Method for determining the inclination state of an agricultural spreading machine

Abstract

Method for determining the inclination state of an agricultural spreading machine (100), comprising the step: - Detecting the properties of a spreading fan (14, 14a, 14b) produced by dropping spreading material from a spreading disc (20, 20a, 20b) of the spreading machine (100) by means of a sensor system (12) of the spreading machine (100) for detecting the spreading fan; characterized by the step: - Determining a change in the inclination of the spreading machine (100) based on the change in the properties of the spreading fan (14, 14a, 14b) detected by the sensor system (12) by an electronic data processing device (24).

Description

[0001] The invention relates to a method for determining the inclination state of an agricultural spreading machine according to the preamble of claim 1, a method for operating an agricultural spreading machine according to the preamble of claim 10, a device for determining the inclination state of an agricultural spreading machine according to the preamble of claim 14 and an agricultural spreading machine according to the preamble of claim 15.

[0002] External influences can cause an agricultural spreader to tilt during the application of spreading material. For example, the spreader can develop an angle of inclination when spreading on slopes, in hilly terrain, or when crossing furrows or uneven ground. This machine tilt affects the spreading pattern, and a tilted spreader can significantly impair the spreading result. German patent application DE 10 2018 120 948 A1 discloses a system in which the spreader's tilt is directly detected by means of a tilt sensor. Therefore, systems are already known that perform application-related tilt compensation based on the determined machine tilt, thereby reducing the influence of the machine tilt on the spreading of the spreading material.

[0003] In many application situations, direct slope detection on the agricultural spreader using a slope sensor can be problematic, so that only comparatively imprecise slope values ​​are taken into account to compensate for the influence of the slope on the spreading of the material.

[0004] Furthermore, there are efforts to reduce the number of sensors on agricultural spreaders, as modern agricultural spreaders often use several different sensor systems for monitoring and controlling operation. An additional tilt sensor would lead to a further increase in machine complexity and costs.

[0005] The inclination of a spreader affects the point of impact of spreading material on the spreading disc. This material falls from discharge openings or feed chutes, each assigned to a specific spreading disc and located above it. The inclination of the spreader alters the relative position between the spreading disc and the discharge opening or feed chute. When spreading material is fed onto the discs, it is released from the discharge openings towards the discs. However, current compensation for the influence of the inclination does not adequately account for the fact that the positional relationship between the discharge opening and the point of impact of the spreading material on the spreading disc changes with a change in inclination. Only on a level spreader are the point of impact of the spreading material on the spreading disc and the position of the discharge opening perfectly aligned, meaning they are perpendicular to each other.If the spreading machine is tilted, the point of impact of the spreading material on the spreading disc moves away from the projection surface of the discharge opening due to gravity.

[0006] The object underlying the invention is therefore to enable the detection of the inclination state of an agricultural spreader without the agricultural spreader having to be equipped with an inclination sensor for direct inclination detection. This should enable machine operation in which the positional relationship between the discharge opening and the point of impact of the spreading material on the spreading disc is given greater consideration.

[0007] The problem is solved by a method of the type mentioned above, wherein an electronic data processing device, within the framework of the method according to the invention, determines a change in the inclination of the spreading machine based on the change in the properties of the spreading fan detected by the sensor system. The sensor system of the spreading machine serves to detect the spreading fan and detects properties of a spreading fan generated by the discharge of spreading material from a spreading disc of the spreading machine.

[0008] The inclination of the spreader is determined by the sensor-detected changes in the properties of the spreading pattern. Therefore, an additional tilt sensor on the agricultural spreader is not strictly necessary, and thus can be omitted. However, a tilt sensor can still be present, allowing, for example, verification of the inclination state determined by the method. Furthermore, the inclination state determined by the method can be used to verify the measured values ​​of the tilt sensor. An additional tilt sensor can also enable the electronic data processing unit to determine, for example, whether a sensor system, whose measured values ​​are used in the process, is functioning correctly and / or without impairment.By comparing the inclination values ​​determined by the tilt sensor with those determined by the method, the electronic data processing unit can, for example, determine that one or more sensors are malfunctioning or operating imprecisely, perhaps due to contamination. In this case, the electronic data processing unit can, for example, correct the sensor values, disregard faulty sensor values, and / or calculate fictitious substitute sensor values.

[0009] The electronic data processing unit that determines the change in inclination of the spreading machine can be integrated into the spreading machine itself. Alternatively, the electronic data processing unit can be an external device. The electronic data processing unit can be part of a terminal, in particular an ISOBUS terminal, or a mobile device, for example, a portable mobile phone.

[0010] The agricultural spreading machine is preferably a two-disc centrifugal fertilizer spreader, which has at least two spreading discs, in particular arranged side by side. Above the side-by-side spreading discs, discharge openings for the spreading material are preferably arranged, through which the spreading material can be directed towards the spreading discs. Each spreading disc is assigned to one or more discharge openings. The spreading material that can be applied by the agricultural spreading machine is therefore fertilizer.

[0011] Preferably, the sensor system comprises one or more detection sensors, arranged in particular along a circumferential area around the scattering disc and / or above the scattering disc. Preferably, the detection sensors detect the distribution of the scattering material after it has been released from the scattering disc during a flight phase. The detection sensors can be, for example, radar sensors, optical sensors, or ultrasonic sensors. The properties of the scattering pattern detected by the sensor system can be checked, supplemented, and / or corrected before the inclination is determined using scattering data from a scattering database. The scattering database includes, for example, scattering data determined under laboratory conditions, which allows the properties of the scattering pattern to be precisely determined, for instance, in the case of missing measurements due to a sensor gap or measurement inaccuracies of the sensor system.Preferably, the measured values ​​of the sensor system are combined with the scattering data from the scattering database before the inclination determination in order to increase the accuracy of the inclination determination.

