WO2019091790A1 - Procédé pour la commande séquentielle d'unités de buse de pulvérisation - Google Patents

Procédé pour la commande séquentielle d'unités de buse de pulvérisation Download PDF

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Publication number
WO2019091790A1
WO2019091790A1 PCT/EP2018/079274 EP2018079274W WO2019091790A1 WO 2019091790 A1 WO2019091790 A1 WO 2019091790A1 EP 2018079274 W EP2018079274 W EP 2018079274W WO 2019091790 A1 WO2019091790 A1 WO 2019091790A1
Authority
WO
WIPO (PCT)
Prior art keywords
agricultural
spray
spray nozzle
nozzle units
information
Prior art date
Application number
PCT/EP2018/079274
Other languages
German (de)
English (en)
Inventor
Oliver Meil
Olaf Ohlhafer
Steffen SIES
Hans-Arndt Freudigmann
Jochen Glasbrenner
Helmut Schomburg
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP18793638.0A priority Critical patent/EP3706566A1/fr
Priority to BR112020008672-0A priority patent/BR112020008672A2/pt
Priority to RU2020118286A priority patent/RU2020118286A/ru
Publication of WO2019091790A1 publication Critical patent/WO2019091790A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

Definitions

  • the invention relates to a method for controlling spray nozzle units of an agricultural spray device, an agricultural spray device and an agricultural spray system according to the preamble of the independent claims.
  • the subject of the present invention is also a
  • Control device and a computer program.
  • Liquids to a spray to spray or spray agricultural land For spray generation on a field sprayer, it is necessary to pressurize a spray mixture to be applied as a spray. This pressure affects both the spray characteristics such as a size distribution of liquid droplets in the spray and the volume flow of the spray mixture flowing through the spray nozzles of the field sprayer.
  • control valves It is known to control the pressure of the spray mixture via control valves. However, these control valves have a delayed response, so that pressure peaks can not be prevented.
  • additional or modified components in the form of bellows or flexible Hoses to prevent the pressure peaks is also known from the prior art. However, to effectively reduce the pressure spikes, these components must be tuned to the strengths and durations of the expected pressure spikes.
  • DE 10 2004 030 240 AI discloses a method for operating a device for distributing grit, wherein at work start the
  • Dosing for the spreader lines for the part widths are switched from outside to inside, so that the distribution process at the beginning of the field over the entire working width starts evenly.
  • the approach presented here provides a method for the sequential control of spray nozzle units of a type designed to treat an agricultural surface with a liquid, in particular a spray mixture
  • agricultural spraying apparatus comprising the steps of:
  • Spray nozzle units of the determined group based on a predetermined and / or predefinable instruction
  • the subject of the present invention is an agricultural spraying device for treating an agricultural surface with a liquid, in particular a spray mixture, with spray nozzle units and a control device which is set up to carry out the following steps:
  • Spray nozzle units of the determined group based on a predetermined and / or predefinable instruction
  • an agricultural spraying system is the subject of the present invention, wherein the agricultural spraying system comprises the agricultural spraying device and a sensor unit for detecting the agricultural surface.
  • Spray device and / or is arranged on a separate mobile unit.
  • the spray device may be part of an agricultural
  • Field sprayer or a crop protection device or be designed as an agricultural sprayer or a crop protection device.
  • the spraying device can be arranged and / or arranged on or on a mobile unit.
  • the mobile unit may be designed as a land vehicle and / or aircraft and / or trailers.
  • the mobile unit may in particular be an agricultural work machine,
  • a tractor For example, a tractor, a tractor, a tractor or a
  • Spray device can also be attached to a hydraulic device agricultural machine to be grown. It is also conceivable that the spraying device is constructed on a loading surface of the agricultural machine. Alternatively, the spray device may be attached to the agricultural machine.
  • the agricultural spray device is designed to be an agricultural surface with the liquid, in particular the
  • Spray mixture to be treated.
  • Treating the agricultural surface with the liquid can in this case a dispensing or discharging the liquid to the
  • the treatment of the agricultural area with the liquid comprises a mechanical processing or damage, for example, of weeds on the agricultural area.
  • An agricultural area can be understood as an agricultural area, a cultivated area for plants or even a plot of such an area or cultivated area.
  • Agricultural area can thus be a field, arable land, a grassland or a pasture.
  • the plants can, for example, crops whose fruit
  • the plants can be part of the agricultural area.
