AGRICULTURE DEVICE FOR DISPENSING A LIQUID

Abstract

An agricultural device and a method for dispensing a liquid product over a surface. The device includes at least one boom and a plurality of nozzles positioned along the boom, a pressure regulation unit including a nozzle controller configured for controlling the opening and closing of one or more associated nozzles, and an inclination detection means for determining an inclination of the longitudinal supply line with respect to a horizontal. The pressure regulation unit and/or the at least one nozzle controller is configured to calculate nozzle operation data for each associated nozzle involving inclination data transmitted by the inclination detection means and the position of the nozzle on the longitudinal supply line, and the nozzle controller is configured to operate the nozzles based on the calculated nozzle operation data to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed.

Claims

1. An agricultural device for dispensing a liquid product over a surface to be sprayed, such as an agricultural field, the device comprising: at least one boom comprising a longitudinal supply line for transporting the liquid product and a plurality of nozzles that are positioned along the boom, wherein each nozzle is operatively connected to the longitudinal supply line; a liquid product supply that is connected to the longitudinal supply line for supplying to the longitudinal supply line the liquid product to be sprayed; a pressure regulation unit including at least one nozzle controller that is configured for controlling the opening and closing of one or more associated nozzles; and an inclination detection means for determining an inclination of the longitudinal supply line with respect to a horizontal; wherein the pressure regulation unit and/or the at least one nozzle controller is configured to calculate nozzle operation data for each associated nozzle, the nozzle operation data at least containing a closing time (T1) and an opening time (T2), wherein the nozzle operation data is calculated based on a calculation input at least including inclination data transmitted by the inclination detection means and the position of the nozzle on the longitudinal supply line, and wherein the nozzle controller is further configured to operate each of the one or more associated nozzles based on the calculated nozzle operation data to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed.

2. The agricultural device for dispensing a liquid product according to claim 1, wherein the at least one boom comprises: one or more joints configured to allow a part of the boom to be rotated with respect an adjacent part of the at least one boom during spraying; rotation means positioned at or near each joint, wherein the rotation means are configured to rotate the adjacent parts with respect to each other over an angle of 0°-90°.

3. The agricultural device for dispensing a liquid product according to claim 2, wherein the inclination detection means are provided in, at or near the one or more joints.

4. The agricultural device for dispensing a liquid product according to claim 2, wherein one or more of the rotation means are formed as a telescopic arm or ram, wherein, in an unextended state of the telescopic arm, the associated boom parts are in line with each other, and wherein, in an extended state of the telescopic arm, the associated boom parts are positioned at angle with respect to each other.

5. The agricultural device according to claim 4, wherein the inclination detection means are configured to determine an extension length of the telescopic arm, and wherein the nozzle controller is configured to include the extension length of the telescopic arm in the calculation of the nozzle operation data.

6. The agricultural device for dispensing a liquid product according to claim 1, wherein the device comprises a memory configured for storing and/or adjusting a contour map of the surface of the field to be sprayed, wherein the memory is operatively connected to the nozzle controller and the inclination detection means, and wherein the inclination detection means are additionally preferably configured for measuring and transmitting to the memory an inclination of the surface of the field with respect to a horizontal.

7. The agricultural device for dispensing a liquid product according to claim 1, additionally comprising a speed detector configured to measure movement speed of the device, wherein the movement speed is provided to the nozzle controller to be included as calculation input for calculation of the nozzle operation data.

8. The agricultural device for dispensing a liquid product according to claim 1, wherein the maximum closing time depends on the movement speed of the device, and wherein the maximum closing time decreases with an increasing movement speed of the device and vice versa.

9. The agricultural device for dispensing a liquid product according to claim 1, wherein the device is a self-propelled vehicle, and wherein the device comprises: a plurality of wheels; and at least one angle sensor that is operatively connected to a steerable wheel of the number of wheels, wherein the at least one angle sensor is configured to measure a wheel angle of the associated wheel with respect to a central axis that extends from a rear end to a front end of the vehicle substantially parallel to a moving direction, and wherein the angle data is transmitted to the nozzle controller to be included as calculation input for calculation of the nozzle operation data.