[0012] The method according to the invention is further advantageously developed in that the electronic data processing device, when determining the change in inclination of the spreader, takes into account the current position of a discharge opening relative to the spreading disc, for example, above the spreading disc, through which the spreading material is discharged towards the spreading disc. Alternatively or additionally, the electronic data processing device can take into account the current shape of the discharge opening when determining a change in inclination of the spreader. The position and / or the shape of the discharge opening can be changeable. To change the position and / or shape of the discharge opening, the agricultural spreader can have a discharge adjustment device.With a constant machine inclination, the point of impact of the spreading material on the spreading disc can be changed via the position of the discharge opening, whereby the position of the discharge opening can be adjusted radially and / or concentrically by a discharge adjustment device.

[0013] In another preferred embodiment of the method according to the invention, the properties of the spreading fan detected by the sensor system include the discharge angle of the spreading fan, such that the electronic data processing unit determines the change in inclination of the spreading machine based on the change in the discharge angle of the spreading fan. For this purpose, the electronic data processing unit can compare the actual value of the discharge angle with a target value for the discharge angle. The discharge angle detected by the sensor system and processed by the electronic data processing unit can be an average discharge angle. The average discharge angle is the angle between a reference axis extending in the direction of travel and through the center of the spreading disc and a line connecting the center of the spreading disc with the center of gravity of the angular distribution of the spreading fan.The center of gravity of the spreading fan's angular distribution can be defined by the 50th percentile in the radial or circumferential direction. When the discharge opening above the spreading disc is pivoted concentrically, the angle of adjustment at the discharge opening and the mean discharge angle change by at least approximately the same amount. The mean discharge angle can be changed by concentrically rotating the point where the material hits the spreading disc. The lateral distribution of the material is influenced by the position of the material's point of impact on the spreading disc.

[0014] In a further preferred embodiment of the method according to the invention, the properties of the spreading fan detected by the sensor system include the spread of the spreading fan, such that the electronic data processing device determines the change in inclination of the spreading machine based on the change in the spread of the spreading fan. The spread relates to the angular range within which the spreading material is released from the spreading disc. The beginning and end of the angular range of the spread may not be directly detectable by the sensor system, or only with inaccuracies. For example, material outliers can distort the detection of the spreading fan spread. In this respect, the spread of the spreading fan can also be specified via a spread reference value, which, for example, partially describes the angular range within which the spreading material is released from the spreading disc.In this context, for example, a 95% or 5% value of the spread of the spreading fan can be taken into account by the electronic data processing device when determining the change in inclination of the spreading machine. Preferably, the angular distribution of the spreading fan is recorded in a region around the center of gravity of the angular distribution to determine the spread. Particularly preferably, this region includes the center of gravity and at least half of one flank of the distribution in order to derive information about the spread using stored relationships concerning the distribution.

[0015] Alternatively or additionally, the initial and final angles can be determined via a functional profile using the sensor data provided by the sensor system. Depending on the point of impact of the spreading material on the spreading disc, different residence times of the material on the disc can occur. The residence time of the spreading material refers to the time between the point of impact and the point of release onto or from the spreading disc. The residence time of the spreading material on the spreading disc is also influenced by the speed of the spreading material, the disc diameter, the disc rotational speed, the blade position or length, the surface properties of the spreading material, and the blade geometry. Due to the different residence times, different spreading patterns can result. Different residence times can also lead to different release velocities of the spreading material.A shorter dwell time means the spreading material is accelerated on the disc for a shorter period, resulting in a reduced discharge velocity. A longer dwell time means the spreading material is accelerated on the disc for a longer period, resulting in a higher discharge velocity.

[0016] The surface properties of the spreading material differ depending on the type of material. This influences not only the dwell time on the disc but also the air friction after dispensing. The type of spreading material, through its surface properties, affects the properties of the spreading pattern. Therefore, in a preferred embodiment of the method according to the invention, the type of spreading material and / or its surface properties are taken into account when determining the properties of the spreading pattern.

[0017] In another preferred embodiment of the method according to the invention, the electronic data processing unit calculates the longitudinal inclination and / or the lateral inclination of the spreading machine based on the determined change in inclination of the spreading machine. The longitudinal inclination of the spreading machine refers to the tilting of the spreading machine forwards or backwards about a pitch axis extending transversely to the direction of travel. The lateral inclination of the spreading machine refers to the lateral tilting of the spreading machine to the left or right about a roll axis extending in the direction of travel. The data processing unit can also take into account measured values ​​from one or more acceleration sensors and / or one or more gyroscopes when calculating and / or verifying the longitudinal inclination and / or the lateral inclination of the spreading machine.The acceleration sensors and / or gyroscopes, whose readings are considered by the data processing unit, can be part of the agricultural spreading machine or part of a towing or carrier vehicle that pulls or carries the spreading machine. The longitudinal or lateral tilt of the spreading machine calculated by the electronic data processing unit can be verified using values ​​from a tilt sensor. Furthermore, the calculated longitudinal and / or lateral tilt of the spreading machine can be used to verify the data from a tilt sensor. When considering readings from one or more other sensors, such as acceleration sensors, measurement data can be linked, thus implementing a sensor combination or sensor data fusion.

[0018] Furthermore, a method according to the invention is advantageous in which the electronic data processing device calculates the longitudinal inclination of the spreading machine via a longitudinal inclination relationship between the discharge angle and / or the spread of the spreading fan and the longitudinal inclination of the spreading machine. The longitudinal inclination relationship can, for example, be an empirically determined mathematical formula. Alternatively, the longitudinal inclination relationship can be a data map or table of values, or a physical derivation. The longitudinal inclination relationship can be stored in a memory of the data processing device or retrieved by the data processing device from a database.