  • a liquid can be understood to mean an agriculturally usable liquid such as, for example, water.
  • the liquid is preferably a spray mixture.
  • the spray mixture has at least one active agent.
  • the active agent may comprise a spraying agent, that is to say a preparation or pesticide, in particular a pesticide concentrate.
  • the active agent may accordingly comprise, for example, a herbicide, fungicide or an insecticide (pesticide).
  • the active agent may also be a fertilizer, in particular a
  • the agent can therefore a
  • the active agent can be formed as a liquid or as a solid, for example in the form of granules, or as a pre-dissolved solid, for example in the form of pre-dissolved granules.
  • the spray mixture preferably further comprises a liquid, in particular a carrier liquid for diluting the active agent.
  • carrier liquid can be understood as meaning a liquid which is designed to be mixed with the active agent in order to enable or to improve the dispensing or dispensing of the active agent, for example the crop protection agent or the fertilizer. It is also conceivable that a present as a solid or granules active agent is suspended in the carrier liquid. It is also conceivable that a non-soluble in the carrier liquid active agent is emulsified in the carrier liquid.
  • the carrier liquid is preferably water.
  • the spray mixture is preferably formed as a diluted pesticide or diluted fertilizer.
  • the spray device preferably has a spray tank for receiving the spray mixture and at least one spray nozzle unit for discharging the
  • the spray mixture can be guided or directed by the spray-bath tank by means of a spray-broth line or several spray-broth lines to the spray-nozzle unit. Under a line or spray line can be used in the present
  • the line can be called fluidic
  • Connecting line for example in the form of a pipe, tube, channel or a tube may be formed.
  • the spray mixture can be mixed into the spray liquid tank
  • Sprayer be filled.
  • the spray mixture can also be mixed only in the spray device.
  • the spray device in the flow direction of the spray mixture upstream of the
  • Spritzbrühentanks have a mixing unit, in which the liquid from a liquid tank of the spray device and the active agent from a
  • a liquid delivery unit may be provided, which is formed, the liquid from the liquid tank via a liquid line to the
  • Blending unit targeted or defined to lead or promote can be provided, which is designed to selectively convey or guide the active agent from the active agent tank via an active agent line to the mixing unit.
  • the conveyor units can have one or more metering units or metering components.
  • the metering units or metering components may comprise one or more pumps or metering pumps and valves. At least one of the conveyor units can be designed to increase the injection pressure at the
  • Spray nozzle unit that is, to generate the pressure with which the spray mixture is discharged.
  • a mixing unit can be understood as meaning a unit which is designed to mix or mix at least the liquid and the active agent with one another to form the spray mixture, preferably as homogeneously as possible.
  • the mixing unit can have a mixing and / or stirring element in order to actively mix the liquid and the active agent.
  • the mixing unit can at least each have an inlet for the liquid and the active agent. That is, in other words, that the liquid and the active agent separately, that is, by means of separate
  • a common inlet on the mixing unit may be in the form of a T-piece
  • the mixing unit can at least an outlet for the mixed or mixed spray mixture, for example in a lower area. It is also conceivable that the mixing unit is designed as a static mixing unit or static mixer. However, the mixing unit can also be designed only as a T-piece, so that a passive mixing takes place in it.
  • the spray tank can be designed as a buffer tank.
  • the buffer tank may be disposed in the spray liquor line downstream of the mixing unit. In other words, in the flow direction of the spray mixture, the buffer tank travels from the mixing unit to the spray nozzle unit
  • the buffer tank can thus be arranged spatially in the spray liquor line between the mixing unit and the spray nozzle unit, so that the spray mixture from the
  • Mixing unit in the buffer tank feasible or fillable and from the buffer tank to the spray nozzle unit executable or conveyed or is conductive.
  • the spray device may have a spray delivery unit which is located in the spray line downstream of the
  • the spray liquid feed unit can then be designed, the spray mixture from the spray liquid tank or buffer tank under pressure or under a defined pressure to the spray nozzles
  • the spray delivery unit may in particular be designed to generate a constant pressure, that is to say be configured as a constant pressure system, in order to achieve a constant or uniform injection pressure at the spray nozzles
  • Spray pressure is generated by the spray liquid feed unit, the
  • Liquid delivery unit and the active agent delivery unit be very simple, since they only have to take over the task of supplying the liquid or the active agent in the buffer tank.
