DE102018203758A1 - Method for adjusting an amount of active agent and / or a spray nozzle position in an agricultural spray device - Google Patents

Abstract

Method for adjusting an amount of active substance in a spray liquid to be applied to a soil of an agricultural surface by means of a spray nozzle unit of an agricultural spray device and / or a position of a spray nozzle unit of an agricultural spray device relative to a soil of an agricultural surface, comprising the steps of: receiving a first image information signal (38) with a first image information (33) of a first field section of the agricultural area having at least one structure on the ground detected by a camera unit (18) of the agricultural spraying device at a first time; Receiving a second image information signal (40) having a second image information (35) of an agricultural field second field section detected by the camera unit (18) of the agricultural spraying device at a second time with the at least one structure on the ground; Comparing the image information (33, 35) to determine a relative speed of the camera unit (18) relative to the ground and / or a change in the distance of the camera unit (18) to the ground; and outputting a control signal (46) as a function of the determined relative speed and / or the determined change in distance to a delivery unit (45) of the injection device in order to adjust the amount of active agent in the spray liquid to be applied and / or to a positioning unit (30) to determine the position of the Adjust spray nozzle unit relative to the ground.

Description

State of the art

The invention relates to a method for adjusting an amount of active agent in a spray applied to a soil of an agricultural area by means of a spray nozzle unit of an agricultural spray device and / or a position of a spray nozzle unit of an agricultural sprayer relative to a soil of an agricultural area and an agricultural spray device for dispensing a spray liquid to type of independent claims. The subject of the present invention is also a control device and a computer program.

When using today's field sprayers, the amount of spray applied per time is calculated mainly via the determined driving speed of the tractor or self-propelled sprayer. The quantity to be applied can be adapted to the driving speed via a pressure change in the system or via the control of pulse-width modulated (PWM) valves.

• - Gewünschte Ausbringmenge des Spritzmittels pro Flächeneinheit
• - Düsentyp (gibt den Durchfluss durch Düse in Abhängigkeit vom Druck an)
• - Systemdruck an Düse
• - Geschwindigkeit des Spritzgestänges bezüglich des Bodens
• - Abstand der Düsen zueinander

Decisive for a successful treatment of agriculturally used areas is the homogeneous and exact distribution of the sprays in the field. As a rule, the amount of spray agent to be delivered per time is set via the pressure or via the control of PWM valves. The amount spent per time must be determined by the user or the on-board computer via the following parameters:

• Desired application rate of the spray agent per unit area
• - nozzle type (indicates the flow through the nozzle as a function of the pressure)
• - system pressure at nozzle
• - Speed of the spray boom with respect to the ground
• - Distance between the nozzles to each other

With the exact quantity applied per time, the quantity per area can now be set again while maintaining the above-mentioned parameters.

Unfortunately, in practice, there are some difficulties in maintaining the parameters. Thus, the local speed at the spray nozzles and the distance between the spray nozzles and the field soil vary greatly due to the vibrations and topography of the field transmitted during the passage of uneven floors. In today's vibration compensation systems, acceleration sensors for speed determination or distance sensors (ultrasonic sensors), which permanently detect the distance of the spray bar to the ground, are used at the spray boom.

The DE 10 2011 108 480 A1 describes a field sprayer, in which by means of acceleration sensors, the deflection of the spray boom in the direction of travel and thus the absolute position of a line in the spray boom is determined relative to ground to influence a spread rate of a good to be delivered.

Disclosure of the invention

• - Empfangen eines ersten Bildinformationssignals mit einer mittels einer Kameraeinheit der landwirtschaftlichen Spritzvorrichtung zu einem ersten Zeitpunkt erfassten ersten Bildinformation eines ersten Feldabschnitts der landwirtschaftlichen Fläche mit zumindest einer Struktur auf dem Erdboden;
• - Empfangen eines zweiten Bildinformationssignals mit einer mittels der Kameraeinheit der landwirtschaftlichen Spritzvorrichtung zu einem zweiten Zeitpunkt erfassten zweiten Bildinformation eines zweiten Feldabschnitts landwirtschaftlichen Fläche mit der zumindest einen Struktur auf dem Erdboden;
• - Vergleichen der Bildinformationen, um eine Relativgeschwindigkeit der Kameraeinheit relativ zum Erdboden und/oder eine Abstandsänderung der Kameraeinheit zum Erdboden zu ermitteln; und
• - Ausgeben eines Steuersignals in Abhängigkeit von der ermittelten Relativgeschwindigkeit und/oder der ermittelten Abstandsänderung an eine Fördereinheit der Spritzvorrichtung, um die Wirkmittelmenge in der auszubringenden Spritzflüssigkeit einzustellen und/oder an eine Positioniereinheit, um die Position der Spritzdüseneinheit relativ zu dem Erdboden einzustellen.

