AGRICULTURAL WORK MACHINE FOR FIELD MAINTENANCE

Abstract

The present invention relates to an agricultural machine (1) for agricultural use on an agricultural field (2) which has an unharvested crop (3) and tramlines (4, 5, 6, 7). The present invention is based on the general idea of ​​adjusting the agricultural machine (1) with respect to the agricultural field (2) such that the agricultural machine (1) travels within a headland area (14) of the agricultural field (2) along a tramline (7) of the headland area (14).

Description

[0001] The present invention relates to an agricultural working machine for agricultural use on an agricultural field which has an unharvested crop and tramlines.

[0002] In modern agriculture, several different agricultural fields are cultivated using several and / or different agricultural machines, whereby before this cultivation the tramlines are determined by another agricultural machine during sowing, i.e. during the sowing of seeds, on this agricultural field.

[0003] US 10,729,055 B2 discloses a control system for an agricultural work vehicle system configured to receive a set of swath paths and determine multiple possible connecting paths between the swath paths. These swaths form a harvested field. This work vehicle system is not suitable for maintaining the single unharvested field.

[0004] In contrast to this prior art, the present invention is based on the object of specifying an agricultural working machine which supports the farmer in a previously planned maintenance of an unharvested crop in the agricultural field in such a way that in particular an undesirable and / or inappropriate journey on the agricultural field is counteracted.

[0005] This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0006] The present invention is based on the general idea of ​​adjusting the agricultural working machine with respect to the agricultural field in such a way that the agricultural working machine travels within a headland area of ​​the agricultural field along a driving lane of the headland area.

[0007] The agricultural work machine according to the invention is designed for agricultural use on an agricultural field having at least one field area and at least one headland area. The field area and / or the headland area comprise an unharvested crop and tramlines.

[0008] This agricultural work machine comprises a tractor and at least one attachment coupled to the tractor, in particular detachably coupled, for cultivating the unharvested crop of the agricultural field.

[0009] In addition, the agricultural work machine, in particular the tractor, has an adjustment device which is provided and configured to adjust the agricultural work machine as a function of satellite-based information regarding the tramlines of the agricultural field and as a function of satellite-based position information of the agricultural work machine with respect to the agricultural field in such a way that the agricultural work machine travels within a headland area of ​​the agricultural field along a tramline of the headland area.

[0010] This can reduce and / or prevent undesirable impacts of the agricultural machinery on the unharvested crop in the headland area.

[0011] The adjustment device can be designed as a control and / or regulating device that effects an adjustment by controlling and / or regulating the agricultural work machine, in particular components of the agricultural work machine. The adjustment device can have a computing device and a data memory. "Configured" can be understood to mean that the adjustment device is designed and / or programmed for this purpose.

[0012] The adjustment device can be provided and configured to adjust the tractor and the attachment in such a way that the agricultural working machine travels along the tramlines in such a way that intolerable damage to the unharvested crop is counteracted.

[0013] The satellite-based information, such as the satellite-based information regarding the driving lanes and the satellite-based position information of the agricultural work machine relative to the agricultural field, can each have been acquired by means of a positioning device for satellite-based detection of a position of an agricultural work machine relative to the agricultural field. The positioning device can be configured and / or programmed for position determination using satellite navigation signals, for example, to provide position data. At least one satellite device can be used to determine the position of the agricultural work machine relative to the agricultural field. The satellite device can comprise one and / or more GNSS satellites.The satellite device can comprise NAVSTAR GPS, GLONASS, Galileo, Beidou, GPS, and / or Galileo satellites. The positioning device can be configured and / or programmed for positioning according to the RTK (Real-Time Kinematic) method, in which a so-called RTK signal is used in addition to the satellite signals to determine the position of the agricultural machine in the agricultural field. The RTK signal can be generated by a stationary ground station. The RTK signal can be generated by a computer-based data center located outside the agricultural machine, which calculates correction data using computer technology and transmits this correction data to the adjustment device of the agricultural machine via mobile radio. The stationary ground station and / or the computer-based data center can be located outside the agricultural field.