10. The agricultural device for dispensing a liquid product according to claim 1, wherein the device is a vehicle to be towed by another vehicle.

11. The agricultural device for dispensing a liquid product according to claim 1, wherein the nozzle controller comprises a plurality of electro-valves, wherein each electro-valve is associated with one or a number of nozzles, where each electro-valve is configured for receiving the nozzle operation data for setting the opening and the closing of the associated nozzles.

12. The agricultural device for dispensing a liquid product according to claim 11, wherein the electro-valves are connected to each other via a CAN bus.

13. The agricultural device for dispensing a liquid product according to claim 11, wherein the electro-valves are controlled with a PWM signal according to a Duty Cycle (DC) formula, wherein the Duty Cycle formula is defined as DC=T2/(T1+T2)

14. A method for dispensing a liquid product over a surface of a field, such as an agricultural field, the method comprising the steps of: providing a device according to claim 1; determining the inclination of the longitudinal supply line and/or the boom with respect to a horizontal using the inclination detection means; transmitting inclination data from the inclination detection means to the pressure regulation unit; and calculating by the pressure regulation unit and/or the at least one nozzle controller and based on the inclination data and a position of the nozzle operation data at least containing a closing time T1, an opening time T2 and a maximum closing time of each nozzle to achieve a homogeneous dispensing of the liquid product over the surface of the field.

15. The method according to claim 14, wherein the step of determining the inclination of the longitudinal supply line and/or the boom with respect to the horizontal additionally comprises: mapping the surface of the field based on the measured inclination data to obtain and/or adjust a contour map of the surface of the field; and storing the contour map in the memory of the device, wherein the memory preferably is positioned in the nozzle controller.

16. The method according to claim 14, comprising the steps of: measuring the movement speed of the device; and/or measuring an angle of one or more steerable wheels of the device when mounted on a self-propelled vehicle; and calculating the nozzle operation data, wherein the calculation is additionally based on the movement speed of the device and/or the angle of the steerable wheels.

17. The method according to claim 14, wherein the nozzle controller comprises electro-valves, and wherein the method additionally comprises: receiving by the electro-valves the nozzle operation data for associated nozzles; and controlling the electro-valves using a PWM signal according to a Duty Cycle formula DC=T2/(T1+T2).

18. An agricultural device for dispensing a liquid product over a surface to be sprayed, such as an agricultural field, the device comprising: at least one boom comprising a longitudinal supply line for transporting the liquid product and a plurality of nozzles that are positioned along the boom, wherein each nozzle is operatively connected to the longitudinal supply line; a liquid product supply that is connected to the longitudinal supply line for supplying to the longitudinal supply line the liquid product to be sprayed; a pressure regulation unit including at least one nozzle controller that is configured for controlling the opening and closing of one or more associated nozzles; and an inclination detection means for determining an inclination of the longitudinal supply line with respect to a horizontal; wherein the pressure regulation unit and/or the at least one nozzle controller is configured to calculate nozzle operation data for each associated nozzle, the nozzle operation data at least containing a closing time (T1) and an opening time (T2), wherein the nozzle operation data is calculated based on a calculation input at least including inclination data transmitted by the inclination detection means and the position of the nozzle on the longitudinal supply line, and wherein the nozzle controller is further configured to operate each of the one or more associated nozzles based on the calculated nozzle operation data to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed, wherein the at least one boom comprises: one or more joints configured to allow a part of the boom to be rotated with respect an adjacent part of the at least one boom during spraying; and rotation means positioned at or near each joint, wherein the rotation means are configured to rotate the adjacent parts with respect to each other over an angle of 0°-90°, wherein the device comprises a memory that is configured for storing and/or adjusting a contour map of the surface of the field to be sprayed, wherein the memory is operatively connected to the nozzle controller and the inclination detection means, and wherein the inclination detection means are additionally preferably configured for measuring and transmitting to the memory an inclination of the surface of the field with respect to a horizontal.

