Method for controlling smooth operation of coulter unit

Abstract

The invention relates to a method for controlling the smooth operation (L) of a coulter unit (3) comprising a seed coulter (4) and preferably a running wheel (8), the coulter unit (3) being pressed with an adjustable coulter pressure (D) via the seed coulter (4) onto a workable farming area (N) to create a seed furrow (U), the coulter unit (3) is movable over the workable farming area (N) at a travel speed (V), in particular via the running wheel (8), and wherein a coulter force (FI) acting on the coulter unit (3), in particular on the running wheel (8), is measured. Another object of the invention is a seeding machine (1) having a controller for smooth operation.

Description

Technical Field

[0001] The invention relates to a method for controlling the smooth running of a coulter unit, which comprises a seed coulter and preferably a running wheel, which presses a cultivation area with an adjustable coulter pressure via the seed coulter to produce a seed furrow and is moved at a travel speed over the cultivation workable area, in particular via the running wheel, wherein the coulter force acting on the coulter unit, in particular on the running wheel, is measured. Another subject of the invention is a sowing machine having a controller for smooth running. Background Art

[0002] Coulter units are commonly used as components of planters for spreading seeds on farmland. Such planters are usually driven on the farmland at a certain travel speed along substantially parallel tracks, for which they are usually attached to or mounted on a traction machine such as a tractor.

[0003] The seed drill usually comprises at its rear end several coulter units, which are arranged parallel to each other transversely to the direction of travel to place the seeds in parallel seed rows. The coulter unit usually comprises a seed coulter for forming a seed furrow in the working area. The seed coulter, usually in the shape of a chisel or a cutting blade, is usually subjected to a coulter pressure acting in the direction of the workable area so that it forms a channel-like or groove-like seed furrow extending behind the seed drill in the direction of travel. The seeds can be placed in the seed furrow, the depth of the seed furrow determining the placement depth of the seeds. In order to improve the operation of the seed drill, for example at higher travel speeds, high-quality coulter units usually also include running wheels on the workable area.

[0004] In order to ensure that the seeds are placed at a uniform placement depth, the seed drill generally also includes a coulter pressure control system, by which the coulter pressure acting on the coulter unit can be controlled. The coulter pressure is generally adjusted so that the preset placement depth of the seeds is kept as uniform as possible, which depends on various factors, such as the characteristics of the seeds or the workable area.

[0005] The coulter force acting on the coulter unit is usually used as an input variable for controlling the coulter pressure. Various concepts are known from the prior art for determining the coulter force, such as directly (eg metering) measuring the coulter force acting at the running wheels between the workable area and the coulter unit.

[0006] In practice, it has been found that the smooth operation of the coulter unit has an influence on the seed output, especially at high travel speeds (which in practice is usually desired to achieve a high area output) or when there are changes in the characteristics of the workable area. Therefore, in the prior art, the known coulter pressure control methods take into account not only the coulter force but also the smooth operation. For example, EP 3732947 A1 proposes arranging an acceleration sensor on the coulter unit, via which the smooth operation can be recorded to be included in the coulter pressure control. In a similar manner, it is known from US 2016 / 0165789 A1 that, in addition to a large number of other measuring sensors and probes, acceleration sensors arranged on various components of the seed drill are used to control the coulter pressure. Here, the acceleration of the coulter unit is used as the controlled variable.

[0007] However, it has proven in practice that the method for controlling the smooth running or the coulter pressure becomes relatively complex when additional measured values ​​such as acceleration data are taken into account in addition to the coulter force, which is disadvantageous. In addition, the additionally required measuring sensors or probes, such as acceleration sensors and their cables, have proven to be prone to failure under the often harsh sowing conditions. Summary of the invention

[0008] Against this background, it is an object of the present invention to provide a method for controlling the smooth running of a coulter unit and a seed drill having a smooth running control system which is simply configured and also less prone to malfunctions.

[0009] This object is achieved in a method of the kind mentioned at the outset with regard to the features of claim 1. Advantageous further embodiments are given in the dependent claims.

[0010] The coulter force is captured within a measuring interval to determine a coulter force curve over time, and the bandwidth of the coulter force curve is used as a controlled variable to regulate the smooth running. This configuration enables the smooth running to be determined without additional sensors, which simplifies the method. In addition, the method also proves to be less susceptible to malfunctions, since additional acceleration sensors can be omitted.

