RU2149530C1 - Method and agrobridge for bridge irrigation agriculture with minimum soil cultivation - Google Patents

Abstract

FIELD: agriculture. SUBSTANCE: method involves agronomical procedures with direct contact of working tools with soil and plants and noncontact procedures. Direct contact procedures include those corresponding to natural plant growing conditions. Such procedures involve cultivation of soil on rectangular plots sown with single crop or mixture of crops. Plots are divided into strips, with strip width being multiple the working tool width. Noncontact procedures involve procedures accomplished during standing period by advancement of bridge and performing differentiated operations for each strip in accordance with predetermined program or signals generated by sensors. Agrobridge has carts with drive, girder with guide, movable platform, working tools for performing agronomical operations, power and water takeoff device, pipeline with sprinkler nozzles, and steering system. Agrobridge has two systems. First system is adapted for performing procedures free from contact of working tools with soil or plants and is made in the from of pipeline. Second system is adapted for direct contact of working tools with soil and plants and is made in the form of two standard subsystems. EFFECT: wider regeneration of soil fertility and agricultural productivity, useful ecologically safe utilization of natural sources, reduced power and material consumption. 3 cl, 6 dwg

Description

 The invention relates to agriculture, in particular irrigated agriculture.

 Known methods of farming with the rejection of tillage and the use of a traditional fleet of machines and equipment are those that exclude such agricultural practices as plowing, cultivating, mulching from the traditional chain of agricultural practices as soil, thereby reducing overall energy consumption (1) .

 A known method of bridge farming, using the entire chain of traditional agricultural methods with direct contact of the working bodies with soil, plants and not having such contact, performed in movement by an agromost. The bridge includes support trolleys with a drive, a truss with an annular guide and a movable platform with a console and working bodies for performing agricultural methods, a drive for turning the truss, a control cabinet and a driving system (2).

 The closest in technical essence are the method and agromost containing support trolleys with a drive, a truss with a guide, a movable platform, working bodies for performing agricultural methods, a pipeline with irrigation nozzles, a driving system, an electric power intake device. An agromost of a truss structure can work and carry out agro-movements with direct contact of working bodies with soil, plants and without such contact (3).

 It is well known that under the natural conditions of plant growth (on unplowed, uncultivated soil) and the absence of environmentally negative phenomena, soil fertility is constantly increasing. With traditional methods of farming, the principle of which is embodied in the prototype, the vast majority of agricultural practices (plowing with a turnover of the reservoir, harrowing, cultivation, artificial sprinkling, fertilizing, chemicals) are performed using tractors, combine harvesters, seeders and other working bodies that are in contact and repeatedly affecting soil and plants. They exert a particularly strong influence on the soil when plowing and cultivating it with significant energy and material costs. In this case, the natural course of plant growth is disrupted, the soil is compacted and its structure is destroyed. Agricultural practices are often performed separately, which further leads to a violation of the soil structure. Its fertility decreases, especially in the upper horizons, where the aerobic decomposition of plant residues and the synthesis of soil humus components are intensively occurring.

 Failure to mulch (1) also leads to a decrease in soil fertility.

 The use of liquid fuel as an energy carrier for the implementation of these agricultural methods leads to pollution of the soil and the environment with heavy metals and combustion products.

 Thus, environmentally negative environmental management conditions arise, especially with intensive sprinkling. Therefore, the use of the design of the agromost - prototype cannot give the desired effect.

 The prototype method and the bridge for its implementation are designed to cultivate only monoculture. A much greater effect is achieved, for example, in the rocky placement of crops, when one bridge serves a field with several types of crops or different ripening periods and their location. Each culture and the initial unevenness of agro-natural conditions in the field requires differentiated irrigation rates and doses of fertilizers, chemicals with their uniform distribution over the area of the field. Implementation of agricultural methods by the prototype bridge with the same standards and doses leads to leveling and deviation from optimal water, food, microphysiological and other regimes in individual sections of the field. This leads to a loss of crop, a decrease in agricultural productivity. High costs are required for the re-equipment and adjustment of the working bodies of the bridge as it moves along the field when even the same agricultural reception is performed.

 If one of the technological operations is performed at any site, then if the sizes of the site (its length and width) do not coincide with the size of one-time capture by the working body along the bridge and in the direction of travel, this technological operation will be superimposed on neighboring sections, which ultimately leads to negative consequences.

 In the prototype, all the working bodies of the bridge move along an annular guide through its entire length. Most of them come into contact with soil and plants, directly affect them (plowing with a turnover of the reservoir, harrowing, cultivation for structuring the soil and controlling weeds, applying dry fertilizer fertilizers to feed nutrients, chemicals to fight diseases and pests, sowing, mowing , transportation of the crop, mulching ...). In this case, a gradual compaction of the soil occurs, the destruction of the cover, energy-intensive efforts are required to overcome the soil resistance during movement and to the own movement of the working bodies.

 The supply of energy, water, communication channels and control to the working bodies is carried out from one end of the bridge and requires the use of expensive flexible hoses, cables of large diameters and length (more than the length of the bridge). In a circular motion, they are constantly twisted and periodically require their undocking and unwinding. An additional guide is needed for their suspension in order to eliminate dragging along the soil and plants.

 The length of this guide and the guide for organizing the movement of the platform with the working bodies is twice as long as the bridge. This requires an increase in the structural rigidity of the bridge and both rails, and hence material costs.

 The device for regulating the height of the suspension of the working bodies in the prototype bridge is made by bending and raising and lowering the guide near the supporting bogies of the bridge. In this case, the bend should be smooth in order to avoid coming off the platform guide with the console and working bodies. Due to the lifting-lowering, the contact of the working body with the soil is lost. Near the support trolleys, a dead zone is formed, a strip of uncultivated land. This ultimately leads to irrational land use. In addition, due to changes in the field topography and the lack of adjustment of the suspension height of the working body along the bridge, poor-quality soil cultivation and seed placement occurs.

 The speeds of the working bodies and the bridge must be strictly coordinated. Due to changes in terrain, wheel slip and other reasons, the speed of the bridge and the speed of the working bodies can change. As a result, the quality of the performed agricultural reception is disrupted.

 The task to which the invention is directed is the expanded reproduction of soil fertility and agricultural productivity, rational environmentally friendly nature management, a significant reduction in energy and material costs, high-quality implementation of agricultural practices. The invention is expressed in the aggregate of essential features sufficient to achieve the technical result provided by the invention.

