EP4064823A1

EP4064823A1 - Vehicle for administering a liquid substance to agricultural lands and irrigation system comprising said vehicle

Info

Publication number: EP4064823A1
Application number: EP21710343.1A
Authority: EP
Inventors: Paolo AIROLA
Original assignee: Mobotec Srl
Current assignee: Mobotec Srl
Priority date: 2020-02-13
Filing date: 2021-02-10
Publication date: 2022-10-05
Also published as: WO2021161180A1; IT202000002950A1

Abstract

Vehicle (11) for administering a liquid substance to agricultural lands, having a displacement member (13) in which an outer surface (15) is defined adapted to come into contact with the ground on which the vehicle is working, said vehicle (11) comprising at least one liquid substance dispenser (17) associated with the displacement member (13) and including a carrying element (21) which is intended for carrying a liquid substance and has an inlet opening (23) for the liquid, said inlet opening (23) being proximal to the displacement member (13), and a dispensing opening (25) intended for dispensing said liquid and distal to the displacement member (13), and a movable element (29) which at least partially surrounds the carrying element (21) and is adapted to assume a first configuration of closing of the dispensing opening (25), said first configuration being distal to said outer surface (15), for preventing exit of the liquid, and a second configuration of opening of said dispensing opening (25), said second configuration being proximal to said outer surface (15), for allowing dispensing of the liquid.

Description

Vehicle for administering a liquid substance to agricultural lands and irrigation system comprising said vehicle

Description

Technical Field

The present invention relates to a vehicle for administering a liquid substance to agricultural lands. More precisely, the invention relates to a vehicle capable of carrying out subterranean irrigation or fertirrigation, i.e. of administering a liquid substance beneath the level at which the vehicle operates. The invention further relates to an irrigation system comprising said vehicle.

Background Art

At present, several methods are used in the agricultural sector for carrying out the irrigation or fertirrigation of crops. Known methods used include, for example, sprinkler irrigation, or spray irrigation, and drip irrigation or micro-irrigation. Micro-irrigation refers to a set of irrigation systems in which water is distributed through dispensers fed by low-pressure polyethylene pipes. Micro-irrigation is generally localized close to the plant and its root system and therefore only waters part of the soil surrounding the plant. Another typical feature of drip micro-irrigation is the distribution of small volumes of water over a relatively long period of time and at frequent intervals, which, in the period of greatest evapotraspiration, can even become daily. Since drip irrigation or fertirrigation involves dripping the liquid, such as water or a technical medium, to be administered to the plants, directly near the plant roots, thus with a very low consumption of the liquid substance, this method is gradually replacing sprinkler irrigation, or spray irrigation, used as the traditional method for agricultural irrigation/fertirrigation.

Drip irrigation, or micro-irrigation, offers a series of advantages, such as, for example, uniform distribution of water with a high level of waste reduction, the possibility of carrying certain types of plant protection products in the irrigation water, preventing them from coming into contact with the plants on the surface or being dispersed in the air, the possibility of applying small doses of liquid (water or technical medium) very frequently, etc. Flowever, this method also has a number of drawbacks. A first drawback is that in order to carry out drip irrigation, or micro-irrigation, a large amount of piping must be laid initially. Therefore, the investment and costs at the initial stage are very high, which limits the development of drip irrigation. Another drawback is that the piping structure to be laid for drip irrigation has to extend over the entire surface of the crop to be irrigated, which results in high costs in the case of crops that extend over large areas. In order to overcome the abovementioned drawbacks, self-propelled robots for drip irrigation have been created. Document CN207322217 (U) describes a drip irrigation robot for agricultural irrigation, comprising a water tank with which a hydraulically operated rod, a camera and a solenoid valve are associated. The solenoid valve is connected to a liquid outlet pipe which enables drip irrigation to be carried out. The height of the liquid outlet pipe in relation to the ground is adjustable, allowing drip irrigation to be carried out on agricultural crops of various heights.

However, known micro-irrigation robots have a number of drawbacks.

A first drawback is the lack of precision in irrigation, as the movement of the robot can lead to the risk of irrigating areas that do not require cultivation, thus encouraging weed growth.

Another drawback is the waste of liquid to be administered, caused by the poor precision of irrigation carried out in this way.

Still another drawback is the risk of contamination of air with pesticides or technical medium that may have been dissolved in the irrigation water.

