Method for controlling the excavation position on an agricultural implement, control system and implement

Abstract

Method for controlling the excavation position on an agricultural implement (100), in particular a seed drill or tillage implement, during a tillage operation on an agricultural area (N), comprising the steps: - temporary lifting of at least one soil cultivation and / or material storage device (102, 102a-102i) of the agricultural implement (100) from a working position into a first predefined lifting position of at least two predefined lifting positions in at least one first category of maneuvering operations, and - temporary lifting of at least one soil cultivation and / or material storage device (102, 102a-102i) of the agricultural implement (100) from the working position into a second predefined lifting position of at least two predefined lifting positions in at least a second category of maneuvering operations, characterized in that - during the maneuvering operations of the first category, no reverse movement of the agricultural implement (100) takes place, and - during the maneuvering operations of the second category, a reverse movement of the agricultural implement (100) takes place.

Description

[0001] The invention relates to a method for controlling the excavation position on an agricultural machine, in particular on a seed drill or on a soil cultivation machine, during a cultivation operation on an agricultural area.

[0002] Such a method according to the preamble of claim 1 is disclosed in US 2020 / 0053944 A1.

[0003] Furthermore, the invention relates to a control system for controlling the excavation position on an agricultural machine, in particular on a seed drill or on a soil cultivation machine, during a cultivation operation on an agricultural area.

[0004] Furthermore, the invention relates to an agricultural cultivation machine, in particular a seed drill or a soil cultivation machine, with at least one soil cultivation and / or material placement device and a control system for controlling the excavation position of the at least one soil cultivation and / or material placement device.

[0005] Agricultural machinery, particularly seed drills or tillage equipment, typically needs to perform maneuvers while working agricultural land with its tillage and / or material placement devices. These maneuvers occur, for example, when turning, when the machine reaches the edge of a field, or when driving on a headland. To prevent damage to the tools caused by soil collisions, the tillage and material placement devices of the machine, such as the seed coulters of a seed drill or the tines of a cultivator, are lifted from their working position during maneuvering, so that they no longer have contact with the ground.

[0006] To raise the tillage and / or material discharge devices of an agricultural implement, the prior art specifies a position raised off the ground into which the tillage and / or material discharge devices are moved. For example, German patent application DE 10 2019 108 987 A1 discloses an adjusting device that can move tillage tools arranged on the side sections of an agricultural implement from a fixed working position to a fixed headland position, in order to raise the tillage tools, for example, at the headland. For this purpose, the side sections of the implement are pivoted relative to a central section to a fixed angular position.

[0007] From the publication DE 10 2010 025 944 A1, a switching device is also known by means of which a working unit of an agricultural distribution machine can be moved into a working position for distributing seed and into a headland position for turning the distribution machine.

[0008] It is already known to raise the tillage and / or material delivery devices of an agricultural implement when turning the implement. However, to date, these devices are only raised to a fixed, predefined position. To prevent ground collisions during all conceivable turning maneuvers, a correspondingly high, predefined raised position must always be set to reliably prevent damage to the tillage and / or material delivery devices from unintentional ground contact. However, such a high raised position results in long lifting and lowering times for the tillage and / or material delivery devices, leading to extended downtime for the implement during field work.Setting the high excavation position significantly delays fieldwork.

[0009] The object underlying the invention is therefore to optimize the lifting of soil cultivation and / or material storage devices on an agricultural implement in such a way that delays in fieldwork due to long downtimes of the implement are minimized, without increasing the risk of damage to the soil cultivation and / or material storage devices due to unintentional ground contact during turning maneuvers.

[0010] The problem is solved by a method of the type mentioned above, wherein at least one soil cultivation and / or material depositing device of the agricultural machine is temporarily lifted from a working position into a first predefined excavation position of at least two predefined excavation positions in at least a first category of maneuvering operations, and wherein the at least one soil cultivation and / or material depositing device of the agricultural machine is temporarily lifted from the working position into a second predefined excavation position of at least two predefined excavation positions in at least a second category of maneuvering operations.

[0011] At least two predefined lifting positions, which can be set in at least two categories of maneuvering operations of the agricultural implement, have the advantage over a single predefined lifting position that when lifting the at least one tillage and / or material placement device, it is no longer necessary to set exclusively a very high lifting position, but taking the maneuvering operation into account, at least one other lifting position, for example a less high lifting position, can also be set if the maneuvering operation does not require a very high lifting position to protect the tillage and / or material placement devices from soil collisions.Thus, the at least two predefined excavation positions allow the optimal excavation position, suitable for any maneuvering operation, to always be set during fieldwork, protecting the soil cultivation and / or material storage equipment from damage without unnecessary delays to fieldwork.

[0012] During the processing operation on an agricultural area, a control device can optionally cause at least one soil cultivation and / or material depositing device of the agricultural machine to be lifted from the working position into the first predefined lifting position or into the second predefined lifting position of at least two predefined lifting positions.

[0013] The at least one soil cultivation and / or material placement device can be, for example, a share, a disc, a harrow, a tire, and / or a roller. If there are multiple soil cultivation and / or material placement devices, these can be arranged side by side transversely to the direction of travel and / or one behind the other parallel to the direction of travel on the agricultural implement.