The technical result is achieved by the fact that:
- in the chain of agricultural practices carried out with direct contact of the working bodies with soil and plants, use those that correspond to the natural conditions of plant growth (on unplowed, untreated soil), perform on rectangular sections of the field occupied by one type of crop or their mixture, which placed on the field in the form of strips with a width that is a multiple of the capture by a working body that is not in contact with the soil, plants, and the required length of the strip sections is selected with an accuracy determined by the width of the capture of the contacting working body E during the movement of the bridge;
- agricultural methods that do not have direct contact with soil and plants are produced during the period of standing and movement of the agro-bridge during its start-stop movement and are performed differentially in each section, strip according to a given program or signals from sensors of an additionally placed monitoring system for the position of the agro-bridge in the field by switching on - turning off groups of adjacent devices, working bodies, create a pulsed (intermittent) mode of operation due to pulse-width or pulse-frequency control with a period of their inclusion -offs are less than the on-off period of the agromost, and the ratio of the agromost’s movement time to its standing time and movement is selected from the ratio of the agromost’s flow rate to the irrigation rate, its transport (maximum) speed of movement and its length (width) taking into account the metering ratio of the metering pump and agromost pipeline with the simultaneous introduction of water and nutrients, chemicals, the number of working bodies in the group is determined from the ratio of the width of the plot and capture by one working body, and then subtract the average agromost speed is infused and set from the ratio of the agromost consumption to the maximum irrigation rate issued in one of the sections and the aggro bridge capture length (width); for each section, the duty cycle of the inclusion of working groups based on the ratio of the values of the current issued norm in the section to the maximum issued in one of they start the agromost and, according to the signals of the control system of its position, differentially give the given watering norms in each section of the field or each time recalculate and adjust the speed d movement of the agromost, the duty cycle of the inclusion of groups of working bodies when approaching the border of any section, each time choosing the maximum irrigation rate from those norms that are set in areas currently located along the agromost;
- while supplying different set norms of irrigation and different set doses of introducing nutrients and chemicals with irrigation water at the sites, at the beginning, the doses are differentially introduced during the work of groups of working bodies with a duty cycle, defined as the ratio of the applied dose in each area to the maximum dose of all applied doses, at the transport speed of the agromost, and then irrigated with clean water with the issuance of the missing irrigation rate also differentially in the same areas according to one of the above methods of issuing irrigation rates;
- agricultural methods that require contacts of the working bodies with soil, plants, are performed while the agromost is at the position during its start-stop movement by moving along the bridge of the working bodies at a speed directly proportional to the width of their capture along it and inversely proportional to the time they stood at the position, choose the ratio of the working width of the working body along the bridge to the working width of the agromost during its movement from position to position based on the product of the ratio of the speed of movement of the working body to the transport speed of the agro-bridge and the ratio of the time the agro-bridge is in position to the time it moves from position to position.

 In addition, the technical result is achieved by new technical solutions when creating an agromost.

 It includes two systems, the first of which, carrying out agricultural practices without direct contacts of working bodies with soil, plants and made in the form of a pipeline with sprinkler nozzles, is additionally equipped with controlled flow regulators at the nozzle inlet, united in groups depending on the width of the sections, strips on the field, height-adjustable using a set of rods of a given length and connected through the gander to the flow controllers with replaceable nozzles, a solution tank that is connected in series with with a metering pump and a valve, with the help of which fertilizers, chemicals were introduced into the agromost pipeline, water and electricity intake devices, which are hydrants with hoses and electric columns with cables, located on both sides of the bridge along the field.

 The second system, which implements agricultural practices with direct contacts of working bodies with soil, plants, is divided into 2 subsystems of the same type, which are located symmetrically relative to the center of the agromost. Each of them is equipped with water withdrawal devices and transmission of control commands mounted at a distance of one quarter of the length of the truss, a device for adjusting the suspension height of the working body, fixed between the platform and removable contacting working bodies, a tank with a drive screw discharge device and a loading device mounted on a support trolley , a controller, its inputs are connected to a control system for the position of the agromost on the field and its driving system, and the outputs to flow controllers, support drives carts, platforms, contacting working bodies and a device for regulating the height of their suspension.

 The platform drive is made in the form of a drum with its own reverse drive located on the frame at the top of the support trolley, and a non-drive drum located on the frame in the middle of the truss, connected together vertically by a closed rope, the lower section of the rope is rigidly connected to the platform and the axes of the rollers, which placed in the grooves of the guide, made in the form of a Taurus and mounted at the top on the support trolleys of the agromost, and mechanically connected flexible hose and cable are fixed along the upper section on the rings yayuschie selection device with height adjustment device and the actuator contacting the working body.

 The device for regulating the height of the suspension of the working body is made in the form of a hydraulic cylinder rigidly attached to the platform, at the end of the rod of which a suspension mechanism is mounted that is in contact with soil, plants of the working body, the upper and lower cavities of the cylinder are hydraulically connected to the outputs of a controlled electro-hydraulic valve located on the platform, one hydraulic its entrance through a flexible hose is connected to a device for taking water and transmitting control commands, the other to the atmosphere, its electrocoil through mouth The water sampling and transmission of control commands is connected to the controller output, while the upper hydraulic cylinder cavity is additionally connected to the hydraulic valve for controlling the installation of the working body on the soil surface, which is mechanically connected with the hydraulic cylinder rod and the working body suspension mechanism, the hydraulic valve output and the lower hydraulic cylinder cavity are additionally connected to hydraulic contacting the working body, and their electric drive - with a coil of an electrohydro valve.

 The suspension mechanism of the working body is made in the form of a pipe with grooves, the length of which is equal to or greater than the maximum difference of the soil surface on the field under the agro bridge, the pins moved in the grooves are rigidly fixed to the lower end of the hydraulic cylinder rod that is moved in the pipe. At the bottom of the pipe is the suspension unit of the working body in contact with soil or plants.

