BEET HARVESTING MACHINE

Abstract

The invention relates to a beet harvester (1) which includes at least one tractor linkage group (11) that can be connected to a tractor to enable the harvesting of beets from the soil, at least one main chassis (10) connected to the said tractor linkage group (11), at least one harvesting group (20) positioned on the said main chassis (10) and containing at least one harvesting apparatus (21) to enable the harvesting of beets from the soil, at least one axle (40) to enable the transport of the main chassis (10) and at least one first wheel (41) and at least one second wheel (42) positioned at opposite ends of the said axle (40). Figure 1

Description

1 TARIFF BEET HARVESTING MACHINE TECHNICAL AREA 5 The invention involves attaching a device to a tractor to harvest beets from the soil. At least one tractor coupling assembly that can be connected, with the aforementioned tractor coupling assembly at least one connected main chassis, positioned on the aforementioned main chassis, and the beets At least one removal tool, including at least one removal device, to enable it to be removed from the soil. 10 The group must have at least one axle to support the movement of the main chassis, and the aforementioned axle... with at least one first wheel and at least one second wheel positioned at opposite ends. It relates to a beet harvester that includes wheels. PREVIOUS TECHNIQUE 15 In the previous technique, for beet harvesting, a tractor was used in conjunction with or There are self-propelled beet harvesting machines. These machines cutting off the leaves and tops of the beets, removing the beets from the soil 20 different mechanical and hydraulic systems for removing and transporting harvested beets Structures are used. One or more of these are used for the purpose of removing the beets from the soil. Multiple demolition elements can be used, and the working depth of these demolition elements is... It can be changed via mechanical or hydraulic adjustment mechanisms. Additionally... wheels, axles, and linkages for moving and steering the machine on the land. 25 mechanisms using surface tracking elements and various sensing elements The structures are also known. However, it has a wide working range where multiple rows of beets are harvested simultaneously. In these systems, dismantling occurs due to the varying slope of the land surface in both the transverse and longitudinal directions. The working depths of the elements may vary depending on the terrain surface. In this case, 30 Some harvesters couldn't grip the beets at a sufficient depth, while others gripped them too deeply. It can penetrate deep and prevent the beet from being damaged, cut, or not properly grown. Problems such as the inability to disassemble the harvesting section with the tractor may arise. In towed type machines where the tractor is located at a certain distance from each other on the land its location, the actual surface conditions in the area where the dismantling process is carried out are sufficient 35 It may not be represented in this way. In addition, the direction of the beet rows During deviations, turns at field edges, and reverse maneuvers, the machine's connection to the tractor... 2 its adherence to movement ensures the precision and maneuverability of sequence tracking. It can reduce it. In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. 5 A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It is related to a beet harvesting machine, aiming to bring new advantages. 10 One purpose of the invention is to improve the terrain when harvesting multiple rows of beets simultaneously. a beet harvester that can adapt to differences in slope and elevation on its surface to reveal. Another purpose of the invention is to determine the working conditions of the dismantling apparatus according to the terrain surface. This allows the depth to be maintained and the removal depth to be preserved in different terrain conditions. The goal is to develop a beet harvesting machine that produces results. Another purpose of the invention is to track the orientation of the beet row to the right or left. a system that allows the harvesting group to maintain its position on the beet row The goal is to develop a beet harvesting machine. Another purpose of the invention is to enable the tractor to move forward by steering the carrier wheels. Lateral positioning according to the beet row, regardless of orientation 25 The goal is to develop a feasible beet harvesting machine. Another purpose of the invention is to provide information about the beet row order and harvesting position at the time of harvesting. In other road and maneuvering movements, it depends on the turning angle between the tractor and the machine. A beet harvester capable of wheel steering was developed in 30 to place. Another purpose of the invention is to facilitate movement at field edges, row transitions, and in reverse. The goal is to develop a beet harvesting machine that provides increased maneuverability. 35 3 Another purpose of the invention is to monitor the land surface, track harvesting depth, and monitor beet rows. a beet harvesting machine that allows for coordinated operation to place. Another objective of the invention is to enable multi-stage dismantling operations on inclined and surface geometries with varying 5 a system that allows for more stable and precise implementation on agricultural lands The goal is to develop a beet harvesting machine. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention, designed to be carried out by attaching it to a tractor, will pull the beets out of the soil in 10 minutes. At least one tractor coupling assembly that can be connected to the tractor to enable its removal, At least one main chassis connected to the aforementioned tractor linkage assembly, the aforementioned main chassis positioned on it and at least one to enable the beets to be pulled out of the soil At least one dismantling group, including dismantling equipment, must be provided to facilitate the transport of the main chassis. a small axle and at least one 15-inch wheel located at opposite ends of the aforementioned axle. It is a beet harvesting machine that includes at least one second wheel in addition to the first wheel. Accordingly The innovation is that the dismantling group follows the land surface in the opposing flank areas. It must include at least one first-copy wheel and at least one second-copy wheel in position. Determining the change in position of the first replica wheel mentioned, depending on the terrain surface. to provide at least one first copy wheel angle sensor and the aforementioned second copy 20 to enable the determination of the change in position of the wheel depending on the terrain surface at least one The second copy includes a wheel angle sensor, which measures the angular position of the main chassis relative to the axle. It must include at least one chassis-axle angle sensor to enable its determination, first copy It depends on the data obtained from the wheel angle sensor and the second copy wheel angle sensor. This involves changing the angular position of the main chassis relative to the axle and the dismantling group 25 Main chassis and axle to ensure positioning according to the slope of the terrain surface. It must contain at least one chassis angle piston connected between them, for beet row harvesting. Disassembly to determine its position on the right or left according to its group. At least one right-left directional marker positioned in the front area according to the group's direction of advancement. It includes a sensor that directs the first wheel and / or the second wheel relative to the axle. 30 at least one wheel connected to the aforementioned axle to allow the angle to be changed The inclusion of a steering piston, the first wheel and / or the second wheel relative to the axle At least one wheel-to-wheel angle sensor to enable the determination of the steering angle. It includes a first-copy wheel angle sensor, a second-copy wheel angle sensor, and a chassis-axle angle sensor. The data obtained from the sensor, the left-right direction sensor and the axle-wheel angle sensor is 35 processing, checking the aforementioned chassis angle piston and dismantling group in the field adjustment of its angular position relative to the surface and the aforementioned wheel steering 4 by checking the piston and aligning the first and second wheels according to the beet row. It must include at least one control unit to ensure that it is directed. Thus, beet harvesting the machine's ability to adapt to changes in transverse slope on the terrain surface, dismantling the group being held in an appropriate angular position relative to the land surface and the beet row Depending on the orientation, the lateral position of the machine can be adjusted. 5 A feature of a possible configuration of the invention is that the dismantling apparatus is relative to the terrain surface. At least one dismantling tool depth sensor to enable the determination of the working depth. This allows the current working depth of the dismantling apparatus to be monitored and 10 position adjustments to maintain the predetermined working depth It is possible to carry it out. Another possible configuration of the invention involves combining a tractor with a beet harvesting machine. determining the turning angle formed via the tractor coupling assembly and the road in position, the first and second wheels are turned in the opposite direction of the tractor's turning direction 15 to ensure that at least one of the rotation angle data for steering is obtained It includes a maneuvering angle sensor. This allows the beet harvester to maneuver at the edges of the field. compatible with the tractor's turning during row changes and turning movements in road position. It is possible to direct it in this way. Another possible configuration of the invention features the first wheel and the second wheel, The advantage is that it can be steered up to 45 degrees relative to the axle. This allows for beet harvesting. the machine gains greater maneuverability during turns and is narrower It is possible to change direction in these areas. Another possible configuration of the invention features a left-right direction sensor, which is similar to a beetroot sensor. to enable the perception of the position on the right and left sides of the row It contains at least two flexible sensor arms positioned at intervals. Thus, the beet The position of the row can be detected as it moves to the right or left depending on the machine's direction of movement. and position 30 for guiding the beet harvester according to the row alignment. Information is obtained. Another possible configuration of the invention is characterized by the dismantling group being positioned parallel to each other. to allow the removal of six rows of beets that extend in a row, spaced apart from each other It includes six positioned disassembly devices. Thus, a single forward movement is 35 During this process, simultaneous harvesting can be carried out on six different rows of sugar beets. and allows for an increase in harvesting capacity. Another possible configuration of the invention features the aforementioned flexible sensor arms. They extend downwards, separating from each other from a common upper connection point, and from the front... It appears to form a lambda (λ)-like shape. Thus, the beet has two flexible sensory organs. meeting between the arms, perceiving the opposing lateral regions of the beet row and right 5 or leftward deviation via different position changes of the sensor arms This ensures identification. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows a representative perspective view of the beet harvesting machine, which is the subject of the invention. is given Figure 2 shows a representative side view of the beet harvesting machine, which is the subject of the invention. Figure 3 shows the axle and wheel steering system of the beet harvesting machine that is the subject of this invention. A representative perspective view of its structure has been provided. Figure 4 shows the axle, wheel steering, and other components of the beet harvesting machine that is the subject of this invention. A representative front view of the chassis angling configuration is given. 20 Figure 5 shows the replica wheels and their components located in the beet harvesting machine, which is the subject of the invention. A representative front view of the associated sensor configurations is provided. DETAILED DESCRIPTION OF THE INVENTION 25 This detailed explanation of the invention does not merely aim to improve understanding of the subject matter; it does not contain any other information. This is explained with examples that will not create a limiting effect. The subject of the invention is a beet harvesting machine (1), for harvesting beets grown in agricultural lands 30 to be done, and especially to dig up and remove the beets from the soil. It is an agricultural machine used as a beet harvester (1), by means of a tractor. They can move across the agricultural land by being pulled and during the movement they move parallel to each other. harvesting on one or more rows of beets that extend in a row It can perform. The beet harvester (1) can be used on flat land as well as on land 35 its surface rises and falls in the direction of forward movement and / or in the transverse direction, different It is designed to be used even on agricultural lands with slopes. 6 Because the beet harvester (1) is pulled behind the tractor, the tractor the land area on which it is moving and the land area where the beets are being harvested from the soil A certain distance can exist between them. In the preferred configuration, this distance... This distance can be approximately four meters. Due to this distance, the tractor's instantaneous position and the slope are 5. and the location of the land surface on which the beet harvesting machine (1) performs the harvesting operation and The slopes can vary, especially when multiple rows of beets are being placed simultaneously. During dismantling, the terrain surface was more evenly distributed on one side of the machine than on the other. Whether it is higher or lower, the work is done in dismantling operations carried out in different sequences. This can cause changes in their depth. Beet harvester (1), land 10 Depending on these surface changes, the area where the dismantling process is carried out is the land. adjustment of its position relative to the surface and the direction of the beet row's progression It is structured in a way that will allow its changes to be tracked. In a preferred working condition, the tractor wheel and the beet harvester (1) related 15 Due to the approximately four-meter distance between the working areas, beet harvesting The machine (1) passes over a land area after a certain time from the tractor. It is possible to reach this point. At a given speed, this time can be approximately three seconds. The mentioned time depends on the forward speed of the beet harvester (1) and the tractor. It can increase or decrease. Therefore, the 20 meters that the tractor previously passed over... Instead of basing it on the location on the land surface, the area where the dismantling process is carried out The land surface is also monitored via the beet harvesting machine (1). The beet harvesting machine (1) establishes a mechanical connection with the tractor and is driven by the tractor. At least one tractor coupling group (11) 25 to enable it to be moved by pulling. It includes the tractor linkage group (11), the beet harvester (1) forward It is positioned in the front section according to its orientation and is connected to the rear attachment area of ​​the tractor. It forms a mechanical link between the beet harvesting machine (1) and the tractor linkage. The pulling motion created by the tractor via the group (11) of beet harvesting It is transferred to the machine (1) and the beet harvesting machine (1) is behind the tractor agricultural 30 It is enabled to move across the terrain. The tractor linkage assembly (11) protects the beet harvester during the change of direction of the tractor. (1) to enable it to perform angular movement relative to the tractor It can be configured. In the preferred configuration, the tractor coupling group (11), beet 35 The harvesting machine (1) moves to the right and left in the horizontal plane relative to the tractor. It enables the beet harvester (1) to be compared to the tractor. 7 The amount of angular movement it can achieve depends on the geometry of the tractor linkage group (11). depending on the dimensions and operating conditions of the beet harvester (1) It can be changed. In the preferred configuration, the beet harvester (1) is compared to the tractor. It can perform angular movements of up to approximately 90 degrees in both the right and left directions. The tractor coupling assembly (11) can be used with different tractor coupling configurations. They can have different lengths, widths, and connection geometries to provide this. The part of the tractor linkage assembly (11) that connects to the tractor and the beet harvesting machine (1) The distance between the connected sections is also related to the tractor's connection height, beet harvesting depending on the dimensions of the machine (1) and the required maneuvering space 10 It can be changed. Thus, the tractor coupling assembly (11) can be changed. suitable for use with different tractor configurations and required during tractor direction changes. It allows for the realization of angular movement. Beet harvesting machine (1), the creation of the structural integrity of the machine and machine 15 at least one main chassis to support the mechanical structures located on it (10) includes. The main chassis (10) is connected to the tractor linkage group (11) for beet. the carrier structure extending from the front section to the rear section of the harvesting machine (1) It consists of the main chassis (10), which is connected to the tractor via the tractor linkage group (11). the transferred pulling force is transmitted to other parts of the beet harvester (1) and 20 to withstand the mechanical loads generated during the harvesting process It is being structured. The tractor linkage assembly (11) has a wide angular connection to the beet harvester (1) relative to the tractor. It can be configured in a way that allows for freedom of movement. 25 In a configuration where there are no physical or geometric limitations arising from the tractor. The beet harvester (1) rotates approximately 360 degrees around the tractor hitch assembly (11). It can have a degree of connection freedom that allows for angular movement of a certain magnitude. In the preferred configuration where the beet harvesting machine (1) is used attached to the tractor However, due to the geometric limitations of the tractor and its attachment points, the beet harvester is 30. (1) approximately 90 degrees to the right and approximately 90 degrees to the left relative to the tractor. It is able to perform movement. Main chassis (10) is based on the terrain surface during operation of the beet harvester (1). It forms the main carrier section that can be positioned. The aforementioned main chassis (10) 35 its location is on one side of the land surface of the beet harvester (1) if it is higher or lower than the land surface on that side 8 It can be changed. In this way, the main chassis (10) of the beet harvester (1) can be changed. Instead of the harvesting process moving at a fixed angle depending solely on the tractor's position, adaptable to the transverse slope of the land surface in the region where it is implemented It can be positioned. The ability to change the position of the main chassis (10) relative to the land surface, especially during beet harvesting in applications where the machine (1) operates on more than one row of beets at the same time This is important. The terrain surface slopes from one side of the machine to the other. If this happens, the main chassis (10) will change its angular position according to this slope, The harvesting zone, located along the width of the machine, is more compatible with the terrain surface. It is possible to keep the machine in this position. Thus, one side of the machine is positioned against the ground surface. getting too close, while the other side moves away from the surface of the land. It can be restricted. In the preferred configuration, the main chassis (10) and the right and left sides of the beet harvester (1) are 15 extending between them and allowing these two sides to change their relative positions together. It forms an integrated support structure. In this structure, the machine's opposite sides... The sides do not assume separate height positions independently of each other, but rather the main chassis (10) by changing the angular position, together with the working width of the machine. A change of position is being carried out. Thus, the land surface is moved 20 degrees from one side to the other. The carrier structure of the beet harvester (1) is intact against the changing slope. It is adaptable. Main chassis (10), working width of the beet harvester (1), mechanical loads to be carried and can be configured in different sizes depending on the number of beet rows in which it will be used. 25 In the preferred configuration, the working width of the beet harvester (1) is approximately three It can be meters and the main chassis (10) can be opposite the machine along this working width. will allow the height differences occurring on both sides to be met together It extends in this way. The dimensional structure of the main chassis (10) is narrower or wider. 