[0011] Preferably, a plurality of coulter units are arranged together on a rotating support extending transversely to the direction of travel, whereby the coulter units are pressed onto the working area by the rotating support with an adjustable coulter pressure. The coulter force acting on the coulter unit can be adjusted by the rotating support. The seed drill may comprise several such rotating supports.

[0012] An advantageous configuration provides for determining the bandwidth from the difference between the maximum coulter force and the minimum coulter force of the coulter force curve. Such a configuration enables reliable coverage of the entire spectrum of occurring coulter forces and enables efficient determination of the bandwidth based on simple calculation operations. In this case, it is advantageous that the bandwidth can be determined in an efficient manner based on the already available measured values ​​of the coulter force included over the measurement interval.

[0013] Furthermore, it is proposed to control the smooth running via a control loop, which comprises a controlled system with the coulter pressure as a manipulated variable. Such a configuration enables the smooth running during sowing to be adjusted quickly and thus effectively to any changes in conditions and circumstances during sowing. Furthermore, such a configuration enables the reliable suppression of disturbing influences acting on the coulter unit.

[0014] In this case, it is proposed to use the limit value of the bandwidth as a reference variable for the control loop, which is compared with the bandwidth to determine the control deviation. This configuration enables simple control as a function of the reference variable. In particular, by using the limit value of the bandwidth, it can be ensured that the bandwidth is not exceeded during sowing. This can reduce the load on the coulter unit caused by excessive uneven running, for example due to vibrations. Furthermore, it can be ensured that sowing is not impaired by excessive uneven running.

[0015] In an advantageous configuration in terms of control technology, the control deviation is fed to a controller in which the value of the coulter pressure is formed as a controlled variable. In this case, it has been found that the coulter pressure is a parameter that can be controlled in a structurally advantageous and simple manner. In particular, a fast and effective control of smooth running can be achieved by regulating the coulter pressure.

[0016] In a further advantageous variant, it is proposed to take into account at least one parameter of the workable area and / or the travel speed and / or at least one coulter parameter as a disturbance. Such a configuration makes it possible to take into account in an advantageous manner the influencing variables that act on the smooth running when controlling the smooth running. The parameters of the workable area can in particular be the type and moisture of the soil. For example, the coulter parameters can be structural features or the wear or damage state of the seed coulter.

[0017] In another advantageous variant of the method, it is proposed to use the limit values ​​of the coulter force and / or the travel speed as conditions, in particular for the controller. Such a configuration can ensure that neither the coulter force nor the travel speed is exceeded during sowing. By limiting the maximum coulter force, it can be ensured that the permissible mechanical load on the coulter unit is not exceeded. For example, this can also reduce the wear on the coulter unit, which can extend the life of the coulter unit. In addition, the selected seeds have the advantage that the soil will no longer consolidate too much, which is conducive to germination. On the other hand, it may also be advantageous to specify a minimum value for the coulter force, which must not be an undercut. For example, by maintaining a minimum value for the coulter force, the correct placement depth of the seed can be ensured. It can also prove to be advantageous to limit the travel speed in terms of wear on the coulter unit, because vibrations that may occur more frequently, for example, at higher travel speeds, can be reduced. In addition, by setting the maximum travel speed, a uniform sowing of the seeds on the workable area can be ensured.

[0018] In this case, it is proposed that the limit values ​​of the bandwidth and / or the limit values ​​of the coulter force are stored in the drive mode and set by selecting the drive mode. Such a configuration enables a user-friendly, error-free setting of the limit values ​​of the bandwidth and / or the coulter force by selecting the drive mode by an operator, such as a driver of a tractor. For example, the type of sowing, the characteristics and / or properties of the seed and the parameters of the workable area, such as its soil quality, moisture or uniformity, etc., can be stored in the drive mode.

[0019] In another advantageous variant of the invention, different drive modes are proposed. By having several drive modes to choose from, user-friendliness can be further increased. In particular, the selection of different drive modes allows the limit values ​​of the bandwidth and / or the coulter force to be set quickly while avoiding operator errors.

[0020] In this case, it has proven to be advantageous to increase the coulter pressure to improve smooth running if the bandwidth is greater than the bandwidth limit and the coulter force is less than or equal to the coulter force limit. This is a simple and reliable way to improve smooth running while maintaining the mechanical load capacity of the coulter unit and helps avoid the occurrence of over-extrusion.