 The working element of the hydroseeding is made in the form of three flat rectangular plates located one above the other, with a height equal to the standard size of the seed, and having aligned rows of holes with a pitch between them according to agrotechnical requirements, the diameter of which is equal to the diameter of the seed. The lower plate is rigidly fixed in the housing, and the middle is made cyclically movable with a constant stroke, which is larger than the size of the holes, but less than the distance between them, due to the alternately supplied pressure of the water coming through the fittings from the outlet of the hydraulic valve and the electro-hydraulic valve of the device for regulating the height of the working suspension body. The upper plate is rigidly fixed and made hollow, the holes in the lower wall of which are aligned with the holes of the lower plate and the middle holes at its extreme position, and the insulated through bushings of the upper plate with the same hole sizes and the same distances between them are shifted by the middle plate and coaxial with its holes at the other extreme position. The cavity of the upper plate through the fitting is connected to the output of the hydraulic valve of the device for regulating the height of the suspension of the working body. A seed chamber is located between the cover and the top plate in the housing, a loading device and a suspension device are mounted on the cover, and fixators for the location of the working body on the soil surface are fixed at the bottom at the corners of the housing.

 The contact organ for mowing, mulching organic residues and transporting the crop is equipped with a suspension device made in the form of vertically arranged n driven cutting elements-mowers and displaced relative to each other in the direction of the working movement and from top to bottom, an additional conveyor is mounted on the upper mower for loading the cradle with ears of grain cultures. The cradle is equipped with a wire auger for unloading ears in the capacity of the support trolley. The quantity and vertical arrangement of the cutting elements on the bar is adjusted immediately before the technological operation (harvesting) based on agrotechnical requirements (the required, required size of the mulch, the particular crop being harvested - the flexibility of the plant ...).

 In FIG. 1 schematically shows a plan of an irrigated field with an agromost; FIG. 2 is a diagram of the placement of functional systems on an aggro bridge, in FIG. 3 is a front view of the agromost, in FIG. 4 is a side view of the agromost, in FIG. 5 - the working body of the hydroseeding, in FIG. 6 - working bodies for mowing, mulching crop residues, transporting the crop.

Based on the agrotechnical requirements for growing crops, the field in the plan is divided into strips A, B, C ..., the width of which is selected by multiple capture x by plants that are not in contact with the soil, by the working body 1 (Fig. 1), performing agricultural work (irrigation) without direct contact with soil and plants. The bands are divided into sections 1. ..9, where monocultures or their mixtures are cultivated. The required length B _{at the} sites is selected on the basis of agricultural requirements with an accuracy determined by the capture width b by the working body 2 in contact with the soil, plants, along the agromost.

 To reduce energy and material costs, functional systems and equipment are placed on the agromost and the field is dispersed. Water and electricity intake devices are located on both sides of the agromost along the field and, in this case, are hydrants with hoses 3 and electrocolumns with cables 4, mechanically connected together and connected to the water supply unit 5, which is a coupling with valve, and the power supply unit 6, made in the form of a detachable device. From the supply unit, the electric power via cable enters the power supply cabinet 7, water to the pipeline 8 of the bridge, on which the working bodies 1 are evenly placed, which are not in contact with soil and plants.

 Management of the agromost and all technological operations is carried out by the controller (microcomputer) 9 according to the specified program stored in its memory.

 For a more accurate and high-quality development of agricultural practices, reducing the jamming of plots and plants, an agromost driving system along field 10 was introduced, similar to the system used on the Kuban-L sprinkler, including heading devices with rods and a guide cable laid along the field, electrically connected with a controller.

 A system for monitoring the position of the bridge on the field has been introduced for differentiated testing of technological operations (agricultural practices) in the areas. It can be made in the form of equipment for monitoring the distance traveled, for example, an odometer wheel or other device, or, as presented in this case, for more accurate testing of the technological process, in the form of benchmarks 11 and brackets with a microswitch 12, which are connected electrically to the controller.

 The functional system that performs agricultural practices with direct contact of the working bodies with soil and plants is divided into 2 independent identical subsystems 1 and 2 (Fig. 2). They are each located in its own half (L / 2) symmetrically with respect to the center of the agromost. Each subsystem is equipped with a device for water withdrawal 13 and transmission of electric drive control commands, including flexible hoses 14, control cable 15. They are located in the middle of each half of the bridge (L / 4). As a result of this arrangement, the length and diameter of the expensive flexible hoses 14 and control cables (communications) 15 are significantly reduced. In other cases, you can use cheaper (inflexible) cables.

 Water to hydrants 3 comes from the pipeline 16 of the irrigation network, electricity - to the electrocolumn 4 via cable 17 of the external power supply system. In addition, the agromost includes support carts 18 with an electric drive (Fig. 1, 3, 4), a truss 19 with a guide 20, a movable platform 21, a device for adjusting the height of the suspension 22 of the contacting working bodies, consisting of a hydraulic cylinder 23, an electrohydrovalve 24, consisting of from the control coil and the control valve, the control valve of the installation of the working body on the soil surface 25 and the suspension mechanism 26 of the contacting working bodies. Non-contacting working bodies 1 are located on the agro-bridge pipeline 8, made in this case in the form of sprinkler nozzles 27 (Fig. 3) or replaceable nozzles 28, adjustable by the gate using a set of rods 29 of a certain length and connected to the controlled flow regulators 31 using a gander 30 that stand at the entrance of all non-contacting working bodies. On the frame 32, in addition to the power supply cabinet 7, a metering pump 33 and a valve 34 are arranged in series for supplying liquid fertilizers, chemicals along with irrigation water for transferring agricultural products in contact with soil and plants to non-contact ones. On the farm there are 35 platform drives, each of which consists of a drum 36 with its own reversible drive 37, located on the frame 36 at the top of the support trolley, a non-power drum 39, located on the frame 40 in the middle of the farm. The drums are connected by a rope 41, the lower portion of which is rigidly connected to the platform, by the axes of the rollers 42, which are grooved in the grooves of the guide, made in the form of a Taurus 43 and mounted on top of the support trolleys. On the upper section of the rope 41 on the rings 44, flexible hose 14 and cable 15 are rigidly fixed to each other and supplying water and control commands to the height adjustment device 22 and contacting working bodies 2 from the selection devices 13.

 Water from the water supply unit 5 is supplied to the bridge pipeline 8 via a flexible insert 45. The controller (microcomputer) 9 is mounted on the frame 46 at the top of one of the power supply cabinets 7 and controls all technological operations.