[0014] The at least one soil cultivation and / or material placement device can be arranged on at least one segment of at least one support. Raising the at least one soil cultivation and / or material placement device can be accomplished by raising the at least one segment of the at least one support. The at least one support can be part of a rear frame of the implement. The at least one rear frame is preferably arranged on a main frame of the agricultural implement. Preferably, the at least one rear frame, or at least one segment of the at least one rear frame, is rotatably or pivotably attached to the main frame of the agricultural implement. The at least one support can also be designed as a boom.Preferably, the at least one boom or at least one segment of the at least one boom is rotatably or pivotably attached to the main frame and / or the rear frame of the agricultural implement. Several segments of the at least one boom can preferably be raised independently of one another and / or simultaneously have different raised positions. Preferably, a raised position sensor is arranged on the implement, for example on the rear frame or on the main frame, which detects the current raised position and / or any current change in the raised position. Individual segments can have different raised positions simultaneously. The agricultural implement can be a soil cultivation machine, in particular a cultivator.

[0015] In a preferred embodiment of the method according to the invention, at least one maneuvering operation is assigned to the first or second category of maneuvering operations before the execution of the maneuvering operation. Alternatively or additionally, at least one maneuvering operation is assigned to the first or second category of maneuvering operations during the execution of the maneuvering operation. Preferably, the maneuvering operations are assigned to the first or second category of maneuvering operations by a control device.

[0016] In a further preferred embodiment of the method according to the invention, the assignment of at least one maneuvering operation to the first or second category of maneuvering operations is carried out depending on the current direction of travel and / or an impending change of direction of travel of the agricultural implement. The direction of travel of the implement can be forward, backward, or sideways. When changing the direction of travel, the direction can be changed from forward to backward or from backward to forward. When changing the direction of travel, the direction can be changed from forward to sideways or from backward to sideways, as well as from sideways to forward or from sideways to backward. When changing the direction of travel, the direction can be changed by a turn and / or a reversing maneuver. A change of direction of travel can include a temporary standstill of the implement.The assignment to the first or second category can depend on whether the implement is currently traveling forwards or backwards. The assignment to the first or second category can also depend on whether the implement will change its direction of travel in the near future.

[0017] The method according to the invention is characterized in that the agricultural implement does not reverse during maneuvering operations of the first category, while the agricultural implement does reverse during maneuvering operations of the second category. During parallel and / or connecting operations of the implement, the turning maneuvers typically do not involve reversing. During connecting operations, the agricultural implement travels in parallel strips, preferably turning forward in a 180-degree turn at the edge of the field. Turning maneuvers involving reversing are to be expected, particularly when the implement is traveling on the headland. Travel on the headland is understood to mean travel by the implement in the marginal area of ​​a field, close to the field boundaries.In order to fully cultivate all areas of a field, especially the corner areas, the agricultural machinery must reverse into the corner areas of the field when driving at the headland.

[0018] Furthermore, a method according to the invention is preferred in which, during the maneuvering operations of the first category, no turning occurs and / or the agricultural implement is turned in such a way that a limit value for machine tilt is not expected to be exceeded, and in the maneuvering operations of the second category, the agricultural implement is turned in such a way that a limit value for machine tilt is expected to be reached or exceeded. Turning maneuvers between parallel and / or connecting journeys of the implement may include turning. Particularly with small turning radii and / or high driving speeds during turning, for example in 180-degree turns when turning the implement between connecting journeys, a tilt of the implement is to be expected as a result of the forces acting on the implement during the turning.Due to the tilt of the attachment, soil cultivation and / or material handling devices, especially those located on the outside of the attachment, may unintentionally touch the ground. The tilt of the attachment can be detected by sensors, particularly an inclination sensor and / or a gyroscope. Preferably, a limit value for the machine tilt is defined depending on the machine configuration, especially the boom width of the attachment.

[0019] In a further development of the method according to the invention, the current direction of travel and / or an impending change of direction of travel of the agricultural implement is determined, wherein the determination of the current direction of travel and / or an impending change of direction of travel of the agricultural implement is carried out in particular on the basis of the current machine configuration or an impending change in the machine configuration of the implement and / or on the basis of the current operating status or an impending change in the operating status of the implement. A control device determines the current direction of travel and / or an impending change of direction of travel of the agricultural implement. A current machine configuration can be the current gear selection of the implement.If a forward gear of the implement is currently engaged, the implement's current direction of travel is forward; if a reverse gear is currently engaged, the implement's current direction of travel is reverse. A current machine configuration can be the current steering angle of the implement's steering wheel and / or wheels. An impending change in the implement's machine configuration can be an impending change in the implement's gear selection. For example, an impending change in the machine configuration could be an impending shift from a forward gear to a reverse gear or from a reverse gear to a forward gear. An impending change in the implement's machine configuration can also be an impending change in the implement's steering angle.The current operating status of the implement can be forward or reverse travel, turning, or standstill. An impending change in the implement's operating status can be a change from forward to reverse travel, from reverse to forward travel, from forward or reverse travel to a standstill, from a standstill to forward or reverse travel, or from a straight-ahead travel to a turn or from a turn to a straight-ahead travel.

