Apparatus and method for applying variable doses of irrigation and agrochemicals

A method for applying a treating liquid to a desired portion of a field by means of a pulverization apparatus comprising at least one irrigation unit including a plurality of nozzles arranged into a plurality of nozzle sections, motor means for moving the irrigation unit over the ground, liquid delivering means connected to the nozzles, a main control panel, and control means for controlling the operation of the nozzles, the control means including a computer unit in the main control panel, an independent control module in the at least one irrigation unit, connected to a plurality of sensors and to the nozzles, and an interface module in the main control panel and connected to the independent control module and to the computer unit, the method comprising the steps of:

• inputting data relating to a desired application map and operating conditions of the apparatus into the computer unit,
• moving the apparatus and operating the nozzles according to said data,
• acquiring and storing into the independent control module data relating to position parameters of the apparatus over the field,
• requesting said information relating to said position parameters stored in the independent control unit,
• inputting into the computer unit via the interface module said information relating to said position parameter of the apparatus,
• calculating a distance parameter by comparing said information with an immediate former information relating to a previous position parameter until reaching a threshold distance parameter,
• when reaching the threshold distance parameter, sending to the independent control module an order signal for actuating the nozzles,
• wherein the position parameter is selected from the group consisting of the movement of the nozzle sections over the field and the global position of the nozzle sections, and
• wherein the order signal is sent by the computer unit to actuate the nozzles of each nozzle section once the corresponding nozzle section has moved along a length accumulated according to the formula P=(P2−P1). cos(a).
• wherein:
• P1 is the position of a central point of the nozzle section at a predetermined time,
• P2 is the position of the central point of the nozzle section at a time immediately subsequent to said predetermined time, and
• a is the angle defined between the vector defined by the positions P2 and P1 and a line perpendicular to a line defined by the nozzles of the nozzle section, whereby the nozzles of the nozzle sections are prevented from applying liquid over a field section overlapping an immediate field section that received an immediate previous application of liquid.