On each support trolley mounted tanks 47 (Fig. 2, 3, 4) with a drive screw device 48 for unloading, for example, grain, and a loading device 49, for example seeds, and a tank 50 for storing fertilizer solutions, chemicals, connected by a hose 51 to the pump -doser 33. The suspension mechanism 26 of the working body (Fig. 5) consists of a pipe 52 having longitudinal grooves 53 in which the pin 54 moves, in this case made in the form of a pin 55 with a nut 56 and cotter pins 57, mounted on the end of the rod 58 hydraulic cylinder 23. At the bottom of the pipe is a block 59 of the suspension contact a working body, in this case consisting of a bolt with a nut 60, passing through the holes in the pipe and the suspension device 61 of the contacting working body,
The working element of the hydroseeding (Fig. 5) consists of three plates located one above the other with a thickness (height) equal to the standard seed size, grain height (length): fixed lower 62, middle movable 63, upper hollow 64 with bushings 65. In this case this refers to grains of wheat, barley, rye and the like, having the shape of an ellipsoid, which is characterized by length (height) and diameter. When sowing millet and the like, the grain has the shape of a ball, and in this case the length (height) coincides with the diameter. All plates have coaxially arranged rows of holes with a pitch between them, determined by agricultural requirements (planting density, feature of the sowing culture ...). The diameter of the holes should be equal to the diameter of the grain (seed) so that only one grain gets into the hole. The cyclic movement, the stroke of the movable plate 63 should be constant and determined so that the openings of the fixed plates 62, 64 are fully coaxially open-close for picking and sowing seeds and do not overlap other rows. Between the cover 66 with the loading device 67 and the hollow plate 64 in the housing 68 is a chamber 69 for storing seeds. The body has a fitting 70 for supplying water to the chamber of the hollow plate 64, the ends of the movable 63. At the bottom of the corners of the body are fixed latches 71 of its landing on the soil. The diameters of the holes correspond to the diameter of the seeds 72. The working body is equipped with a suspension device (eye) 61.

 The working body for mowing, mulching plant residues and transportation (Fig. 6) is made combined and consists of several vertical drive cutting elements-mowers 73, offset from each other in the direction of the working movement, starting from above. The number and vertical arrangement of cutting elements-mowers with a shift relative to each other in the direction of travel and from top to bottom are due to the necessary, required mulch size, flexibility of the plant being harvested. In this case, the upper mower is equipped with a conveyor 74 for loading the cradle 75 with ears of grain crops, equipped with a screw 76 for unloading them into the tank 47. The working body is equipped with its suspension device 61.

The method of bridge irrigated agriculture with minimal tillage and minimal impact on it is as follows. The field is divided into strips A, B, C, the required width l _{i of} which is a multiple of the capture x _{i of} non-contacting soil, plants of the working body (sprinkler nozzle, nozzle), and the required length of sections B _y on them is selected with an accuracy of the working width b of the contacting worker body in the direction of the bridge. Monocultures or mixtures thereof are cultivated in sections 1 and 9 (Fig. 1).

To bring the cultivation of crops closer to natural conditions, as well as to reduce energy and material costs, the minimum impact on the soil from the chain of traditional agricultural methods excludes mechanical tillage, including plowing with a turnover of the reservoir, harrowing, cultivation, disking, etc. Using water as a reagent, they dissolve and along with it feed nutrients and chemicals to the plots, carrying out such agricultural practices as contact with soil and plants, such as applying organic matter, fertilizers, combating weeds (herbicides), diseases and pests (pesticides) , effects on plant growth (growth stimulants), soil structuring (chemical improvers) with simultaneous mulching of plant debris, etc. Agricultural practices carried out by the working bodies in contact with the soil, plants: sowing, mowing, transporting the crop, mulching are performed by special contacting working bodies with minimal impact on the soil, and seed placement is carried out to a minimum depth close to natural deepening, with simultaneous water supply and elements of food, chemicals. Agricultural methods that do not have direct contact with soil and plants are produced during the period of standing and movement of the bridge (irrigation, fertilizing, organic, herbicides, pesticides, growth stimulants, chemical ameliorants, microelements with irrigation water ...) according to a given program or according to sensor signals (systems) monitoring the position of the agromost on the field or other sensors of the need to perform agricultural reception in the areas. Moreover, the working bodies are combined in groups depending on the width of the strips A, B, C, sections l _i and capture by one working body x _i . The number of working bodies in groups is determined by the following relationship:
n _i = l _i / x _i .

They give the irrigation rate, the dose of fertilizers, chemicals differentially on each lane, section due to the pulse (intermittent) mode of operation of the groups of working bodies (nozzles) by pulse-width or frequency-pulse control with a switching on-off period T _p less than the on-time turning off the agro-bridge T _{m by} about 1 order (10 times) so that the uniform distribution of water, chemicals and fertilizers does not deteriorate
10T _p = 10 (t _{and p} + t _etc.) ≤T = t _m + t _{and n}
where t _ir , t _CR - the time of inclusion (work), the time of shutdown, respectively, of the working body during the period of its operation;
t _and , t _p - the time of switching on (movement) from position to position, the time the agromost was in position for the period of its operation (movement).

где Q - расход воды трубопровода агромоста;
m - заданная норма полива;
v_т - транспортная (максимальная) скорость агромоста;
L - длина (ширина) захвата агромоста.Moreover set jog movement agromosta and selected ratio of the time t _and of its movement at the time t _and its movement and standing t _n (the period of its movement T _m) according to the following relationship:

where Q is the flow rate of the agromost pipeline;
m is the specified rate of irrigation;
v _t - transport (maximum) speed of the agromost;
L is the length (width) of the capture of the agromost.

При поливе (без удобрений, химвеществ) вычисляют с помощью микрокомпьютера (контроллера) и задают среднюю скорость агромоста согласно следующей зависимости;

где m_max - текущая максимально выдаваемая норма полива на участках.With the simultaneous introduction of water, batteries, primarily fertilizers, or chemicals, the ratio of water flow rates Q of the agromost pipeline and its metering pump Q _{n is} also taken into account:

When watering (without fertilizers, chemicals), it is calculated using a microcomputer (controller) and the average speed of the agromost is set according to the following dependence;

where m _max is the current maximum issued irrigation rate in areas.

где m_i - текущая норма полива на каком-либо участке.Then, for each section, the duty cycle q _{i of the} inclusion of the groups of working bodies is set according to the following dependence:

where m _i - the current rate of irrigation in any area.

 The agromost is turned on and according to the signals of the control system of its position on the field, when approaching any areas, the specified irrigation norms are differentially generated.

 To increase the productivity of the agro-bridge, it is possible to recalculate and adjust the speed of the agro-bridge, the duty cycle of switching on the groups of working bodies when approaching the border of each section, each time choosing the current maximum irrigation rate in those sections that are currently located along the agro-bridge.