[0019] The method according to the invention is further advantageously developed in that the longitudinal inclination relationship used by the electronic data processing device takes into account that the amount of the spread of the spreading fan changes depending on the longitudinal inclination of the spreading machine.

[0020] The longitudinal inclination relationship used by the electronic data processing device preferably takes into account that a change in the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc changes the residence time of the spreading material on the spreading disc and thus the spread of the spreading fan. If the point of impact of the spreading material on the spreading disc is shifted radially outwards due to the longitudinal inclination, the distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases, thereby shortening the residence time of the spreading material on the spreading disc and thus reducing the spread of the spreading fan.If the point of impact of the spreading material on the spreading disc is shifted radially inwards due to longitudinal inclination, the distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases, which increases the residence time of the spreading material on the spreading disc, thus increasing the spread of the spreading fan.

[0021] The longitudinal inclination relationship used by the electronic data processing device preferably takes into account that a longitudinal inclination-induced shift in the circumferential direction of the point of impact of the spreading material on the spreading disc changes the angle of release of the spreading fan. The change in the angle of release of the spreading fan essentially results directly from the circumferential angle of displacement of the point of impact of the spreading material on the spreading disc. The change in the angle of release can also depend to an insignificant extent on the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc, whereby this relationship can be neglected in the longitudinal inclination calculation.

[0022] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan increases with increasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0023] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan decreases with increasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0024] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases with increasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel.

[0025] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle increases with increasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel.

[0026] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan decreases with decreasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0027] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan increases with decreasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0028] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle increases with decreasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel.

[0029] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases with decreasing rearward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel.

[0030] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan's spread decreases with increasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0031] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan increases with increasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0032] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle increases with increasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel.

[0033] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases with increasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel.

[0034] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan increases with decreasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0035] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the extent of the spreading fan decreases with decreasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel. In this case, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0036] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases with decreasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the front half of the spreading disc in the direction of travel.

[0037] Preferably, the longitudinal inclination relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle increases with decreasing forward longitudinal inclination of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the rear half of the spreading disc in the direction of travel.

[0038] The angle of release and the spread of the spreading fan change depending on the longitudinal inclination due to a changing point of impact of the spreading material on the spreading disc.

[0039] When the longitudinal inclination of the spreading machine is changed, the change in the throwing angle and spreading pattern typically exhibits symmetrical behavior.

[0040] In an advantageous embodiment of the method according to the invention, the electronic data processing unit calculates the cross slope of the spreading machine via a cross slope relationship between the discharge angle and / or the spread of the spreading fan and the cross slope of the spreading machine. The cross slope relationship can, for example, be an empirically determined mathematical formula. Alternatively, the cross slope relationship can be a data map or a table of values. The cross slope relationship can be stored in a memory of the data processing unit or retrieved by the data processing unit from a database.

[0041] The cross-slope relationship used by the electronic data processing device preferably takes into account that a change in the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc changes the residence time of the spreading material on the spreading disc and thus the spread of the spreading fan. If the point of impact of the spreading material on the spreading disc is shifted radially outwards due to the cross-slope, the distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases, thereby shortening the residence time of the spreading material on the spreading disc and thus reducing the spread of the spreading fan.If the point of impact of the spreading material on the spreading disc is shifted radially inwards due to the transverse inclination, the distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases, which increases the residence time of the spreading material on the spreading disc, thus increasing the spread of the spreading fan.

[0042] The cross-slope relationship used by the electronic data processing device preferably takes into account that a cross-slope-induced shift in the circumferential direction of the point of impact of the spreading material onto the spreading disc changes the angle of dispersion of the spreading fan. The change in the angle of dispersion of the spreading material onto the spreading disc essentially results directly from the circumferential shift in the point of impact of the spreading material onto the spreading disc. The change in the angle of dispersion can also depend to an insignificant extent on the radial distance between the point of impact of the spreading material onto the spreading disc and the axis of rotation of the spreading disc, and this relationship can be neglected in the cross-slope calculation.

[0043] Preferably, the cross-tilt relationship used by the electronic data processing device takes into account that the extent of the spreading fan's spread decreases with increasing cross-tilt of the spreading machine towards a first side and increases towards a second side, provided the point of impact of the spreading material on the spreading disc is located on the first side of the spreading disc. With increasing cross-tilt of the spreading machine towards the first side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases. With increasing cross-tilt of the spreading machine towards the second side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0044] Preferably, the cross-tilt relationship used by the electronic data processing device takes into account that the extent of the spreading fan's spread increases with increasing cross-tilt of the spreading machine towards the first side and decreases towards the second side, provided the point of impact of the spreading material on the spreading disc is located on the second side of the spreading disc. With increasing cross-tilt of the spreading machine towards the first side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases. With increasing cross-tilt of the spreading machine towards the second side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0045] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases towards a first side and increases towards a second side with increasing cross-slope of the spreading machine, provided that the point of impact of the spreading material on the spreading disc is located on the first side of the spreading disc.

[0046] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle increases with increasing cross-slope of the spreading machine towards the first side and decreases towards the second side, provided that the point of impact of the spreading material on the spreading disc is located on the second side of the spreading disc.

[0047] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the extent of the spreading fan's spread increases towards the first side and decreases towards the second side as the cross-slope of the spreading machine decreases, provided the point of impact of the spreading material on the spreading disc is located on the first side of the spreading disc. As the cross-slope of the spreading machine decreases towards the first side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases. As the cross-slope of the spreading machine decreases towards the second side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases.