  • the buffer tank can be designed as an accumulator, for example with media separation (spray mixture - air).
  • the pressure control in the buffer tank can then be done via a pneumatic pressure control valve, so that possible pressure fluctuations in the system can be reduced.
  • the spray delivery unit is arranged downstream of the spray booth, whereby the buffer tank can be formed without pressure.
  • the buffer tank may be formed without pressure, for example by means of a vent hole.
  • Vent hole may have a vent valve.
  • the buffer tank is fluidly connected to the environment
  • the liquid delivery unit can be a simple
  • Liquid delivery unit have a metering pump with a fixed delivery ratio (without measuring the delivery volume). It is also conceivable that the
  • Fluid delivery unit a simple valve or proportional valve in
  • the liquid delivery unit has a constant pressure source and a metering orifice.
  • Active substance delivery unit can be a simple alternative to the metering pump
  • Feed pump in conjunction with a flow meter (control) have.
  • the active substance delivery unit can additionally have at least one metering orifice in this case.
  • the buffer can be designed very easily and essentially without static requirements, whereby the total cost can be further reduced.
  • the spray nozzle unit has in each case at least one spray nozzle for discharging the liquid, in particular the spray mixture, and at least one valve for controlling or regulating the discharged quantity of liquid, in particular of spray liquor.
  • the valve can be arranged or integrated in the spray nozzle. However, the valve can also be arranged upstream of the spray nozzle, that is to say (in the direction of flow of the liquid) upstream of the spray nozzle.
  • the spray nozzle unit may also have a plurality of spray nozzles, each with an upstream valve.
  • Spray nozzle unit may also include a plurality of spray nozzles with only one
  • the spray nozzle unit can also have a final mixing unit, which is designed to mix the spray mixture with the liquid and / or the active agent and / or another active agent - which can be conducted or guided by means of corresponding lines to the final mixing unit.
  • a final mixing unit which is designed to mix the spray mixture with the liquid and / or the active agent and / or another active agent - which can be conducted or guided by means of corresponding lines to the final mixing unit.
  • Pre-mixing unit would be designed to provide a two-stage mixing system.
  • Controlling a spray nozzle unit may, in the context of the present invention, be understood to mean, in particular, activation of the spray nozzle unit.
  • the control of the spray nozzle unit may include controlling an associated upstream valve.
  • controlling the spray nozzle unit comprises opening and / or closing the at least one spray nozzle
  • Spray nozzle unit By means of controlling the spray nozzle unit, therefore, a discharge of liquid by means of the spray device can be at least partially started or ended.
  • the spraying device can arrange a defined selection of the agricultural spraying device
  • Spray nozzle units are understood.
  • the group of spray nozzle units includes at least two spray nozzle units. It is conceivable for the group of spray nozzle units to comprise all spray nozzle units arranged on the agricultural spray device. It is advantageous if the group of spray nozzle units to be controlled has a
  • Subgroup of all spray nozzle units of the agricultural spray device is.
  • the spray nozzle units of the group can be arranged on the same section or on different sections of the agricultural spray device.
  • the agricultural surface can be selectively treated with the liquid.
  • At least two spray nozzle units of the determined group are arranged adjacent to one another on the agricultural spray device and / or spaced apart from one another by at least one further spray nozzle unit.
  • the latter means, in other words, that between two spray nozzle units of the determined group of
  • Spray nozzle units a further spray nozzle unit is arranged, which is not part of the determined group.
  • Adjacent spray nozzle units may for example be arranged at a distance or in a row width of 100 cm, 75 cm, 50 cm or 25 cm on a spray boom of a field sprayer.
  • Spray nozzle units of the group can be selected spatially
  • contiguous areas of the agricultural area for example with multiple plants, are treated with the liquid.
  • spray nozzle units arranged at a distance from one another by the at least one further spray nozzle unit, selected spatially separated regions of the agricultural surface, in particular individual plants, can be selectively treated with the liquid.
  • property information of an agricultural area can be understood to mean information about a property of the agricultural area.