где ∂_xi - текущая доза внесения удобрений (химвеществ) на участках;
∂_{xi max} - текущая максимально вносимая на участках доза внесения удобрений (химвеществ).With the simultaneous supply of the set irrigation norms and the set doses of fertilizers (chemicals) in the areas at the beginning, the doses are differentially applied at the transport speed of the agromost and the work of groups of working bodies with duty cycle according to the following relationship:

where ∂ _xi is the current dose of fertilizers (chemicals) in the areas;
∂ _{xi max} - the current maximum applied dose of fertilizer (chemicals) in the plots.

 Then differentially irrigate with clean water with the issuance of the missing irrigation standards in all areas according to one of the above methods for issuing irrigation norms.

 This is done in order to achieve maximum agromost performance. In this case, the maximum dose of fertilizer (chemicals) is given at the transport (maximum) speed of the agromost and fully open working bodies, i.e.

где m_т - выдаваемая норма полива при транспортной скорости агромоста;
γ - удельный вес раствора удобрений (химвеществ).∂ _{xi max} = ∂ _xi
which is determined by the dependence

where m _t - issued rate of irrigation at the transport speed of the agromost;
γ is the specific gravity of the solution of fertilizers (chemicals).

Агроприемы, требующие контакта рабочих органов с почвой, растениями (сев, кошение, мульчирование), выполняют в период стояния агромоста на позиции при его старт-стопном движении.Therefore, the duty cycle of the inclusion of the working bodies for the introduction of the specified doses in the areas is calculated according to:

Agricultural practices that require contact of the working bodies with soil, plants (sowing, mowing, mulching) are performed while the agromost is at the position during its start-stop movement.

Moreover, they select the speed of movement of the working bodies in contact with soil, plants, according to the following relationship:
v _p = l _k / t _p ,
where l _to - the width of the contact of the working body along the agromost.

This parameter can be equal to the width of the sections l _i or half its length L / 2, since the agromost in our case includes 2 subsystems. The choice of such a speed is made on the condition that the working body, while standing at the position, have time to pass the specified distance along the bridge.

Агромост работает следующим образом. В контроллер (микрокомпьютер) 9 заносится программа управления приводами опорных тележек 18 моста, приводами платформ 35, рабочих органов 2 (гидросева, кошения), регуляторами расхода 31 рабочих органов 2, шнеками 48, 76, транспортерами 74, насос-дозатором 33 и вентилем 34 и другими конструктивными элементами. В компьютер 9 также вводятся константы, в том числе постоянные для конкретного моста и рабочих органов, а именно длина (ширина) захвата L, транспортная скорость v_т, период включения T_м агромоста, расход трубопровода агромоста Q, ширина полос (участков) l_i, захват x одним рабочим органом 1, ширину b захвата по ходу движения рабочим органом 2 и его рабочую скорость v_р, производительность насос-дозатора Q_н и другие. Кроме того, при старт-стопном перемещении моста и прерывистой работе рабочих органов 1 дополнительно в контроллер вводятся текущие нормы полива m_i и дозы внесения удобрений (химвеществ) на участках ∂_xi, ширину захвата контактирующим рабочим органом l_к, вариант способа полива.At the same time, in order to maximize the productivity of the agro bridge, the quality of the implementation of agricultural methods, the movement parameters of the agro bridge and the working body must be agreed upon. Therefore, the ratio of the working width along the bridge l _{to the} working width along the bridge over the period of its movement b should be selected according to the dependence:

Agromost works as follows. The controller (microcomputer) 9 contains the program for controlling the drives of the support bogies 18 of the bridge, the drives of the platforms 35, the working bodies 2 (hydraulic seeding, mowing), the flow controllers 31 of the working bodies 2, the screws 48, 76, conveyors 74, the metering pump 33 and the valve 34 and other structural elements. Constants are also entered into the computer 9, including constants for a particular bridge and working bodies, namely, the capture length (width) L, transport speed v _t , the switching period T _{m of the} agromost, the flow rate of the agromost pipeline Q, the width of the strips (sections) l _i , capture x by one working body 1, width b of capture along the direction of movement by working body 2 and its working speed v _p , productivity of the metering pump Q _n and others. In addition, during the start-stop movement of the bridge and intermittent operation of the working bodies 1, the current irrigation norms m _i and the doses of fertilizers (chemicals) in the ∂ _xi sections, the working width of the contacting working body l _k , a variant of the irrigation method are additionally introduced into the controller.

Depending on the width of the sections, strips and the width of the working tool 1, for example, sprinkler nozzle 27, the controller calculates their number in groups. Based on the applied doses of fertilizers, irrigation rates in the plots, the selected method of agricultural reception (irrigation), the controller selects the maximum applied dose and irrigation rate, determines the speed of the bridge, its movement time and standing time, duty cycle for switching on working groups 1 (nozzles 27 ) For example, when watering only with pure water in the first section, it is necessary to issue an irrigation rate of 12 mm (m ₁ = 12 mm, in the second m ₂ = 5 mm, third m ₃ = 12 mm, fourth m ₄ = 13 mm, fifth m ₅ = 10 mm, sixth m ₆ = 10 mm, seventh m ₇ = 19 mm, eighth m ₈ = 10 mm, ninth m ₉ = 15 mm (Fig. 1).

Then the controller 9 determines the maximum dose in the 7th section m _max = m ₇ = 19 mm, calculates the speed of the bridge and determines the duty cycle of the nozzles 27 in all areas at a given speed.

In this case, the duty cycle of the inclusion of groups of nozzles in the areas, defined as q _i = m _i / m ₇ , are: q _1.3 = 12/19; q ₂ = 5/19; q ₄ = 13/19; q _5.6.8 = 10/19; q ₇ = 1; q ₉ = 15/19.

Water is supplied from the hydrant 3 with a hose through the supply unit 5, the drives of the support trolleys 18 are started, and according to the signals of the position control system of the agromost in the field (pos. 11, 12 of Fig. 1), the irrigation rate in all areas is given by intermittent operation of the working bodies 1 (by switching on - turning off the regulators 31 with the calculated duty cycle q _i ), carrying out irrigation in 1 pass.