19. The agricultural device according to claim 18, wherein one or more of the rotation means are formed as a telescopic arm or ram, wherein, in an unextended state of the telescopic arm, the associated boom parts are in line with each other, and wherein, in an extended state of the telescopic arm, the associated boom parts are positioned at angle with respect to each other.

20. The agricultural device according to claim 19, wherein the inclination detection means are configured to determine an extension length of the telescopic arm, and wherein the nozzle controller is configured to include the extension length of the telescopic arm in the calculation of the nozzle operation data.

Description

[0069] The invention is described in the foregoing as example. It is understood that those skilled in the art are capable of realizing different variants of the invention without actually departing from the scope of the invention. Further advantages, features and details of the invention are elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, in which:

[0070] FIG. 1a shows a perspective view of an example of an agricultural device according to the invention;

[0071] FIG. 1b shows the device of FIG. 1 in which the booms are extended;

[0072] FIG. 2 shows the agricultural device of FIG. 1b, in which one of the booms is rotated with respect to the agricultural device.

[0073] FIG. 3 shows a detailed view of a part of the rotated boom of the device of FIG. 1b; and,

[0074] FIG. 4 shows an example of the connections between various regulation components of an example of the device according to the invention.

[0075] Agricultural device 2 according to an example of the invention (see FIGS. 1a, 1b) shows self-propelled device 2 that is provided with wheels 4a, 4b, 4c. 4d that are connected to a drive assembly (not shown) and with driver cabin 6 from which an operator can control agricultural device 2. Agricultural device 2 further comprises liquid product supply 8 in the form of storage tank 8 in which liquid product that is to be dispensed over a surface S is provided. In this example, agricultural device 2 comprises two booms 10, 12. Boom 10 is provided with longitudinal supply line 14 and a plurality of nozzles 18a-18x which are distributed along boom 10. Each of the nozzles 18a-18x is fluidly connected with longitudinal supply line 14 of boom 10, which longitudinal supply line 14 has end portion 22 that is fluidly connected with liquid product supply 8.

[0076] Boom 12 is provided with longitudinal supply line 16 and a plurality of nozzles 20a-20x which are distributed along boom 12. Each of the nozzles 20a-20x is fluidly connected with longitudinal supply line 16 of boom 12, which longitudinal supply line 16 has end portion 24 that is fluidly connected with liquid product supply 8.

[0077] In an example shown in FIG. 2, boom 10 is rotated over an angle of about 20°, which allows boom 10 to extend parallel to an inclined surface. In FIG. 3 is shown that the rotation of boom 10 is provided around joint 33 by retracting telescopic arm 31 over a predefined length to establish the desired rotation angle to allow boom 10 to extend parallel to an inclined surface as presented in FIG. 2.

[0078] In this example, booms 10, 12 each are foldable between a storage position (see FIG. 1a) and a spray position (see FIG. 1b). In the active position, booms 10, 12 extend outwardly on opposite sides from the agricultural device 2 (see FIG. 1b). In this position, booms 10, 12 extend substantially perpendicular to a central axis A, which central axis A extends substantially parallel to moving direction D from rear end 26 to front end 28 of device 2. In the storage position, each of booms 10, 12 is rotated inwardly over an angle of about 90° and folded, such that each of booms 10, 12 extends at least partially parallel to central axis A of agricultural device 2 (see FIG. 1a).

[0079] In another example of the present invention boom 10 and 12 respectively comprises sub-booms 10a, 10b, and 10c and sub-booms 12a, 12b, and 12c that can have independent inclination angles. In this example, boom 10 comprises three joints 30, 32, 34 and associated rotation means 36, 38, 40 which in this example are formed by telescopic arms 36, 38, 40. Joints 30, 32, 34 effectively divide boom 10 in three sub-booms 10a, 10b, 10c, which are rotatable over an angle with respect to each other.