  • the property information of Agricultural land can also be an information of a property of a plant on the agricultural land. It is advantageous if the property information of the agricultural area information of a physical and / or chemical and / or biological property of the agricultural area and / or the plant on the agricultural land.
  • the property information of the agricultural area may be selected from the following group of properties
  • agricultural land and / or crops on the agricultural land comprising: species, genus, variety, variety purity,
  • a status information of an agricultural area can be understood to mean an information of a state of the agricultural area.
  • the status information of the agricultural area may also be information of a state of a plant on the agricultural area. It is advantageous if the status information of the agricultural area is an information of a physical and / or chemical and / or biological state of the agricultural area and / or the plant on the agricultural area.
  • the status information of the agricultural area may be selected from the following group of conditions of agricultural areas and / or crops on the agricultural area, including: age, growth stage, state of development, health condition, disease, nutrient content, nutrient deficiency, water content, lack of water,
  • Condition information of the agricultural area is a measure of a number, a position or a size of plants on the agricultural area or a measure of a distribution of organic material or a
  • a default information can be understood as a predetermined information, from which the group of spray nozzle units to be controlled can be defined and thus determined.
  • the default information may be an explicit one Selection or specification of spray nozzle units to be controlled. It is also conceivable that the default information a
  • State information and / or property information of the spray device in particular the spray nozzle unit of the spray device comprises.
  • Default information may be, for example, an operating state of
  • Spray nozzle unit a geometric feature of the spray nozzle unit, an absolute and / or relative spatial position of the spray nozzle unit comprise. It is conceivable that the default information by an operator of the spray nozzle unit, a geometric feature of the spray nozzle unit, an absolute and / or relative spatial position of the spray nozzle unit comprise. It is conceivable that the default information by an operator of the spray nozzle unit, a geometric feature of the spray nozzle unit, an absolute and / or relative spatial position of the spray nozzle unit comprise. It is conceivable that the default information by an operator of the
  • agricultural spray device for example, via an input unit can be specified or entered or specified or entered.
  • the sensor unit may have a sensor element or a sensor or else a plurality of sensor elements or sensors.
  • the sensor unit is designed to detect the agricultural area and a sensor signal for determining the property information and / or
  • the sensor signal represents a value or measure of the
  • the sensor unit is arranged on a spray boom of a field sprayer.
  • a separate mobile unit can be understood to mean a spatially separate unit that can be moved independently of the spray device.
  • the separate mobile unit may be, for example, a vehicle or an aircraft such as a drone.
  • the separate mobile unit is formed by means of Sensor unit detected sensor signals to the agricultural
  • the separate mobile unit is designed to evaluate or process the detected sensor signals and the evaluated or processed
  • Property information and / or state information of the agricultural area comprises a step of detecting the agricultural area by means of a sensor unit, in particular a sensor unit arranged on the agricultural spraying device.
  • Spray nozzle units adapted to a property and / or a current state of the agricultural area are controlled to the
  • the sensor unit is preferably an optical sensor unit, in particular a
  • the sensor unit may be a time-of-flight camera, an infrared camera or a hyperspectral camera. It is also conceivable that the sensor unit is a radar, lidar or ultrasound system. Accordingly, the sensor signal can be a camera signal, in particular a camera image
  • Radar signal a Lidarsignal or an ultrasonic signal.
  • the map of the agricultural area can be a map generated by means of one of the described sensor units.
  • the map may contain information about a spatial distribution of crops and / or
  • the map of the agricultural area has information about a condition of a soil or a surface condition or a nutrient content of the soil. It is also conceivable that the map of agricultural land state and / or
  • the map may contain information about a history of the
  • the map may be first subdivisions, in which the agricultural area is to be treated with a liquid, and have second subareas in which the agricultural area is to be treated with another liquid or not at all.
  • the control of the spray nozzle units is based on measurement data, preferably on current measurement data to the spray nozzle units very precise and adapted to the agricultural To control area.