[0020] In a further preferred embodiment of the method according to the invention, the current direction of travel and / or an impending change in the direction of travel of the agricultural implement is determined based on the current speed of travel and / or an impending change in the speed of travel of the implement, and / or the current geographical position of the implement and / or an impending path of travel of the implement. The current speed of travel or a change in the speed of travel of the implement can indicate the current direction of travel or a change in the direction of travel of the implement. Comparatively slow speeds of travel can indicate reversing and / or cornering. Comparatively fast speeds of travel can indicate forward travel.A decrease in speed can indicate an impending change of direction, such as switching from forward to reverse and / or turning. The current speed and any changes in speed can be detected by sensors. For this purpose, at least one speed sensor, at least one GPS sensor, and / or at least one rotational speed sensor can be used. Additionally, changes in speed can be detected using an accelerometer, which can measure the deceleration and acceleration of the implement.The current geographical position of the implement and / or its impending path of movement can indicate its current direction of travel or an imminent change of direction. If the implement is located near a field boundary and / or is moving towards a field boundary, this may indicate an imminent change of direction. If the implement is located at a relatively large distance from the field boundaries, for example, in the middle of a field, this indicates that the implement is moving forward. Furthermore, the implement's path of movement, which may have been predefined before fieldwork, can also indicate a change of direction.Alternatively or additionally, the progress of fieldwork can indicate that a change of direction for the implement is imminent. To determine the implement's path and / or the progress of fieldwork, the agricultural area can be divided into sections, for example, into a tramline system that the implement follows during fieldwork. Using the tramline system, the sequence of fieldwork and thus changes in the implement's direction of travel can be planned in advance.

[0021] Furthermore, a method according to the invention is advantageous in which the at least one soil cultivation and / or material placement device is located at a first excavation height in the first excavation position and at a second excavation height in the second excavation position, the second excavation height being higher than the first excavation height. At least two different excavation height positions reduce delays during cultivation, since a high excavation position is not required during turning maneuvers without reversing and / or when cornering with a slight machine tilt. Thus, the machine does not have to stand still for a longer or shorter time while adjusting the excavation position. The automatic selection of the appropriate excavation position makes field cultivation more time- and cost-efficient by preventing downtime, energy consumption, and damage to the implement.The excavation height is the distance from the soil surface of the agricultural land to the lowest point of a tillage and / or material placement device. This distance is greater in the second excavation position than in the first. A greater distance from the soil surface is advantageous for maintenance work on the implement, allowing for better access. A greater distance is also beneficial when reversing and / or cornering with a high tilt of the implement, minimizing the risk of soil collision.When reversing, the rear of the implement may dip slightly, for example due to the chassis design, making a ground collision likely if the lifting height is low. Similarly, when cornering, the outside side of the implement may dip due to machine tilt, again increasing the likelihood of ground collision if the lifting height is low. Therefore, a high lifting height is only necessary during maintenance work, reversing, and cornering with a high machine tilt to prevent ground collisions and avoid damage to tools or unwanted soil disturbance. In all situations where neither maintenance work nor reversing and / or cornering with a high machine tilt is being performed, a high lifting height is unnecessary.Lowering the excavation height for soil cultivation and / or material storage equipment requires less time and energy. Therefore, it is advantageous to set the high excavation height only when necessary and to set a lower excavation height in all other situations, thus minimizing the time spent raising the soil cultivation and / or material storage equipment and thus reducing machine downtime.

[0022] Furthermore, a method according to the invention is preferred in which the lifting of the at least one soil cultivation and / or material storage device into the first excavation position is carried out by performing a first excavation movement of the at least one soil cultivation and / or material storage device, and the lifting of the at least one soil cultivation and / or material storage device into the second excavation position is carried out by performing a second excavation movement of the at least one soil cultivation and / or material storage device, wherein the second excavation movement of the at least one soil cultivation and / or material storage device extends beyond the first excavation position of the at least one soil cultivation and / or material storage device when lifting the at least one soil cultivation and / or material storage device into the second excavation position.The first excavation movement to lift the at least one soil cultivation and / or material placement device into the first excavation position follows a first excavation path. The second excavation movement to lift the at least one soil cultivation and / or material placement device into the second excavation position follows a second excavation path. The first excavation path and / or the second excavation path can be linear and / or circular, at least in sections. The first excavation movement and / or the second excavation movement can be linear and / or rotary. A linear excavation movement is preferably performed via a parallelogram linkage of the implement. The lifting can be a single-row parallelogram lift. The first excavation path and the second excavation path can be aligned up to the first excavation position.

[0023] In a further preferred embodiment of the method according to the invention, the first and / or the second excavation movement is a linear movement, in particular a vertical movement, and / or the first and / or the second excavation movement is a pivoting movement, wherein the pivoting movement is preferably carried out about a pivot axis extending transversely or parallel to the direction of travel. In a pivoting movement, the excavation movement along the excavation path establishes an excavation angle between the soil cultivation and / or material deposition device and the soil surface. The excavation angle can be in a range between 0 degrees and 90 degrees. Preferably, the excavation angle in the first excavation position is in a range between 5 degrees and 20 degrees, for example 12 degrees, and in the second excavation position in a range between 20 degrees and 30 degrees, for example 25 degrees.