[0080] Similarly, boom 12 comprises three joints 42, 44, 46 and associated rotation means 48, 50, 52 which in this example are formed by rams or telescopic arms 48, 50, 52. Joints 42, 44, 46 effectively divide boom 12 in three sub-booms 12a, 12b, 12c, which are rotatable over an angle with respect to each other to provide an at least partially inclined boom 12.

[0081] Agricultural device 2 further comprises pressure regulation means 54, which include at least one nozzle controller 56 to control the opening and closing of one or more of associated nozzles 18a-18x, 20a-20x on respective booms 10, 12. In this example, boom 10 comprises three inclination detection sensors 58, 60, 62, each of which positioned is near an associated joint 30, 32, 34 to measure a distance H1, H2, H3 between a part of the respective longitudinal supply line 14 that is positioned on each of sub-booms 10a, 10b, 10c and a surface S located beneath said sub-boom 10a, 10b, 10c. In addition, boom 12 also comprises three inclination detection sensors 64, 66, 68, each of which positioned is near an associated joint 42, 44, 46 to measure a distance H4, H5, H6 between a part of the respective longitudinal supply line 16 that is positioned on each of sub-booms 12a, 12b, 12c and a surface S located beneath said sub-boom 12a, 12b, 12c.

[0082] Pressure regulation unit 54 and/or nozzle controller 56 is configured to calculate nozzle operation data for each associated nozzle 18a-18x, 20a-20x. The nozzle operation data at least contains a closing time (T1), an opening time (T2) and an opening/closing frequency (F) for each of the associated nozzles 18a-18x, 20a-20x and is calculated based on a calculation input. The calculation input at least includes inclination data transmitted by inclination detection means 58, 60, 62, 64, 66, 68 and the position of associated nozzles 18a-18x, 20a-20x on associated longitudinal supply lines 14, 16. Nozzle controller 56 is further configured to operate each of associated nozzles 18a-18x, 20a-20x based on the calculated nozzle operation data to obtain a homogeneous spraying of the liquid product over a surface of a field to be sprayed, and in particular on plants 76 and/or weed 78.

[0083] Agricultural device 2 in this example additionally includes a speed detector 70 and an angle sensor 72, which are operatively connected to pressure regulation unit 54 and nozzle controller 56. Speed detector 70 is configured to measure the movement speed of device 2 and relate the speed information to pressure regulation unit 54 and/or nozzle controller 56 in order to be included as calculation input for calculating the nozzle operation data. Angle sensor 72 is operatively connected to one of steerable wheels 4a, 4b and is configured to measure a wheel angle of the associated wheel 4a, 4b with respect to central axis A. The angle data is transmitted to pressure regulation unit 54 and/or nozzle controller 56 to be included as calculation input for calculation of the nozzle operation data. It is noted that these additional components may also be omitted from agricultural device 2 as shown in this example.

[0084] Additionally, agricultural device 2 may also include memory 74 that is operatively connected to pressure regulation unit 54 and/or nozzle controller 56 and additionally to one or more of speed detector 70, angle sensor 72 and inclination detection means 58, 60, 62, 64, 66, 68 for storing collected measurement data. Additionally, memory 74 in this example is also used for storing and adjusting a contour map of the surface of the field to be sprayed. This requires that memory 74 is operatively connected to inclination detection means 58, 60, 62, 64, 66, 68 and at least pressure regulation unit 54 or nozzle controller 56. It is preferred that inclination detection means 58, 60, 62, 64, 66, 68 are also configured for measuring and transmitting to memory 74 an inclination of surface S of the field with respect to a horizontal.

[0085] An example of possible connections between the different components, including optional components, of agricultural device 2 is provided in FIG. 4. This example shows pressure regulation unit 54 and nozzle controller 56, as being part of pressure regulation unit 54, as well as inclination detection means 58, 60, 62, 64, 66, 68 each being connected to memory 74. The optional components in this example are angle sensor 72 and speed detector 70, which are also connected to memory 74 and to pressure regulation unit 54.

[0086] The present invention is by no means limited to the above described preferred embodiments thereof. The rights sought are defined by the following claims within the scope of which many modifications can be envisaged.