[0014] In an advantageous development of the solution according to the invention, it is provided that the satellite-based information relating to the tramlines was recorded by one, in particular another, agricultural working machine during sowing on this agricultural field, and / or that the satellite-based position information of the agricultural working machine according to the invention relating to the agricultural field is recorded during the maintenance of the unharvested field crop and therefore only after sowing on this agricultural field.In other words, the satellite-based information regarding the tramlines was acquired, in particular completely, before the start of the cultivation of the unharvested field and stored in a data storage device, while the position information of the agricultural work machine according to the invention is acquired during the cultivation of the unharvested field and used for adjustment purposes, in particular without any time delay or only with a minimal time delay. It can be provided that the same and / or identical tractor is used for sowing on this agricultural field and for cultivating the unharvested field in order to acquire the satellite-based information and / or satellite-based position information.

[0015] In an advantageous development of the solution according to the invention, the satellite-based information regarding tramlines is stored in a data storage device for a plurality of agricultural fields. The setting device is provided and configured to determine and use the stored satellite-based information regarding tramlines from the data storage device, depending on the satellite-based position information of the agricultural work machine according to the invention, which information relates to the agricultural field on which the agricultural work machine is located and / or is planned to be located. The setting device can be connected to the data storage device in a data-communication manner.

[0016] In an advantageous development of the solution according to the invention, it is provided that the setting device is provided and configured to set the agricultural working machine as a function of operating parameters recorded by measurement and the satellite-based information in such a way that the agricultural working machine travels along a first tramline and a second tramline spaced apart therefrom within a field area of ​​the agricultural field, wherein the setting device is additionally provided and configured to set the agricultural working machine in such a way that the agricultural working machine travels along or travels along the appropriate part of the tramline of the headland area for a journey from the first tramline to the second tramline of the field area.

[0017] The agricultural work machine may have at least one measuring device for measuring the operating parameters of the agricultural work machine, in particular of components of the agricultural work machine and / or the environment of the agricultural work machine. The measuring device may have sensor devices.

[0018] In an advantageous further development of the solution according to the invention, it is provided that the agricultural working machine has a front-mounted attachment and / or a rear-mounted attachment.

[0019] In an advantageous development of the solution according to the invention, the adjustment device is provided and configured to adjust the front-mounted implement and / or the rear-mounted implement depending on the tramlines. The adjustment device can be provided and configured to adjust the front-mounted implement and / or the rear-mounted implement depending on the tramline of the headland area.

[0020] In an advantageous development of the solution according to the invention, the adjustment device is designed and configured to adjust the attachment coupled to the tractor such that, during use on an agricultural field, this attachment maintains a distance from the soil of the agricultural field and / or a distance from the unharvested crop of the agricultural field. This can counteract unwanted damage to the unharvested crop by the attachment.

[0021] In an advantageous development of the solution according to the invention, it is provided that an attachment is designed as a plant protection device for applying plant protection products to the unharvested field and / or that an attachment is designed as a fertilizer spreader for applying fertilizer to the unharvested field.

[0022] In an advantageous development of the solution according to the invention, it is provided that the first tramline and the second tramline of the field area are each aligned parallel to a longitudinal axis of the agricultural field, wherein the tramline of the headland area has at least one part which extends parallel to a transverse axis of the agricultural field, wherein the longitudinal axis and the transverse axis are aligned transversely and / or perpendicularly to one another.

[0023] In an advantageous development of the solution according to the invention, it is provided that the first tramline and the second tramline of the field area are spaced apart from one another with respect to the transverse axis, wherein the part of the tramline of the headland area which extends parallel to the transverse axis is formed between the first tramline and the second tramline of the field area with respect to the transverse axis.

[0024] In an advantageous development of the solution according to the invention, it is provided that the operating parameter recorded by measurement relates to and / or comprises field crop information relating to the unharvested field crop, weather information, further location information, further field information, a further work machine parameter and / or an operating state of the agricultural work machine.

[0025] In an advantageous development of the solution according to the invention, it is provided that the further field information comprises information relating to field boundaries of the agricultural field, wherein the setting device is provided and configured to set the agricultural working machine in such a way that the agricultural working machine does not exceed the field boundaries during the maintenance of the unharvested field.