It is possible to further increase the productivity of the agromost using the second method of irrigation, if each time we recalculate and adjust its speed, the duty cycle of turning on the working bodies when approaching the border of any section, each time choosing the maximum irrigation rate from those norms that are set in the areas located at the moment along the agromost. In this example, when starting the agromost, the maximum irrigation rate for the first (third) section is selected m _max = m _1.3 = 12 mm, then the duty cycle of the inclusion of groups of working bodies is
q _1.3 = 1; q ₂ = 5/12.

When approaching the border of the 2nd section, they are equal:
q ₁ = 1; q ₅ = 10/12; q ₃ = 1,
when approaching the border of the 3rd section q ₁ = 1; q _5.6 = 10/12;
4th section q ₄ = 1; q _5.6 = 10/13, etc.

When applying fertilizers (chemicals) at the beginning, the controller calculates the duty cycle of switching on the working bodies 1 (27), based on the introduced doses ∂ _xi in the sections at the transport speed of the agromost
q _xi = ∂ _xi / ∂ _xt .
Pre-dissolve and fill the tank 50 (Fig. 2, 4) and the metering pump 33 through the valve 34 together with irrigation water is fed to the sites due to the intermittent work of the working bodies 27, 28 at the transport speed of the bridge, the prescribed doses of fertilizers, chemicals, carrying out such agricultural methods as the introduction of organic matter, fertilizers, the fight against weeds (herbicides), diseases and pests (pesticides), soil structuring (chemical reclamants), etc.

When issuing the prescribed doses of fertilizing chemical substances in all areas, the valve 34 closes and the metering pump 33 stops. Computer 9 determines the missing irrigation rate in all areas as the difference between the required (required) irrigation norms m _i and the irrigation rate m _ht issued during the application of chemicals.

 Next, irrigation is carried out with clean water according to one of the previously described irrigation methods. At the same time, all chemicals are washed off the bridge.

 Water, fertilizers, organics, chemical ameliorants are introduced through sprinkler nozzles, apparatuses 27, and chemical substances - pesticides, in order to reduce environmental safety, are usually introduced through nozzles 28, lowered by means of interchangeable rods 29 and gander 30 into the plant growth zone or directly above the soil.

 To implement agricultural practices, the implementation of which requires direct contact of the working bodies with plants, soil, reducing the impact on its structure, simplifying the design of the bridge, a special functional system has been created with a suspension unit 59 and a suspension device 61 of the original working bodies of hydraulic sowing, mowing, mulching and transportation . The system is dispersed along the agromost and divided into 2 identical and symmetric subsystems. To improve the quality, all these agricultural methods are performed at the moment the agricultural bridge is in position during its start-stop movement.

Hydrosow with the simultaneous supply of water, fertilizers or other chemicals is carried out as follows (Fig. 5, 1, 3). The source data is entered into the program of controller 9: the width of the sections l _i where sowing is necessary, the width b of a one-time capture by the hydroseeding organ along the bridge, its transport speed (platform speed 21 along the guide 20) v _p , the linear size of the hydroseeding organ along the bridge (width its one-time capture along the bridge) l _xp , lowering and lifting times t _pr , transport speed of the agromost v _t and other parameters, as well as in what areas sowing will be carried out.

 Next, the drives of the support trolleys 18, the drives 35 of the platform 21, the devices for adjusting the height of the suspension bracket 22 of the hydroseeding organ, the water supply unit 5, the metering pump 33 and the valve 34 and others in a certain order are automatically controlled. The flow controllers 31 are closed in this case.

время его перемещения до половины агромоста

средняя скорость
v_р = l_к/t_п или v_р = L/2t_п;
время шагового перемещения агромоста с позиции на позицию
t_и = b/v_т.When the agro-bridge is launched into operation, the controller calculates the following for sowing:
time of step movement of the sowing organ t _ir along the bridge
t _ir = l _xp / v _p ;
required grip width along the bridge
l _k = Σl _ij ,
where l _ij is the width of the sections along the bridge; in the case of sowing in all areas l _to = L / 2;
time of its movement along the bridge

time of its movement to half of the agromost

average speed
v _p = l _k / t _p or v _p = L / 2t _p ;
time of stepping agromost from position to position
t _and = b / v _t .

Если нет согласования, то l_к, v_р, t_п уточняются.All available and obtained parameters b, l _k , v _p , v _t , t _and , t _p must be consistent with the previously indicated relationship:

If there is no agreement, then l _k , v _p , t _p are specified.

Knowing the time t _and and t _p determine the average speed of the agromost.

 Calibrated seeds in the sowing working body are pre-loaded from the tank 47 through the loading device 49 into its chamber 69 through the loading device 67 located on the cover 66. According to the control program include a water supply unit 5, a metering pump 33 with a valve 34 (supply of fertilizers, chemicals ) The water pressure through the selection device 13, the hose 14, the hydrodistributor of the electro-hydraulic valve 24 of the suspension height adjustment device 22 will be received at the left end of the middle movable plate 63 of the sowing body, which will occupy the right extreme position. In this position, grains (seeds) 2 from the chamber 69 through the rows of bushings 65 of the upper hollow plate 64, which is fixedly mounted in the housing 68, enter the rows of holes of the movable plate 63. One grain is located in the holes, since the height of the holes (plate thickness) and the diameter corresponds to the size of one seed. In this case, the stroke of the movable plate is chosen constant, the value of which is larger than the size of the holes, but less than the distance between their adjacent rows, so that the holes of the plates 62, 64 are fully and coaxially opened and closed for picking and sowing seeds, other rows do not overlap and each hole could have only one grain at a time. When a signal (voltage) is supplied from the controller 9 through the selection device 13, the flexible cable 15 to the coil of the electro-hydraulic valve 24 pressurized water through the hoses enters the upper cavity of the hydraulic cylinder 23 and the hydraulic valve 25 controls the installation of the working body on the soil. With the extension (lowering) of the rod 58 of the hydraulic cylinder 23, the working body gradually descends to the soil and is fixed on it by the latch 71 under its own weight. With further extension of the rod, the pin 54, moved in the grooves 53 of the pipe 52 of the suspension mechanism 26, acts on the hydraulic valve 25 (its rod), the body of which is also mechanically connected to the suspension unit 59 (bolt 60) or pipe 52 The hydraulic valve 25 opens. Water pressure simultaneously enters through the fitting 70 into the cavity of the upper plate 64 and onto the right end of the movable 63. It moves to the left. The rows of holes in the lower fixed plate 62, movable 63 with grains 72 and the bottom wall of the hollow 64 match. Due to the water pressure, grains (seeds) 72 are pushed out and buried in the soil to a minimum depth. Along with water, the nutrients and chemicals dissolved in it enter. After that, the controller removes the voltage from the electrohydro valve 24. The water supply in the cavity of the cylinder and the cavity of the organ of sowing is switched. The rod will raise the working body of the sowing, its middle plate will move to the right extreme position and its holes again coincide with the holes of the bushings 65 of the upper 64.