The main object of the invention is to provide a vehicle for administering a liquid substance to agricultural lands that does not have the drawbacks of the prior art.

Another object of the invention is to provide a vehicle for administering a liquid substance and capable of minimizing the evaporative component of the liquid substance to be administered.

Another object of the invention is to provide a vehicle for administering a liquid substance to agricultural lands capable of operating on various types of terrain, such as flat terrain, or sloping and rough hilly terrain.

A last but not least object of the invention is that of providing an irrigation system comprising said vehicle.

These and other objects are achieved with the vehicle for administering a liquid substance to agricultural lands as claimed in the appended claims.

Summary of Invention

The invention relates to a vehicle for administering a liquid substance to agricultural lands. The vehicle according to the invention is advantageously suitable for operating on agricultural lands of various kinds, both flat and hilly, and also on slopes or rough terrain. The liquid substance that can be administered with the vehicle according to the invention may comprise water, or a technical medium, such as a fertilizer or pesticide, or a mixture of substances.

The vehicle according to the invention is provided with a displacement member in which an outer surface is defined adapted to come into contact with the ground on which the vehicle operates. The displacement member may preferably comprise crawler tracks, or it may comprise wheels or a combination of crawler tracks and wheels. Preferably, the wheels comprise tireless wheels, e.g. wheels made of metal, which allow the vehicle to move easily over steep, rough and muddy terrain, as farmland often is. The vehicle is preferably of the self- propelled type, i.e. having aboard a motor of its own and at least one crawler track or drive wheel driven by the motor for moving the vehicle on the terrain. Alternatively, the vehicle may be of the towed type, i.e. intended to be coupled to another motorized vehicle, e.g. an agricultural tractor.

Advantageously, according to the invention, the administration of a liquid substance takes place deep in the ground on which the vehicle operates, i.e. beneath the plane of the ground which is in contact with the outer surface of the displacement member.

According to the invention, the vehicle comprises at least one dispenser intended for dispensing a liquid substance and associated with the displacement member. The dispenser is attached to the displacement member, preferably by means of securing means, such as brackets, screws and/or bolts. Preferably, the at least one dispenser is arranged laterally in an overhanging manner on an outer or inner side of the displacement member. In addition, according to a preferred embodiment of the invention, the dispenser is capable of dispensing the liquid substance in a radial direction, substantially parallel to the outer surface of the displacement member that contacts the ground on which the vehicle operates. Accordingly, in accordance with this preferred embodiment of the invention, when the vehicle operates on the ground, the liquid that exits radially from the dispenser penetrates into the ground in a substantially perpendicular direction, owing to the natural channel that is created in the ground, around the dispenser portion penetrating into the ground and surrounding the radial opening for exit of the liquid.

In addition, advantageously, according to the invention the dispenser, being associated with the displacement member of the administering vehicle, is capable of administering the liquid substance cyclically as the vehicle moves forward due to the rotation of the displacement member. Advantageously, according to the invention, it is thus possible to provide a plurality of dispensers associated with the displacement member, so that such dispensers have a pitch, i.e. a distance from one another, coherent with the pitch of the seedlings, i.e. with the distance between one seedling and the other in a row crop, so that the site in which the liquid substance is introduced into the ground is determined with a good approximation around the seedling, so as to minimize the quantity of liquid substance administered.

The dispenser comprises a carrying element intended for carrying a liquid substance and defined by a preferably rectilinear duct, having an inlet opening for the liquid substance, said inlet opening being arranged proximal to the contact outer surface of the displacement member, and a dispensing opening, distal to said contact surface. The liquid-carrying element comprises a preferably rectilinear duct. The carrying element is preferably provided with a connecting portion for connecting said element to a source of a liquid substance, or to a delivery or distribution duct for the liquid coming from a tank or a source of liquid substance. The connecting portion is located at the liquid inlet opening, proximal to the displacement member. The liquid delivery duct is preferably connected to a source of a liquid substance, which may comprise a tank provided aboard the vehicle, or on a trailer carriage, or to a source outside the vehicle, such as a channel, a well, a cistern, etc.

Advantageously, the dispenser further comprises an element movable relative to the carrying element and at least partially surrounding the carrying element. The movable element is adapted to assume a first configuration of closing of the dispensing opening, in which first configuration the movable element is distal to the outer surface of the displacement member for preventing exit of the liquid. In addition, the movable element is adapted to assume a second configuration of opening of the dispensing opening, in which second configuration the movable element is proximal to said outer surface of the displacement member.