  • the determination of a sequence includes determining an order in which the spray nozzle units to be controlled are controlled. It is conceivable that the
  • Spray nozzle units of the determined group are completely ordered in the context of the determined sequence. In other words, that means everyone
  • Spray nozzle units of the determined group are staggered in time. It is also conceivable that the spray nozzle units of the determined group are partially ordered within the scope of the determined sequence. That is, in other words, that at least one spray nozzle unit of the determined group is controlled in time offset to the other spray nozzle units of the determined group.
  • the determination of the sequence is based on a predetermined and / or predefinable instruction.
  • the instruction may provide for the determination of a random sequence.
  • the instruction can specify a defined sequence.
  • the defined sequence can be stored in a control device.
  • a property information of an agricultural spray device can be understood in the context of the present invention, an information of a property of the agricultural spray device. It is advantageous if the property information of the agricultural spray device information of a technical property of the agricultural
  • the property information of the agricultural sprayer may be selected from the following group of
  • Sensor units technical parameters, in particular detection time, the sensor units, duration of data processing of the data
  • status information of an agricultural spraying device can be understood as meaning information of a state of the agricultural spraying device. It is advantageous if the state information of the agricultural spray device a
  • Sprayer is.
  • Sprayer may be selected from the following group of
  • Valves spatial position of open or closed valves.
  • Spray nozzle units depending the property information and / or state information of the
  • the approach proposed here is based on the finding that by means of temporally offset control of spray nozzles of a spray device in comparison to a simultaneous control of the spray nozzles, a rate of change of
  • volumetric flow of the liquid discharged from the sprayer is significantly reduced.
  • the volume flow changes in several temporal steps, but only by a small value of the volume flow per step, whereby pressure peaks in the spray device can be avoided.
  • the agricultural area or plants are on the agricultural area with a constant amount of expenditure of the liquid per area to be treated and a defined spray characteristic, in particular a defined
  • the time interval for example, of a number of plants to be treated on the agricultural area, a number of spray nozzle units to be controlled, a length and / or a diameter of liquid lines on the agricultural
  • Sprayer and / or a value of a driving speed of the agricultural sprayer depends.
  • Partial width arranged spray nozzle units controlled in time a time interval in the range of one to a few milliseconds is preferred. With a time interval of two milliseconds and a driving speed of 20 kilometers per hour, the time interval between the control of the individual sections with a total of twelve sections corresponds to a distance traveled during the sequential control distance of about ten centimeters. If, in addition, the individual nozzles on each partial width are staggered in time, a time interval to the sequential
  • Control of the individual nozzle elements in the range of tenths of a millisecond, for example, 0.33 milliseconds, preferably.
  • Spray nozzle units important so that the surface to be treated, especially detected Beik syndrometer, is completely treated with the liquid.
  • a greater time interval than when opening the valves is conceivable as a
  • the spray nozzle units of the determined group can be controlled in a temporally spaced manner, so that as few as possible
  • Spray nozzle units are controlled simultaneously.
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, in particular if the program product or program on a computer or a device, in particular a
  • Control device is executed.
  • the inventive method may, for example, in software or hardware or in a hybrid of software and hardware, for example in a
  • Fig. 1 is a schematic representation of an agricultural item
  • FIG. 1 an agricultural spray system is shown in its
  • the agricultural spray system 10 includes a tractor 12
  • the mounted sprayer 14 is disposed on the tractor 12.
  • the mounted sprayer 14 has a liquid tank 16 for a spray mixture, a spray boom 18 and a control device 20.
  • the spray boom 18 is divided into seven sections 22.
  • Each of the sections 22 has a plurality of spray nozzle units 24.
  • the spray nozzle units 24 are connected to the liquid tank 16 via hose connections (not shown). Thus, the spray nozzle units 24 are formed to spray the spray mixture from the tank 16.
  • Each of the spray nozzle units 24 has a spray nozzle and a valve associated with the spray nozzle.
  • the respective valve is arranged upstream of the associated spray nozzle at the corresponding partial width 22. By means of actuation of a valve, therefore, a delivery of the spray mixture through the respective associated spray nozzle is controllable.