[0048] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the extent of the spreading fan's spread decreases towards the first side and increases towards the second side as the cross-slope of the spreading machine decreases, provided the point of impact of the spreading material on the spreading disc is located on the second side of the spreading disc. As the cross-slope of the spreading machine decreases towards the first side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc increases. As the cross-slope of the spreading machine decreases towards the second side, the radial distance between the point of impact of the spreading material on the spreading disc and the axis of rotation of the spreading disc decreases.

[0049] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's angle of discharge increases towards the first side and decreases towards the second side as the cross-slope of the spreading machine decreases, provided that the point of impact of the spreading material on the spreading disc is located on the first side of the spreading disc.

[0050] Preferably, the cross-slope relationship used by the electronic data processing device takes into account that the magnitude of the spreading fan's discharge angle decreases towards the first side and increases towards the second side as the cross-slope of the spreading machine decreases, provided that the point of impact of the spreading material on the spreading disc is located on the second side of the spreading disc.

[0051] When the cross slope of the spreading machine changes, there is typically an asymmetrical behavior of the drop angle and spread changes.

[0052] Furthermore, a method according to the invention is preferred in which the electronic data processing device, in a combined longitudinal and transverse inclination of the spreading machine, assigns longitudinal inclination-related components of the change in the discharge angle and / or the change in the spread of the spreading fan to the longitudinal inclination of the spreading machine. Alternatively or additionally, in a combined longitudinal and transverse inclination of the spreading machine, the electronic data processing device assigns transverse inclination-related components of the change in the discharge angle and / or the change in the spread of the spreading fan to the transverse inclination of the spreading machine.In particular, the electronic data processing device for assigning the longitudinal and / or transverse slope-related components of the change in the spreading fan's throw angle compares the change in the throw angle of a first spreading fan generated by the release of spreading material from a first spreading disc of the spreading machine with the change in the throw angle of a second spreading fan generated by the release of spreading material from a second spreading disc of the spreading machine. Preferably, the electronic data processing device for assigning the longitudinal and / or transverse slope-related components of the change in the spreading fan's throw angle investigates whether and / or to what extent the throw angle values ​​of the spreading fans of the left and right spreading discs change symmetrically or asymmetrically.Preferably, the electronic data processing device for assigning the longitudinal and / or transverse slope-related contributions to the change in the spread of the spreading fan compares the change in spread of a first spreading fan generated by the discharge of spreading material from a first spreading disc of the spreading machine with the change in spread of a second spreading fan generated by the discharge of spreading material from a second spreading disc of the spreading machine. Preferably, the electronic data processing device for assigning the longitudinal and / or transverse slope-related contributions to the change in the spread of the spreading fan investigates whether and / or to what extent the spread values ​​of the spreading fans of the left and right spreading discs change symmetrically or asymmetrically.

[0053] The problem underlying the invention is further solved by a method for operating an agricultural spreading machine of the type mentioned at the outset, wherein the determination of the inclination state of the agricultural spreading machine is carried out using a method according to one of the embodiments described above. With regard to the advantages and modifications of the method according to the invention for operating an agricultural spreading machine, reference is therefore first made to the advantages and modifications of the method according to the invention for determining the inclination state of an agricultural spreading machine.

[0054] The method according to the invention is advantageously further developed in that the adjustment of the spreading material feed onto the spreading disc of the spreader is achieved by adjusting a discharge adjustment device of the spreader, via which the position and / or the shape of a discharge opening for the spreading material above the spreading disc can be adjusted in the circumferential direction and / or in the radial direction of the spreading disc. Adjusting the spreading material feed onto the spreading disc of the spreader can therefore, for example, include changing the position of a discharge opening of a discharge adjustment device of the agricultural spreader. Furthermore, adjusting the spreading material feed can include changing the shape of the discharge opening of the discharge adjustment device of the agricultural spreader. The spreading material flows through the discharge opening from a hopper on the underside of a spreading material reservoir of the agricultural spreader.After exiting the discharge opening, the spreading material falls onto the spreading disc at a single point of impact. The relationship between the position of the discharge opening and the point of impact of the spreading material on the spreading disc depends on the orientation of the agricultural spreading machine.

[0055] In another preferred embodiment of the method according to the invention, a control device causes the discharge adjustment device of the spreader, upon detecting a longitudinal inclination of the spreader, to change the position of the point of impact of the spreading material on the spreading disc in the circumferential and / or radial direction. This change in the position of the point of impact of the spreading material on the spreading disc can be achieved by changing the position of the discharge opening of the discharge adjustment device. When adjusting the point of impact, the properties of the blades on the spreading disc can also be taken into account. In particular, the blade height may necessitate a blade-related correction of the point of impact, since the flight phase of the spreading material captured by the blades is shortened due to the blade height.The type of disc fitted and / or the disc geometry can also be taken into account when setting the impact point.

[0056] Preferably, when the control unit detects a longitudinal inclination of the spreader, it causes the spreader's discharge adjustment device to shift the point of impact of the spreading material onto the spreading disc longitudinally. This shift can be achieved by shifting the position of the discharge opening longitudinally. The longitudinal shift can be accomplished by simultaneously or sequentially shifting the point of impact circumferentially and radially. When spreading downhill with a two-disc spreader, the points of impact of the spreading material onto the spreading discs shift symmetrically forward, parallel to the longitudinal axis.Relative to the axis of rotation of the spreading discs, the impact points shift radially outwards and are rotated in the direction of rotation of the spreading disc, provided the point of impact of the spreading material onto the disc is located on the front half of the disc in the direction of travel. This radial outward shift of the impact point means that the residence time of the spreading material on the spreading disc is shortened. This reduces the spread. Furthermore, the average launch angle becomes smaller. The rotation of the impact points in the direction of rotation of the discs means that the cloud of spreading material shifts outwards, thus increasing the average launch angle.