According to the invention, the closing configuration is achieved through counter means comprising an elastic element and the opening configuration is achieved by means of the thrust exerted onto the ground by the movable element owing to the weight of the vehicle as the vehicle moves forward. Said elastic element is therefore capable of maintaining the movable element in the configuration of closing of said dispensing opening when no thrust sufficient to overcome the resistance of said elastic element is exerted onto a dish-like crown.

Preferably, the movable element comprises a dish-like crown surrounding the carrying element and defining a support surface for support on the ground, said support surface being substantially plan and having the shape of a circular crown. Preferably, the counter means comprise an elastic element arranged outside on the carrying element between securing means and the movable element. The elastic element is adapted to axially slide the movable element over the carrying element, by storing and releasing mechanical energy, to cause closing of the dispensing opening, when the moveable element of the dispenser is not in contact with the ground. More preferably, the elastic element comprises a properly adjusted spring, even more preferably a properly adjusted coil spring. It is not excluded that the sliding of the dish-like crown may be caused by means for actuating the movable element, including hydraulic, pneumatic or electrical actuating members. It is not excluded that the movable element may comprise, for example, a cylindrical element, such as a sleeve, a pipe portion, or still further elements.

In addition, according to a preferred embodiment of the invention, the distal front portion of the carrying element, i.e. the end opposite to the liquid inlet opening, is closed and has a pointed element with substantially cusp shape. Said cusp-shaped pointed element substantially defines a tip capable of sticking into the ground on which the vehicle operates, when the dispenser is in contact with the ground, thus creating a corresponding irrigation channel which allows to administer liquid to a level beneath the surface of the ground on which the displacement member operates. The tip may be made as a single piece with the carrying element, or it may be associated therewith by means of a fitting or other means known to the person skilled in the art.

Preferably, the movable element defines an annular seat, capable of housing the back base of the tip of the carrying element, so that in the first configuration of closing of the dispensing opening it is possible to establish a substantially tight sealing of the dispenser in order to minimize leaks of liquid. More preferably, the movable element extends radially around the carrying element and has a frustoconical shape. Preferably, the tip has a substantially cusp shape and is provided with a back base having a shape complementary to the shape of the seat defined in the movable element.

The dispensing opening of the carrying element preferably comprises at least one radial slot, which, thanks to the axially sliding movement of the movable element over the carrying element, allows to administer a liquid to a level beneath the contact surface between the displacement member and the ground on which the vehicle operates. More preferably, said dispensing opening is located between the tip and the liquid inlet opening, and even more preferably near the tip.

The dispenser further comprises a sealing element, preferably a rubber O-ring, provided between the movable element and the carrying element, said sealing element being capable of ensuring adequate hydraulic sealing between the movable element and the carrying element, upstream of the said dispensing opening.

The invention further provides an irrigation system substantially intended for row crops, said irrigation system comprising at least one vehicle for administering a liquid substance to agricultural lands as described above. The irrigation system further comprises a source of a liquid substance, such as water or a technical medium. The source of liquid substance may comprise a source aboard the vehicle or a source outside the vehicle. Preferably, the irrigation system comprises a second vehicle in fluid communication with said administering vehicle according to the invention as described above. Preferably, said vehicles are configured to operate orthogonally to each other, i.e. the second vehicle is adapted to move transversely relative to the crop rows along which the administering vehicle operates, whereas the administering vehicle is adapted to shuttle between the second vehicle and the distal end of each row of the row crop. In addition, the vehicles are provided with electronic control units configured to process a series of data coming from a plurality of sensors and to program the operation of the irrigation system in accordance with the data obtained from the sensors. In addition, the vehicles may be provided with communication modules, preferably wireless communication modules, allowing to exchange information, for example information concerning weather changes, processed by said electronic control units, thus allowing the vehicle to adapt to the weather and to the requirements of the ground to be irrigated. Advantageously, the vehicles are also provided with a self-guiding system, for example based on the signals detected by proximity sensors, or on a GPS system, or the like, enabling said vehicles to self-align to the crop rows so as to effect correct irrigation of the soil without damage to the seedlings. Thanks to the self-guiding systems provided on the vehicles it is possible to make real-time corrections in the advancing direction of said vehicle, so as to maintain alignment with the crop rows that are not perfectly rectilinear.