30 adaptable to beet harvesting machines with working areas It can be changed. Beet harvester (1), transport of the main chassis (10) and beet harvester (1) It includes at least one axle (40) to enable it to move across agricultural land. Axle (40), in the preferred configuration, the rear section of the main chassis (10) according to the direction of advancement and 35 The axle (40) is located under the main chassis (10) of the beet harvester (1). It extends transversely from one side to the other, and the weight of the machine... 9 It forms the supporting structure for transferring to the agricultural land. Main chassis (10) axle (40) for transporting the beet harvester (1) on the land and the main chassis (10) will allow it to make the necessary positional changes according to the terrain surface They are structured in a way that relates to each other. The beet harvester (1) is positioned at least at the opposite end regions of the axle (40). It includes a first wheel (41) and at least one second wheel (42). The first wheel (41) and The second wheel (42) is located at opposite ends of the axle (40) during beet harvesting. supporting the right and left sides of the machine (1) on the ground surface It provides. The wheels are spaced 10 apart at opposite ends of the axle (40). its positioning allows the beet harvester (1) to be transported along its working width and allows it to move evenly across the terrain while being towed by a tractor. It provides. First wheel (41) and second wheel (42), forward movement of the beet harvester (1) 15 during which time the machine rolls around its own axis of rotation on the ground surface This enables its progress. The diameter, width, surface profile, and axle of the aforementioned wheels... (40) their respective positions; the total weight of the beet harvester (1), depending on the working width, the terrain conditions where it will be used, and the structure of the soil It can be customized. The wheels are 20-inch rubber-tired, suitable for working on agricultural terrain. They can be configured in the form of wheels, or with different load capacities or ground surfaces. Wheel structures with traction properties can also be used. The first wheel (41) and the second wheel (42) only carry the weight of the beet harvester (1). not in the form of fixed-direction wheels carrying, but steering angles 25 relative to the axle (40). It is configured in a changeable way. Thus, the beet harvester (1) is the tractor's the direction of its own wheels, without being entirely dependent on the direction of the movement it follows It has a transport structure that allows for its replacement. These wheels... Its steerable structure allows the beet harvester (1) to harvest beets during harvesting. to adapt to the alignment of the rows and in maneuvers other than harvesting 30 It allows for support of the machine's rotational movement. Which wheels how it is guided by mechanical structure and how the orientation angles are followed within the scope of the relevant guidance structures of the beet harvesting machine (1) is being carried out. 35 In the preferred configuration, the first wheel (41) and the second wheel (42) are related to each other. It can change direction in such a way and the rear section of the beet harvester (1) can be turned to the right or left It is structured in a way that will contribute to its positioning in that direction. This structure thanks to the carrier wheels of the beet harvester (1) only the machine's off-road It not only allows it to progress on its own, but also monitors the machine during operation. It also allows for changing the direction. First wheel (41) and second wheel The expressions “first” and “second” used for (42) are used to distinguish the wheels from each other. It is directed in such a way that either of the wheels is necessarily on a specific right or left side. It does not limit its presence. The beet harvesting machine (1) moves across the agricultural land, cutting the beets off the soil. It contains at least one disassembly group (20) to enable its removal from inside. Disassembly 10 The group (20) is carried on the main chassis (10) and the beet harvester (1) is moving forward. The harvesting group is positioned so that it will face the rows of beets. (20), brought closer to the land surface during the harvesting process and positioned in the working position They can be brought in and the root sections of the beets, which are located underground, can be extracted from the soil. It is working towards its separation. The dismantling group (20) is 15 according to the land surface. its location depends on the level at which the beets are located in the soil and the surface of the agricultural land. It can be modified depending on its structure. The harvesting group (20) is placed in the soil in a way that corresponds to the row where the beets are located. at least one harvesting apparatus (21) 20 to enable the beet to be pulled out of the soil by moving forward It includes. The harvesting apparatus (21) removes soil during the advancement of the beet harvesting machine (1). It will penetrate to a specific working depth and the lower and / or lateral part of the beet's root zone. This section will allow for a reduction in the beet's attachment to the soil by influencing it. It is structured in this way. Thus, the beet emerges from the soil during the harvesting process. It is being made ready to be removed. 25 The amount to which the harvesting apparatus (21) enters the soil during operation, the soil of the beet the depth of settlement within it, the structure of the land surface, and the harvest to be carried out It can be changed depending on the operation. The disassembly apparatus (21) is shallower than necessary. If the beet crop is not harvested sufficiently due to working in that position, it will be more than 30 times the required amount. If working at a deep level, it will move unnecessarily deep into the soil. This may lead to an increase in workloads. Therefore, dismantling... Working position of the group (20) according to the land surface, the harvesting apparatus (21) suitable for beet It can be adjusted to allow it to meet a certain level of demand. 35 In a possible configuration of the invention, the disassembly group (20) consists of units that extend parallel to each other. will allow multiple rows of beets to be uprooted during the same forward movement 11 It may include more than one disassembly tool (21). The aforementioned disassembly tools (21), The transverse of the harvesting group (20) will correspond to the distance between the rows of beets They can be positioned at intervals along the line. Preferred In the structure, the harvesting group (20) consists of six rows of beets that run parallel to each other. Six 5-inch screws positioned far apart to allow for immediate removal. It includes a harvesting apparatus (21). Thus, the beet harvesting machine (1) has a single advance. During the process, harvesting can be carried out on six different rows of sugar beets. In the configuration where more than one disassembly apparatus (21) is used, the disassembly apparatus (21), 10 separate dismantling structures brought to different height positions independently of each other not in the form of, but to move together depending on the position of the dismantling group (20) It can be configured. In the preferred six-row configuration, the dismantling group (20) is one disassembly device (21) on one side and disassembly device (21) on the opposite side There can be a working width of approximately three meters between them. This working width Since the height of the land surface can vary along the way, 15 on one side of the dismantling group (20) the position of the dismantling apparatus (21) relative to the land surface and the dismantling apparatus on the other side (21) its location may vary depending on the land surface. The dismantling group (20) as a whole Thanks to its positioning that allows it to adapt to the slope of the terrain, suddenly Limiting the difference between the working depths of the multiple dismantling apparatus (21) It is possible. 20 The number of disassembly devices (21), their spacing on the disassembly group (20) and disassembly The total working width of the group (20) will be used on the agricultural land, beet row spacing. and can be differentiated depending on the targeted harvesting capacity. In this context The dismantling group (20) can be adapted to single-row or multi-row configurations and consists of six 25 The structure with a disassembly apparatus (21) is one of the preferred applications of the invention. It constitutes. The working depth of the beet harvesting machine (1), the harvesting apparatus (21) relative to the land surface It includes at least one disassembly tool depth sensor (22) to enable its determination. 30 The disassembly apparatus depth sensor (22) is associated with the disassembly group (20). The work is positioned and the dismantling apparatus (21) is located relative to the land surface. This allows the depth of the soil to be monitored. Thus, the soil of the dismantling apparatus (21) Depth information regarding how much it has entered can be obtained and the dismantling group (20) The working position can be adjusted taking this depth information into account. 35 12 The working depth of the harvesting group (20) depends on the location of the beet in the soil, the terrain These values ​​can vary depending on the conditions and the harvesting process to be applied. In the preferred configuration, the working depth of the dismantling apparatus (21) is approximately 2 cm to 20 cm. It can be adjusted between these ranges. Within this range, different increments such as 2 cm, 6 cm, 8 cm, or 10 cm can be selected. Working depths can be selected, and the values ​​given are for illustrative purposes only. Dismantling 5 The working depth of the apparatus (21) may differ from these values ​​depending on the application conditions. It can also be determined by value. Changing the working depth of the dismantling apparatus (21), the dismantling group (20) on the land This can be achieved by changing its vertical position relative to the surface. The invention's 10 in a possible configuration, the dismantling group (20) should be brought closer to the ground and / or a hydraulically operated depth adjustment mechanism that allows it to be removed from the soil It can be used. The mentioned depth adjustment mechanism can be used to adjust the desired depth of the disassembly apparatus (21). allows the working depth to be reduced or the existing working depth to be decreased. It can have a piston design that allows the stroke amount to be adjusted accordingly. 