[0021] In this case, it is proposed that if the coulter force is greater than the limit value of the coulter force, a deceleration signal is generated to reduce the travel speed. Such a configuration ensures that the coulter force actually acting on the coulter unit does not present an excessively large value. This prevents excessive mechanical stress on the coulter unit, thereby affecting the life of the coulter unit. In particular, this configuration has proven to be advantageous in terms of reducing wear. In addition, this configuration prevents incorrect, in particular too deep, placement depth of the seed coulter due to excessive coulter force, which may lead to incorrect sowing on the workable area.

[0022] In this case, it is also proposed that a deceleration signal for reducing the travel speed is transmitted to a travel drive and / or an operator display that generates the travel speed. By transmitting the deceleration signal to the travel drive, an automatic, fast and effective reduction of the travel speed can be achieved. Transmitting the deceleration signal to the operator display allows the operator to intervene in a user-friendly manner and allows them to have control options.

[0023] In another advantageous variant of the invention, it is proposed that if the coulter force is less than the limit value of the coulter force and the bandwidth is less than the limit value of the bandwidth, an acceleration signal is generated to increase the vehicle speed. This ensures that the travel speed, which is approximately predetermined by the drive mode, is always at a maximum value, taking into account disturbances, whereby the area performance of the sowing can be maximized.

[0024] In this case, it has been found to be advantageous for the acceleration signal for increasing the travel speed to be transmitted to the travel drive generating the travel speed and / or to the operator display. By transmitting the acceleration signal to the travel drive, an automatic and rapid increase in the travel speed can be achieved to increase the area performance. Transmitting the acceleration signal to the operator display allows the operator to intervene easily and conveniently in a user-friendly manner and allows them to have control options.

[0025] It is proposed to provide a cache memory in which the plow force curves are stored. Such a cache memory enables a fast and efficient analysis of the stored plow force curves. In particular, the cache memory enables fast access to the measured data of the plow force curves, which can improve the response time of the control system. Preferably, the plow force curves are stored in the cache memory together with the GPS signal, so that the data can be accessed again when working in the alternating mode, for example for comparison.

[0026] It has also been found to be advantageous to set a measuring interval. This configuration has proven to be particularly computationally efficient, since the measuring interval can be adapted to the respective measuring conditions. In particular, in this case, it is preferred to set the shortest possible measuring interval in order to obtain a smooth running control, which is particularly suitable for changing conditions. Alternatively, it may also be preferred to set a long measuring interval in order to capture the bandwidth of the coulter force curve over a longer period of time.

[0027] In this case, a further interference filter is proposed for filtering out interference signals from the coulter force curve. Such an interference filter allows to reliably avoid incorrect control. In particular, such an interference filter can be used to reliably filter out excessively increasing or decreasing coulter force values ​​from the coulter force curve. Such coulter force values ​​which increase or decrease excessively in the form of force peaks can be caused, for example, by travelling over obstacles present on the workable area, such as stones, unevenness, etc.

[0028] In another advantageous variant of the invention, it is proposed to measure the coulter force by means of a force sensor arranged on the running wheel, in particular on the rotation axis of the running wheel. This configuration of the force sensor allows a particularly accurate measurement of the coulter force acting on the coulter unit. Reliable determination of the coulter force is an essential requirement for effective and rapid control of smooth running.

[0029] Furthermore, it is proposed that the placement depth of the seed coulter is adjusted via the position of the seed coulter relative to the running wheel. Such a configuration enables a particularly simple and user-friendly rough presetting of the placement depth of the seed coulter. In particular, the placement depth of the seed coulter can therefore be adapted to different rough specifications of the placement depth in an advantageously quick and simple manner. Such rough specifications of the placement depth can be generated, for example, by the type of seed or by the characteristics of the workable area.

[0030] In another advantageous variant of the invention, it is proposed to arrange the running wheels behind the seed coulter in the direction of travel. It has been shown that this configuration is advantageous from a structural point of view for good guidance of the coulter unit over the workable area, especially at high travel speeds. In this case, it is particularly preferred to arrange the running wheels coaxially behind the seed coulter in the direction of travel. Alternatively, it is conceivable to arrange the running wheels in front of or beside the seed coulter.

[0031] With regard to effective coulter pressure regulation, it has proven to be advantageous for the coulter unit to pivot about a pivot axis for adjusting the coulter pressure. Such a configuration has proven to be advantageous in terms of generating and adjusting the coulter pressure in a reliable manner that is not prone to failure. In particular, it may be preferred in this case that the pivot axis extends transversely to the direction of travel.