The present invention relates to a method for adjusting an amount of active agent in a spraying liquid to be applied to a soil of an agricultural surface by means of a spraying nozzle unit of an agricultural spraying device and / or a position of a spraying nozzle unit of an agricultural spraying device relative to a soil of an agricultural surface, comprising the steps of:

• Receiving a first image information signal with a first image information of a first field section of the agricultural area having at least one structure on the ground detected by a camera unit of the agricultural spraying device at a first time;
• Receiving a second image information signal with a second image information of a second field section of agricultural area having the at least one structure on the ground detected by the camera unit of the agricultural spraying device at a second time;
• Comparing the image information to determine a relative speed of the camera unit relative to the ground and / or a change in the distance of the camera unit to the ground; and
• - Outputting a control signal in response to the determined relative speed and / or the determined change in distance to a delivery unit of the spray device to adjust the amount of active agent in auszubringenden spray liquid and / or to a positioning unit to adjust the position of the spray nozzle unit relative to the ground.

The subject matter of the present invention is furthermore a control device which is set up to carry out all the steps of the method described above and an agricultural spray device with a spray nozzle unit, a camera unit, a conveyor unit and / or a positioning unit and also the control device

Finally, the subject matter of the present invention is a computer program which is set up to carry out all the steps of a method described above and a machine-readable storage medium with the computer program stored thereon.

The method is intended for agricultural purposes. An agricultural purpose in the context of the present invention may be understood as a purpose which is directed to the economical cultivation of crops.

The agricultural spray device may in particular be part of an agricultural field sprayer or a plant protection device or be designed as an agricultural field sprayer or a plant 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 working machine, for example a tractor, a tractor, a self-propelled or autonomous field sprayer or a self-propelled or autonomous robot. The spray device may also be mounted on a hydraulic device of the agricultural machine. 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.

All steps of the method are preferably carried out during a movement, in particular a drive or a flight of the spray device over the agricultural area.

The spreading of the spray liquid takes place here on an agricultural area or an agriculturally used area. This can be understood as a field or a cultivated area for plants or even a plot of such a cultivated area. The agricultural area can thus be arable land, a grassland or a pasture. The plants may include, for example, crops whose fruit is used for agriculture (for example as food, feed or as an energy crop) as well as weeds, weeds and grass weeds. The plants can be part of the agricultural area.

The term "soil" here includes in particular plants or parts of plants to which the spray liquid is to be sprayed or applied in order to treat them.

The spray liquid has at least one active agent. However, the spray liquid may also have two or more active agents. The active agent may be a spraying agent, i. have a preparation or pesticide, in particular a pesticide concentrate. Accordingly, the active agent may, for example, comprise a herbicide, fungicide or an insecticide (pesticide). However, the active agent may also comprise a fertilizer, in particular a fertilizer concentrate. The active agent may accordingly have a liquid fertilizer and / or a growth regulator. In this case, the active agent can be formed as a liquid or as a solid, for example in the form of granules or pellets, or as a pre-dissolved solid, for example in the form of pre-dissolved granules or pellets.

The spray liquid further preferably comprises a liquid, in particular a carrier liquid for diluting the active agent. In the context of the present invention, a 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.

Accordingly, the spray liquid can be formed, for example, as: liquid, suspension, emulsion, solution or a combination thereof. The spray liquid is preferably formed as a water-diluted plant protection or water-diluted fertilizer. The spray liquid can be a spray mixture.