15 Thus, the weight of the beet harvester (1) pulled by the tractor can be removed working conditions where the group (20) is not sufficient to enter the soil in the required amount It is possible to bring the dismantling group (20) closer to the ground in a controlled manner. The working depth determined by the dismantling apparatus depth sensor (22) is 20 It can be used in a way that can be compared with a defined target depth. For example... If the working depth is determined as 6 cm, the position of the dismantling group (20) The dismantling apparatus (21) is to be held at a working depth of approximately 6 cm. It is adjustable. The depth setting can be adjusted if the target working depth is changed. The amount of movement of the mechanism is also 25, suitable for the new working depth. It can be changed. Thus, the same beet harvester (1) can be changed in different field conditions and It can be used with varying working depths in different beet locations. The depth information obtained from the depth sensor (22) of the dismantling apparatus is determined by the user. It can be displayed in a way that allows it to be monitored. This enables the user to see the available 30 during the study. It can monitor the depth of dismantling and, if necessary, target the work area. It can change the depth. After determining the target depth, beet harvesting During the movement of the machine (1) across the land, the operation of the dismantling apparatus (21) The aim is to keep the depth close to the specified value. The slope of the land surface and... 35 If height changes cause the dismantling group (20) to change position. Position adjustments to maintain the specified working depth. It can be accomplished. 13 Determining the working depth of the harvesting apparatus (21) and the beet harvesting machine (1) Positioning relative to the terrain surface as completely independent movements It is not evaluated. The dismantling of the main chassis (10) relative to the terrain surface. The distance of the group (20) and consequently the dismantling apparatus (21) from the ground surface is also 5 It can change. Therefore, maintaining the dismantling depth is preferred in the structure. with the aim of adapting the beet harvesting machine (1) to the land surface. The movements can be performed in a coordinated manner. Thus, the position of the machine... during the change of the disassembly apparatus (21) from the predetermined working depth The unwanted movement of the animal can be limited. 10 The beet harvesting machine (1) is placed on the opposite side areas of the harvesting group (20) on the land surface. at least one first copy wheel (31) and at least one second copy to ensure tracking. It includes the wheel (32). The first copy wheel (31) and the second copy wheel (32) are disassembled. The groups (20) are positioned at intervals throughout the working width and 15 by making contact with the land surface during the progress of the beet harvesting machine (1) on the surface It moves in accordance with the rising and falling movements. Thus, the dismantling group (20) tracking the relative positions of the land surfaces on opposite sides A mechanical surface tracking system is being created that will enable this. The first copy wheel (31) and the second copy wheel (32) advance 20 of the beet harvester (1). According to the direction, the dismantling apparatus (21) performs work with the land surface. It can be positioned to follow the terrain surface before reaching the area. This in the construction, copy wheels, disassembly devices (21) before reaching the relevant land area This allows for mechanical monitoring of the surface level in the land area in question. Therefore, as the beet harvesting machine (1) progresses, the harvesting process is 25 elevation, depression and transverse slope occurring on the land surface where it will be implemented The changes are reflected in the movement of the copy wheels. First copy wheel (31) and second copy wheel (32), local elevation on the terrain surface. It can roll across the terrain surface in a way that allows it to track changes and 30 meters above the terrain surface. Depending on the situation, it can have a structure that allows it to change position. Copy wheels The diameter, width, and surface geometry of the parts in contact with the land surface; soil to its structure, distance between beet rows, working width of the harvesting group (20) and can be differentiated depending on the operating conditions of the beet harvesting machine (1). The basic function of the copy wheels is to ensure that the land surface on opposite sides of the dismantling group (20) is 35 the function involves mechanically tracking its position, and this function is applicable to different sizes and geometries. This can be achieved with the wheel configurations it possesses. 14 In the preferred six-row configuration, the first copy wheel (31) is the first of the dismantling group (20). In the side area near the row of beets, the second copy wheel (32) is the harvesting group (20) It can be positioned on the opposite side, near the sixth row of beets. Thus, the land surface on either side of the approximately three-meter working width is 5 The position of the first copy wheel (31) of the terrain surface can be tracked separately. with the second copy wheel (32) on the side where it is located, rising or falling. raising or lowering on one side, the two replica wheels having different positions relative to each other. This difference in position causes the working width of the dismantling group (20) to be affected. Basic surface monitoring for determining the transverse terrain slope encountered along the length 10 It forms the information. The first copy wheel (31) and the second copy wheel (32) are separate for each disassembly apparatus (21). Instead of performing height adjustment, the dismantling group (20) generally land It is used to adapt to the slope of the surface. Therefore, 15 In the preferred configuration, six separate surfaces independent of each other for six different rows of beets. There is no need to use a follower wheel, disassembly group (20) opposite The working width is determined by the fact that the replica wheels on the sides follow the terrain surface. The surface position at the two end regions can be taken into account. Thus, a certain aspect of the land surface can be considered. In cases where the slope is from one side to the other, the entire dismantling group (20) is mentioned. The subject is surface tracking, which will form the basis for positioning the device in accordance with the slope. It can be accomplished. The first copy wheel (31) and the second copy wheel (32) on the disassembly assembly (20) Their locations, depending on the number of beet rows to be used and the working width, are 25. They can be changed. Copy wheels in narrower or wider disassembly groups. The distance between them can be increased or decreased accordingly. together follow the land surface on opposite sides of the dismantling group of copy wheels (20). Their spacing between each other is maintained. The beet harvester (1) is following the terrain surface with its first copy wheel (31). at least one first copy to enable the determination of the change in position that occurred during the tracking of the terrain surface by the wheel angle sensor (33) and the second copy wheel (32) at least a second copy to enable the determination of the change in position that occurred. It includes a wheel angle sensor (34). The first copy has a wheel angle sensor (33) and the second copy has a wheel angle sensor (35). The wheel angle sensor (34) is located on the opposite side areas of the disassembly group (20), first the rise or elevation of the first copy wheel (31) and the second copy wheel (32) on the terrain surface It allows for the individual determination of the positions they assume depending on their descent. The first copy wheel angle sensor (33) enables the first copy wheel (31) to track the terrain surface. The first copy wheel 5 will detect the angular position change it makes during this process. It is positioned in relation to (31). The second copy wheel angle sensor (34) is the second Angular position of the copy wheel (32) as it follows the terrain surface in relation to the second copy wheel (32) in such a way as to detect its change It is positioned so that the land on one side of the beet harvester (1) The position of the surface is determined by the first copy wheel angle sensor (33), the terrain on the opposite side 10 The position of the surface is determined separately by means of the second copy wheel angle sensor (34). It can be determined. During the adaptation of the replica wheels to the elevations and depressions of the terrain, 15 connecting arms, carrier arms and / or similar movable parts that move together with the copy wheels A mechanical part can also change position. The first copy wheel angle sensor (33) and The second copy wheel angle sensor (34), in the preferred configuration, the movable by sensing the angular position of the section relative to a reference structure, the corresponding copy wheel This allows for the determination of its location. In this way, the height of the land surface can be determined. It is possible to track the change directly through the movement of the copy wheel. 20 is happening. The angle value obtained from the first copy wheel angle sensor (33) and the angle of the second copy wheel Evaluation of the angle values ​​obtained from the sensor (34) in relation to each other, disassembly The height and slope between the land surfaces on opposite sides of the group (20) is 25 This allows for the determination of the difference. The land surface is close to each other on both sides. at this level, the copy wheels and consequently the angle sensors Their locations may be close to each other. The elevation of the land surface on one side or In the event of a descent, the corresponding copy wheel changes position, and the two angle sensors... Differences may occur between the values ​​obtained. This difference is due to the beet harvest 30 Which side and what amount of land surface along the working width of the machine (1) It generates data to determine if it is sloped. In the preferred six-row configuration, the first copy wheel angle sensor (33) is the disassembly group (20) to follow the land surface on the side near the first row of beets, second copy 35 The wheel angle sensor (34) is on the opposite side of the land surface near the sixth row of beets. It is used for monitoring purposes. Thus, a work area of ​​approximately three meters... 16 Based on the surface positions at the opposite end regions of its width, the dismantling group (20) It is possible to determine the transverse terrain slope affecting the whole. Each Without the need to use a separate angle sensor for the disassembly tool (21), the operation The general information of the dismantling group (20) is obtained from the opposite sides of the width. The terrain can be tracked. 