Brief Description of Drawings

These and other features and advantages of the invention will become more evident from the following detailed description of a preferred embodiment thereof, given by way of non limiting example, with reference to the attached drawings, in which:

Fig.l shows a schematic side plan view of a vehicle according to a preferred embodiment of the invention;

Fig.2 shows a schematic side plan view of a vehicle according to a second embodiment of the invention;

Fig.3 shows a schematic cross-sectional rear view of the vehicle of Fig. 1;

Fig.4 shows a schematic rear plan view of the vehicle of Fig. 1;

Fig.5 shows a side plan view of a displacement member of the vehicle according to the invention in a first working configuration, Fig.6 shows a side plan view of the displacement member of Fig. 5 in a second working configuration,

Fig.7 shows a perspective view of a displacement member of the vehicle according to the invention;

Fig.8 shows a perspective view in detail of a pair of dispensers;

Fig.9 shows a side plan view of the dispensers of Fig. 8 in a first working configuration;

Fig.10 shows a cross-sectional view in detail of the dispenser of Fig. 9;

Fig.11 shows a side plan view of a pair of dispensers in a second working configuration;

Fig.12 shows a cross-sectional view in detail of a dispenser of Fig. 11 ;

Fig.13 shows a perspective view of a Cartesian system of irrigation comprising an irrigation vehicle according to the invention;

Fig.14 shows a top plan view of the system of Fig. 13.

Description of Embodiments

Referring to Figs. 1 to 7, there is schematically illustrated a vehicle 11, for administering a liquid substance in agricultural lands, according to some preferred embodiments of the invention. The agricultural lands on which the vehicle 11 can operate may include lands of various kinds, for example substantially flat lands, or sloping hilly lands. The liquid substance to be injected may comprise water or a technical medium, such as a fertili er or a pesticide, or a mixture of substances.

The vehicle 11 as illustrated is provided with a displacement member 13 in which an outer surface 15 is defined adapted to come into contact with the ground on which the vehicle 11 operates. In the shown embodiment, the displacement member 13 comprises a pair of crawler tracks. In other embodiments, the displacement member may include wheels, preferably of the tireless type, for example wheels made of metal, which allow the vehicle to move easily over steep, rough and muddy terrain, as farmland can be. In still further embodiments, the displacement member comprises a combination of crawler tracks and wheels.

In the illustrated embodiment, the vehicle 11 is a vehicle of the self-propelled type, i.e. provided with a motor of its own and a pair of crawler tracks for advancing on the ground. In other embodiments, the vehicle may be of the towed type, i.e. intended to be associated with another motorized vehicle, for example an agricultural tractor.

According to the invention, the vehicle 11 comprises at least one liquid dispenser 17 associated with the displacement member 13. The dispenser 17 is attached to the displacement member 13 by means of securing means 9, such as brackets, screws and/or bolts. In the illustrated embodiment, the vehicle 11 comprises a plurality of dispensers 17, arranged laterally in an overhanging manner on an outer side of the displacement member 13 and capable of dispensing a liquid substance in a direction substantially perpendicular to the contact outer surface 15 of the displacement member 15. In other embodiments, the dispensers 17 may be attached inside the displacement member.

The dispensers 17, being associated with the displacement member 13, are entrained with it as the vehicle moves forward and perform a complete cycle upon each complete rotation of the displacement member 13.