[0024] In another preferred embodiment of the method according to the invention, the first excavation movement and the second excavation movement are performed at least partially simultaneously when lifting the at least one soil cultivation and / or material storage device. For example, a pivoting movement and a substantially linear movement of the at least one soil cultivation and / or material storage device can be performed at least partially simultaneously when lifting the at least one soil cultivation and / or material storage device. Alternatively, the first excavation movement and the second excavation movement can be performed sequentially when lifting the at least one soil cultivation and / or material storage device.

[0025] In a further development of the method according to the invention, the material flow of a seed stream and / or a fertilizer stream to the at least one material placement device is controlled depending on the current excavation position of the at least one material placement device and / or an impending or current change in the excavation position of the at least one material placement device. The material flow of a seed stream and / or a fertilizer stream to the at least one material placement device is preferably controlled by a switching device. The mounted machine can include a distribution device, for example, a distribution head. The switching device can, for example, control flaps in the distribution head to control the material flow of the seed and / or fertilizer stream.The flaps allow seed and / or fertilizer lines leading from a storage hopper to at least one material placement unit to be partially or completely closed, thus regulating the volume flow of the seed and / or fertilizer and therefore the material flow. The implement can also include a dispensing system, in which case the distribution unit acts as a feeder unit, distributing seed and / or fertilizer to receiving units of the individual material placement units. The switching device can also control a metering device, such as a singulation device and / or a portioning device, to regulate the material flow of the seed and / or fertilizer stream. The switching device can then temporarily stop the singulation and / or metering of seed and / or fertilizer. Preferably, the seed flow and the fertilizer flow can be controlled independently of each other.Preferably, the seed flow and the fertilizer flow are switched on and / or off at different times. The lengths of the seed lines and the fertilizer lines can differ, resulting in different conveying distances for the seed and fertilizer. The flow velocities of the seed and fertilizer along their respective conveying distances can also differ. These differing conveying distances and flow velocities lead to a delivery delay. Delivery delay refers to the time difference between the arrival times of the fertilizer and the seed at the at least one material delivery device. It is essential that this time difference be minimized and ideally eliminated entirely.To compensate for the different conveying distances and flow velocities of the seed and fertilizer streams, and the resulting delivery delay, the fertilizer and seed streams are switched on and / or off at different times so that they arrive simultaneously at the at least one material delivery device. Preferably, if multiple material delivery devices are present, the material flow of the seed and / or fertilizer stream can be controlled independently at each device. This control of the material flow is preferably dependent on the current direction of travel of the implement and / or an impending change of direction.The control of the material flow of the seed stream and / or the fertilizer stream is preferably carried out depending on the current excavation position of the at least one soil cultivation and / or material placement device and / or on an impending change in the excavation position of the at least one soil cultivation and / or material placement device.

[0026] Furthermore, a method according to the invention is advantageous in which the raising of at least one soil cultivation and / or material placement device of the agricultural implement is controlled by a control device depending on the current direction of travel and / or an impending change of direction of travel of the agricultural implement. The raising of the at least one soil cultivation and / or material placement device of the agricultural implement by means of the control device preferably occurs automatically. The raising of the at least one soil cultivation and / or material placement device of the agricultural implement by means of the control device can also occur automatically after confirmation of an operator request.The raising of at least one tillage and / or material discharge unit of the agricultural implement by means of the control device can still be carried out manually by an operator, for example by pressing a button or key. The control device is preferably configured to control the switching device. Furthermore, the control device is preferably configured to control a lifting adjustment device, which is configured to raise the at least one tillage and / or material discharge unit into the first or second lifting position.

[0027] The problem underlying the invention is further solved by a control system of the aforementioned type, wherein the control system comprises a control device configured to cause the temporary lifting of at least one soil cultivation and / or material placement device of the agricultural implement from a working position to a first predefined lifting position of at least two predefined lifting positions in at least a first category of maneuvering operations, and to cause the temporary lifting of the at least one soil cultivation and / or material placement device of the agricultural implement from the working position to a second predefined lifting position of at least two predefined lifting positions in at least a second category of maneuvering operations. The control device can be part of an operator terminal of the agricultural implement.

[0028] In a preferred embodiment of the control system according to the invention, the control system comprises a switching device which is configured to change the material flow of a seed stream and / or a fertilizer stream to the material deposition devices, wherein the control device is configured to control the switching device for changing the material flow of the seed stream and / or the fertilizer stream to the material deposition devices depending on the current excavation position of the material deposition devices and / or an impending or current change in the excavation position of the material deposition devices.

[0029] In another preferred embodiment of the control system according to the invention, the control system comprises a lift adjustment device configured to lift the at least one soil cultivation and / or material placement device into the first or second lift position. The control device is configured to control the lift adjustment device to lift the at least one soil cultivation and / or material placement device into the first or second lift position depending on the current direction of travel and / or an impending change of direction of travel of the agricultural implement. The lift adjustment device can operate hydraulically, pneumatically, electrically, or mechanically. The lift adjustment device can comprise one or more actuators, for example, servo motors and / or cylinders. The cylinders can, for example, be folding cylinders, in particular hydraulic folding cylinders.

