 Deere & Company Agricultural vehicle with adjustable row unit
US11856943B2 (en) 2017-03-08 2024-01-02 Amazonen-Werke H. Dreyer SE & Co. KG Control system, agricultural utility vehicle and method for controlling an agricultural utility vehicle

Cited By (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998030088A1 (en) * 1997-01-13 1998-07-16 Brian George Knight Ground attitude control means
AU731743B2 (en) * 1997-01-13 2001-04-05 Brian George Knight Ground attitude control means
US6234407B1 (en) 1997-01-13 2001-05-22 Brian George Knight Ground attitude control means
EP1444894A1 (en) * 2003-02-10 2004-08-11 Norac Systems International Inc. Roll control system and method for a suspended boom
US6834223B2 (en) 2003-02-10 2004-12-21 Norac Systems International, Inc. Roll control system and method for a suspended boom
WO2006011125A2 (en) * 2004-07-26 2006-02-02 Richard Murphy A stabilising and release system for and boom holding and positioning system for an agricultural apparatus
WO2006011125A3 (en) * 2004-07-26 2006-09-14 Richard Murphy A stabilising and release system for and boom holding and positioning system for an agricultural apparatus
GB2431331A (en) * 2004-07-26 2007-04-25 Richard Murphy A stabilising and release system for and boom holding and positioning system for an agricultural apparatus
GB2431331B (en) * 2004-07-26 2009-09-02 Richard Murphy An agricultural apparatus comprising stabilising and release system and boom holding and positioning system
US7861793B2 (en) 2004-07-26 2011-01-04 Richard Murphy Stabilising and release system for and boom holding and positioning system for an agricultural apparatus
DE102008009753B3 (en) * 2008-02-18 2009-09-10 Yara International Asa Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source
EP2186405A1 (en) 2008-11-12 2010-05-19 Leeb Mechanik GmbH Spray bar and method for controlling it
US9565847B2 (en) 2010-10-05 2017-02-14 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
US9707882B2 (en) 2010-10-05 2017-07-18 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
WO2012045964A1 (en) 2010-10-05 2012-04-12 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid over cultivated land by means of such a machine
WO2012045963A1 (en) 2010-10-05 2012-04-12 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
FR2965453A1 (en) * 2010-10-05 2012-04-06 Exel Ind AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR
EA022079B1 (en) * 2010-10-05 2015-10-30 Эксель Эндюстри Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
US10343585B2 (en) 2010-10-05 2019-07-09 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
DE202011111069U1 (en) 2010-10-05 2019-03-11 Exel Industries Agricultural vehicle for spraying
EP2624685B1 (en) 2010-10-05 2017-12-13 Exel Industries Agricultural spraying machine and method for spraying a phytosanitary liquid on land cultivated by means of such a machine
FR2965454A1 (en) * 2010-10-05 2012-04-06 Exel Ind AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR
EA024582B1 (en) * 2010-10-05 2016-09-30 Эксель Эндюстри Agricultural spraying machine and method for controlling such a machine while spraying a phytosanitary liquid
EP2446724A1 (en) * 2010-10-29 2012-05-02 John Deere Fabriek Horst B.V. Agricultural machine
EP3219187A1 (en) * 2011-11-08 2017-09-20 HORSCH LEEB Application Systems GmbH Moveable device for dispensing fluid and/or solid substances and method for controlling the device
EP2591657A1 (en) * 2011-11-08 2013-05-15 HORSCH LEEB Application Systems GmbH Moveable device for dispensing fluid and/or solid substances and method for controlling the device
EP2591657B1 (en) 2011-11-08 2017-06-28 HORSCH LEEB Application Systems GmbH Moveable device for dispensing fluid and/or solid substances and method for controlling the device
CN103141461B (en) * 2012-12-14 2015-04-22 江苏大学 Lance boom capable of actively adjusting pose
CN103141461A (en) * 2012-12-14 2013-06-12 江苏大学 Lance boom capable of actively adjusting pose