 Seeds (grains) are reloaded into each hole of the movable plate. The working body of sowing is ready for the next sowing of seeds.

When the sowing tool is raised to the upper position, the controller 9 issues a command to turn on the drive 35 of the platform 21. The drum 36 rotates and pulls the rope 41. The lower section of the rope, rigidly fixed with the axes of the rollers 42, moves the platform 21 in the grooves of the tee 43 of the guide 20 together with working body sowing at 1 step. The movement step depends on the previously calculated value of time t _ir . The working body will move along the bridge to the next position.

Then again, the controller gives the command to lower the organ and sowing, raising and moving it to the next step. The sowing cycle along the bridge will last until the working element of the hydraulic sowing (platform) passes the required working width l _to or half of the L / 2 agromost.

After that, the controller issues commands to reverse the drive 37 of the platform 21 and turns on the previously calculated time t _{and the} support cart 18 of the agromost. He will move to the width b of the capture of the working body of sowing and the drives of the support trucks 18 are turned off.

 Next, the hydroseeding cycle along the bridge is repeated according to the above method. When approaching the working body of the sowing to the support trolley 18, its chamber 69 can be replenished with seeds from a previously loaded tank 47 by opening the loading device 49 (Fig. 3, 5). The bridge unit starts up again. It moves to the next capture width b.

Thus, the sowing process is carried out qualitatively, since the speed of the working body is v _p such that during the bridge’s standing in position it manages to move a predetermined distance or half the length of the bridge.

 Similarly, water sowing is carried out in all areas where it is needed.

 The use of only water and electricity during sowing with the supply of fertilizers or chemicals only when deepening the seeds improves environmental safety.

 The method of simultaneous mowing and mulching with transportation of the crop is as follows (Fig. 6, 1, 3).

The control program and initial data are entered into the controller, including the width b of the capture by the working body of mowing along the bridge, the width of its capture l _to along the bridge in all sections (width of sections l _i ) or the maximum length of its movement along the bridge L / 2.

 A mowing tool (Fig. 6) is hung on the device for adjusting the height of the suspension 22 (Fig. 6), consisting of a vertical row of drive cutting elements - mowers 73 and a transport cradle 75, rigidly fastened together. The controller 9 is started, which sequentially turns on the drives of the mowers 73, the conveyor 74, the electro-hydraulic valve 24 of the device for adjusting the suspension height of the working body 22. After lowering the working body, the drive 35 of the platform 21 is turned on. When the working movement to the center of the bridge, the ears of grain crops are cut by the upper mower 73, equipped with a conveyor 74, and feeding them into the cradle 75. At the same time, the group of vertically located mowers cuts the remaining plant residues (straw) into mulch with e e by scattering on the soil. The distance between the mowers, their number is selected before performing the agricultural reception on the basis of the required size of the mulch and other agricultural requirements. Due to the flexibility of the plants, the mowers are shifted horizontally backwards relative to one another and vertically from top to bottom so that the upper part of the residues is cut off first, then the middle and, lastly, the lower one. Upon reaching the middle of the bridge, the reverse and reverse stroke of this working body is performed. At the same time, the drive for moving the bridge (support trolleys) is switched on. The bridge moves to the width b of the capture of the working body (the width of the strip of capture along it along the bridge). When reaching the cradle 75 of the support truck 18, the working body stops. Its auger is switched on (if necessary) and the crop (ears) are unloaded from the cradle into a container 47 for temporary storage and further reloading into a combine, a vehicle for threshing. The working body is turned on again. The mowing cycle of transporting the crop, mulching is repeated.

 This method and agromost allow minimizing the effect on the soil and its compaction by replacing most agricultural methods that require direct contact with soil and plants by contactless ones, and reduce material and energy costs by 2–3 times. The accuracy of the implementation of agricultural methods is increased by holding them during a pause during the start-stop mode of operation of the agromost. The dispersed placement of equipment, functioning systems along the agro bridge, intermittent operation of rain nozzles, nozzles, and the original design of contact working bodies and bridge units can also reduce material costs (length of flexible cables, hoses, guide 2 times, etc.) and ensure high accuracy and the quality of agricultural practices, improve productivity.

Literature
1. The KNOW-TILL method (sowing of untreated soil) is the saving of fuel, machinery and time. Journal of Modern Agriculture "New Agribusiness". Spring 1994 (Practical Tips for American Farmers).

 2. RF patent N 2013912, 06/15/94.

 3. RF patent N 2087085, 08.20.97.

Claims (2)

1. The method of bridge irrigated agriculture with minimal tillage, including agricultural methods with direct contact of the working bodies with soil, plants and not having such contact, performed in movement by a truss bridge with suspended working bodies, characterized in that in the chain of agricultural methods performed with direct the contact of the working bodies with soil, plants, use those that correspond to the natural conditions of plant growth, perform on rectangular sections of the field, occupied by one type of grass field or their mixture, which are placed on the field in the form of strips with a width multiple of capture by a working body that is not in contact with soil and plants, and the required length of strip sections is selected with an accuracy determined by the width of capture by contacting working bodies in the direction of the bridge, not having direct contact with soil and plants, produced during the period of standing and movement of the agromost and performed differentially on each lane, section according to a given program or signals from sensors of an additionally placed system control the position of the aggro bridge on the field by turning on / off groups of adjacent devices, working bodies, create a pulsed mode of operation due to pulse-width or pulse-frequency control with a period of on-off less than the on-off period of the agro bridge, and choose the ratio of the movement time agromosta to the time of its standing and movement according to
addictions

and taking into account the ratio of the flow rate of the metering pump and the flow rate of the agromost pipeline while adding water and batteries, chemicals, the number of working bodies in the groups is determined as the ratio of the strip width of the section to the working width by the working body, then the average speed of the agromost is calculated and set according to the following dependency:

in all areas, the duty cycle of the inclusion of groups of working bodies is determined, based on the ratio of the values of a given norm in the section to the maximum issued on one of them, the drives of the support carts of the agromost are launched according to the signals of the control system for its position, the set irrigation norms are differentially generated in each section of the field or every time recalculate and adjust the speed of the agromost, the duty cycle of the inclusion of groups of working bodies when approaching the border of the site, each time choosing the maximum irrigation rate from those which are set in areas currently located along the agro-bridge, while simultaneously supplying different set watering rates and various set doses for introducing nutrients and chemicals with irrigation water, in the areas at the beginning the doses are differentially introduced during the work of groups of working bodies with a duty cycle defined as a ratio of the applied dose at each site to the maximum dose of all applied doses at the transport speed of the agromost, and then they are irrigated with clean water with the issuance of the missing norm livia, also differentially in the same areas according to one of the above methods of issuing irrigation rate, in turn, agricultural practices that require contact of the working bodies with soil, plants, are performed while the agromost is at the position during its start-stop movement by moving along the bridge of the working bodies at a speed directly proportional to the width of their capture along it and inversely proportional to the time they stood at the position, while choosing the ratio of the width of the working bodies along the bridge to the width of their capture along bridge movements for the period of its movement according to the dependence

where t _and - the time of movement of the agromost from position to position;
t _p - the standing time of the agromost in position;
Q is the flow rate of the agromost pipeline;
m is the specified rate of irrigation;
v _t - transport (maximum) speed of the agromost;
L is the length (width) of the agromost;
v _cf - average (current) speed of the agromost;
m _max - the current maximum issued irrigation rate in areas;
l _to - the width of the contact of the working body along the agromost;
B - capture width by the contacting working body along the movement of the agromost;
v _p - the working speed of the contacting working body. 2. An agromost, containing support trolleys with a drive, a truss with a guide, a movable platform, working bodies for performing agricultural methods, power and water intake devices, a pipeline having irrigation nozzles, a driving system, characterized in that it includes two systems, the first of which, carrying out agricultural practices without direct contacts of the working bodies with soil and plants and made in the form of a pipeline with sprinkler nozzles, is additionally equipped with controlled flow regulators at the nozzles inlet, o united in groups depending on the width of the sections of strips on the field, height-adjustable using a set of rods of a given length and connected through the gander to the flow controllers with replaceable nozzles, a solution tank, which is connected in series with a hose to a metering pump and a valve, with the help of which the introduction of fertilizers, chemicals into the agromost pipeline, water and electricity intake devices, which are hydrants with hoses and electric columns with cables located on both sides of the bridge, and the second with the system that implements agricultural methods with direct contact of the working bodies with soil and plants is divided into two subsystems of the same type, which are located symmetrically relative to the center of the agromost, each of them is equipped with water extraction and power transmission devices for control commands and power supply drives mounted at a quarter length trusses, a device for regulating the height of the suspension of working bodies fixed between the platform and interchangeable contacting working bodies, with a capacity with a drive screw device stvom unloading and loading device, the controller, which is connected to the inputs
a control system for the position of the aggro bridge on the field and its driving system, and the outputs are with flow controllers, drives of the support trolleys, platforms, contacting working bodies and a device for adjusting their suspension height, each drive of the platform is made in the form of a drum with its own reversed drive located on frame at the top of the support trolley, and a non-power drum located on the frame in the middle of the truss, interconnected by a closed rope, the lower section of the rope is rigidly connected to the platform and the axes of the roller c, which are placed in the grooves of the guide, made in the form of a tee and fixed at the top on the support trolleys, and mechanically connected flexible hoses and a control cable connecting the selection device to the height adjustment device and the drive of the contacting working body, height adjustment device are fixed on the rings on the upper section the suspension of the working body is made in the form of a hydraulic cylinder, which is rigidly attached to the platform, the suspension mechanism of the contacting working body is fixed at the end of the hydraulic cylinder rod , the upper and lower cavities of the cylinder are hydraulically connected to the output of the electrohydro valve located on the platform, one hydraulic input through a flexible hose is connected to the water extraction device and transmission of control commands, the other to the atmosphere, its electrocoil through the selection device is connected to the controller output, while the upper cavity of the hydraulic cylinder is additionally connected to a hydraulic valve controlling the installation of the working body on the soil surface, which is mechanically connected to the hydraulic cylinder rod and the suspension mechanism Ki working body, the output of the hydraulic valve and the lower cavity of the hydraulic cylinder
connected to the hydraulic drive of the contacting working body, their electric drive - to the coil of the electrohydro valve, and the suspension mechanism of the working body is made in the form of a pipe with grooves, the length of which is equal to or greater than the maximum difference of the soil surface on the field under the aggro bridge, the pins moved in the grooves are rigidly fixed to the the hydraulic cylinder rod, at the bottom of the pipe there is a suspension block of a contacting working body, attached to the suspension mechanism a hydraulic working element having contact with the soil is made in three flat rectangular plates located one above the other, with a height equal to the standard size of the seed, and having coaxially arranged rows of holes with a pitch between them according to agrotechnical requirements, the diameter of which is equal to the diameter of the seed, the lower plate being rigidly fixed in the casing, the middle plate is made cyclically movable with constant stroke, the value of which is larger than the size of the holes, but less than the distance between them, due to the alternately supplied pressure of the water entering through the fixed in the body f connection from the exits of the hydraulic valve and the hydraulic valve of the device for adjusting the height of the suspension of the working body, the upper plate is rigidly fixed and made hollow, the holes in the lower wall of which are aligned with the holes of the lower plate and the holes of the middle when it is in the extreme position, and the through insulated bushings of the upper plate with the same dimensions holes and the same distances between them are shifted by the movement of the middle plate and are aligned with its holes at the other extreme position, the cavity of the upper plate through pcs uzer is connected to the output of the hydraulic valve of the device for regulating the height of the suspension of the working body, between the cover and the upper plate in
a housing for seeds is located on the housing, a loading device and a suspension device are mounted on the lid, and fixators for the location of the working body on the soil surface are fixed at the bottom corners of the housing, and the contact working body of mowing and mulching organic residues and transporting the crop attached to the suspension mechanism is equipped with a suspension device, made in the form of vertically arranged n drive cutting elements-mowers, displaced relative to each other back along the working movement and from top to bottom, On the upper mower, we additionally mounted a conveyor for loading the cradle with ears of grain crops, equipped with a drive screw for unloading them into the capacity of the support trolley, the number and vertical arrangement of cutting elements on the bar are determined by agrotechnical requirements.

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