[0030] In a further preferred embodiment of the control system according to the invention, the control system is configured to execute the method according to one of the preceding embodiments. With regard to the advantages and modifications of the control system according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention.

[0031] The problem underlying the invention is also solved by an agricultural implement of the type mentioned above, wherein the implement is configured to carry out the method according to one of the preceding embodiments and / or wherein the control system is designed according to one of the preceding embodiments. With regard to the advantages and modifications of the agricultural implement according to the invention, reference is therefore made to the advantages and modifications of the method and control system according to the invention.

[0032] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show: Fig. 1 an agricultural machine according to the invention with raised soil cultivation and material storage devices in a perspective view; Fig. 2 the agricultural machine from Fig. 1 with excavated soil cultivation and material storage facilities in a side view; Fig. 3 an agricultural implement during a straight-ahead drive while cultivating a field on an agricultural area with a tramline system; Fig. 4. An agricultural implement during a turn while working in the field on an agricultural area with a tramline system, shown in a top view; Fig. 5 an agricultural implement during a reverse movement while working the field on an agricultural area with a tramline system in a top view; Fig. 6 an agricultural machine according to the invention with soil cultivation and material placement devices in working position in a side view; Fig. 7 the agricultural machine from Fig. 6 with soil cultivation and material storage facilities in a first excavation position in a side view; Fig. 8 the agricultural machine from Fig. 6 with soil cultivation and material storage facilities in a second excavation position in a side view; Fig. 9 an agricultural cultivation machine according to the invention with soil cultivation devices in working position in a perspective view; Fig. 10 the agricultural machine from Fig. 9 with soil cultivation equipment in working position in a frontal view; Fig. 11 the agricultural machine from Fig. 9 with soil cultivation equipment in a first excavation position in a frontal view; and Fig. 12 the agricultural machine from Fig. 9 with soil cultivation equipment in a second excavation position in a frontal view.

[0033] The Fig. 1 and Fig. Figure 2 shows an agricultural implement 100 according to the invention, which is designed as a seed drill. The implement 100 comprises a storage hopper 110 in which fertilizer and / or seed is stored and which is attached to a main frame 105. By means of a blower 109a, seed and / or fertilizer is conveyed via a seed and / or fertilizer line 107 to the tillage and material placement devices 102. The seed and / or fertilizer is conveyed to the tillage and material placement devices 102 by means of a feeding system. A dispenser unit, functioning as a distribution device, distributes the seed and / or fertilizer to receiving units and subsequently to metering devices of the individual tillage and material placement devices 102. The metering devices can be singulation devices for the seed or portioning devices for the fertilizer.A blower 109b can provide pressure for the singulation devices via a blower line 108. The soil cultivation and material placement devices 102 can be used to cultivate the soil of an agricultural area N and / or to deposit seeds and / or fertilizer on the agricultural area N.

[0034] The implement 100 also includes wheels 114 for moving the implement 100 and support wheels 115 for stabilizing the implement 100, as well as a coupling device 112 by means of which the implement 100 can be attached to a towing vehicle, for example, a tractor. The soil cultivation and material placement devices 102 are arranged on a carrier 106 of the agricultural implement 100, which in turn is attached to a rear frame 104. The rear frame 104 is pivotably attached to the main frame 105 of the implement 100.

[0035] The agricultural implement 100 further comprises a control system 10 according to the invention, comprising a control device 12, a switching device 14, and a lifting adjustment device 16. The lifting adjustment device 12 allows the pivoting rear frame 104, together with the support 106 and the soil cultivation and material placement devices 102 attached to the support 106, to be pivoted so that the soil contact of the soil cultivation and material placement devices 102 with the agricultural area N can be removed. The switching device 14 allows the flow of seed and / or fertilizer through the seed and / or fertilizer line 107, for example by controlling flaps in a distribution head, and / or the depositing of seed and / or fertilizer onto the agricultural area N, for example by controlling a metering device, to be controlled.

[0036] The Fig. 3, Fig. 4 to Fig. Figure 5 shows an agricultural area N with an agricultural implement 100 during field cultivation in a top view. The implement 100 follows a path of movement defined by a tramline system S, which divides the agricultural area N into sub-areas. The agricultural area N is delimited from adjacent areas by a rectangular field boundary G.

[0037] In Fig. Figure 3 shows the agricultural implement 100 during forward and straight-ahead travel during a cultivation operation on the agricultural area N. The agricultural implement 100 travels forward and straight ahead according to its direction of travel F and follows a parallel track defined by the tramline system S. During forward and straight-ahead travel during field cultivation, the soil cultivation and material placement devices 102, 102a-102i of the agricultural implement 100 are in a working position such that the soil cultivation and material placement devices 102, 102a-102i are in contact with the soil of the agricultural area N.