EP2835050A1 (en) * 2013-08-09 2015-02-11 Lemken GmbH & Co. KG Agricultural spreader machine with distributor rods
EP3912468A1 (en) * 2013-08-22 2021-11-24 HORSCH LEEB Application Systems GmbH Method for motion control, and/or regulation of an agricultural distribution device
WO2015025015A1 (en) * 2013-08-22 2015-02-26 Horsch Leeb Application Systems Gmbh Method for the open-loop and/or closed-loop motion control of an agricultural distributing device
EP2839740A1 (en) * 2013-08-22 2015-02-25 HORSCH LEEB Application Systems GmbH Method for motion control, and/or regulation of an agricultural distribution device
EP2839739A1 (en) * 2013-08-22 2015-02-25 HORSCH LEEB Application Systems GmbH Agricultural spreader machine with distribution device and system for controlling the movement of the distribution device
EP3912467A1 (en) 2013-10-14 2021-11-24 HORSCH LEEB Application Systems GmbH Device for dispensing fluid and/or solid agents and method for controlling the device
DE202014011019U1 (en) 2013-10-14 2017-05-16 Horsch Leeb Application Systems Gmbh Device for dispensing liquid and / or solid active substances
EP3207798A1 (en) 2013-10-14 2017-08-23 HORSCH LEEB Application Systems GmbH Device for applying liquid and/or solid active substances, and method for controlling a device of this type
US9832925B2 (en) 2013-10-14 2017-12-05 Horsch Leeb Application Systems Gmbh Device for applying liquid and/or solid active substances and method for controlling a device of this type
EP3689141A1 (en) 2013-10-14 2020-08-05 HORSCH LEEB Application Systems GmbH Device for dispensing fluid and/or solid agents and method for controlling the device
US10244747B2 (en) 2013-11-10 2019-04-02 Horsch Leeb Application Systems Gmbh Apparatus and method for discharging liquid and/or solid active substances
EP4018801A1 (en) 2013-11-10 2022-06-29 HORSCH LEEB Application Systems GmbH Device for dispensing fluid and/or solid agents and method for controlling the device
EP3064061A1 (en) 2015-03-02 2016-09-07 HORSCH LEEB Application Systems GmbH Device for dispensing fluid and/or solid agents and method for controlling the device
DE102015102975A1 (en) 2015-03-02 2016-09-08 Horsch Leeb Application Systems Gmbh Device for dispensing liquid and / or solid active substances and method for controlling such a device
US10561061B2 (en) 2015-03-02 2020-02-18 Horsch Leeb Application Systems Gmbh Device for spreading liquid and/or solid active agents and method for controlling such a device
EP3165090A1 (en) * 2015-11-06 2017-05-10 Amazonen-Werke H. Dreyer GmbH & Co. KG Regulation and/or control system for an agricultural machine
EP3308644A1 (en) * 2015-11-06 2018-04-18 Amazonen-Werke H. Dreyer GmbH & Co. KG Regulation and/or control system for an agricultural machine
US10882065B2 (en) 2017-02-28 2021-01-05 Deere & Company Agricultural vehicle with adjustable row unit
US10654063B2 (en) 2017-02-28 2020-05-19 Deere & Company Adjustable row unit and agricultural vehicle with adjustable row unit
US10694734B2 (en) 2017-02-28 2020-06-30 Deere & Company Adjustable row unit and sprayer vehicle with adjustable row unit
US10799903B2 (en) 2017-02-28 2020-10-13 Deere & Company Adjustable row unit and vehicle with adjustable row unit
US10575460B2 (en) 2017-02-28 2020-03-03 Deere & Company Adjustable row unit and vehicle with adjustable row unit
EP3366133A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and vehicle with adjustable row unit
EP3366134A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and vehicle with adjustable row unit
EP3366130A1 (en) * 2017-02-28 2018-08-29 Deere & Company Adjustable row unit and sprayer vehicle with adjustable row unit
US11856943B2 (en) 2017-03-08 2024-01-02 Amazonen-Werke H. Dreyer SE & Co. KG Control system, agricultural utility vehicle and method for controlling an agricultural utility vehicle
FR3093620A1 (en) 2019-03-13 2020-09-18 Robert Bosch Gmbh Method of adjusting a parameter of an agricultural sprayer and agricultural sprayer for its implementation

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