The spray nozzle unit is designed to apply the spray liquid, in particular to an agricultural surface. The spray nozzle unit has at least one spray nozzle for dispensing the spray liquid. The spray nozzle unit may include at least one valve for controlling the amount of spray liquid discharged. The valve can be arranged upstream of the spray nozzle, that is to say (in the flow direction of the spray liquid) upstream of the spray nozzle. The spray nozzle unit may have a plurality of spray nozzles, each with an upstream valve. The spray nozzle unit may also have a plurality of spray nozzles with only one of the spray nozzles upstream valve, so that upon actuation of the valve, the spray liquid by means of all the spray nozzles of the Spray nozzle unit is applied. Accordingly, the spray nozzle unit may be formed as a partial width of a nozzle system. However, the valve can also be arranged or integrated in the spray nozzle or the spray nozzles. Accordingly, the spray nozzle can be controllable or actuated, ie be designed to be openable and closable.

The camera unit has at least one camera. This can be an optical and / or multispectral and / or hyperspectral and / or infrared and / or 3D camera. The camera unit can be designed to capture or record images in the NIR and / or visual area.

The spray nozzle unit and the camera unit are preferably arranged on a spray boom of the spray device. At least one camera of the camera unit can be arranged in the region of an outer end of the spray boom. Further or alternatively, at least one camera of the camera unit may be located in an area, i. be arranged in the vicinity of the spray nozzle unit or a spray nozzle.

The step of acquiring the image information is preferably carried out in a defined, in particular fixed, time interval. That is, in other words, the image information is detected at a defined repetition rate.

The field portion may be a captured portion of the camera.

The structure is preferably selected from the group consisting of: weeds, grass, crop, plant residue, stone, wood, debris, insects, patterns, or parts thereof. Thus, the structure may also be a leaf, bud or other detectable plant part.

The structure may be part of the soil or the surface of the soil. Thus, the soil may also include the structure.

The determined relative speed of the camera relative to the ground is ultimately the relative speed of the spray boom at the corresponding position of the camera. The same applies to the change in distance to the ground. The change in distance of the camera unit or the camera to the ground is preferably a change in height relative to the ground.

In the step of comparing the image information, the structure of the first image information is compared with the structure of the second image information. The step of comparing may thus comprise a step of identifying the structure in the two image information. In this case, in particular a position and / or a geometric property of the structure in the first image information is compared with the position and / or the geometric property of the structure in the second image information. For determining the relative speed of the camera unit relative to the ground, a relative geometric displacement or a geometric distance of the structure in the field sections is preferably determined. The determination of the relative geometric displacement takes place here relative to the field sections. Alternatively or additionally, a relative dimensional change of the structure in the field sections is determined to determine the change in the distance of the camera unit to the ground.

The amount of active agent can in particular be formed by means of a delivery unit, in particular, to adjust the amount of active agent in the spray liquid to be dispensed. The set amount of active agent is chosen in particular such that a homogeneous agent distribution results on the ground. Accordingly, the delivery unit can be designed to convey or direct a liquid and / or a granulate under pressure, in particular to meter it. Accordingly, the delivery unit, for example, in each case one / a / one or more pumps, feed pumps, metering pumps, accumulators, screw conveyors, valves, diaphragms, etc. include.

The adjusted position of the spray nozzle unit or the spray nozzle may also include an angle relative to the ground. The set position of the spray nozzle unit or the spray nozzle corresponds in particular to a desired position, which would have the spray nozzle unit or the spray nozzle without deformation of the spray boom.

The position of the spray nozzle unit can be adjustable in particular by means of a positioning unit. The positioning unit may be configured to raise and lower the spray nozzle unit relative to the ground and / or to move the spray nozzle unit forward and backward along a direction of movement of the spray device and / or to tilt the spray nozzle unit. In this case, the positioning unit can also be designed to move a spray boom such that the spray nozzle unit assumes the desired position.

By means of the method according to the invention, it is therefore possible to carry out a compensation of the disturbing factors for maintaining a homogeneous distribution of active agent on the ground very easily and inexpensively by means of a camera, in particular already existing on a spraying device. In this case, a camera, which is already mounted on the spray boom for performing other tasks, can be additionally used to provide time-shifted image information with a structure on the To detect soil, so that by means of the control device by comparing the image information, a relative speed of the camera unit relative to the ground and / or a change in the distance of the camera unit determined to the ground and depending on the amount of active agent in the auszubringenden spray liquid and / or the position of the spray nozzle unit relative to can be adjusted to the ground.