[0038] In Fig. Figure 4 shows the agricultural implement 100 during a turn while working on agricultural land N. The agricultural implement 100 travels forward in its direction of travel F into a turn defined by the tramline system S between two parallel tracks. During a turn while working the field, particularly during a turning maneuver, the tillage and material placement devices 102, 102a-102i of the agricultural implement 100 are in one of at least two predefined raised positions, so that the tillage and material placement devices 102, 102a-102i have no contact with the agricultural land N.When cornering without exceeding a machine tilt limit during the turn, for example, at a relatively slow speed of the implement 100 or with a large turning radius, the soil cultivation and material placement devices 102, 102a-102i are raised to a first, lower position. When cornering with an exceedance of a machine tilt limit during the turn, for example, at a relatively high speed of the implement 100 or with a tight turning radius, the soil cultivation and material placement devices 102, 102a-102i are raised to a second, higher position.

[0039] In Fig. Figure 5 shows the agricultural implement 100 during a reverse and straight-ahead movement during a cultivation operation on the agricultural field N. The agricultural implement 100 travels straight ahead in reverse according to its direction of travel F and follows a track defined by the tramline system S in the headland. During a reverse and straight-ahead movement during field cultivation, the tillage and material placement devices 102, 102a-102i of the agricultural implement 100 are in a raised position, so that the tillage and material placement devices 102, 102a-102i have no contact with the agricultural field N. When reversing, for example, to cultivate the field N in a corner of the field near the field boundary G in the headland, the tillage and material placement devices 102, 102a-102i are raised to a second, higher raised position.

[0040] The Fig. 6, Fig. 7 to Fig. Figure 8 shows an agricultural cultivation machine 100 designed as a seed drill with a control system 10 according to the invention on an agricultural area N with different positions of the soil cultivation and material placement devices 102.

[0041] The Fig. Figure 6 shows the soil cultivation and material placement devices 102 in a working position during field cultivation. In the working position, the soil cultivation and material placement devices 102 contact the soil surface of the agricultural area N and cultivate it. The working position is set, for example, when the implement 100, as shown in Fig. 3 shown, moving straight ahead on a parallel track during field work, for example during a sowing process.

[0042] The Fig. Figure 7 shows the soil cultivation and material placement devices 102 in a first excavation position. In the first excavation position, the soil cultivation and material placement devices 102 are no longer in contact with the soil surface of the agricultural area N, and soil cultivation is interrupted. To set the first excavation position, the rear frame 104, which is rotatably attached to the main frame 105, with the soil cultivation and material placement devices 102 attached to the support 106, is pivoted along the excavation path P1. To pivot, the control unit 12 of the control system 10 actuates the excavation adjustment device 16 of the control system. The excavation adjustment device 16 includes an actuator 18, which is designed, for example, as a hydraulic cylinder, by means of which the soil cultivation and material placement devices 102 are pivoted about a pivot axis extending transversely to the direction of travel of the implement 100.In the first excavation position, an excavation height H1 is established, which corresponds to the distance from the lowest point of the soil cultivation and material placement devices 102 to the soil surface of the usable area N, and an excavation angle W1 is established between the soil cultivation and material placement devices 102 and the usable area N. The first excavation position is set, for example, when the attachment 100, as in . Fig. Figure 4 shows the machine in a turning maneuver with a curve during field work, for example during sowing. The lower excavation height H1 in the first excavation position, compared to a higher excavation position, avoids delays in field work and saves energy.

[0043] The Fig. Figure 8 shows the soil cultivation and material placement devices 102 in a second excavation position. In the second excavation position, the soil cultivation and material placement devices 102 are no longer in contact with the soil surface of the agricultural area N, and soil cultivation is interrupted. To set the second excavation position, the rear frame 104, which is rotatably attached to the main frame 105, with the soil cultivation and material placement devices 102 attached to the support 106, is pivoted along the excavation path P2 by means of the actuator 18. In the second excavation position, an excavation height H2 and an excavation angle W2 are established between the soil cultivation and material placement devices 102 and the agricultural area N. The excavation height H2 of the second excavation position is higher than the excavation height H1 of the first excavation position. The excavation angle W2 of the second excavation position is greater than the excavation angle H1 of the first excavation position.The excavation path P2 is longer than the excavation path P1. The second excavation position is set, for example, when the attachment 100, as in . Fig. Figure 5 shows the machine reversing during field work, for example, when turning at the headland to reach the field corners. The higher excavation height H2 in the second excavation position prevents the tillage and material placement devices 102 from colliding with the ground during reversing.

[0044] The Fig. Figure 9 shows a further embodiment of an agricultural implement 100 according to the invention with a control system 10 according to the invention. The implement 100, designed as a cultivator, comprises a rear frame 104 and booms 118a, 118b rotatably mounted on the rear frame 104, which can be pivoted about a pivot axis parallel to the direction of travel of the implement 100 by means of the actuators 18a, 18b. Furthermore, support wheels 115 are arranged on the booms 118a, 118b, which can support the booms 118a, 118b on a ground surface. The implement 100 can be attached to a towing and / or carrier vehicle, for example a tractor, by means of a coupling device 112. The implement 100 also comprises soil cultivation devices 102a-102i, which are attached to linkage assemblies 116a-116i. The soil cultivation devices 102a-102c are attached to the boom 118a by means of the linkage assemblies 116a-116c.The tillage implements 102e-102f are attached to the rear frame 104 by means of the linkage assemblies 116e-116f. The tillage implements 102g-102i are attached to the boom 118b by means of the linkage assemblies 116g-116i. The linkage assemblies 116a-116i are designed as parallelogram linkages and can be adjusted by means of actuators 19a-19i so that the tillage implements 102a-102i are raised. The control device 12 of the control system 10 controls the lifting adjustment device 16 to raise the tillage implements 102a-102i by means of the actuators 18a, 18b and / or 19a-19i.

