RU2830181C1 - Method of spreading fertilizers by agricultural spreader system and equipment for agricultural spreader system - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: method of spreading fertilizers by an agricultural spreader system comprises steps of: providing the spread material into material tank (5) of the agricultural spreader; spread material from material tank (5) is dispensed through dispensing opening (6), through which spread material is discharged from material tank (5) into spreader device (7), which is configured to receive and spread dispensed spread material; receiving dispensed spread material by spreader device (7); spreading the dispensed spread material by spreader device (7); detecting digital image data by means of control device (4), wherein the digital image data indicates a partial amount of the spread material received in material tank (5) located at dispensing opening (6), during the digital image data detection; parameter of material is determined for partial amount of spread material located at dispensing opening (6) based on analysis of digital image data by means of control device (2). Agricultural spreader system equipment comprises material tank (5) configured to receive spread material, control device (4) and control device (2). Material tank (5) is provided with dispensing opening (6), made with possibility of dispensing spread material from material tank (5) through dispensing opening (6), through which the spread material is discharged from material tank (5) into spreader device (7). Spreader device (7) is configured to receive and spread dispensed spread material. Agricultural spreader system equipment is configured to detect digital image data by means of control device (4), wherein the digital image data indicates a partial amount of the spread material received in material tank (5) located at dispensing opening (6), during the digital image data detection, and determining a material parameter for a partial amount of spread material, located at dispensing opening (6), based on analysis of digital image data by means of control device (2).

EFFECT: improved spreading operation.

13 cl, 3 dwg

Description

The present disclosure relates to a method for operating an agricultural spreader and equipment for an agricultural spreader system.

LEVEL OF TECHNOLOGY

Agricultural spreaders are used to distribute spreading material on a field, such as fertilizer. The spreading material is usually received in a tank, which may also be called a barn. The tank is equipped with a metering opening for dosing the spreading material. The metered spreading material must be distributed by means of a spreader device containing, for example, one or more spreading discs.

The spreader can be mounted on a self-propelled machine. Alternatively, the spreader can be provided as a tractor-towed implement.

In order to ensure the correct application of the spreading material to the field, measures have been proposed for monitoring the spreading operation. Document EP 2957161 B1 discloses a method for determining the distribution of fertilizer granules. The distribution is carried out by means of a fertilizer spreader, in particular transversely to the direction of movement of the fertilizer spreader. The method comprises the following steps: spreading a mixture of fertilizer granules, a substantially homogeneous mixture of different fertilizer components; forming an image of the area of the ground in at least one image from a digital camera; determining the location of the fertilizer granule in the camera image; and calculating the actual distribution of the fertilizer granules on the area of the ground. The image is evaluated by means of a computing unit in order to determine how the mixture ratio changes during spreading.

ESSENCE OF THE INVENTION

The objective is to provide a method of operation of an agricultural spreader and equipment for an agricultural spreader system that can improve the spreading operation.

To solve the set task, a method for operating an agricultural spreader according to claim 1 of the invention formula is provided. Additionally, equipment for the agricultural spreader system according to claim 13 of the invention formula is provided. Additional embodiments are disclosed in the dependent claims of the invention formula.

According to the aspect, a method for operating an agricultural spreader is provided, including the steps of: providing a spreading material into a material tank of the agricultural spreader, dosing the spreading material from the material tank through a dosing opening, receiving the dosed spreading material with a spreader device, and spreading the dosed spreading material by means of the spreader device.

The method further comprises the following: detecting digital image data with a monitoring device, wherein the digital image data indicates a partial amount of scattered material located near the metering opening, during the detection of the digital image data; and determining a material parameter for the partial amount of scattered material located near the metering opening, based on an analysis of the digital image data by the control device.

According to a further aspect, equipment for an agricultural spreading system is provided, comprising: a material tank configured to receive a spreading material, a metering opening provided in the material tank and configured to meter the spreading material from the material tank through the metering opening, a spreader device configured to receive and spread the metered spreading material, a monitoring device and a control device. The equipment is configured to: detect digital image data by means of the monitoring device, wherein the digital image data indicates a partial amount of spreading material located near the metering opening, during the detection of the digital image data; and determine a material parameter for the partial amount of spreading material located near the metering opening, based on the analysis of the digital image data by the control device.