Furthermore, it is advantageous if the spray nozzle unit has a multiplicity of spray nozzles and the camera unit has a multiplicity of cameras, one camera each being arranged in the region of a spray nozzle and the positioning unit being designed to set the position of each spray nozzle separately relative to the ground. In this case, not every spray nozzle must be assigned a separate camera. Rather, for example, a camera can be arranged between two spray nozzles and assigned to both. By this measure, e.g. by means of a PWM (Pulse Width Modulated) valve control the amount to be applied per unit time for each spray nozzle to be set or adjusted individually depending on the distance to the ground.

It is advantageous if the camera unit is at least partially used for further tasks, in particular for detecting plant information and / or soil information, in particular a degree of coverage of the soil by plants. As a result, a camera already present on the spraying device can additionally be used for the method according to the invention, without the need for an additional camera.

• - des Abstandes der Kameraeinheit zu dem Erdboden und des Abbildungsmaßstabes eines Objektivs der Kameraeinheit und/oder
• - eines Abgleichs der mittleren berechneten Geschwindigkeit der Kameraeinheit mit der Geschwindigkeit der Spritzvorrichtung, um eine Kalibrierung der Kameraeinheit für die Ermittlung der Relativgeschwindigkeit durchzuführen. Unter dem Abbildungsmaßstab ist hierbei die Pixelanzahl pro Längeneinheit auf dem Feld zu verstehen. Auf diese Weise kann sehr einfach und kostengünstig eine Kalibrierung der Pixelauflösung durchgeführt werden.

Also advantageous is a step of determining the reproduction scale of the camera unit by means of

• - The distance of the camera unit to the ground and the magnification of a lens of the camera unit and / or
• - An adjustment of the mean calculated speed of the camera unit with the speed of the spray device to perform a calibration of the camera unit for the determination of the relative speed. The image scale here is to be understood as the number of pixels per unit length on the field. In this way, a calibration of the pixel resolution can be carried out very simply and inexpensively.

It is furthermore advantageous if a spray boom information acquired by means of at least one further camera of the camera unit is received, which represents a twisting and / or bending of the spray boom, in order to determine the relative speed and / or the change in distance. By this measure, the determination of the relative speed and / or the change in distance of the camera can be performed even more accurate.

list of figures

• 1 eine schematische Darstellung einer landwirtschaftlichen Spritzvorrichtung;
• 2a, b eine schematische Darstellung des Vergleichs der Bildinformationen zur Ermittlung der relativen geometrischen Verschiebung;
• 3a, b eine schematische Darstellung des Vergleichs der Bildinformationen zur Ermittlung der relativen Abmessungsänderung;
• 4 eine schematische Darstellung der Steuereinrichtung; und
• 5 ein Ablaufdiagramm eines Verfahrens.

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

• 1 a schematic representation of an agricultural spray device;
• 2a, b a schematic representation of the comparison of the image information for determining the relative geometric displacement;
• 3a, b a schematic representation of the comparison of the image information to determine the relative dimensional change;
• 4 a schematic representation of the control device; and
• 5 a flowchart of a method.

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of the elements is omitted.

In 1 is a schematic representation of an agricultural spray device shown, which in its entirety by the reference numeral 10 is provided.

The agricultural sprayer 10 is as a field sprayer 10 educated. The field sprayer 10 is on a tractor 12 or a tractor 12 arranged.

The agricultural sprayer 10 has a spray boom 14 on. At the sprayer boom 14 is a spray nozzle unit 16 and a camera unit 18 arranged. The spray nozzle unit 16 has a variety of spray nozzles 20 for dispensing a spray liquid 22 on a ground 26 an agricultural area 28 on. The camera unit 18 has a variety of cameras 24 on which in one area, ie near the spray nozzles 20 are arranged.

The agricultural sprayer 10 further comprises a (not shown) conveying unit, by means of which the amount of active agent in the auszubingeenden spray liquid 22 is adjustable or variable. Furthermore, the agricultural spraying device has a positioning unit 30 on, by means of which the position of the spray nozzle unit 16 respectively. the spray nozzles 20 relative to the ground 26 is adjustable or variable.

As follows from the 2a, b and 3a, b , is the camera unit 18 trained, time-shifted image information of field sections of the agricultural area 28 with at least one structure 29 to be detected, which by means of a control device 32 can be compared. The structure 29 Here is a plant 29 , Based on the comparison result is then a relative speed of the camera unit 18 or the corresponding camera 24 relative to the ground 26 and / or a change in distance of the camera unit 18 or the corresponding camera 24 to the ground 26 determined. Depending on this, then the conveyor unit 45 be controlled accordingly to the amount of active agent in the auszubringenden spray liquid 22 adjust and / or the positioning unit 30 be controlled according to the position of the spray nozzle unit 16 or the spray nozzles 20 relative to the ground 26 adjust.