5 Copy of the first copy wheel angle sensor (33) and copy of the second copy wheel angle sensor (34) their positions on the wheels or on the mechanical parts associated with the dummy wheels, The replica wheels can be modified according to their connection geometry and mode of movement. Essentially, the sensors represent the change in position of the corresponding replica wheel depending on the terrain surface. It is sufficient to position it in such a way as to allow the determination of an angular value. Therefore, the sensors are placed directly on the copy wheel, on the moving part carrying the copy wheel. on the arm or at the connection point where the movement of the copy wheel is transmitted It is possible to reposition it. The beet harvesting machine (1) is positioned according to the angular position of the main chassis (10) relative to the axle (40). It includes at least one chassis-axle angle sensor (51) to enable its determination. Chassis- The axle angle sensor (51) measures the relative angular position between the main chassis (10) and the axle (40). It is positioned in an area related to these two structures in a way that allows it to be perceived. Thus, the main whether the chassis (10) is parallel to the axle (40) and whether the main chassis (10) is 20 It is possible to determine in which direction the angular position changes with respect to the axle (40). In the preferred configuration, the beet harvester (1) is placed on a flat terrain surface. In its zero position, the main chassis (10) and the axle (40) are parallel or approximately It is positioned parallel to the ground surface. The beet harvester (1) is 25 If one side rises or falls relative to the other side, the main chassis (10) The angular position relative to the axle (40) can be changed. The chassis-axle angle sensor (51) can change this angular position change is monitored and the main chassis (10) is compared to the axle (40). It allows its location to be determined. Beet harvesting machine (1), angular position of the main chassis (10) relative to the axle (40). It includes at least one chassis angle piston (50) to enable its replacement. Chassis angle The piston (50) is connected between the main chassis (10) and the axle (40) and the piston stroke By changing the main chassis (10) the angular movement to the right or left with respect to the axle (40). It enables it to be realized. In the preferred configuration, chassis angle piston (50) 35 It is structured as a linear piston that can be moved hydraulically. 17 The configuration between the main chassis (10) and the axle (40) is formed by the chassis angle piston (50). To enable the linear motion to be converted into the angular motion of the main chassis (10). It may include at least one articulated movement zone. The aforementioned articulated movement the region allows the main chassis (10) to rotate within a certain angular range relative to the axle (40). It allows the main chassis (10) to be extended by extending the stroke of the chassis angle piston (50). It can tilt in one direction, and by shortening the stroke, it can tilt in the opposite direction. Thus, one side of the beet harvester (1) can be raised relative to the other side or It can be lowered. In the preferred configuration, the chassis angle piston (50) is the middle 10 of the beet harvester (1). It has a one-sided piston structure positioned on one side of its axis. It is possible. Thanks to the articulated movement between the main chassis (10) and the axle (40), a single Using the extension and shortening movements of the chassis angle piston (50), both sides of the main chassis (10) The angular position in the direction can be changed. However, the beet harvester (1) 15 depending on its dimensions, weight, working width and required force as well as configurations in which more than one chassis angle piston (50) is used It is applicable. Obtained from the first copy wheel angle sensor (33) and the second copy wheel angle sensor (34) The difference between the land surface locations, the working width of the beet harvester (1) is 20 It can be used to determine the transverse slope of the land along its length. First the land surface on the side where the copy wheel (31) is located the second copy wheel (32) If it is higher or lower than the side it is on, two copies of the wheel. There is a difference between the values ​​obtained from the angle sensor (33, 34). Chassis angle The piston (50) changes its stroke depending on the difference in question, 25 of the main chassis (10). It allows the angular position of the wheel (40) to be adapted to the terrain surface. The chassis-axle angle sensor (51) and the terrain obtained from the copy wheel angle sensors (33, 34) Angular movement of the main chassis (10) performed using position information. This allows its subsequent location to be tracked. Thus, only the land 30 It is not enough to determine the difference in slope on the surface, chassis angle piston (50) the change of position carried out by means of between the main chassis (10) and the axle (40) The extent to which this is reflected in the angular relationship can also be determined. During the change of the angular position of the main chassis (10), disassembly group (20) and disassembly 35 The apparatus (21) also changes position together with the main chassis (10). Therefore, the chassis angle The movement of its piston (50) only affects the inclination of the carrier structure of the beet harvester (1). 18 It also affects the positions of the dismantling apparatus (21) relative to the land surface. In the case where one side of the surface is raised, the main chassis (10) must adapt to this surface slope. by changing the angular position of the dismantling group (20) to provide the difference between the working depths of the dismantling apparatus (21) on the sides It is possible to reduce it. 5 In the preferred six-row configuration, the chassis angle piston (50) is close to the first beet row. between the land level on that side and the land level near the sixth row of beets Depending on the difference, the entire main chassis (10) together angularly It positions the six disassembly devices (21) without moving them individually, 10 It is possible for the entire dismantling group (20) to adapt to the transverse slope of the land surface. This positioning is performed by the chassis angle piston (50) and disassembly. the working depth is maintained by monitoring the apparatus via the depth sensor (22) This ensures that the actions taken are carried out in a coordinated manner. The beet harvesting machine (1) is placed to the right or left according to the beet row harvesting group (20). At least one left-right direction sensor (60) to enable the determination of the position in the direction. It includes. Right-left direction sensor (60), beet harvester (1) advance According to the direction, in the front area of ​​the harvesting group (20) and in contact with the beet row. It is located in a position where it can be harvested. Thus, the harvesting apparatus (21) can be used on the relevant beets. Before reaching the machine, the beet row should be moved to the right or left depending on the machine's direction of advance. It can be determined which direction it is heading. Left-right direction sensor (60), beet on opposite sides in preferred arrangement at least two flexible sensor arms positioned at intervals from each other to detect 25 It includes. The aforementioned flexible sensor arms can be manufactured from metal material and as you move through the beets, depending on the position of the beet stem and / or the beet row. It is structured in a way that allows it to flex. The flexible sensor arms are connected to each other. their positions according to the beet's meeting point between the two sensory arms and the beet row The 30 different deviations from the central position to the right or left occur in the sensor arms. It allows for determination based on orientation. The beet row is approximately the same as the direction of advance of the beet harvesting machine (1). If it continues in this direction, the flexible sensor arms will be balanced relative to each other. It can be located in this position. If the beet row deviates to the right, the left-right 35 The position of the flexible sensor arm on the relevant side of the direction sensor (60) changes, beet If the sequence deviates to the left, then on the flexible sensor arm on the opposite side... 19 A corresponding change in position occurs. Thus, the beet row Not only the area where it is located, but also the direction it is heading during its progress is being tracked. It is possible. The flexible sensor arms retain their shape without permanent deformation upon contact with beets. they may deviate and return to their starting positions after contact with the beet ceases. It can be configured with the flexibility to rotate. The length and thickness of the sensor arms, the spacing between them, their positions relative to the beet row, and their degree of flexibility; depending on the size of the beets, row spacing, working speed and terrain conditions They can be modified. The sensor arms are linear, curved and / or a combination of these. 10 They can have the resulting geometries and the end regions that will come into contact with the beets. It can be configured in a way that reduces the likelihood of damaging the beetroot during the process. The left-right direction sensor (60) detects the change in position of the flexible sensor arms. It can have a perceptual structure that allows for its determination. This 15 depending on the starting position of one or both of the sensor arms in the configuration The amount of movement and / or direction of movement, to the right or in relation to the beet row harvesting group (20). It can be converted into directional information representing that it is located on the left side. Thus only in the direction followed by the tractor during the harvesting operation of the beet harvester (1) Row 20 allows the actual direction of the beet row to be followed without being bound. Location information is being obtained. Possible configurations of the invention may include more than one left-right direction sensor (60) It can be used. In multi-row dismantling setups, right-left direction sensors (60), to the beet rows on opposite sides of the harvesting group (20) and / or selected 25 They can be positioned to correspond to the rows of beets. The preferred arrangement is six rows. in the structure for monitoring beet rows along the working width Position information from the rows located on opposite sides of the dismantling group (20) This allows for the overall progress of beet rows during multi-row harvesting. It is possible to track changes in direction to the right or left. 30 In the preferred configuration, flexible sensor arms forming the left-right direction sensor (60), They extend downwards, separating from each other from a common upper connection point, and from the front It appears to form an angled shape similar to a lambda (λ). Thanks to this shape... The sensory arms can be positioned on opposite sides of the beet and on the right side of the beet 35 They can flex independently depending on their position, either to the left or right. Tracking the position of the beet row in a possible configuration of the invention. to assist, it can mechanically change position depending on the beet row. An assistive movement mechanism can be used. The aforementioned assistive movement... The mechanism allows for approximately 6 cm of