[0057] When spreading material while driving uphill, the points of impact on the spreading discs shift symmetrically backwards, parallel to the longitudinal axis. Relative to the axis of rotation, the points of impact shift radially inwards and are rotated against the direction of rotation of the spreading discs, provided the point of impact is located on the front half of the disc (in the direction of travel). This radial inward shift of the points of impact means that the residence time of the material on the spreading disc increases, thus increasing the spread and the average dispersal angle. Conversely, the rotation of the points of impact against the direction of rotation of the spreading discs means that the cloud of material shifts inwards, resulting in a smaller average dispersal angle.

[0058] In a further development of the method according to the invention, the control device, upon detecting a lateral tilt of the spreading machine, causes the discharge adjustment device of the spreading machine to change the position of the point of impact of the spreading material on the spreading disc, particularly in the circumferential and / or radial direction. The change in the position of the point of impact of the spreading material on the spreading disc can be caused by changing the position of the discharge opening of the discharge adjustment device. Preferably, upon detecting a lateral tilt of the spreading machine, the control device causes the discharge adjustment device of the spreading machine to shift the point of impact laterally. The lateral shift of the point of impact is achieved, for example, by shifting the point of impact simultaneously or sequentially in the circumferential and radial directions.When spreading with a twin-disc spreader on a cross slope, the impact points shift laterally. The spreading patterns of the discs change asymmetrically. On the disc located downhill, the impact point shifts radially outwards and is rotated against the direction of rotation of the disc. On the disc located uphill, the impact point shifts radially inwards relative to the axis of rotation and is rotated in the direction of rotation of the disc.

[0059] Preferably, when the control device detects a tilt state of the spreading machine comprising a longitudinal tilt component and a transverse tilt component, it causes a discharge adjustment device of the spreading machine to make a change in the impact point in the circumferential direction and / or in the radial direction.

[0060] Discharge adjustment devices may be provided that allow a change in the impact point only in the circumferential direction or only in the radial direction. In this case, the previously described changes in the impact point can be approximated via the permitted direction. Further improvement of the spread pattern can be achieved by changing the disc speed.

[0061] Due to the previously described relationship between the residence time of the spreading material on the disc and its discharge velocity, longitudinal and / or transverse inclinations also lead to a change in the discharge velocity of the spreading material. To compensate for this change in discharge velocity and further improve the application of the spreading material, it may be possible to adjust the disc rotation speed, particularly via predefined relationships between disc rotation speed or changes in disc rotation speed and discharge velocity.

[0062] In each of the described cases, to compensate for the slope-related deviation of the spreading material's point of impact on the disc and / or the resulting deviations of the actual spreading pattern from a target spreading pattern, a target spreading pattern and / or derived and / or, in particular, georeferenced target values ​​for operating parameters and / or spreading parameters can be considered. Operating parameters include, for example, the point of impact, the disc rotation speed, and / or the disc geometry. Spreading parameters include, for example, the working width, the type of spreading material, the launch angle, and / or the launch velocity of the spreading material. Considering these target values ​​can involve a comparison of actual and target values.

[0063] In a further development of the method according to the invention, it may be possible to consider the magnitudes and directions of changes in the launch angle and / or spread of the scattering fan. It can be deduced whether inclination-related deviations are symmetrical or asymmetrical. Furthermore, a measure of the changes can be determined, particularly from the magnitudes. From the measure of the changes, a measure of the necessary compensations can be derived.

[0064] Furthermore, in a further development of the inventive method, it is possible to deduce whether a longitudinal slope and / or a transverse slope is present from the magnitudes and directions of the changes in the launch angle and / or spread of the spread. For example, a longitudinal slope can be derived from symmetrical changes in the launch angle and / or spread of the spread. For example, a transverse slope can be derived from asymmetrical changes in the launch angle and / or spread of the spread. Furthermore, asymmetrical changes in the launch angle and / or spread of the spread can be decomposed into a longitudinal and a transverse slope component in order to determine the changes in the impact point and / or required compensations more accurately and reliably.Relationships between changes in the launch angle and / or spread of the scattering fan and changes and / or positions of the point of impact of the spreading material on the disc can be stored, for example in the form of characteristic curves.

[0065] In a further development, the inventive method takes into account the current position of the point of impact of the spreading material on the disc. Due to the regulated and / or controlled operation of the spreading machine, different positions of the point of impact of the spreading material on the disc can occur. In particular, these positions do not have to be the same or symmetrical for all discs. For example, other control systems, such as those for wind compensation, may already have caused an asymmetrical position of the point of impact. Based on different positions of the point of impact of the spreading material on the disc, different changes in the discharge angle and / or spread can occur. Taking this into account leads to a correct determination of the changes due to the inclination.

[0066] In a further development, the method according to the invention can take into account measured values ​​from an additional tilt sensor arranged on the spreading machine. This allows the accuracy to be increased further.

[0067] Furthermore, the method may include issuing a warning message to inform the operator that a change in the point of impact required to compensate for the inclination of the spreading machine, either circumferentially and / or radially, is not fully or only partially achievable. The method may also include visually indicating a deviation of the actual point of impact of the spreading material on the spreading disc from a target point, caused by the inclination.

[0068] Regarding the launch angle, terms such as "increase" or "decrease" refer to a launch angle defined in the direction of travel between an axis passing through the center of the disc and pointing in the direction of travel, and a line connecting the center of the disc and the centroid of the angular distribution of the spread fan. It is clear to those skilled in the art that a different definition of the launch angle does not change the described technical relationships. The changes in the launch angle then remain the same in magnitude, but their signs may change. Other definitions of the launch angle might, for example, refer to an angle that - which is defined opposite to the direction of travel between an axis running through the center of the disc and pointing in the direction of travel, and a connecting line between the center of the disc and the center of gravity of the angular distribution of the scattering fan; or - which is defined between an axis running through the center of the disc and perpendicular to the direction of travel, and a connecting line between the center of the disc and the center of gravity of the angular distribution of the scattering fan.