[0032] In this case, it is also proposed to provide a rotating support extending along the rotation axis, on which one or more plow units are arranged. The plow pressure can be adjusted in a structurally advantageous and simple manner by rotating the rotating support about the rotation axis. Such a configuration allows the plow pressure on several plow units to be adjusted simultaneously and uniformly if these are arranged in sections on the rotating support. If a plurality of plow supports are provided, on each of which a single plow unit or a group of plow units is arranged, the independent rotation of the rotating support can also be used to set different plow pressures, and this has been found to be advantageous in the corresponding application. In this case, it has proven to be structurally and dynamically advantageous if the rotating support is rotated about the rotation axis to adjust the plow pressure.

[0033] In this case, it is also preferred if the rotary support is rotated via a hydraulic drive. This configuration has proven to be particularly user-friendly. In addition, a uniform and rapid coulter pressure generation can be achieved via the hydraulic drive.

[0034] In order to solve the above-mentioned objects, a seed drill for sowing seeds is also proposed, each of which comprises a seed coulter for producing a seed furrow in a cultivation area, and preferably comprises a running wheel, via which the coulter unit can be moved at a travel speed over the cultivation area, with a force sensor for measuring the coulter forces acting on the coulter unit, in particular on the running wheel, and a control unit for controlling the smooth running of the coulter unit, wherein the smooth running is controlled according to one or more of the above-mentioned features. The advantages described in connection with the method for regulating the smooth running of a coulter unit are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Below through Figures 1 to 5 To illustrate further details and advantages of the method according to the invention for regulating the smooth operation of the coulter unit and the seed drill according to the invention. They show:

[0036] Figure 1 is a perspective view of a planter having a plurality of coulter units attached to an agricultural tractor;

[0037] Figure 2 is a schematic diagram of an exemplary coulter force curve;

[0038] Figure 3 , Figure 4 is a perspective view of the coulter unit, and

[0039] Figure 5 is a block diagram of a method for controlling smooth operation of a coulter unit. DETAILED DESCRIPTION

[0040] Figure 1 A seed drill 1 is shown for sowing seeds S on a farming area N, for example a field or farmland for growing cereals. In addition to or as an alternative to the seeds S, other granular, powdery or granular materials such as fertilizers etc. can also be spread with such a seed drill 1 .

[0041] according to Figure 1 The seeder 1 is attached to a tractor 13 and is pulled along paths extending substantially parallel to each other on a farming area N at a certain travel speed V in a travel direction A, thereby spreading seeds S. Alternatively, the seeder 1 can also be attached to a tractor 13 or configured to be self-propelled, for example, as a robot or a robot integrated with a seeder. The seeds S are stored in a large-capacity tank-like storage container 2 during spreading or sowing. The seeder 1 is a seeder 1 for batch sowing. However, it can also be another seeder 1, such as a machine for single seed sowing.

[0042] In addition to various other tools, devices or equipment for soil cultivation, in particular tools, devices or equipment for preparing a workable area N for sowing, the seed drill 1 also includes a plurality of coulter units 3 arranged parallel to each other at its rear end. The coulter units 3 are used to place the seeds S stored in the storage container 2 in parallel seed rows in the workable area N. In each case, the coulter unit 3 includes a seed coulter 4 for producing a seed furrow U. As shown in FIG. Figure 3 As shown, the seed coulter 4 is configured as a double-disc seed coulter and comprises two chisel-shaped, plate-shaped cutting discs 4.1. The cutting discs 4.1 are aligned at an angle to each other, in particular in a V-shape, are rotatably mounted on the coulter unit 3 and are pressed onto the workable area N via a coulter pressure actuator with a coulter pressure D acting perpendicularly to the workable area N. This causes the cutting discs 4.1 to cut into the soil and produce a groove-shaped seed furrow U extending behind the coulter unit 3, the depth of which determines the placement depth T of the seeds S. Alternatively, the seed coulter 4 may comprise only one cutting disc 4.1. The seeds S, which can be supplied from the storage container 2, for example via a pneumatic conveying line 15, are placed in the formed seed furrow U, which is not shown in the accompanying drawings, see Figure 4 After the seeds S have been placed in the seed furrow U, the workable area N is post-processed via the seed press 4.2 and the double-headed harrow 14 arranged at the rear end of the coulter unit 3, see Figure 4 .