movement or oscillation, depending on the position of the beet row. It is able to achieve this capability. Thanks to this mechanical movement, the limited 5 in the beet row It is possible to mechanically accommodate lateral positional changes in beets. It is possible to help maintain the position of the harvesting machine (1) on the row. The amount of movement mentioned is an approximate value and depends on the mechanical setup used. This can vary depending on the beet row spacing and application conditions. Beet harvester (1), first wheel (41) and / or second wheel (42) axle (40) at least one wheel steering wheel to allow the steering angle to be changed accordingly. It includes the piston (43). The wheel steering piston (43) is associated with the axle (40). is positioned and the linear motion it creates is of the first wheel (41) and the second 15 will allow the wheel (42) to be converted into angular movement to the right or left. It is structured in this way. In the preferred configuration, the wheel steering piston (43), a hydraulically actuated piston, and the piston stroke can be extended or By shortening the wheel shape, the steering angle of the wheels is changed. The first wheel (41) and the second wheel (42) are driven by the wheel steering piston (43) 20 steering linkages that allow the generated motion to be transferred to the wheels It may include the aforementioned steering links; movable connecting arms, bushings. connection areas, articulated connections and / or angular differences of the wheels relative to the axle (40) It may include similar mechanical elements that enable its movement. Thus, the wheel The linear motion of the steering piston (43) is 25 on the steering axes of the wheels. It can be converted to rotate around the first wheel (41) and the second wheel (42) The direction of progress can be changed. The wheel steering piston (43) guides the first wheel (41) and the second wheel (42) together. with a mechanical linkage structure that will allow it to change direction in a compatible manner 30 It can be used. In this configuration, the movement of the piston in one direction causes the wheels to move in one direction. to the orientation position, and movement in the opposite direction to the opposite orientation position. This enables the steering of the wheels to affect the piston's stroke. the quantity, the movable linkage geometry where the wheels are connected to the axle (40) and the beet 35 depending on the amount of change of direction required by the harvesting machine (1) It can be differentiated. 21 Beet harvester (1), first wheel (41) and / or second wheel (42) axle (40) at least one axle-wheel to enable the determination of the current steering angle. It includes an angle sensor (44). The axle-wheel angle sensor (44) detects the axle (40) of the wheels. tracking the angular position change that occurs during orientation 5 in relation to the axle (40) and wheel steering arrangement that will allow It is positioned. In the preferred configuration, the axle-wheel angle sensor (44) is positioned. (40) mechanical representation of the middle region and / or the amount of steering of the wheels It can be positioned in an area where the movement can be detected. The wheel-axle angle sensor (44) detects the straight-line movement of the first wheel (41) and the second wheel (42). This allows for determining the extent to which the object is steered to the right or left, depending on its position. It provides a reference point for the position of the wheels in the straight line of movement. It is possible to create a position, and the wheels can move to the right or left from this reference position. the angle value determined by the axle-wheel angle sensor (44) by moving it It can change. Thus, the 15 performed by the wheel steering piston (43) The extent to which the steering movement is reflected in the actual angular position of the wheels is monitored. It is possible. Obtained from the right-left direction sensor (60) during the harvesting operation of the beet harvesting machine (1). 20 obtained from the beet row position information and the axle-wheel angle sensor (44) Wheel steering angle information can be used together. Beet row harvesting. Wheel steering in case of deviation to the right or left according to group (20) The piston (43) is activated, steering the first wheel (41) and the second wheel (42). The angle can be adjusted to match the direction of the beet row. This allows the beets to... The rear section of the harvesting machine (1) is 25, regardless of the direction followed by the tractor. By changing position to the right or left, the harvesting group (20) on the row of beets It allows for detention. The direction information obtained from the left-right direction sensor (60) is used to guide the wheel piston. Thanks to the transfer of the beet from the first wheel (41) and the second wheel (42) via (43), 30 deviation of the row from a straight line, forming a curve, or moving to the right or left across the field the direction of movement of the beet harvester (1) in case of change of direction It can be adapted to this. The axle-wheel angle sensor (44) adapts to this steering during this process. It allows tracking the angular position reached by the wheels. Thus, left-right movement is possible. The beet row position determined by the direction sensor (60) and the first wheel (41) and 35 A relationship can be established between the actual steering position of the second wheel (42). 22 Beet harvester (1), tractor connection between the tractor and the beet harvester (1) To enable the determination of the relative angle of rotation occurring through group (11) It includes at least one maneuvering angle sensor (70). The maneuvering angle sensor (70) is installed in the tractor angular movement of the linkage group (11) between the tractor and the beet harvester (1) It is positioned in relation to the connection area where it occurred. Thus, 5 beet harvester when the tractor turns to the right or left (1) The angular position it takes relative to the tractor can be determined. The maneuver angle sensor (70) is especially important for the beet harvester (1) except during the harvesting operation. 10 Obtaining turning angle information for use in road and maneuvering movements This ensures that the harvesting process is completed by reaching the end of the beet row. In this case, the beet harvesting machine (1) is removed from the harvesting position and brought to the road position. It can be obtained. In road position, the tractor coupling depends on the turning movement of the tractor. Angular change occurring on group (11) via maneuver angle sensor (70) It can be determined. Thus, the beet harvesting machine (1) moves to the next row of beets 15 a vehicle that can be used when maneuvering or making turns within the field The maneuvering angle information is obtained. Turn angle information obtained from the maneuver angle sensor (70) is first in the road position. It can be used to steer the first wheel (41) and the second wheel (42). 20 In the preferred configuration, if the tractor makes a turn in one direction... The first wheel (41) and the second wheel (42) are turned in the opposite direction of the tractor's turning direction. It can be steered. For example, if the tractor makes a left turn. First wheel (41) and second wheel (42) to the right, tractor turning to the right If this happens, the wheels can be steered to the left. Thus, 25 the rear section of the beet harvester (1) participates in the turning movement and with the tractor Together, they are able to change direction in a smaller area. In the preferred configuration, the first wheel (41) and the second wheel (42) are in the road position. During the maneuver, it can be steered up to approximately 45 degrees relative to the axle (40). 30 The mentioned steering angle depends on the dimensions of the beet harvester (1), axle (40) its structure, the geometry of the tractor linkage group (11) and the required maneuver It can be differentiated depending on its capability. The wheels are positioned in the direction of the tractor's rotation. Thanks to its ability to take an angular position in the opposite direction, the beet harvester (1) turns Instead of passively being dragged behind the tractor during the turning motion, it actively engages in the turning movement. 35 This allows for adaptation. 23 The maneuver angle sensor (70) enables tracking of the beet row in the harvesting position. a different working information than the left-right direction sensor (60) used for the purpose It ensures that the beet row is directed to the right in the harvesting position. or the position to the left can be taken as a basis, while harvesting beets with a tractor in road position. The relative angle of rotation between the machine (1) can be taken as the basis. Thus, the same wheel 5 the routing structure follows the sequence during dismantling, and in movements outside of dismantling. This allows it to be used in a way that enhances maneuverability. Beet harvesting machine (1), data obtained from sensors on the machine processing and depending on the data obtained, the beet harvester (1) can cover the land surface by 10 and at least one control unit to ensure that the beets are positioned according to the row. It includes the control unit, first copy wheel angle sensor (33), second copy wheel angle sensor. sensor (34), chassis-axle angle sensor (51), removal tool depth sensor (22), right-left direction sensor (60), axle-wheel angle sensor (44) and maneuvering angle sensor (70) will be able to receive the data obtained and use that data to operate the beet harvesting machine (1) 15 It is structured in a way that allows for evaluation based on the situation. The control unit is a programmable logic controller (PLC) in the preferred configuration. It can be configured as follows: Control unit electrical and / or electronic control. It can be located inside a control cabinet containing its components and 20 by processing the electrical signals from the sensors, the hydraulics of the beet harvester (1) It can generate control signals to manage its movements. The control unit physical structure, processing capacity, number of inputs and outputs, and the communication infrastructure used. depending on the number of sensors and moving elements to be used in the beet harvesting machine (1) It can be differentiated as follows. 25 The control unit monitors the land surface in the harvesting position of the beet harvester (1). the first copy wheel angle sensor (33) and the second copy wheel It evaluates the data obtained from the angle sensor (34). Located on opposite sides Depending on the difference in position between the copy wheels (31, 32), the terrain surface is 30 one side of the beet harvesting machine (1) is higher or lower than the other side This can be determined. The control unit uses the chassis-axle angle information of the relevant terrain. with the current angle information between the main chassis (10) and the axle (40) obtained from the sensor (51) They can evaluate them together. 