Referring now to Figs. 8 to 12, the dispensers 17 are illustrated in detail. In the shown embodiments, the dispensers 17 are attached in pairs along the outer lateral profile of at least one of the two crawler tracks forming the displacement member 13 of the vehicle 11. In other embodiments, the dispensers may be attached to displacement member individually or in a number higher than two. Still referring to the shown embodiments, the dispensers 17 are attached to the displacement member 13, or more precisely the crawler tracks, by means of a yoke-shaped bracket 19’ having a hole 19a for a pin 19b, coinciding with the pin that holds the crawler track chains together, so that the pair of dispensers 17 can swing about said pin, during rotation of the crawler track. The dispenser 17 comprises a carrying element 21 for carrying a liquid, said carrying element being provided with a liquid inlet opening 23 located proximal to the displacement member 13, and a dispensing opening 25 distal to the displacement member 13 and arranged radially to the carrying element 21. In the illustrated embodiment, the carrying element 21 for carrying the liquid comprises a substantially rectilinear duct. The carrying element 21 is provided with a connecting portion 21a for connecting said carrying element 21 to a source of a liquid substance through a delivery or distribution duct 27 for the liquid substance. The connecting portion 21a is located at the liquid inlet opening 23, proximal to the displacement member 13, when said dispenser is associated to said displacement member 13. In the shown embodiment, the connecting portion 21a comprises a portion of the duct 21 having annular projections on its outside. In the illustrated embodiment, said delivery or distribution duct 27 for the liquid substance is connected in turn to a source of a liquid substance, which may comprise a tank 100 (Fig. 2) provided aboard the vehicle 11, or on a trailer carriage, or to a source upstream of the vehicle 11, such as a channel, well, cistern, etc. through a flexible hose 99, wound around a toroidal winder 101 aboard the vehicle (Figs. 1 and 3), or wound outside the vehicle, for example around a toroidal winder arranged outside the vehicle 11 or housed aboard a second vehicle, as will become more apparent from the following description. Referring to Fig. 4, the vehicle 11, both when having aboard a tank 100 and when having a toroidal winder 101 for the flexible hose 99, may advantageously comprise a tilting assembly 105 equipped with means 107, comprising for example corresponding hydraulic cylinders, and capable to change the position of the center of gravity of said tank 100, or of said winder 101, relative to the median plane P perpendicular to the rotation axes of the crawler tracks or of the wheels of the vehicle 11, about a longitudinal axis substantially corresponding to the longitudinal axis of the vehicle. Advantageously, the tilting assembly 105 allows to compensate for the shifting of the center of gravity of the vehicle 11 during traveling on rough terrain, thus preventing the vehicle 11 from overturning due to the remarkable weight of the tanks 100 and the winder 101.

Still referring to the illustrated embodiments, the delivery or distribution duct 27 for the liquid substance is in common to all the dispensers 17 and comprises a preferably flexible hose associated with the crawler track and capable of rotating together with the crawler track. To this aim, the displacement member 13 comprises a mechanism of the connecting rod - crank type 28, schematically shown in Figs. 5 and 6, capable of establishing a fluid communication between the delivery duct 27 and the liquid source 100 or the pipe 99 associated in turn with a source arranged outside the vehicle.

Advantageously, the dispenser 17 further comprises an element 29 that is movable relative to the carrying element 21 and at least partially surrounds the carrying element 21. The movable element 29 is adapted to assume a first configuration of closing of the dispensing opening 25, in which the movable element 29 is distal to the outer surface 15 of said displacement member 13, for preventing exit of the liquid. This first configuration of the movable element is shown in Figs. 8 to 10. The movable element 29 is further adapted to assume a second configuration of opening of said dispensing opening 25, in which the movable element 29 is proximal to the outer surface 15 of the displacement member 13. This second configuration of the movable element 29 is shown in Figs. 11 and 12. In the illustrated embodiment, the movable element 29 comprises a dish-like crown 31 and counter means 33 adapted to keep the dish-like crown in the first configuration, when the dish-like crown 31 is not in contact with the ground. In the illustrated embodiment, the dish-like crown 31 comprises a first cylindrical portion 31a extending axially about the carrying element 21, and a second portion 31b defining a support surface for support on the ground, when the dispenser 17 is in contact with the ground on which the vehicle 11 operates. The support surface defined by the second portion 31b of the dish -like crown 31 is substantially perpendicular to the sliding axis along which the dish-like crown 31 slides relative to the carrying element 21. Still referring to the illustrated embodiment, the counter means 33 comprise an elastic element 35 located outside about the carrying element 21 between the securing means 19 and the movable element 29, said elastic element being adapted to make the movable element 29 slide axially over the carrying element 21 by storing and releasing mechanical energy, when the dish-like crown 31 is in contact with the ground and when the dish-like crown 31 is free from contact with the ground, respectively. In the shown embodiment, said counter means comprise a properly adjusted coil spring. In other embodiments, the sliding of the movable element 29 can be determined by hydraulically or electrically or pneumatically driven members, or by other known means, capable of bringing the dish-like crown 31 into the closing configuration and possibly also into the opening configuration. Said driving members may also be advantageously driven by an electronic unit suitably programmed to cause opening and closing of the dispending opening 25 when the dispenser 17 is in the desired position, i.e. at or near the site to which the liquid substance is to be administered. In still further embodiments, the movable element 29 may comprise, for example, a cylindrical element such as a sleeve, a pipe portion, or still other elements.