At least one of the agricultural spreader and the spreading system may be provided with a self-propelled machine carrying at least a material tank, a spreader device, a control device and a control device. Alternatively, the agricultural spreader and the spreader system may be provided as an implement towed by a tractor.

The control device used to determine the material parameter may be partially or completely provided in the agricultural spreader system, for example, by a user terminal. Alternatively, one or more components of the control device may be provided at a remote location. For example, a server device and/or a database may be provided at a location remote from the agricultural spreader in the field. Data exchange with the remote device may be performed by wireless data transmission. Additionally or alternatively, one or more components of the control device may be implemented on a portable device, such as a mobile phone or a laptop computer. Again, the exchange of electronic data may be performed by wireless data transmission with a computer or data processing devices installed on the agricultural spreader itself.

The method may further comprise the following: determining a control operation parameter for the agricultural spreader in response to the determination of a material parameter by the control device; and using the control operation parameter to control the operation of the agricultural spreader. The operation of the agricultural spreader is controlled depending on one or more material parameters that are determined for a partial amount of spread material located near the metering opening at the time of detecting the digital image data. In this way, controlling the operation of the agricultural spreader based on the control operation parameter, which in turn is obtained in response to the determination of the material parameter, will ensure the operation control configured for such spread material that, at the time of detecting the digital image data, is about to be metered through the metering opening and then spread by means of the spreader device. By applying such a technology, the operation of the spreader device can always be adjusted in accordance with a specific spread material that is to be distributed further along the ground or field.

In an embodiment, the control operation parameter may be a control operation parameter for controlling the operation of a tractor or a self-propelled machine of an agricultural spreader/spreader system. For example, the travel speed may be controlled depending on a certain material parameter. Such control may, for example, be applied by means of so-called tractor implement management (TIM).

The monitoring may comprise continuous monitoring of the spreading material located near the metering opening, while metering the spreading material through the metering opening. A plurality of images may be continuously captured by a monitoring device, which may, for example, be equipped with a digital camera, for detecting a stream or group of digital image data indicating a plurality of captured images. The divided images or the plurality of images, continuously detected, may be analyzed by processing the digital image data by means of one or more data processors, analyzing the image data. Various methods are known for analyzing the image data, which may be used depending on the embodiment.

The method may further include performing at least one of the following steps, in which: determining a material parameter, determining a control operation parameter, and applying the control operation parameter in a real-time process. The real-time process may include continuously inputting digital image data. Similarly, the material parameter and/or the control operation parameter may be continuously determined for finally applying the control operation parameter for continuously controlling the operation of the agricultural machine depending on the digital image data and the material parameter determined from such digital image data.

The detection of digital image data may comprise detection of digital image data with time resolution by the inspection device. For example, the digital image data is assigned a time stamp indicating the time when the digital data is detected. Such time information may be taken into account in the process of determining the control operation parameter. For example, a time delay may be determined for applying the control operation parameter in relation to the time of detection of the digital image data from which the material parameter is determined.

The determination of the material parameter may comprise determining, for a partial amount of spread material located near the metering opening, at least one material parameter from the following group: a particle size for particles of the partial amount of spread material; a particle diameter for the partial amount of spread material; a particle shape for the partial amount of spread material; a particle density per unit volume for particles of the partial amount of spread material; a particle type for particles of the partial amount of spread material; a filling volume indicating the degree of filling of the volume near the metering opening, wherein the spread material is supplied through the volume to the metering opening; and a flow parameter indicating the flow of material of particles of the partial amount of spread material to the metering opening. Information about one of the particle size, the particle shape and/or the particle density may be used or analyzed to determine the particle type of the partial amount of spread material. For example, information about different characteristic parameters for different particle types may be available in the database. Comparison of one or more material parameters obtained or determined from the digital image data with such information stored in the database may allow one or more specific types of spread material to be determined. In another example, time-resolved digital image data collected by the monitoring device may indicate flow characteristics of the flow of the spread material to the metering opening. In response, a control operation parameter may be determined to change the state of the metering opening. For example, the size of the metering opening may be increased or decreased to change the flow characteristics of the spread material supplied through the metering opening to exit the material tank to the spreader device.

The determination of the control operation parameter may comprise the determination of at least one control operation parameter from the following group: a metering device parameter, for example at least one of the metering aperture size and the metering aperture shape; the degree of filling of the material tank; an operator warning; and a control operation parameter for the spreader device, for example at least one of the spreader disc rotation speed, the drop location on the spreader disc, and the working width. Alternatively or in addition, a parameter related to the spreading boundary settings may be determined as a control operation parameter.