35 Obtained from the first copy wheel angle sensor (33) and the second copy wheel angle sensor (34) If there is a difference in the data representing the slope of the terrain, the control unit will... 24 A control that will allow the change of the stroke of the chassis angle piston (50). It can be formed by lengthening or shortening the chassis angle piston (50) of the main chassis (10). It can be brought to the required angular position in relation to the axle (40). Chassis-axle angle sensor By following the angular position reached by the main chassis (10) via (51), the land of the main chassis (10) a feedback-based 5 that aims to position the surface to adapt to its slope. The study can be carried out. Thus, the positions on opposite sides of the land surface are determined. By relating the information to the actual angular position of the main chassis (10), the dismantling group (20) Its position can be adjusted according to the terrain surface. The control unit detects disassembly by means of information obtained from the disassembly apparatus depth sensor (22) 10 It can also monitor the current working depth of the apparatus (21). Beet harvesting the dismantling depth desired by the user in a possible configuration of the machine (1) A target value can be entered into the control unit. In the preferred configuration, approximately... A working depth between 2 cm and 20 cm can be selected, and the selected working depth With the current depth information obtained from the depth sensor (22) of the dismantling apparatus 15 They can be compared. If the current depth differs from the target depth, dismantling will occur. By changing the position of the group (20) according to the land surface, the dismantling apparatus (21) is determined This allows the work to be brought to the required depth. In a possible configuration of the invention, the existing depth of study and / or user 20 the user can track the target depth of work determined by the system. to provide at least one indicator or user interface associated with the control unit It can be used for different working depths such as 2 cm, 6 cm, 8 cm or 10 cm. The working depth of the disassembly apparatus (21) can be selected by the user. It can be monitored during operation. The display or user interface screen, display 25 in the form of a panel, touchscreen or similar display and data input structure can be created. Moving the main chassis (10) in the direction of inclination by means of the chassis angle piston (50), disassembly the vertical position of the group (20) relative to the land surface and therefore the dismantling apparatus 30 (21) can affect the working depth. Therefore, the control unit is located on the main chassis (10) By positioning the dismantling apparatus (21) according to the slope of the land, the determined work actions aimed at preserving its depth are coordinated It can perform a change in the angular position of the main chassis (10) during disassembly. 35 bringing the apparatus (21) closer to or away from the land surface In this case, the depth-oriented positioning is determined by adjusting accordingly. This ensures that the excavation depth is maintained. Thus, changes in the slope of the land are avoided. During this process, surface tracking and depth tracking are performed simultaneously without interfering with each other. It can be implemented. The control unit is on the right to follow the beet row in the harvesting position. It also evaluates the direction information obtained from the left direction sensor (60). Right-left direction 5 the flexible sensor arms of the sensor (60) on the right or left side of the beet row Information obtained by changing position depending on its orientation, harvesting of the beet row. According to group (20), it represents the current direction. The control unit represents the said direction. the current wheel steering angle information obtained from the axle-wheel angle sensor (44) can be evaluated together with the information. 10 Check if the beet row deviates to the right or left according to the harvesting group (20). the unit changes the stroke of the wheel steering piston (43) to the first wheel (41) and It can change the steering angle of the second wheel (42). Axle-wheel angle sensor Using the current steering angle determined by (44), the wheels are beet 15 It is possible to track whether the sequence has reached a suitable position for tracking. Thus, the right- Beet row information obtained from the left direction sensor (60) and axle-wheel angle Beet harvesting by matching the wheel position information obtained from the sensor (44) the machine (1) follows the beet row independently of the tractor's direction of advancement It can be positioned to the right or left in such a way as to... 20 The control unit moves the beet harvester (1) from the harvesting position to the road position. input information used in wheel steering if passed through It can be changed. Basic principles for steering the wheels in the disassembly position. Position information is obtained from the left-right direction sensor (60), while the wheels are 25 in road position. Turn information for steering is obtained from the maneuver angle sensor (70). Thus, the same wheel steering piston (43) can be used on the beet harvester. (1) control based on different sensor data depending on the working condition It is possible. Tractor with beet harvesting obtained from the maneuvering angle sensor (70) in road position Turn angle information between machine (1) is obtained from axle-wheel angle sensor (44) This can be evaluated together with the available wheel angle information. Whether the tractor is on the right or left... If the wheel turns in that direction, the control unit will activate the wheel steering piston. (43) by moving the first wheel (41) and the second wheel (42) in the direction of the tractor's rotation 35 It can enable the direction to be reversed. In the preferred configuration. beet harvesting by allowing the wheels to be steered up to approximately 45 degrees. 26 the turning movement of the machine (1) at the field ends and row transitions Support is provided. The sensor data used by the control unit and the control relationships it performs are related to beet harvesting. The machine (1) can be differentiated according to the operating conditions. 5 obtained from the sensors Data can be evaluated individually or as data from multiple sensors. By evaluating them together, the relevant moving part can also be controlled. Thus, the slope of the beet harvesting machine (1) relative to the land surface, the depth of digging, lateral position relative to the beet row and wheel steering in road position It is possible to manage them in a way that is related to each other. 10 The first wheel (41) and the second wheel (42) of the beet harvester (1) are forward only. not during the movement in the forward direction, but when the beet harvester (1) is moved in the backward direction It can also be actively steered during this time. The wheel during reverse movement. The first wheel (41) and the second wheel (42) are driven by means of the steering piston (43). The direction of the reverse maneuver of the beet harvester (1) is changed by changing the direction of the steering angles. It is adjustable. Thus, the beet harvester (1) can be adjusted, especially in narrow field ends, rows During transitions and position correction movements, only the tractor moves in reverse. maneuvering on its own wheels without adhering to its direction is able to accomplish this. 20 The steering of the beet harvester (1) in the harvesting position is controlled by the operator's wheel. the steering movement needs to be performed manually at all times It can be provided without being heard. Beet row obtained from right-left direction sensor (60) Current wheel position information obtained from the axle-wheel angle sensor (44) 25 As a result of evaluating its position, the wheel steering piston (43) is checked. The beet harvesting machine (1) adjusts itself according to the orientation of the beet row. or can be positioned to the left. Thus, the tractor and the beet harvester (1) Although mechanically connected, the beet harvesting machine (1) unloading The lateral steering during this process depends on the tractor's wheel steering and the operator's continuous 30 This can be done independently of any guidance intervention. In a possible configuration of the invention, the control unit would be connected to the tractor's wheel steering. Information representing the angle can also be transmitted. In this configuration, the right side of the tractor wheels... or by determining the angular position to the left, the information in question is used for the beet harvesting machine (1) 35 Determining the steering angle of the first wheel (41) and the second wheel (42) 27 It can be used. Thus, the wheel steering movement of the beet harvester (1) It can be automatically correlated with the tractor's wheel steering movement. In another possible configuration of the invention, the chassis angle piston (50) is the main in the road position. By changing the angular position of the chassis (10), the center of gravity of the beet harvester (1) is 5 It can also be used to change its location. The mentioned In the configuration, there is no need to add an additional movable weight to the beet harvesting machine (1). without being heard, the main chassis (10) is positioned angularly to the right or left by adapting the machine's mass distribution to the terrain and / or maneuvering conditions. It is possible to bring it. The use of the chassis angle piston (50) for this purpose, disassembly 10 An additional work method to the land surface monitoring function performed in this position. It constitutes. In a possible configuration of the invention, the beet harvesting machine (1) harvests beets from the soil. mowing and / or shredding the beet leaves before harvesting and beet 15 with at least one pre-processing piece of equipment that enables the decapitation. It can be used. The mentioned pre-processing equipment is used to advance the beet harvesting machine (1). It can be positioned before the harvesting group (20) and the rows of beets Before the harvesting process is carried out, the upper parts of the beets are harvested. It can prepare. Pre-processing equipment and dismantling group (20) are on the back of the same tractor 20 They can be used in a sequential manner, or with different mechanical connection configurations. It can also be moved. In the possible configurations of the invention, chassis angle piston (50), wheel steering piston (43) and hydraulic moving elements for adjusting the depth of dismantling 25 a hydraulic feed system on the beet harvester (1) for operation It can be found. Regarding the operation of the aforementioned hydraulic supply system... Mechanical power can be obtained from the tractor's power take-off shaft, and the resulting mechanical power... in the operation of the hydraulic moving elements of the beet harvesting machine (1) It is available. 