[0026] In an advantageous development of the solution according to the invention, it is provided that the satellite-based information has been and / or is being acquired by at least one satellite. This satellite-based information can have been acquired by multiple satellites, in particular by at least three or four satellites.

[0027] Furthermore, the invention relates to the data-based, in particular computer-implemented, provision of satellite-based information regarding tramlines recorded by an agricultural machine during sowing in an agricultural field, for use in adjustment by means of an adjustment device of an agricultural machine according to the invention, in order to adjust this, in particular further, agricultural machine during the maintenance of an unharvested crop in the headland area of ​​the agricultural field resulting from sowing. The agricultural machine according to the invention can have the features described above and below.

[0028] Further important features and advantages of the invention emerge from the subclaims, from the drawing and from the associated description of the figures based on the drawing.

[0029] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0030] A preferred embodiment of the invention is illustrated in the drawing and is explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0031] Fig. 1shows a plan view of the agricultural work machine 1 according to the invention during the cultivation of the unharvested crop 3 of an agricultural field 2, which is delimited by field boundaries 28. Within the field boundaries 28, at least one field area 15 and at least one headland area 14 are formed. The field area 15 and the headland areas 14 are symbolically shown separated from one another by an intermediate boundary.

[0032] Before the situation that occurred in the Fig. 1is shown, sowing was carried out by another agricultural working machine (not shown), during which time this other agricultural working machine drove, among other things, along the tramlines 4, 5, 6, 7 and in doing so recorded the satellite-based information 12 relating to the tramlines 4, 5, 6, 7 during the sowing on this agricultural field (2), in particular with the aid of at least one satellite 19.

[0033] Tramlines 5 and 6 are tramlines 4 of field area 15, while tramline 7 is a tramline 4 of headland area 14.

[0034] The Fig. 1The agricultural work machine 1 shown has a tractor 8 with a front-mounted attachment 9 and a rear-mounted attachment 10. The agricultural work machine 1 also has an adjustment device 11 which has a computing device 16 and a data memory 17. The adjustment device 11 is provided and configured to adjust the agricultural work machine 1 as a function of the satellite-based information 12 relating to the tramlines 4, 5, 6, 7 of the agricultural field 2 and as a function of satellite-based position information 13 of the agricultural work machine 1 with respect to the agricultural field 2 during field maintenance such that the agricultural work machine 1 travels within the headland area 14 of the agricultural field 2 along the tramline 7 of the headland area 14.

[0035] In this way, undesirable effects of the agricultural working machine 1 on the unharvested field crop 3 in the headland area 14 can be reduced and / or prevented.

[0036] The satellite-based information 12 relating to the tramlines 4, 5, 6, 7 was recorded prior to the start of the maintenance of the unharvested field 3 and stored in a data memory 17 within the setting device 11 and / or an external data memory 18 outside the setting device 11, while the position information of the agricultural working machine according to the invention is recorded during the maintenance of the unharvested field and used for setting purposes, in particular without any time delay or only with a minimal time delay.

[0037] The satellite-based information 12 relating to tramlines 4, 5, 6, 7 can be stored for a plurality of agricultural fields in the internal data memory 17 and / or external data memory 18, wherein the setting device 11 is provided and configured to determine and use the stored satellite-based information 12 relating to the tramlines 4, 5, 6, 7 from the corresponding data memory 17, 18, as a function of the satellite-based position information 13 of the agricultural work machine 1, which information relates to the agricultural field 2 on which the agricultural work machine 1 is and / or will be located.

[0038] The setting device 11 is provided and configured to set the agricultural work machine 1 as a function of operating parameters recorded by measurement and the satellite-based information 12, 13 in such a way that the agricultural work machine 1 travels along a first tramline 5 and a second tramline 6 spaced apart therefrom within a field area 15 of the agricultural field 2, wherein the setting device 11 is also provided and configured to set the agricultural work machine 1 in such a way that the agricultural work machine 1 travels along the appropriate part of the tramline 7 of the headland area 14 for a journey from the first tramline 5 into the second tramline 6 of the field area 15.