In addition, according to the invention, the front end 21b of the carrying element 21, i.e. the end opposite to the liquid inlet opening 23, is closed, so as to prevent exit of the liquid. In the illustrated embodiment, the closed end comprises a tip 22 having a substantially cusp shape. The tip 22 is capable of sticking into the ground on which the vehicle 11 operates, when the dispenser 17 is in contact with the ground, thus creating a corresponding irrigation channel allowing passage of the liquid to a level beneath the contact outer surface 15 of the displacement member 13. The tip 22 may be made as a single piece with the carrying element 21, or it may be associated therewith by means of a fitting or other means known to the person skilled in the art.

In addition, in the illustrated embodiment, the movable element 29 defines a seat 29a capable of housing the back base of the tip 22 of the carrying element 21, so that in the first configuration of closing of the dispensing opening 25 it is possible to establish a tight sealing of the dispenser 17 in order to minimize leaks of liquid. In the shown embodiment, the movable element 29 has a frustoconical shape and the tip 22 has a cusp shape, substantially conical and facing away from the conicity of the movable element 29, and is provided with a back base having a shape complementary to the shape of the seat 29a defined by the movable element 29.

The dispensing opening 25 of the carrying element 21 comprises at least one radial slot which, due to the axial movement of the movable element 29 over the carrying element 21 as the vehicle 11 moves forward, and by virtue of the pressure exerted on the ground, allows dispensing of the liquid to a level beneath the contact outer surface 15 of the displacement member 13. In the illustrated embodiment, the dispensing opening 25 is located between the tip 22 and the liquid inlet opening 23, near the tip 22.

The dispenser 17 further comprises a sealing element, preferably a rubber O-ring, provided between the movable element 29 and the carrying element 21.

Referring now to Figs. 13 and 14, there is illustrated an irrigation system 200, substantially intended for row crops, said system comprising a first vehicle 11 for administering a liquid substance to agricultural lands as previously described. The irrigation system 200 further comprises a source of a liquid substance, such as water, or a technical medium. In the illustrated embodiment, the system 200 comprises a second vehicle 12 in fluid communication with the first vehicle 11, for example through the pipe 99 wound around the toroidal winder 101. Said vehicles 11, 12 are configured to operate orthogonally to each other, i.e. the second vehicle 12 is adapted to travel over a surface substantially free of crops at a first transverse end 201 of a row crop, i.e. substantially perpendicular to the crop rows 203, whereas the first vehicle 11 is adapted to travel over a surface between two crop rows 203, orthogonally to the surface traveled by the second vehicle, to a second transverse end 205, substantially parallel to said first end 201, whereby the first vehicle 11 is adapted to shuttle between the second vehicle 12 and the second end 205. In addition, the vehicles 11, 12 are preferably equipped with electronic control units configured to process a series of data coming from a plurality of sensors and to program the operation of the irrigation system 200 in accordance with the data obtained from the sensors. In the illustrated embodiment, the source of liquid comprises a water source (not shown), arranged upstream of the second vehicle 12. To this aim, the vehicles 11, 12 are each provided with a winding core 10, 10’, i.e. a cylindrical element having a vertical or horizontal axis and provided with a flexible hose. Pumping means (not shown) may be provided, suitable for pressurizing the liquid substance coming from the source over the entire pipe so as to bring it to the dispensers 17 associated with the displacement member 13 of the vehicle 11. In other embodiments, the source of liquid substance may comprise a tank aboard either of the two vehicles 11, 12. In addition, the vehicles 11, 12 are provided with communication modules, preferably wireless communication modules, allowing to exchange information, for example information concerning weather changes. Said information is processed by said electronic control units, allowing the vehicle to adapt to the weather and to the requirements of the ground to be irrigated. Advantageously, the vehicles 11, 12 are further provided with a self-guiding system enabling said vehicles to self-align to the crop rows 203 so as to effect correct irrigation of the soil without damage to the seedlings. Thanks to the self-guiding systems provided on the vehicles 11, 12 it is possible to make real-time corrections in the advancing direction of said vehicle, so as to maintain alignment with the crops rows that are not perfectly rectilinear. The invention as described and illustrated is susceptible to further variants and modifications falling within the same inventive principle.