  • the control device 20 is electronically connected to each of the spray nozzle units 24 such that the valves can be actuated automatically by the control device 20 and a targeted delivery of the spray mixture through the spray nozzles 24 is possible.
  • the spray boom 18 has a plurality of cameras 26.
  • the cameras 26 are aligned with their detection areas 28 to a direction of travel 30 of the tractor 12 and in the direction of an area to be treated with the spray mixture agricultural surface 34 that Beik Hurter 32 on the agricultural surface 34 in the form of camera recordings are optically detectable.
  • the camera shots generated by the cameras 26 are to the
  • Control device 20 electronically transferable.
  • the controller 20 is configured to identify the weeds 32 in the received camera shots and distinguish them from crops grown on the agricultural surface 34. These are in the
  • Control device 20 corresponding, known to those skilled algorithms for image processing and object detection deposited.
  • control device 20 is designed to determine a position of a recognized Beikrauts 32 on the agricultural surface 34 relative to the spray system 10 based on the camera recordings. For this purpose, in the control device 20, the orientations of the cameras 26, the detection areas 28 and the Time duration of the electronic transmission of the camera recordings from the cameras 26 to the control device 20 deposited.
  • controller 20 is formed based on the detected position of the detected Beikrauts 32 on the agricultural surface 34 a
  • Control device 20 deposited.
  • the control device 20 is designed to determine those spray nozzle units 24, which are to be activated for spraying the detected Beikrauts 32 with the spray mixture. That is, in other words, the group of the spray nozzle units to be controlled 24 becomes the one to be treated based on state information
  • Activation of a plurality of spray nozzle units 24 to avoid the control device 20 is designed to determine a sequence for controlling the controlled spray nozzle units 24 of the determined group based on a predetermined instruction.
  • the controller 20 is configured to control the sequence of the ones to be controlled
  • control device 20 is designed to control the
  • Spray nozzle units 24 of the determined group with the determined sequence to control sends with the determined sequence electronic control signals to the valves of the respective spray nozzle units 24 to deliver the spray mixture by means of the associated spray nozzle.
  • the control device 20 is designed to transmit the individual electronic control signals to the valves at a distance of a few milliseconds in a time-spaced manner.
  • Fig. 2 shows a flow chart of an embodiment of the here
  • the method 100 includes a step 110 of determining a group of spray nozzle units to be controlled based on property information and / or state information of the agricultural area to be treated and / or default information.
  • the method 100 further comprises a step 120 of determining a sequence for controlling the spray nozzle units of the determined group to be controlled, based on a predefined and / or predefinable instruction.
  • the method 100 also includes a step 130 of the spray nozzle units of the identified group with the determined sequence to minimize pressure fluctuations of the liquid in the control of the spray nozzle units.
  • an exemplary embodiment comprises an "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un procédé pour la commande séquentielle d'unités de buse de pulvérisation (24) d'un dispositif de pulvérisation (10) agricole conçu pour le traitement d'une surface agricole (34) par un liquide, en particulier par un bouillon de pulvérisation, le procédé présentant les étapes suivantes, consistant à : – déterminer un groupe d'unités de buse de pulvérisation (24) à commander sur la base d'une information de propriété et/ou d'une information d'état de la surface agricole (34) à traiter et/ou d'une information prédéterminée ; – déterminer une séquence pour commander les unités de buse de pulvérisation (24) à commander du groupe déterminé, sur la base d'une indication prédéfinie et/ou pouvant être prédéfinie ; et – commander les unités de buse de pulvérisation (24) à commander du groupe déterminé par la séquence déterminée pour réduire au minimum les oscillations de pression du liquide lors de la commande des unités de buse de pulvérisation (24).
PCT/EP2018/079274 2017-11-10 2018-10-25 Procédé pour la commande séquentielle d'unités de buse de pulvérisation WO2019091790A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18793638.0A EP3706566A1 (fr) 2017-11-10 2018-10-25 Procédé pour la commande séquentielle d'unités de buse de pulvérisation
BR112020008672-0A BR112020008672A2 (pt) 2017-11-10 2018-10-25 processo para o controle sequencial de unidades de bocal de pulverização
RU2020118286A RU2020118286A (ru) 2017-11-10 2018-10-25 Способ последовательного управления опрыскивающими узлами