30 In the operating scenario of the beet harvester (1), first of all, the beet harvester (1) It is connected to the tractor by means of the tractor linkage group (11) and the rows of beets to be removed It is aligned. The target working depth of the disassembly apparatus (21) is determined by the user. It can be determined and the beet harvesting machine (1) is brought to the harvesting position. As the tractor moves forward, the first copy wheel (31) and the second copy wheel (32) are removed. 35 It tracks the land surface where the apparatus (21) will perform its work. First copy Operation via wheel angle sensor (33) and second copy wheel angle sensor (34) 28 The surface positions on opposite sides of the width are determined, and this data is used for the chassis-axle. together with the main chassis (10) position information obtained from the angle sensor (51). is being evaluated. The elevation of one side of the land surface relative to the other, or In case of lowering, the chassis angle piston (50) is extended or shortened and the main chassis (10) is positioned angularly to the right or left according to the axle (40). Main chassis 5 (10) and the dismantling group (20) adapt to the slope of the land, dismantling apparatus The working depth is monitored by means of the depth sensor (22) and the slope of the land is adjusted accordingly. The positioning for the dismantling depth and the change of location are compatible with each other. This ensures that the predetermined dismantling depth is maintained. Preference In the six-row configuration, six disassembly devices (21) have independent height adjustment. instead of carrying out the dismantling, he acts together with the dismantling group (20) and the dismantling group It is entirely adapted to the transverse slope of the land surface along its entire working width. While the harvesting process continues, the flexible sensor arms of the left-right direction sensor (60) beet It moves along the opposite flanks of the row and 15 rows to the right or left of the beet row. It changes position depending on its orientation. Obtained from the right-left direction sensor (60) The directional information obtained from the axle-wheel angle sensor (44) is the current wheel is evaluated together with the steering angle and the wheel steering piston (43) The steering angle of the first wheel (41) and the second wheel (42) is changed by means of this. Thus, the dismantling group (20) takes into account deviations that may occur from the direction followed by the tractor. However, the beet row can be kept upright and the beet harvesting machine (1) can beet It can follow its turn on its own wheels. To the end of the beet row. When reached, the harvesting group (20) is removed from the working position and the beet harvest The machine (1) is put into road position. In this case, the wheel steering The basic information used is from the left-right direction sensor (60) to the maneuver angle sensor (70) 25 passing through, the turning angle between the tractor and the beet harvester (1) is determined and The first wheel (41) and the second wheel (42) are driven by the wheel steering piston (43). In the opposite direction of the tractor's turning direction, approximately 45 in the preferred configuration. It can be directed to a certain degree. Thus, the beet harvester (1) at the end of the row By making a turn, it can be directed to the next row of beets and, if necessary, 30 The wheel steering system is also actively used during reverse maneuvers. It is available for use. Thanks to the beet harvesting machine (1) which is the subject of the invention, multiple rows of beets can be harvested at the same time. During the dismantling process, the differences in transverse slope and elevation on the land surface affect the dismantling process. 35 To reduce the negative impact on the depths of the land of the dismantling group (20) holding the disassembly apparatus (21) in the appropriate angular position according to the surface and the specified 29 This ensures that the work continues at a depth close to the working depth. Thus... The suitability of a single row of sugar beets, especially in sloping agricultural lands with varying surface geometry, cutting the beet in the next row or encountering insufficient depth while being harvested The risk is reduced. The beet row position obtained with the right-left direction sensor (60) 5 thanks to the use of the first wheel (41) and the second wheel (42) in steering. The beet harvesting machine (1) can harvest beets regardless of the tractor's direction of advancement. being able to follow the sequence and the position of the harvesting group (20) on the rows of beets It allows for its protection. However, the wheel with the maneuvering angle sensor (70) The navigation system can also be used in road positions, at field ends and in rows. It increases the maneuverability of the beet harvester (1) during its transitions. Thus, 10 It can be used by being towed behind a tractor, it can perform multi-row harvesting and is suitable for all terrains. adaptable to changes in slope, harvesting depth and beet row alignment A more precise beet harvesting system is achieved. The scope of protection of the invention is specified in the claims attached hereto, and these detailed 15 The explanation cannot be limited to those given for illustrative purposes. Because a technically skilled person... the person, without deviating from the main theme of the invention, in light of what has been described above, similar It is clear that these structures can emerge. REFERENCE NUMBERS GIVEN IN THE FIGURE 1 Beet harvester Main chassis 5 11 Tractor coupling assembly Dismantling group 21 Disassembly tool 22 Disassembly tool depth sensor 10 31 First copy wheel 32 Second copy wheel 33 First copy wheel angle sensor 34 Second copy wheel angle sensor 15 40 Axles 41 First wheel 42 Second wheel 43 Wheel steering piston 20 44 Wheelbase sensor 50 Chassis angle piston 51 Chassis-axle angle sensor 60 Right-left direction sensor 70 Maneuvering angle sensor

Claims

31 REQUESTS 1. The invention is a device that can be attached to a tractor to harvest beets from the soil. At least one tractor coupling group (11) that can be connected to the tractor, the aforementioned tractor At least one main chassis (10) connected to the connection group (11), the aforementioned main chassis (10) 5 positioned on top and designed to facilitate the removal of beets from the soil. At least one disassembly group (20) containing a small disassembly apparatus (21), the main chassis (10) at least one axle (40) to enable its transport and the aforementioned axle (40) with at least one first wheel (41) located in opposite end regions It is a beet harvester (1) with a second wheel (42); its feature is; 10 To follow the land surface in the opposite side areas of the dismantling group (20) at least one first copy wheel (31) and at least one second copy wheel positioned (32) includes the position of the first copy wheel (31) attached to the land surface. at least one first-copy wheel angle sensor to enable the determination of the change. (33) and the position of the second copy wheel (32) attached to the land surface 15 At least a second copy of the wheel angle sensor to enable the determination of its change. (34) includes determining the angular position of the main chassis (10) relative to the axle (40). to ensure that it includes at least one chassis-axle angle sensor (51), first copy wheel obtained from the angle sensor (33) and the second copy wheel angle sensor (34) Depending on the data, the angular position of the main chassis (10) relative to the axle (40) is 20 change and dismantling group (20) according to the slope of the land surface between the main chassis (10) and the axle (40) to ensure its positioning It must contain at least one connected chassis angle piston (50), for beet row unloading to enable the determination of the position of the right or left side according to group (20) at least 25 positioned in the front area according to the direction of advance of the dismantling group (20). containing a left-right direction sensor (60), the first wheel (41) and / or the second To enable the steering angle of the wheel (42) relative to the axle (40) to be changed. at least one wheel steering piston (43) connected to the aforementioned axle (40) including the first wheel (41) and / or the second wheel (42) relative to the axle (40). To ensure the steering angle is determined, at least one wheel-to-wheel angle of 30° it includes the sensor (44) and the first copy wheel angle sensor (33), the second copy wheel angle sensor (34), chassis-axle angle sensor (51), right-left direction sensor (60) and axle- Processing the data obtained from the wheel angle sensor (44), the chassis angle mentioned Checking the piston (50) and the dismantling group (20) angularly relative to the land surface adjustment of its position and the aforementioned wheel steering piston (43) 35 by checking the first wheel (41) and the second wheel (42) according to the beet row It must include at least one control unit to enable its direction. 32 2. According to claim 1, a beet harvesting machine (1) and its feature is; the harvesting apparatus (21) to enable the determination of the working depth relative to the land surface, at least one The disassembly tool contains a depth sensor (22).

3. According to claim 1, a beet harvesting machine (1) is characterized by its ability to harvest beets with a tractor. the turning angle formed between the machine (1) and the tractor linkage group (11) determination of the first wheel (41) and the second wheel (42) in the road position turning angle for steering the tractor in the opposite direction of its turning direction At least one maneuver angle sensor (70) 10 to enable the acquisition of data. It includes.

4. According to claim 1, a beet harvesting machine (1) whose characteristic is; the first wheel (41) and The second wheel (42) can be steered up to 45 degrees relative to the axle (40).

5. According to claim 1, a beet harvesting machine (1) has the following features; right-left direction sensor. (60), to enable the beets to be perceived from opposite sides, from one another It should include at least two flexible sensor arms positioned at intervals.

6. According to claim 1, a beet harvesting machine (1) has the following characteristics; the harvesting group (20), 20 to remove six rows of beets that run parallel to each other It contains six disassembly tools (21) positioned at intervals from each other.

7. According to claim 5, a beet harvesting machine (1) has the following characteristic: flexible The sensor arms are 25 degrees apart from each other downwards at a common upper connection point. It extends by unfolding and forms a lambda (λ)-like shape when viewed from the front.

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