[0039] The first tramline 5 and the second tramline 6 of the field area 15 are each aligned parallel to a longitudinal axis 29 of the agricultural field 2, wherein the tramline 7 of the headland area 14 has at least a partial area that extends parallel to a transverse axis 30 of the agricultural field 2, wherein the longitudinal axis 29 and the transverse axis 30 are aligned transversely and / or perpendicularly to one another. In other words, the longitudinal axis 29 and a partial area of ​​the transverse axis 30 are not aligned parallel to one another.

[0040] The first tramline 5 and the second tramline 6 of the field area 15 are spaced apart from one another with respect to the transverse axis 30, wherein the part of the tramline 7 of the headland area 14 which extends parallel to the transverse axis 30 is formed between the first tramline 5 and the second tramline 6 of the field area 15 with respect to the transverse axis 30.

[0041] In addition, the adjustment device 11 can be provided and configured to adjust the front-side attachment 9 and / or the rear-side attachment 10 depending on the tramlines 4, 5, 6, 7.

[0042] The attachment 9, 10 can be designed as a plant protection device for applying plant protection products to the unharvested field 3 and / or as a fertilizer spreader for applying fertilizer to the unharvested field 3.

[0043] The adjustment device 11 can be provided and configured to adjust the attachment 9, 10 coupled to the tractor 8 such that this attachment 9, 10 is spaced from the ground of the agricultural field 2 and / or from the unharvested crop 3 during use on the agricultural field 2. This provides additional support to a driver 20 of the agricultural work machine 1.

[0044] The operating parameter recorded by measurement can relate to field information 22 relating to the unharvested field, weather information 23, further location information 24, further field information 25, a further work machine parameter 26 and / or an operating state 27 of the agricultural work machine 1, which and / or which are stored in a data record 21 of the data memory 17 and / or 18.

[0045] The further field information 25 can comprise information relating to the field boundaries 28 of the agricultural field 2, wherein the adjustment device 11 can be provided and configured to adjust the agricultural work machine 1 such that the agricultural work machine 1 does not exceed the field boundaries 28 during the care of the unharvested field 3 without an explicit release from the driver 20. List of reference symbols

[0046] 1Agricultural machine 2Agricultural field 3Unharvested crop 4Tramlines 5First tramline in the field area 6Second tramline in the field area 7Tramline in the headland area 8Tractor 9Front-mounted implement 10Rear-mounted implement 11Adjustment device 12Satellite-based information regarding the tramlines 13Satellite-based position information of the agricultural machine 14Headland area 15Field area 16Computing device 17Data storage device 18External data storage device 19Satellite 20Driver 21Data set 22Crop information 23Weather information 24Additional location information 25Additional field information 26Working machine parameters 27Operating states 28Field boundary 29Longitudinal axis 30Transverse axis

Claims

1. Agricultural work machine (1) for agricultural use on an agricultural field (2) which has an unharvested crop (3) and tramlines (4, 5, 6, 7), - with a tractor (8) and at least one attachment (9, 10) coupled to the tractor (8) for cultivating the unharvested crop (3) of the agricultural field (2), characterized by - thatthe agricultural work machine (1) has an adjustment device (11) which is provided and set up to adjust the agricultural work machine (1) as a function of satellite-based information (12) relating to the driving lanes (4, 5, 6, 7) of the agricultural field (2) and as a function of satellite-based position information (13) of the agricultural work machine (1) with respect to the agricultural field (2) in such a way that the agricultural work machine (1) travels within a headland area (14) of the agricultural field (2) along a driving lane (7) of the headland area (14).

2. Agricultural working machine (1) according to claim 1, characterized by - that the satellite-based information (12) relating to the tramlines (4, 5, 6, 7) was acquired by an agricultural machine during sowing on this agricultural field (2), and / or - thatthe satellite-based position information (13) of the agricultural working machine (1) with respect to the agricultural field (2) is recorded during the maintenance of the unharvested field crop (3) and therefore only after sowing on this agricultural field (2).

3. Agricultural working machine (1) according to claim 1 or 2, characterized by - thatthe satellite-based information (12) relating to tramlines (4, 5, 6, 7) is stored in a data memory (17, 18) for a plurality of agricultural fields, - wherein the setting device (11) is provided and set up to determine and use the stored satellite-based information (12) relating to tramlines (4, 5, 6, 7) from the data memory (17, 18) as a function of the satellite-based position information (13) of the agricultural work machine (1), which information relates to the agricultural field (2) on which the agricultural work machine (1) is and / or will be located.