In 2a, b is shown as the step of comparison to determine a relative speed of the camera 24 or the spray boom 14 relative to the ground 26 is carried out. 2a shows how first at a first time t1 a first image information 33 a first field section 34 the agricultural area 28 with a structure 29 - 1 or plant 29 - 1 on the ground 26 is detected. Subsequently, with a time offset, ie after a defined time interval at a second time t2, a second image information 35 a second field section 36 the agricultural area 28 with the structure 29 - 2 or plant 29 - 2 on the ground 26 detected. How out 2 B can be seen, then the image information 33 . 35 compare each other to a relative geometric displacement (s) of the plant 29 - 1 . 29 - 2 in the field sections 34 . 36 to determined. By means of the time interval t2-tl can then the relative speed of the camera 24 or the spray boom 14 relative to the ground 26 be calculated.

In 3a, b is shown as the step of comparison to determine a change in the distance of the camera 24 or the spray boom 14 relative to the ground 26 is carried out. Analogous to 2a , is in 3a shown as first at a first time t1 first image information 33 a first field section 34 the agricultural area 28 with a structure 29 - 1 or plant 29 - 1 on the ground 26 is detected. Subsequently, with a time offset, ie after a defined time interval at a second time t2, a second image information 35 a second field section 36 the agricultural area 28 with the structure 29 - 2 or plant 29 - 2 on the ground 26 detected. How out 3b can be seen, then the image information 33 . 35 compare each other to a relative dimensional change L2 - L1 the plant 29 - 1 . 29 - 2 in the field sections 34 . 36 to determined. By means of the time interval t2-tl can then change the distance of the camera 24 or the spray boom 14 to the ground 26 be calculated.

Corresponding calibration options of the camera 24 have already been described in the introduction.

How out 4 can be seen, is the control device 32 set up by the camera unit or the camera 24 a first image information signal 38 with the first image information 33 and a second image information signal 40 with the second image information 35 to recieve. The control device 32 is further set up by means of a computing unit 42 using the image information 33 . 35 ie the structure 29 in the picture information 33 . 35 and a relative speed of the camera unit 18 relative to the ground 26 and / or a change in distance of the camera unit 18 to the ground 26 to investigate. The control device 32 is further configured, the received and determined values by means of a memory unit 44 save. The control device 32 is finally set up, a control signal 46 depending on the determined relative speed and / or the determined change in distance to a conveyor unit 45 the sprayer 10 to spend the amount of active agent in the auszubringenden spray liquid 20 adjust and / or to a positioning unit 30 output to the position of the spray nozzle unit 16 relative to the ground 26 adjust.

5 shows a flowchart of a method 100 for adjusting an amount of active agent in one on a soil 26 an agricultural area 28 by means of a spray nozzle unit 16 an agricultural sprayer 10 auszubringenden spray liquid 22 and / or a position of a spray nozzle unit 16 an agricultural sprayer 10 relative to a soil 26 an agricultural area 26 , The procedure 100 includes a step of receiving 102 a first image information signal 38 with a means of a camera unit 18 the agricultural sprayer 10 detected at a first time t1 first image information 33 a first field section 34 the agricultural area 28 with at least one structure 29 on the ground 26 , The procedure 100 further comprises a step of receiving 104 a second image information signal 40 with one by means of the camera unit 18 the agricultural sprayer 10 at a second time t2 detected second image information 35 a second field section 36 agricultural area 28 with the at least one structure 29 on the ground 26 , The procedure 100 includes further a step of comparing 106 the picture information 33 . 35 to a relative speed of the camera unit 18 relative to the ground 26 and / or a change in distance of the camera unit 18 to the ground 26 to investigate. The procedure 100 finally includes a step of outputting 108 a control signal 46 depending on the determined relative speed and / or the determined change in distance to a conveyor unit 45 the sprayer 10 to the amount of active agent in the auszubringenden spray liquid 22 adjust and / or to a positioning unit 30 to the position of the spray nozzle unit 16 relative to the ground 26 adjust.