[0043] The running wheel 8 is arranged behind the seed coulter 4 in the travel direction A, and the coulter unit 3 runs above it in the workable area N, see Figure 4 Alternatively, a configuration is also conceivable in which such a running wheel 8 (also called depth guide roller) is omitted and the coulter unit 3 is operated on the workable area N without the running wheel 8 .

[0044] In order to ensure a uniform placement depth T of the seeds S, the seed drill 1 comprises a control unit 12 (not shown in the figures) with a coulter pressure control R, via which the coulter pressure D acting on the coulter unit 3 can be controlled. The coulter force F acting on the coulter unit 3 is used as an input variable for the coulter pressure control R. The coulter force F is measured via a force sensor 8.1 arranged on the running wheel 8. I The corresponding actual value or measured value of the plow force F is transmitted to the plow force pressure control R. Alternatively, the plow force F I It may also be determined or ascertained in other ways (eg, via sensors arranged at different locations or indirectly determined at the coulter pressure actuator).

[0045] In order to achieve the highest possible regional output, it is desirable in practice to drive the seed drill 1 over the workable area N at the highest possible travel speed V. However, the higher the travel speed V, the lower the smooth running L is usually associated with, which may have an adverse effect on the longitudinal distribution of the seeds S in the seed furrow U and may lead to an increase in the mechanical load on the coulter unit 3 and / or other components of the seed drill 1. For this purpose, the seed drill 1 includes a control of the smooth running L of the coulter unit 3, via which the smooth running L can be controlled to achieve the smoothest possible running of the coulter unit 3.

[0046] In the case of the seed drill 1, the steady running L is detected without additional sensors, such as acceleration or vibration sensors, which simplifies the corresponding method for controlling the steady running L. In addition, the method also proves to be less prone to malfunctions due to the absence of additional sensors and their wiring, which will be explained in detail below.

[0047] The basis of the method for controlling the smooth running L is the capture of the coulter force curve W and the determination of the bandwidth B of this coulter force curve W. I The coulter force F measured by the force sensor 8.1 I The time-varying coulter force curve W is captured within the measurement interval I and the bandwidth B of the coulter force curve W is I Serves as a controlled variable or feedback variable for controlling the smooth operation L, which will be explained in more detail below.

[0048] However, first, use Figure 2 The diagram of an exemplary plow force curve W is shown to explain how to determine the bandwidth B I The actual value of .

[0049] Figure 2 The plow force F acting on the plow unit 3 over time t is shown. I At the beginning, i.e. shortly after time t=0, the sowing machine 1 is raised in the so-called headland to maneuver the tractor 13 so that the coulter unit 3 does not contact the workable area N. During this phase, the coulter force F I Therefore, it is at a low level and should not be included in bandwidth B. I of the capture so as not to impair the control of the smooth operation L. For the capture bandwidth B I The measuring interval I of the coulter force F only starts when the coulter unit 3 is placed on the workable area N and sowing begins. From this point on, during sowing, the coulter force F I At the minimum coulter force F min and maximum coulter force F max Fluctuates between. IFluctuations of F are caused, for example, by vibrations or shocks of the coulter unit 3 or other components of the seed drill 1 or, for example, by properties of the workable area N, such as unevenness, surface roughness, areas of varying moisture or different resistance of the seed coulter 4 to penetration into the workable area N. I The fluctuations reflect the stable operation L of the coulter unit 3. In the assumed completely stable operation of the coulter unit 3 over the operable area N, the coulter force F I Will be at a uniform level over time t. Bandwidth B I Used as the coulter force F that occurs during the actual sowing operation during sowing I A measure of the fluctuations of and therefore for smooth running L. Based on the maximum coulter force F occurring in the measuring interval I max The minimum coulter force F measured in the same measuring interval min The difference between Figure 2 Bandwidth B I It can also be called the plow force F I The amplitude or the plow force curve W. Alternatively or additionally, other parameters of the plow force curve W, such as the plow force F I The fluctuation frequency of L can be used as a measure or parameter of smooth operation.

[0050] The measuring interval I is set and can be adjusted in terms of its duration. Shorter measuring intervals I can be preferred, after which the smooth run L is adjusted in order to allow a control that is as good as possible and sensitive to changing conditions. Alternatively, longer measuring intervals I for recording the coulter force curve W can also be advantageous if the respective sowing situation, in particular the characteristics of the seed S, the sowing machine 1 or the workable area N allow this.