[0069] The problem underlying the invention is further solved by a device of the type mentioned at the outset, wherein the device according to the invention has an electronic data processing device which is configured to determine a change in the inclination of the spreading machine on the basis of the change in the properties of the spreading fan detected by means of the sensor system.

[0070] In a preferred embodiment, the device according to the invention is configured to carry out the method for determining the inclination state of an agricultural spreading machine according to one of the embodiments described above. With regard to the advantages and modifications of the device according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention for determining the inclination state of an agricultural spreading machine.

[0071] The problem underlying the invention is further solved by an agricultural spreading machine of the type mentioned above, wherein the device for determining the inclination state of the spreading machine according to the invention is designed according to one of the embodiments described above and / or wherein the spreading machine is configured to be operated by means of a method according to one of the embodiments described above. With regard to the advantages and modifications of the agricultural spreading machine according to the invention, reference is therefore made to the advantages and modifications of the device according to the invention for determining the inclination state and to the advantages and modifications of the method according to the invention for operating an agricultural spreading machine.

[0072] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show: Fig. 1 An embodiment of a device according to the invention for determining the inclination state of an agricultural spreading machine in a schematic representation; Fig. 2 Sensor signals of a sensor system of a device according to the invention for determining the inclination state of an agricultural spreading machine in a schematic representation; Fig. 3 An embodiment of a device according to the invention for determining the inclination state of an agricultural spreading machine including control device in a schematic representation; Fig. 4. Shifts in the points of impact of the spreading material on the spreading discs and the resulting changes in the spreading pattern characteristics when the spreading machine is tilted backwards; Fig. 5 the changes in the spreading fan characteristics caused by a longitudinal tilt of the spreading machine to the rear in a diagram representation; Fig. 6. Shifts in the points of impact of the spreading material on the spreading discs and the resulting changes in the spreading pattern characteristics when the spreading machine is tilted forwards; Fig. 7. The changes in the spreading pattern characteristics caused by a longitudinal tilt of the spreading machine forward, shown in a diagram; Fig. 8. Shifts in the points of impact of the spreading material on the spreading discs and the resulting changes in the spreading pattern characteristics when the spreading machine is tilted to the left; Fig. 9. The changes in the spreading fan characteristics caused by a lateral tilt of the spreading machine to the left, shown in a diagram representation; Fig. 10 the changes in the spreading fan properties caused by a lateral tilt of the spreading machine to the right in a diagram representation; Fig. 11. Shifts in the impact points of the spreading material on the spreading discs and the resulting changes in the spreading pattern characteristics in the case of a combined longitudinal and transverse inclination of the spreading machine; and Fig. 12 the changes in spreading fan characteristics caused by a combined longitudinal and transverse inclination of the spreading machine in a diagram representation.

[0073] The Fig. Figure 1 shows a device 10 for determining the inclination state of an agricultural spreading machine 100. The spreading machine 100 can, for example, be a centrifugal fertilizer spreader, in particular with two spreading discs 20 arranged side by side.

[0074] The device 10 includes a sensor system 12 for detecting the scattering pattern. The sensor system 12 serves to detect properties of a scattering pattern 14 generated by the dropping of spreading material from a spreading disc 20.

[0075] The sensor system 12 comprises, by way of example, eight detection sensors 16a-16h, which are arranged over a rear circumferential section of the scattering disc 20. The detection sensors 16a-16h are attached to a sensor mount 18 and face away from the scattering disc 20. The detection direction of the detection sensors 16a-16h therefore points radially outwards with respect to the axis of rotation z of the scattering disc 20. The detection sensors 16a-16h detect the distribution of the scattering material after it is dropped from the scattering disc 20 during a flight phase, preferably in the immediate vicinity of the scattering disc 20. For this purpose, the detection sensors 16a-16h can be designed as radar sensors, optical sensors, or ultrasonic sensors and detect the distribution of the mass density of the material cloud of the scattering fan 14. Detection is achieved via the backscatter signal and / or by means of the Doppler effect.

[0076] The properties of the spreading fan 14 detected by the sensor system 12 are used by an electronic data processing device 24 to determine the inclination and / or change in inclination of the spreading machine 100.

[0077] The electronic data processing unit 24 can be part of the spreading machine 100. The electronic data processing unit 24 can also be an external device. For example, the electronic data processing unit 24 is part of a terminal, in particular an ISOBUS terminal.

[0078] The electronic data processing unit determines the change in inclination of the spreading machine 100 based on a detected discharge angle α of the spreading fan 14, which depends on the center of mass SP of the spreading fan 14, and / or based on a detected spread σ of the spreading fan 14. The center of mass is defined, for example, by the 50th percentiles in the radial and circumferential directions.

[0079] The inclination of the spreading machine is determined sensorially via the detected changes in the properties of the spreading fan 14. Therefore, an additional tilt sensor that directly measures the machine's inclination is not strictly necessary. However, such an additional tilt sensor can still be used for data verification.

[0080] Above the spreading disc 20, i.e., above the plane of the drawing, a discharge opening (not shown) is arranged, from which the spreading material is released towards the spreading disc 20. The spreading material impacts the spreading disc 20 in the area of ​​the impact point AP. The spreading disc 20 performs a rotational movement about the axis of rotation z, so that the spreading material, also under the influence of the guide elements 22a, 22b designed as discharge vanes, is thrown backwards from the spreading disc 20.

[0081] The Fig. Figure 2 shows sensor data from detection sensors 16a-16g of a sensor system 12 of a device for detecting the inclination state of a spreading machine 100. An electronic data processing device can calculate the spreading material distribution, in particular the angular distribution of the dispensed spreading material, using the sensor signals from the detection sensors 16a-16g.