[0045] The Fig. Figure 10 shows the agricultural implement 100 from the Fig. 9 with the soil cultivation devices 102a-102i in the working position. In the working position, the soil cultivation devices 102a-102i contact the soil surface of the agricultural area N and cultivate it. The working position is set, for example, when the implement 100, as in Fig. Figure 3 shows the movement forwards in a parallel lane during field work.

[0046] The Fig. Figure 11 shows the tillage attachments 102a-102i of the implement 100 in a first raised position. In the first raised position, the tillage attachments 102 are no longer in contact with the soil surface of the agricultural area N, and tillage is interrupted. To set the first raised position, the tillage attachments 102a-102i are raised to the raised height H1 by adjusting the linkage assemblies 116a-116i using the actuators 19a-19i in a substantially linear motion perpendicular to the agricultural area N along the raised path P1. For raising, the control unit 12 of the control system 10 activates the raised position adjustment unit 16 of the control system. The first raised position is set, for example, when the implement 100 is turning during field work, provided that a limit value for the machine's tilt is not exceeded.When the implement 100 is at a slight incline during a curve, the risk of soil collision of the soil cultivation devices 102a-102i is comparatively low.

[0047] The Fig.Figure 12 shows the tillage implements 102a-102i in a second excavation position. In the second excavation position, the tillage implements 102a-102i are no longer in contact with the soil surface of the agricultural area N, and tillage is interrupted. To set the second excavation position, the tillage implements 102a-102i are raised to an excavation height H1 by adjusting the linkage assemblies 116a-116i using the actuators 19a-19i in a substantially linear direction perpendicular to the agricultural area N along the excavation path P1. Additionally, the tillage implements 102a-102c and 102g-102i are raised to an excavation height H2 by pivoting the booms 118a and 188b along the excavation path P2 using the actuators 18a and 18b, thus establishing the excavation angle W2. The excavation height H2 of the second excavation position is higher than the excavation height H1 of the first excavation position. The excavation path P2 is longer than the excavation path P1.The excavation path P2 consists of a linear movement up to excavation height H1 and a curved movement up to excavation height H2. The linear excavation to excavation height H1 using actuators 19a-19i and the pivoting to excavation height H2 using actuators 18a, 18b can be performed simultaneously. The second excavation position is activated, for example, when the implement 100, during field cultivation, makes turns in which a machine tilt limit is reached or exceeded. With a steep tilt of the machine, there is a high risk of soil collision of the tillage attachments 102a-102i, in particular the tillage attachments 102a-102c, 102g-102i arranged on the booms 118a, 118b. The higher excavation height H2 in the second excavation position prevents soil collisions of the soil cultivation devices 102a-102i when cornering with a strong machine inclination. Reference symbol list 10 Tax system 12 Control unit 14 Switching device 16 Excavation adjustment device 18, 18a, 18b Actuator 19a-19i Actuator 100 agricultural implements 102, 102a-102i Soil cultivation and / or material storage device 104 Rear frame 105 Main frame 106 carriers 107 Seed and / or fertilizer line 108 Blower line 109a, 109b blower 110 storage containers 112 Coupling device 114 wheels 115 training wheels 116a-116i Handlebar arrangement 118a, 118b cantilever N agricultural land F Direction of travel S lane system G Field boundary P1, P2 Excavation path H1, H2 Excavation height W1, W2 Excavation angle