[0051] The plow force curve W is temporarily stored in the cache memory 9, see Figure 2 The storage capacity of the cache memory 9 can be adapted to the maximum length of the adjustable measurement interval I. In addition, an interference filter 10 is provided for filtering out interference signals from the plow force curve W. The interference filter 10 can be used to filter out the measured plow force F I The peaks or peaks in the coulter force F may be caused by the passage of stones or the like located on the workable area N and may strongly influence the maximum coulter force F. max or minimum coulter force F min In this way, these irregularly occurring interference signals are not used to determine the bandwidth B I , so that its value is not distorted. Alternatively or additionally, if it is found that the interference signal affects the control of the smooth running L, other filters can also be provided to filter out the interference signal from the coulter force curve W.

[0052] The bandwidth B is determined from the measured plow force curve W stored in the cache memory 9. I This forms the basis for controlling the smooth running L. The smooth running L is controlled via the control loop K, which Figure 5 It is schematically shown as a block diagram. Figure 5 The diagram in FIG. 4 illustrates the method used to control the smooth running L.

[0053] The limit value of bandwidth B is G is used as the reference variable for the control loop K. This specified limit value B of the bandwidth B G With bandwidth B I The actual measured value is compared to determine the control deviation. The reference variable (i.e. the bandwidth limit value B G ) and the feedback variable (ie, the actual bandwidth B I ) is fed to the controller 16. The controller 16 is used to form the control variable of the control loop K, which in the present case is the value of the coulter pressure D. As an additional condition of the controller 16, a limit value F of the coulter force F is preset. G and / or a limit value of the travel speed V. Furthermore, other conditions are conceivable which can be preset for the controller 16 depending on the equipment of the seed drill 1 and the respective seeding situation.

[0054] In the method for controlling the smooth operation L, if the actual bandwidth B I Greater than the limit value B of bandwidth B G , and the plow force F I Less than or equal to the limit value F of the coulter force F G , the coulter pressure D is increased to improve the smooth running L. This means that if the measured value B of the bandwidth B I Exceeds the specified limit value B of the bandwidth B G , then only the coulter pressure D is increased to improve the smooth running L. As a boundary condition for the possible increase of the coulter pressure D, the average value F of the coulter force determined from the coulter force curve W measured by the force sensor 5 in the measurement interval I is M The preset limit value F of the coulter force F must not be exceeded G . Preset the limit value F of the coulter force F G The purpose is to keep the mechanical load on the seed drill 1, in particular the mechanical load on the coulter unit 3, within a safety range where damage is not expected and above all faults. In addition, the presence of seeds is advantageous.

[0055] If the average value of the plow force F M Exceeding the limit value F of the coulter force G , the plow blade pressure D no longer increases. On the contrary, a deceleration signal X is generated. V To reduce the travel speed V. This deceleration signal XV The speed reduction signal X is transmitted to the travel drive 6 that generates the travel speed V to reduce the travel speed V. The travel drive 6 is the travel drive of the tractor 13. V A reduction in the travel speed V is automatically initiated in the travel drive 6. Alternatively or additionally, the deceleration signal X V can be transmitted to an operating display 7 configured in the form of a screen, which can be viewed by the driver of the tractor 13. The driver of the tractor 13 can be prompted to reduce the travel speed V by a corresponding message or error message on the operating display 7, which can be provided in particular for a more simply equipped tractor 13 without an automatically controlled travel drive 6.

[0056] If the average value of the plow blade force F M Less than the limit value F of the coulter force F G And measure bandwidth B I Less than the limit value B of bandwidth B G , then an acceleration signal X is generated to increase the travel speed V B According to the equipment of the tractor 13, the acceleration signal X B is transmitted for automatic acceleration to the travel drive 6 which generates the travel speed V and / or to an operating display 7 which is visible to the driver or operator of the tractor 13 , whereby the driver can increase the travel speed V manually.

[0057] On the controlled system 18, various disturbances 19 act on the coulter pressure D value formed in the controller 16. These can be, for example, parameters of the workable area N, such as its soil moisture, impermeability, unevenness or roughness or other characteristics. In addition, the travel speed V of the seed drill 1 can also be such a disturbance 19. In addition, parameters of the seed coulter 4, such as structural features, its wear state or special equipment, can be considered as disturbances 19.