The determination may comprise applying a neural network for at least one of determining a material parameter and determining a control operation parameter. The neural network may be trained using training data comprising a plurality of digital image data provided for different types of spread material. Alternatively, other computer models may be applied that reflect some relationship between the digital image data and the material parameter, and/or the material parameter and the control operation parameter. The control device will apply the neural network and/or some other computer model to finally determine the control operation parameter that will be applied to control the operation of the agricultural spreader. The computer model may transform properties or parameters of the spread material, such as properties of the fertilizer, to control the operation parameter(s) that provides for adjusting the operation of the agricultural spreader. A combination of algorithm(s) and a database may be applied by the computer model or the neural network. The database may be populated with settings determined experimentally at a test station of the spreader.

Detecting the digital image data may comprise detecting the digital image data by means of a control device located near the dosing opening, i.e., physical or spatial proximity. For this embodiment, the control device itself is located near the dosing opening or in close proximity to it. The control device may be located inside or outside the material reservoir.

Detecting digital image data may comprise detecting digital image data through an opening in a wall element of a side wall of a material reservoir, wherein the side wall covers at least partially a volume of the reservoir receiving the spread material.

The detection of digital image data may comprise detection of digital image data through a window provided in the opening of the wall element. For this embodiment, the monitoring device may be provided outside the material reservoir in a location that allows digital images to be obtained through the window provided in the opening of the wall element. Alternatively, the monitoring device, comprising, for example, a digital camera, may be located inside the material reservoir.

Spreading by a spreading device may comprise spreading a metered spreading material by at least one spreader disc.

Determining the operation control parameter may comprise receiving a user input indicating an input parameter and considering the input parameter together with the material parameter to determine the operation control parameter by the control device. For example, the input parameter may indicate the working width and/or the amount of material spread per area of land, such as kg/ha.

Alternatively or in addition, determining the operation control parameter may comprise receiving sensor signals from a sensor device provided in the agricultural spreader system, such as a load sensor device. The sensor signals are taken into account when the control device determines the operation control parameter.

The embodiments described above with respect to the method of operation of the agricultural spreader can be applied, with appropriate modifications, to the equipment of the agricultural spreader system.

DESCRIPTION OF IMPLEMENTATION OPTIONS

Further embodiments are described below with reference to the figures. The figures show:

Fig. 1 - schematic block diagram of equipment for an agricultural spreader system;

Fig. 2 is a schematic representation of equipment provided with a material tank and a control device located near the dosing opening; and

Fig. 3 is a schematic representation of other equipment equipped with a material tank and a control device located near the dosing opening.

Fig. 1 shows a schematic block diagram of equipment for an agricultural spreader system. An agricultural spreader 1 is provided, configured to spread or distribute a spreading material (granular material), such as fertilizer, over the ground or a field. Various agricultural spreaders are known as such. For example, the agricultural spreader can be provided on a self-propelled machine. Alternatively, the agricultural spreader can be provided with an implement towed by a tractor. A control device 2 is configured to provide parameters for a control operation that are to be applied to the agricultural spreader 1 for controlling the operation. The control device 2 can be implemented together with the agricultural spreader 1 or can be at least partially separated from the agricultural spreader 1. For example, elements or components of the control device 2 can be provided on a tractor.

The control device 2 is designed with the possibility of exchanging electronic data with the database 3 located remotely from the control device 2. For example, the database 3 can be provided on a remote server station. Wireless data transmission can be used for exchanging electronic data.

The agricultural spreader 1 is provided with a control device 4, which is capable of detecting digital image data. The control device 4 is fixed to the material tank 5 of the agricultural spreader 1 (see Fig. 2 and Fig. 3). Thus, the control device 4 is capable of detecting digital image data for a partial amount of spread material received in the material tank 5, a partial amount of spread material, during the detection of digital image data by the control device 4, located near the metering opening 6, through which the spread material is discharged from the material tank 5 into the spreader device 7, which is provided, for example, with one or more disc spreader devices.

The digital image data detected by the control device 4 are processed by analyzing the image data by means of one or more data processors provided in at least one of the control device 4 and the control device 2. By analyzing the image data, one or more material parameters are determined for the spread material located near the dosing opening 6. The control device 4 may comprise a digital camera for detecting the digital image data.