[0082] The properties of the scattering pattern detected by the sensors 16a-16g of sensor system 12 can be checked, supplemented, and / or corrected using scattering data from a scattering database before the inclination is determined. The scattering database includes, for example, scattering data determined under laboratory conditions, which allows the properties of a scattering pattern to be precisely determined in the event of missing measurements or measurement inaccuracies from sensor system 12. The measured values ​​from sensor system 12 can therefore be combined with scattering data from a scattering database before the inclination is determined to increase the accuracy of the inclination determination. Alternatively or additionally, the measured values ​​can be processed, checked, and / or extended using stored tables or functions.

[0083] In the Fig. Figure 3 indicates that above the spreading discs 20a, 20b of a spreading machine designed as a centrifugal fertilizer spreader, 100 discharge adjustment devices 26a, 26b can be arranged, by means of which the position of discharge openings 28a, 28b for the spreading material above the spreading discs 20a, 20b can be adjusted. By means of an adjustment mechanism, the discharge openings 28a, 28b can be moved, for example, radially and / or circumferentially around the spreading discs 20a, 20b. The discharge adjustment devices 26a, 26b can be arranged in a lower section of a hopper for the spreading material. The lower section of the hopper can, for example, taper in a funnel shape towards the discharge openings 28a, 28b.

[0084] In the depicted state, the spreader 100 is horizontal, so there is no influence from any inclination. In this case, the spreading material exiting the discharge openings 28a, 28b falls vertically downwards and lands on the spreading discs 20a, 20b in the area of ​​the impact points AP1, AP2.

[0085] The scattering discs 20a, 20b are driven rotationally and perform rotary movements in the directions φ1, φ2 around the respective axes of rotation z1, z2.

[0086] In the illustrated embodiment, the data processing unit 24 is part of a control unit 30. Upon detecting a longitudinal and / or transverse inclination of the spreader 100, the control unit 30 causes the discharge adjustment devices 26a, 26b of the spreader 100 to change the positions of the impact points AP1, AP2 of the spreading material on the spreading discs 20a, 20b. For this purpose, the radial distance A can be adjusted, for example. rThe points of impact AP1, AP2 can be changed by the axes of rotation z1, z2 of the scattering disks 20a, 20b. Alternatively or additionally, the angle φ can be r between a reference axis r running in the direction of travel F and the connecting lines between the rotation axes z1, z2 of the scattering discs 20a, 20b and the impact points AP1, AP2.

[0087] The electronic data processing unit 24 takes into account the current positions of the discharge openings 28a, 28b above the spreading discs 20a, 20b when determining the inclination state of the spreading machine 100. For inclination determination, the data processing unit 24 also processes two properties of the spreading fans 14a, 14b, namely the discharge angles α1, α2 of the spreading fans 14a, 14b and / or the spreads σ1, σ2 of the spreading fans 14a, 14b. The discharge angle α1 refers to the spreading fan 14a. The discharge angle α2 refers to the spreading fan 14b. The spread σ1 refers to the spreading fan 14a. The spread σ2 refers to the spreading fan 14b.

[0088] The discharge angles α1, α2 are mean discharge angles. These angles are the angles between the reference axes r, running in the direction of travel F and through the axes of rotation z1, z2 of the spreading discs 20a, 20b, and the connecting lines v1, v2, linking the axes of rotation z1, z2 of the spreading discs 20a, 20b with the centers of gravity SP1, SP2 of the spreading fan 14a, 14b. The spreads σ1, σ2 describe the angular ranges within which the spreading material is released by the spreading discs 20a, 20b.

[0089] In the Fig. In the state shown in Figure 4, the spreader 100 is tilted backwards in the direction of travel F, for example, due to a slope. The spreader 100 has thus developed a longitudinal tilt about a pitch axis running transversely to the direction of travel F. Due to this longitudinal tilt, the impact points AP1 and AP2 move backwards in the opposite direction of travel F, resulting in the longitudinally tilt-related impact points AP1' and AP2'. When spreading uphill, the impact points AP1 and AP2 shift backwards parallel to the longitudinal axis, i.e., parallel to the direction of travel F. With respect to the axes of rotation z1 and z2, the impact points AP1 and AP2 have therefore shifted radially inwards and rotated against the directions of rotation φ1 and φ2 of the spreading discs 20a and 20b.

[0090] Due to the shift in the impact points AP1, AP2, the launch angles α1, α2 also change, resulting in new launch angles α1', α2' due to the new centers of gravity SP1', SP2' of the scattering fans 14a, 14b. Furthermore, the spreads σ1, σ2 change, resulting in the new spreads σ 1' , σ2'. These changed properties of the spreading fans 14a, 14b are detected by the detection sensors 16a-16h of the sensor system 12, so that the electronic data processing device 24 can determine the inclination state of the spreading machine 100 based on these changed properties of the spreading fans 14a, 14b.

[0091] The control device can then compensate for the influence of the inclination on the spreading of the spreading material by repositioning the discharge openings 28a, 28b of the discharge adjustment devices 26a, 26b. For example, the control device 30 can cause the discharge openings 28a, 28b to be repositioned forward in the direction of travel F, so that despite the machine's inclination, the original impact points AP1, AP2 of the spreading material on the spreading discs 20a, 20b are restored. Depending on the specific inclination situation, however, other impact points may also be suitable for inclination compensation.

[0092] The Fig. Figure 5 shows the development of the discharge angles α1, α2 of the spreading fans 14a, 14b and the development of the spreads σ1, σ2 of the spreading fans 14a, 14b with increasing rearward longitudinal tilt of the spreading machine 100. The illustration shows that the magnitudes of the discharge angles α1, α2 of the spreading fans 14a, 14b decrease with increasing rearward longitudinal tilt of the spreading machine 100. Thus, with increasing rearward longitudinal tilt of the spreading machine 100, the discharge angles α1', α2' are initially established. With further increasing rearward longitudinal tilt of the spreading machine 100, the discharge angles α1", α2" are established.

