| 摘要 |
The invention relates to a device (1) for discharging liquids, such as fertilizer or the like. The device according to the invention has at least two extension arms (3a, 3b), each of which comprises multiple means for distributing the liquid, said at least two extension arms (3a, 3b) being pivotal about one or more axes (5a, 5b) running approximately parallel to a travel direction of the device. The device also has one or more actuators (7a, 7b) which are connected to the at least two extension arms (3a, 3b) and which can transmit an actuating force for a pivoting movement to the at least two extension arms (3a, 3b). The device (1) additionally comprises one or more first sensors (9a, 9b), by means of which a relative actual distance of the at least two extension arms (3a, 3b) from ground-side working crops and/or a relative inclination position of the at least two extension arms relative to a horizontal can be ascertained; and one or more second sensors (11a, 11b), by means of which at least one environment profile of the environment lying ahead in the travel direction of the device (1) can be detected, wherein the one or more first sensors (9a, 9b) and the one or more second sensors (11a, 11b) are connected to a controller (S), by means of which the one or more actuators (7a, 7b) can be actuated for a defined pivoting movement of the at least two extension arms (3a, 3b) while taking into consideration the actual state ascertained by the one or more first sensors (9a, 9b) and/or the relative inclination position and the environment profile detected by the one or more second sensors (11a, 11b). Furthermore, one or more scanners are provided, by means of which at least one environment lying ahead in the travel direction can be detected and scanned over the entire working width. Using the ascertained data, a surface model can be generated, and the one or more scanners are connected to a controller (S), by means of which the at least two extension arms (3a, 3b) can be preset on the basis of the surface model. |