If an exemplary embodiment comprises a "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.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011108480 A1 [0006]

Claims (15)

Method (100) for setting an amount of active substance in a spraying liquid (22) to be dispensed onto a soil (26) of an agricultural surface (28) by means of a spraying nozzle unit (16) of an agricultural spraying device (10) and / or a position of a spraying nozzle unit (16) agricultural sprayer (10) relative to a soil (26) of an agricultural surface (28), comprising the steps of: Receiving (102) a first image information signal (38) with a first image information (33) of a first field section (34) of the agricultural surface (28) acquired by a camera unit (18) of the agricultural spray device (10) at a first time (t1) at least one structure (29) on the ground (26); - Receiving (104) of a second image information signal (40) with a means of the camera unit (18) of the agricultural spray device (10) at a second time (t2) detected second image information (35) of a second field section (36) agricultural surface (28) the at least one structure (29) on the ground (26); - comparing (106) the image information (33, 35) to determine a relative speed of the camera unit (18) relative to the ground (26) and / or a change in distance of the camera unit (18) to the ground (26); and Outputting (108) a control signal (46) as a function of the determined relative speed and / or the determined change in distance in order to adjust the amount of active agent in the spray liquid (22) to be applied and / or by the position of the spray nozzle unit (16) relative to the ground ( 26). Method (100) according to Claim 1 , characterized in that in the step of comparing (106) the image information (33, 35) - a relative geometric displacement (s) of the structure (29) in the field sections (34, 36) is determined to the relative speed of the camera unit (18 ) relative to the ground (26) and / or - a relative dimensional change of the structure (29) in the field sections (34, 36) is determined to determine the change in distance of the camera unit (18) to the ground (26). Method (100) according to one of the preceding claims, characterized in that the acquisition of the image information (33, 35) is carried out in a defined, in particular fixed time interval. Method (100) according to one of the preceding claims, characterized in that the spray nozzle unit (16) and the camera unit (18) are arranged on a spray boom (14) of the spray device (10). Method (100) according to Claim 4 , characterized in that the camera unit (18) comprises at least one camera (24) which is arranged in the region of an outer end of the spray boom (14) and / or in a region of the spray nozzle unit (16). Method (100) according to Claim 5 , characterized in that the spray nozzle unit (16) a plurality of spray nozzles (20) and the camera unit (18) a plurality of cameras (24), wherein in each case a camera (24) in the region of a spray nozzle (20) is arranged and a Positioning unit (30) is adapted to adjust the position of each spray nozzle (20) relative to the ground (26) separately. Method (100) according to Claim 5 or 6 characterized by the further step of: receiving spray bar information detected by at least one further camera of the camera unit (18), which represents a twisting and / or bending of the spray bar (14) in order to determine the relative speed and / or the change in distance. Method (100) according to one of the preceding claims, characterized in that the camera unit (18) is at least partially used for further tasks, in particular for detecting plant information and / or soil information, in particular a degree of coverage of the ground (28) by plants. Method (100) according to one of the preceding claims, characterized in that in the step of outputting (108) of the control signal (46) - a delivery unit (45) which is designed to adjust the amount of active agent in the spray liquid (22) to be applied, and / or - a positioning unit (30), which is designed to raise and lower the spray nozzle unit (16) relative to the ground (26) and / or to move the spray nozzle unit (16) along a direction of movement of the spray device (10) forward and backward and / or tilt the spray nozzle unit (16) is controlled. Method (100) according to one of the preceding claims, characterized by a step of determining the magnification of the camera unit (18) by means of - the distance of the camera unit (18) to the ground (26) and the magnification of an objective of the camera unit (18) and / or - a comparison of the average calculated speed of the camera unit (18) with the speed of the spray device (10) to a Calibration of the camera unit (18) for the determination of the relative speed. Method (100) according to one of the preceding claims, characterized in that the structure (29) is selected from at least one element of the group consisting of: weeds, weed, crop, plant residue, stone, wood, debris, insects, patterns, or parts from that. Control device (32) which is set up to perform all steps of a method according to one of the preceding claims. An agricultural spraying device (10) for dispensing a spraying liquid (22) with a spraying nozzle unit (16), a camera unit (18), a conveying unit (45) and / or a positioning unit (30) and also a control device (32) Claim 12 , Computer program adapted to perform all steps of a method according to one of Claims 1 to 11 perform. Machine-readable storage medium with a computer program stored thereon Claim 14 ,

Images