4. Agricultural working machine (1) according to one of the preceding claims, characterized by - thatthe setting device (11) is provided and configured to set the agricultural working machine (1) as a function of operating parameters recorded by measurement and the satellite-based information (12, 13) in such a way that the agricultural working machine (1) travels along a first driving lane (5) and a second driving lane (6) spaced apart therefrom within a field area (15) of the agricultural field (2), - wherein the setting device (11) is provided and configured to set the agricultural working machine (1) in such a way that the agricultural working machine (1) travels along the appropriate part of the driving lane (7) of the headland area (14) for a journey from the first driving lane (5) into the second driving lane (6) of the field area (15).

5. Agricultural working machine (1) according to one of the preceding claims, characterized by thatthe agricultural working machine (1) has a front attachment (9) and / or a rear attachment (10).

6. Agricultural working machine (1) according to claim 5, characterized by that the adjusting device (11) is provided and configured to adjust the front-side attachment (9) and / or the rear-side attachment (10) depending on the tramlines (4, 5, 6, 7).

7. Agricultural working machine (1) according to one of the preceding claims, characterized by that the adjusting device (11) is provided and configured to adjust the attachment (9, 10) coupled to the tractor (8) in such a way that this attachment (9, 10) has a distance from the ground of the agricultural field (2) and / or a distance from the unharvested field crop (3) during use on the agricultural field (2).

8. Agricultural working machine (1) according to one of the preceding claims, characterized by that the attachment (9, 10) is designed as a plant care device for caring for the field crop (3).

9. Agricultural working machine (1) according to one of the preceding claims, characterized by that the attachment (9, 10) is designed as a fertilizer spreader for spreading fertilizer on the unharvested field (3), and / or that the attachment (9, 10) is designed as a plant protection device for spreading plant protection agent on the unharvested field (3).

10. Agricultural working machine (1) according to one of claims 4 to 9, characterized by - thatthe first tramline (5) and the second tramline (6) of the field area (15) are each aligned parallel to a longitudinal axis (29) of the agricultural field (2), - wherein the tramline (7) of the headland area (14) has at least a part which extends parallel to a transverse axis (30) of the agricultural field (2), - wherein the longitudinal axis (29) and the transverse axis (30) are aligned transversely and / or perpendicularly to one another.

11. Agricultural working machine (1) according to claim 10, characterized by - that the first tramline (5) and the second tramline (6) of the field area (15) are spaced apart from one another with respect to the transverse axis (30), - wherein the part of the tramline (7) of the headland area (14) which extends parallel to the transverse axis (30) is formed between the first tramline (5) and the second tramline (6) of the field area (15) with respect to the transverse axis (30).

12. Agricultural working machine (1) according to one of claims 4 to 11, characterized by that the operating parameter recorded by measurement relates to field crop information (22) relating to the unharvested field crop, weather information (23), further location information (24), further field information (25), a further work machine parameter (26) and / or an operating state (27) of the agricultural work machine (1).

13. Agricultural working machine (1) according to claim 12, characterized by - that the further field information (25) comprises information relating to field boundaries (28) of the agricultural field (2), - wherein the adjusting device (11) is provided and configured to adjust the agricultural working machine (1) in such a way that the agricultural working machine (1) does not exceed the field boundaries (28) during the care of the unharvested field (3).

14. Agricultural working machine (1) according to one of the preceding claims, characterized by that the satellite-based information (12, 13) was and / or is acquired by means of several satellites (19).

15. Data-technical provision of satellite-based information (12) relating to tramlines (4, 5, 6, 7) which were recorded by an agricultural working machine during sowing on an agricultural field (2), for use in setting-related purposes by means of a setting device (11) of a further agricultural working machine (1), in particular according to one of the preceding claims, in order to set this further agricultural working machine (1) during maintenance of an unharvested field crop (3) resulting from the sowing in the headland area (14) of the agricultural field (2).