In response to determining one or more material parameters, such as a particle size, a particle diameter and/or a particle shape, one or more data processors determine an operation control parameter for operating the agricultural spreader 1. For example, in the remote database 3 there may be a look-up table that provides a mapping between the material parameter(s), on the one hand, and the operation control parameter(s), on the other hand. If a particular material parameter is determined from an analysis of image data, one or more operation control parameters can be determined and assigned to such a material parameter. Then, the one or more operation control parameters are applied to operating or controlling the agricultural spreader 1, while the spread material is distributed over the ground or a field. For example, the size of the metering opening 6 can be adjusted in response to determining a certain particle size from the digital image data. Also, other operation control parameters can be corrected or changed in response to determining a particular material parameter(s).

When the spreading material is present in the material tank 5 (barn), the control device 4 will detect digital image data from this spreading material once or periodically and send this digital image data to the control device 2. It can also request settings from the controller or the terminal of the spreader, such as the working width and the application rate.

When the digital image data is received, the control unit 2 will begin to process this information. The digital image data can be passed through a neural network to obtain physical properties (material parameters). These properties can be combined with the spreader settings and can then be used to look up the settings in the database 3. These settings are then returned back to the control unit 2. When the settings are received by the control unit 2, it will transmit these settings to the spreader electronics, thereby applying the settings (operation control parameter(s)) to the agricultural spreader 1.

Figures 2 and 3 show various examples of equipment provided with a material tank 5, which may also be called a pit, and a control device 4 located near or in the immediate vicinity of a metering opening 6, through which the spread material is metered into a spreading device 7. In the example shown, there are two metering openings 6 and two spreading devices 7. The control device 4 is adopted in a device housing or block 8, placed inside an opening 9 provided in an element 10 of the wall of the side wall 11 of the material tank 5. Digital image data is collected by the control device 4 through a (transparent) window 12.

For the embodiment shown in Fig. 2, the digital image processor device 13 is provided in the device block 8. The digital image data detected by the control device 4 can be processed at least partially locally in the device block 8.

The control device 4 can function to continuously detect digital image data of the spreading material during the operation. Many spreading materials, such as many fertilizers, do not have a uniform particle size. In the process of producing the spreading material, the particle diameter changes due to various factors that are difficult to control. During the storage, transportation and repackaging of the spreading material, such as fertilizers, particles of different sizes tend to separate, resulting in batches with larger granules and batches with smaller granules. By continuously processing the digital image data, the agricultural spreader 1 can be adjusted on the go (in real time) depending on what particles are currently near the metering opening 6.

By combining the control device 4 with an on-board information controller, such as the digital image processor device 13, the system can operate fully or partially autonomously. The control device 4 will create digital image data of the spread material at the request of the control device 2.

In various embodiments, the control device 2 can interact with at least one of the following: a software application on a terminal provided on the tractor; a software application on a mobile phone (Bluetooth); a spreader controller (CAN, specialized, or can be on the same microprocessor set); and online in a cloud-based consulting service.

In various embodiments, the control device 2 can provide at least one functionality from the group: launching a neural network for recognizing the shape and/or size of fertilizer particles; launching a computer vision algorithm for pre-processing image data or recognizing properties; placing a consulting service; and collecting and combining other data from the terminal, spreader controller or external sensors.

A deep neural network (DNN) can be used to transform digital image data into usable physical properties (material parameters). One of the material parameters that can be determined is the particle size or diameter. For example, this can be done by classifying the scattered material into certain categories, such as fine (1 mm), fine (1.8 mm), normal (2.5 mm), large (3.5 mm), extra large (5 mm+). Alternatively, the particle size can be determined by regressing the digital image data to only one average diameter (x mm).

The DNN can also be used to recognize at least one of the shape and category of the spread material, such as fertilizer. This is done by a classification neural network regressor. For each fertilizer category, the DNN will return a number between 0 and 1 indicating how likely it is that the photographed spread material has a certain shape.

The DNN can be located either on the local information controller of the agricultural spreader 1, or in a local mobile phone software application, or on a host computer in the cloud. The cloud can provide the ability to collect digital image data from clients or users, which can then be used to retrain the DNN so that it continues to evolve.

The DNN can be placed in the control unit 2 of the agricultural spreader 1. If it is combined with the local advisory service and the database, the agricultural spreader 1 can configure itself fully automatically and autonomously. It becomes possible to continuously update the settings depending on current changes.