Claims

1. Vehicle (11) for administering a liquid substance to agricultural lands, having a displacement member (13) in which an outer surface (15) is defined adapted to come into contact with the ground on which the vehicle is working, said vehicle (11) comprising at least one liquid substance dispenser (17) associated with the displacement member (13) and including a carrying element (21) which is intended for carrying a liquid substance and has an inlet opening (23) for the liquid, said inlet opening (23) being proximal to the displacement member (13), and a dispensing opening (25) intended for dispensing said liquid and distal to the displacement member (13), and a movable element (29) which at least partially surrounds the carrying element (21) and is adapted to assume a first configuration of closing of the dispensing opening (25), said first configuration being distal to said outer surface (15), for preventing exit of the liquid, and a second configuration of opening of said dispensing opening (25), said second configuration being proximal to said outer surface (15), for allowing dispensing of the liquid.

2.Vehicle according to claim 1, wherein the displacement member (13) comprises a pair of crawler tracks, and wherein at least one of the crawler tracks is provided with at least one dispenser (17).

3. Vehicle according to claim 1 or 2, wherein the at least one dispenser (17) is laterally attached in an overhanging manner to a side of the displacement member (13) and is adapted to dispense the liquid substance in a radial direction, substantially parallel to the outer contact surface of the displacement member with respect to the ground on which the vehicle is working.

4. Vehicle according to any of the claims 1 or 2 or 3, wherein the carrying element (21) for the liquid includes a rectilinear duct having a connecting portion (21a) at the inlet opening (23) for the liquid, for connecting said carrying element (21) to a source (100) of a liquid substance through a liquid delivery duct (27).

5. Vehicle according to any of the preceding claims, wherein the front end (21b) of the carrying element (21), i.e. the end opposite to the inlet opening (23) for the liquid, is closed and has a pointed element (22) with a substantially cusp shape.

6. Vehicle according to any of the preceding claims, wherein the movable element (29) comprises a dish-like crown (31) and counter means (33) for shifting said dish-like crown (31) from a configuration in which it opens the dispensing opening (25) to a configuration in which it closes the dispensing opening (25) when no thrust sufficient to overcome the resistance of said counter means (33) is exerted onto said dish-like crown (31).

7. Vehicle according to claim 6, wherein the counter means (33) comprise an elastic element (35) arranged externally about said carrying element (21), between said dish-like crown (31) and means (19) for attaching the dispenser (17) to the displacement member (13), said elastic element (35) being adapted to axially slide said dish-like crown (31) over the carrying element (21).

8. Vehicle according to any of the preceding claims, wherein the dispensing opening (25) for the liquid comprises at least one radial slot.

9. Vehicle according to any of claims 5 to 8, wherein the movable element (29) defines a seat (29a) and the pointed element (22) of the carrying element (21) is provided with a back base with a shape complementary to the shape of the seat (29a) defined by the movable element e (29), whereby in the first configuration of closing of the dispensing opening (25) it is possible to establish a tight sealing of the dispenser (17) in order to minimize leaks of liquid.

10. Vehicle according to any of the preceding claims, wherein said vehicle is of the self- propelled type.

11. Vehicle according to any of the preceding claims, wherein said vehicle comprises a plurality of dispensers (17), and wherein said dispensers (17) are associated with the displacement member (13) so that said dispensers (17) have a pitch, i.e. a distance from one another, coherent with the pitch of the seedlings, i.e. with the distance between one seedling and the other in row crops.

12. Irrigation system (200) comprising at least one vehicle (11) as claimed in claims 1 to 11, and a source (100) of liquid substance, wherein said source (100) is provided aboard said vehicle (11), or outside said vehicle (11).

13. Irrigation system (200) according to claim 12, comprising a second vehicle (12) in fluid communication with said administering vehicle (11), wherein said vehicles (11, 12) are configured to work orthogonally to each other.

14. Irrigation system (200) according to claim 12 or 13, wherein said vehicles (11,12) are equipped with electronic control units configured to process a series of data coming from a plurality of sensors and to program the operation of the irrigation system (200) in accordance with the data obtained from the sensors.

15. Irrigation system (200) according to any of claims 12 to 14, wherein said vehicles (11,12) are further equipped with a self-guiding system based on signals detected by proximity sensors or on a GPS system allowing said vehicles to self-align in real time with respect to the crop rows so that correct irrigation of the soil without damage to the seedlings is obtained.