Claims

[1] Method for controlling the excavation position on an agricultural implement (100), in particular a seed drill or tillage implement, during a tillage operation on an agricultural area (N), comprising the steps: - temporary lifting of at least one soil cultivation and / or material storage device (102, 102a-102i) of the agricultural implement (100) from a working position into a first predefined lifting position of at least two predefined lifting positions in at least one first category of maneuvering operations, and - temporary lifting of at least one soil cultivation and / or material storage device (102, 102a-102i) of the agricultural implement (100) from the working position into a second predefined lifting position of at least two predefined lifting positions in at least a second category of maneuvering operations, characterized by , that - during the maneuvering operations of the first category, no reverse movement of the agricultural implement (100) takes place, and - during the maneuvering operations of the second category, a reverse movement of the agricultural implement (100) takes place. [2] Method according to claim 1, characterized by that one or both of the following steps are carried out: - Assigning at least one maneuvering operation to the first or second category of maneuvering operations before executing the maneuvering operation; - Assigning at least one maneuver to the first or second category of maneuvers during the execution of the maneuver. [3] Method according to claim 2, characterized by, that the assignment of at least one maneuvering operation to the first or second category of maneuvering operations is carried out depending on a current direction of travel (F) and / or an upcoming change of direction of travel of the agricultural implement (100). [4] Method according to any of the preceding claims, characterized by , that - during the maneuvering operations of the first category, no turning occurs and / or a turning maneuver of the agricultural implement (100) occurs in which a limit value for machine inclination is not expected to be exceeded; and - during the maneuvering operations of the second category, a curve movement of the agricultural implement (100) takes place, in which a limit value of a machine inclination is likely to be reached or exceeded. [5] Method according to any of the foregoing claims, characterized by the step: - Determining the current direction of travel (F) and / or an upcoming change of direction of travel of the agricultural implement (100), wherein the determination of the current direction of travel (F) and / or an upcoming change of direction of travel of the agricultural implement (100) is carried out in particular by means of - the current machine configuration or an upcoming change in the machine configuration of the attachment (100) and / or - of the current operating status or an impending change in the operating status of the attachment (100). [6] Method according to claim 5, characterized by , that determining the current direction of travel (F) and / or an upcoming change of direction of travel of the agricultural implement (100) by means of - the current speed of movement and / or an impending change in the speed of movement of the attachment, and / or - the current geographical position of the implement and / or an upcoming movement path of the implement. [7] Method according to any of the foregoing claims, characterized by , that at least one soil cultivation and / or material storage device (102, 102a-102i) is located in the first excavation position at a first excavation height (H1) and in the second excavation position at a second excavation height (H2), wherein the second excavation height (H2) is higher than the first excavation height (H1). [8] Method according to any of the foregoing claims, characterized by, that the lifting of the at least one soil cultivation and / or material storage device (102, 102a-102i) into the first excavation position is carried out by performing a first excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i) and the lifting of the at least one soil cultivation and / or material storage device (102, 102a-102i) into the second excavation position is carried out by performing a second excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i), wherein the second excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i) when lifting the at least one soil cultivation and / or material storage device (102, 102a-102i) into the second excavation position is carried out via the first excavation position of the at least one soil cultivation and / or material storage facility (102, 102a-102i). [9] Method according to claim 8, characterized by , that - the first and / or second excavation movement is a linear movement, in particular a vertical movement; and / or - the first and / or the second excavation movement is a pivoting movement, wherein the pivoting movement is preferably carried out about a pivot axis extending transversely or parallel to the direction of travel (F). [10] Method according to one of claims 8 or 9, characterized by , that the first excavation movement and the second excavation movement when excavating the at least one soil cultivation and / or material storage device (102, 102a-102i) are carried out at least partially simultaneously. [11] Method according to any of the foregoing claims, characterized by, that the material flow of a seed stream and / or a fertilizer stream to the at least one material storage facility (102, 102a-102i) is controlled depending on the current excavation position of the at least one material storage facility (102, 102a-102i) and / or an impending or current change in the excavation position of the at least one material storage facility (102, 102a-102i). [12] Method according to any of the foregoing claims, characterized by , that the lifting of at least one soil cultivation and / or material depositing device (102, 102a-102i) of the agricultural machine (100) is controlled by means of a control device (12) depending on the current direction of travel (F) and / or an impending change of direction of travel of the agricultural machine (100). [13] Control system (10) for controlling the raised position on an agricultural implement (100), in particular a seed drill or tillage implement, during a tillage operation on an agricultural area (N) with a control device (12) which is configured to cause a temporary raising of at least one tillage and / or material depositing device (102, 102a-102i) of the agricultural implement (100) from a working position to a first predefined raised position of at least two predefined raised positions in at least one first category of maneuvering operations, and to cause a temporary raising of the at least one tillage and / or material depositing device (102,102a-102i) of the agricultural implement (100) from the working position to a second predefined excavation position of at least two predefined excavation positions in at least a second category of maneuvering operations, , characterized by , that the control system (10) is configured to execute the method according to any one of claims 1 to 12. [14] Tax system according to claim 13, characterized by - a switching device (14) which is configured to change the material flow of a seed stream and / or a fertilizer stream to the material depositing devices (102, 102a-102i), wherein the control device (12) is configured to control the switching device (14) to change the material flow of the seed stream and / or the fertilizer stream to the material depositing devices (102, 102a-102i) depending on the current excavation position of the material depositing devices (102, 102a-102i) and / or an impending or current change in the excavation position of the material depositing devices (102, 102a-102i). [15] Tax system according to one of claims 13 or 14, characterized by - a lifting adjustment device (16) which is configured to lift the at least one soil cultivation and / or material placement device (102, 102a-102i) into the first or second lifting position, wherein the control device (12) is configured to control the lifting adjustment device (16) to lift the at least one soil cultivation and / or material placement device (102, 102a-102i) into the first or second lifting position depending on the current direction of travel (F) and / or an impending change of direction of travel of the agricultural implement (100). [16] Agricultural cultivation machine (100), in particular seed drill or tillage machine, with - at least one soil cultivation and / or material storage device (102, 102a-102i), and - a control system (10) for controlling the excavation position of at least one soil cultivation and / or material storage device (102, 102a-102i); characterized by that the attachment machine (100) is configured to perform the method according to one of claims 1 to 12 and / or wherein the control system (10) is configured according to one of the preceding claims 13 to 15.

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