[0058] In the driving mode M of the sowing machine 1, the limit value B of the storage bandwidth B is G and the limit value F of the coulter force F G For example, these are empirical values ​​determined empirically, which are stored in different driving modes M for certain conditions, such as the type or properties of the seed S, the properties of the workable area N or the soil preparation before sowing (i.e. whether it is ploughing, cover sowing or direct sowing). The corresponding driving mode M can be selected and set by the operator. Alternatively, it is also conceivable to automatically set the driving mode M or the limit value B G 、F G , V, etc.

[0059] As described above, the currently acting plow force F is measured via the force sensor 5 arranged on the rotation axis 81 of the running wheel 8. I, i.e. the contact force of the coulter unit 3 on the operable area N. For the set measurement interval I, the coulter force F I The measured value of is fed back and temporarily stored in the cache memory 9 (including the computer) as the plow force curve W. By evaluating the plow force curve W, a new measured value B of the bandwidth B is determined. I , which is fed back as a new feedback variable with the limit value B of the bandwidth B G For comparison, control loop K is passed again.

[0060] In the following, Figure 3 and Figure 4 The diagram in FIG. 1 is used to explain the generation and regulation of the plow pressure D acting on the plow unit 3. Figure 5 In the schematic representation of the smooth running control L in FIG. 1 , a plow pressure D is generated in the plow pressure system 17. As shown in FIG. Figure 3 As can be seen in the illustration in , the plow unit 3 is pivotably mounted about a pivot axis Z extending transversely to the direction of travel A so as to generate a plow pressure D. The rotating support 11, not shown in the figure and configured in the form of a profile or a tube, extends along the rotation axis Z, and several plow units 3 arranged parallel to each other are elastically hinged to the rotation axis Z via bearing elements so that they can rotate. By rotating the rotating support 11 about the rotation axis Z, the plow pressure D acting on the plow unit 3 connected thereto can be adjusted. Depending on the rotation angle about the rotation axis Z, different amounts of plow pressure D can be set. A hydraulic drive is provided to drive the rotational movement of the rotating support 11. Alternatively, this can also be a different drive. For example, the value of the plow pressure D generated in the controller 16 can be set via the generation of the above-mentioned plow pressure D. Therefore, the higher the value of the plow pressure D, the deeper the cutting disc 4.1 of the seed plow 4 penetrates into the workable area, and therefore penetrates into a deeper seed furrow U, whereby a larger placement depth T can be set for the seed S. In addition to the above-described method for generating the coulter pressure D via the rotation of the rotary support 11 , other methods are also conceivable, such as arranging a coulter pressure actuator directly on the coulter unit 3 or the seed coulter or the like.

[0061] The running wheel 8 running on the workable area N is arranged coaxially behind the seed coulter 4 in the travel direction A. A rough preset of the placement depth T of the seeds S can be set by the relative positioning of the running wheel 8 with respect to the seed coulter 4, in particular in the vertical direction. A fine adjustment of the placement depth T is achieved by tilting the seed coulter.

[0062] The method for controlling a steady run L and the sowing machine 1 with control of a steady run L described above are characterized in that the steady run L can be detected in a simple manner without additional sensors. Furthermore, the method and the sowing machine 1 also prove to be less prone to malfunctions, since additional acceleration sensors can be omitted.

[0063] Reference numerals:

[0064] 1 Seeder

[0065] 2 Storage Containers

[0066] 3 Coulter units

[0067] 4 Seed groove

[0068] 4.1 Cutting disc

[0069] 4.2 Seed Press

[0070] 5 Force Sensor

[0071] 6 Travel drive

[0072] 7 Operating the monitor

[0073] 8 Running Wheel

[0074] 8.1 Rotation axis

[0075] 9 Cache memory

[0076] 10 Interference filter

[0077] 11 Rotating support

[0078] 12 Control Unit

[0079] 13 Tractor

[0080] 14. Rake

[0081] 15 Conveyor Line

[0082] 16 Controller

[0083] 17 Coulter pressure system

[0084] 18 Controlled Systems

[0085] 19 Interference

[0086] A Direction of travel

[0087] B Bandwidth

[0088] B I Bandwidth measurements

[0089] B GBandwidth limit

[0090] D Coulter pressure

[0091] F Coulter force

[0092] F G Coulter force limit

[0093] F I Coulter force measurements

[0094] F M Average coulter force

[0095] F max Maximum coulter force

[0096] F min Minimum coulter force

[0097] I Measurement interval

[0098] K control loop

[0099] L Smooth operation

[0100] M drive mode

[0101] N Workable area

[0102] R Coulter pressure control

[0103] S Seed

[0104] T Placement depth

[0105] t time

[0106] U Seed groove

[0107] V Travel speed

[0108] W Coulter force curve

[0109] X B Acceleration signal

[0110] X V Slowdown signal

[0111] Z axis of rotation.