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017220034.0 2017-11-10
DE102017220034.0A DE102017220034A1 (de) 2017-11-10 2017-11-10 Verfahren zur sequenziellen Steuerung von Spritzdüseneinheiten

Publications (1)

Publication Number Publication Date
WO2019091790A1 true WO2019091790A1 (fr) 2019-05-16

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PCT/EP2018/079274 WO2019091790A1 (fr) 2017-11-10 2018-10-25 Procédé pour la commande séquentielle d'unités de buse de pulvérisation

Country Status (5)

Country Link
EP (1) EP3706566A1 (fr)
BR (1) BR112020008672A2 (fr)
DE (1) DE102017220034A1 (fr)
RU (1) RU2020118286A (fr)
WO (1) WO2019091790A1 (fr)

Cited By (1)

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WO2021213588A1 (fr) * 2020-04-22 2021-10-28 Robert Bosch Gesellschaft mit beschränkter Haftung Procédé et dispositif pour faire sortir au moins une substance fluide au moyen d'une unité buse d'injection et produit-programme d'ordinateur

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DE102019202041A1 (de) * 2019-02-15 2020-08-20 Zf Friedrichshafen Ag Verfahren und landwirtschaftliches Fahrzeug zur Flüssigkeitsaufbringung
DE102020209796A1 (de) 2020-08-04 2022-02-10 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Anordnung zum Betreiben einer kamerabasierten Sensoreinrichtung, Computerprogrammprodukt und landwirtschaftliche Vorrichtung
EP4205067A1 (fr) 2020-08-31 2023-07-05 BASF Agro Trademarks GmbH Agriculture activée par machine
DE202020105799U1 (de) * 2020-10-09 2022-01-13 Vogelsang Gmbh & Co. Kg Vorrichtung zur Nährstoffausbringung
CN117337135A (zh) * 2021-03-18 2024-01-02 益高环保机器人股份公司 用于高精度施用农药的点状喷洒方法和系统
WO2023209720A1 (fr) * 2022-04-28 2023-11-02 Movshoviz Elad Pulvérisation transitoire séquentielle à partir de pipeline

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DE102017220034A1 (de) 2019-05-16

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