The features disclosed in this description, figures and/or claims may be material for the implementation of various embodiments, taken separately or in various combinations.

Claims (41)

1. A method for spreading fertilizers using an agricultural spreader system (1), comprising the steps of: - provide the spread material into the tank (5) for the material of the agricultural spreader (1); - the spread material is dosed from the material tank (5) through the dosing opening (6), through which the spread material is unloaded from the material tank (5) into the spreader device (7), which is designed to receive and spread the dosed spread material; - receive the dosed spread material by the spreader device (7); and - spread the dosed spreading material using the spreader device (7); the method additionally comprises the steps of: - detect digital image data by means of a control device (4), wherein the digital image data indicates a partial amount of spreading material received in the material tank (5) and located at the dosing opening (6), at the time of detecting the digital image data; and - determine the material parameter for a partial amount of the scattered material located at the dosing opening (6) based on the analysis of digital image data by means of the control device (2). 2. The method according to claim 1, further comprising the steps of: - determining a control operation parameter for the agricultural spreader (1) in response to determining a material parameter by the control device (2); and - apply the control operation parameter to control the operation of the agricultural spreader (1). 3. The method according to claim 1 or 2, wherein the monitoring comprises continuous monitoring of the spread material located at the metering opening (6) while metering the spread material through the metering opening (6). 4. The method of at least one of the preceding claims, further comprising performing each of at least one of determining a material parameter, determining a control operation parameter, and applying the control operation parameter in a real-time process. 5. A method according to at least one of the preceding claims, wherein detecting digital image data comprises detecting time-resolved digital image data by the monitoring device (4). 6. A method according to at least one of the preceding claims, wherein determining the material parameter comprises determining, for a partial amount of spread material located at the metering opening (6), at least one material parameter from the following group: - particle size for particles of a partial amount of scattered material; - particle diameter for particles of a partial amount of scattered material; - particle shapes for particles of a partial amount of scattered material; - the density of particles per unit volume of particles of a partial amount of scattered material; - particle type for particles of partial amount of scattered material; - the filling volume, showing the degree of filling of the volume at the metering opening (6), while the spread material is fed through the volume to the metering opening (6); and - a flow parameter indicating the flow of particle material of a partial amount of the scattered material to the metering opening (6). 7. A method according to at least one of the preceding claims, related to claim 2, wherein determining the control operation parameter comprises determining at least one control operation parameter from the following group: - a parameter of the dosing device, such as at least one of the size of the dosing opening (6) and the shape of the dosing opening (6); - the degree of filling of the tank (5) for the material; - operator warnings; and - a control operation parameter for the spreader device (7), such as at least one of: the speed of rotation of the spreader disc, the drop point on the spreader disc and the working width. 8. A method according to at least one of the preceding claims, wherein the determining comprises applying a neural network to at least one of determining a material parameter and determining a control operation parameter. 9. A method according to at least one of the preceding claims, wherein detecting the digital image data comprises detecting the digital image data by means of a control device (4) provided at the dispensing opening (6). 10. A method according to at least one of the preceding claims, wherein detecting digital image data comprises detecting digital image data through an opening (9) in a wall element (11) of a side wall (10) of a container (5) for material, wherein the side wall (10) encloses at least partially a volume of the container receiving the material to be spread. 11. The method according to claim 10, wherein detecting the digital image data comprises detecting the digital image data through a window (12) provided in the opening (9) of the wall element (11). 12. A method according to at least one of the preceding claims, wherein the spreading by the spreading device (7) comprises spreading the metered spreading material by at least one disc spreader. 13. Equipment for an agricultural spreader system (1), comprising: - a tank (5) for material, designed to receive the scattered material; - a metering opening (6) provided in the material tank (5) and designed with the possibility of metering the spread material from the material tank (5) through the metering opening (6), through which the spread material is unloaded from the material tank (5) into the spreader device (7); - a spreader device (7) designed to receive and spread dosed spread material; - control device (4); and - control device (2); designed with the ability to: - detecting digital image data by means of a control device (4), wherein the digital image data indicates a partial amount of spread material received in the material tank (5) located at the dosing opening (6), at the time of detecting the digital image data; and - determining the material parameter for a partial amount of scattered material located at the dosing opening (6), based on the analysis of digital image data by means of the control device (2).

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