Claims

1. A method for controlling the smooth running (L) of a coulter unit (3), the coulter unit (3) comprising a seed coulter (4) and preferably a running wheel (8), the coulter unit (3) pressing a cultivation area (N) via the seed coulter (4) with an adjustable coulter pressure (D) to produce a seed furrow (U), and in particular moving over the cultivation area (N) via the running wheel (8) at a travel speed (V), during which the coulter force (F) acting on the coulter unit (3), in particular on the running wheel (8) is measured. I ), It is characterized in that The coulter force (F) is captured during the measurement interval (I). I ) to determine a time-varying plow force curve (W), and using the bandwidth (B I ) as a controlled variable for controlling the smooth operation (L).

2. The method according to claim 1, characterized in that The bandwidth (B I ) is the maximum coulter force (F) according to the coulter force curve (W) max ) and minimum coulter force (F min ) is determined by the difference between them.

3. The method according to claim 1 or 2, characterized in that: The smooth running (L) is controlled via a control loop (K) comprising a controlled system (18) with the coulter pressure (D) as a manipulated variable.

4. The method according to claim 3, characterized in that The bandwidth (B) is limited to G ) is used as a reference variable of the control loop (K), the reference variable is compared with the bandwidth (B) to determine the control deviation.

5. The method according to claim 4, characterized in that The control deviation is fed to a controller (16) in which the value of the coulter pressure (D) is formed as a controlled variable.

6. The method according to any one of claims 1 to 5, characterized in that At least one parameter of the workable area (N) and / or the travel speed (V) and / or at least one coulter parameter is taken into account as an interference.

7. The method according to any one of claims 1 to 6, characterized in that The limit value (F) of the coulter force (F) G ) and / or the travel speed (V) are used as conditions, in particular for the controller (16).

8. The method according to any one of claims 1 to 7, characterized in that The bandwidth (B) is limited to G ) and / or the limit value (F) of the coulter force (F) G ) is stored in the drive mode (M) and is set by selecting the drive mode (M).

9. The method according to any one of claims 1 to 8, characterized in that If the bandwidth (B I ) is greater than the limit value (B) of the bandwidth (B) G ) and the plow force (F I ) is less than or equal to the limit value (F) of the plow force (F) G ), the plow blade pressure (D) is increased to improve the smooth running (L).

10. The method according to any one of claims 1 to 9, characterized in that If the plow force (F I ) is greater than the limit value (F G ), a deceleration signal (X) is generated to reduce the travel speed (V) V ).

11. The method according to any one of claims 1 to 10, characterized in that If the plow force (F I ) is less than the limit value (F) of the plow force (F) G ) and the bandwidth (B I ) is less than the limit value (B) of the bandwidth (B) G ), an acceleration signal (X) is generated to increase the travel speed (V) B ).

12. The method according to any one of claims 1 to 11, characterized in that The plow force curve (W) is cached in a cache memory (9).

13. The method according to any one of claims 1 to 12, characterized in that The measurement interval (I) is set.

14. The method according to any one of claims 1 to 13, characterized in that The coulter force (F) is measured by a force sensor (6) arranged on the running wheel (8), in particular on the rotation axis (8.1) of the running wheel (8). I ).

15. The method according to any one of claims 1 to 14, characterized in that The plow unit (3) rotates around a rotation axis (Z) to adjust the plow pressure (D).

16. The method according to claim 15, characterized in that The rotating support (11) extends along the rotating axis (Z), and one or more plow units (3) are arranged on the rotating support (11).

17. A sowing machine for sowing seeds (S), the sowing machine comprising: A plurality of coulter units (3), each coulter unit (3) comprising a seed coulter (4) for producing a seed furrow (U) in a workable farming area (N) and preferably comprising a running wheel (8), via which the coulter unit (3) can be moved at a travel speed (V) on the workable farming area (N), A force sensor (5) for measuring a coulter force (F I ),as well as a control unit (12) for controlling the smooth operation (L) of the coulter unit (3), It is characterized in that The steady state operation (L) is controlled according to a method according to any one of claims 1 to 16.

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