[0093] Furthermore, the figure illustrates that the magnitudes of the spreads σ1, σ2 of the spreading fans 14a, 14b increase with increasing rearward longitudinal inclination of the spreading machine 100. Thus, with increasing rearward longitudinal inclination of the spreading machine 100, the spreads σ 1', σ2'. With a further increasing backward longitudinal inclination of the spreading machine 100, the spreads σ1", σ2" are established.

[0094] The electronic data processing device 24 uses a longitudinal inclination relationship between the launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ to determine the inclination. 1' , σ2', (σ1", σ2" of the spreading fan 14a, 14b on the one hand and longitudinal inclination of the spreading machine 100 on the other. The longitudinal inclination relationship takes into account the in the Fig. 5. Depicted changes in the magnitudes of launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ 1' , σ2', σ1", σ2" with increasing forward longitudinal inclination of the spreading machine 100.

[0095] In the Fig. In the state shown in Figure 6, the spreader 100 is tilted forward in the direction of travel F, for example, due to a slope. The spreader 100 has thus developed a longitudinal tilt forward about a pitch axis running transversely to the direction of travel F. Due to this longitudinal tilt, the impact points AP1 and AP2 move forward in the direction of travel F, resulting in the longitudinally tilt-related impact points AP1' and AP2'. When spreading downhill, the impact points AP1 and AP2 shift forward parallel to the longitudinal axis, i.e., parallel to the direction of travel F. With respect to the axes of rotation z1 and z2, the impact points AP1 and AP2 have therefore shifted radially outwards and rotated in the direction of rotation φ1 and φ2 of the spreading discs 20a and 20b.

[0096] Due to the shift in the impact points AP1, AP2, the launch angles α1, α2 also change, resulting in new launch angles α1', α2'. Furthermore, the spreads σ1, σ2 change, resulting in the new spreads σ 1' , σ2'. These changed properties of the spreading fans 14a, 14b are detected by the detection sensors 16a-16h of the sensor system 12, so that the electronic data processing device 24 can determine the inclination state of the spreading machine 100 based on these changed properties of the spreading fans 14a, 14b.

[0097] The control device can then compensate for the influence of the inclination on the spreading of the spreading material by repositioning the discharge openings 28a, 28b of the discharge adjustment devices 26a, 26b. For example, the control device 30 can cause the discharge openings 28a, 28b to be repositioned rearward against the direction of travel F, so that despite the machine's inclination, the original impact points AP1, AP2 of the spreading material on the spreading discs 20a, 20b are restored. Depending on the specific inclination situation, however, other impact points may also be suitable for inclination compensation.

[0098] The Fig. Figure 7 shows the development of the discharge angles α1, α2 of the spreading fans 14a, 14b and the development of the spreads σ1, σ2 of the spreading fans 14a, 14b with increasing forward longitudinal tilt of the spreading machine 100. The illustration shows that the magnitudes of the discharge angles α1, α2 of the spreading fans 14a, 14b increase with increasing forward longitudinal tilt of the spreading machine 100. Thus, with increasing forward longitudinal tilt of the spreading machine 100, the discharge angles α1', α2' are initially established. With further increasing forward longitudinal tilt of the spreading machine 100, the discharge angles α1", α2" are established.

[0099] Furthermore, the figure illustrates that the magnitudes of the spreads σ1, σ2 of the spreading fans 14a, 14b decrease with increasing forward longitudinal inclination of the spreading machine 100. Thus, with increasing forward longitudinal inclination of the spreading machine 100, the spreads σ initially 1', σ2'. With a further increasing forward longitudinal inclination of the spreading machine 100, the spreads σ1", σ2" are established.

[0100] The electronic data processing device 24 uses a longitudinal inclination relationship between the launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ to determine the inclination. 1' , σ2', σ1", σ2" of the spreading fan 14a, 14b on the one hand and longitudinal inclination of the spreading machine 100 on the other. The longitudinal inclination relationship takes into account the in the Fig. 7. Depicted changes in the magnitudes of launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ 1' , σ2', σ1", σ2" with increasing forward longitudinal inclination of the spreading machine 100.

[0101] In the Fig. In the depicted state 8, the spreader 100 is tilted laterally to the left, for example, due to a slope. The spreader 100 has thus developed a lateral tilt about a roll axis running in the direction of travel F, laterally to the left. Due to this lateral tilt, the impact points AP1 and AP2 shift laterally to the left, perpendicular to the direction of travel F, resulting in the lateral tilt-induced impact points AP1' and AP2'. During the depicted spreading process, the impact points AP1 and AP2 therefore shift laterally to the left, or perpendicular to the direction of travel F. With respect to the axis of rotation z1, the impact point AP1 on the spreading disc 20a located on the downhill side has shifted radially outwards and rotated in the opposite direction of rotation φ1 of the spreading disc 20a.With respect to the axis of rotation z2, the point of impact AP2 on the uphill spreading disc 20b has shifted radially inwards and rotated in the direction of the direction of rotation φ2 of the spreading disc 20b.

[0102] Due to the shift in the impact points AP1, AP2, the launch angles α1, α2 also change, resulting in new launch angles α1', α2'. Furthermore, the spreads σ1, σ2 change, resulting in the new spreads σ 1' , σ2'. These changed properties of the spreading fans 14a, 14b are detected by the detection sensors 16a-16h of the sensor system 12, so that the electronic data processing device 24 can determine the inclination state of the spreading machine 100 based on these changed properties of the spreading fans 14a, 14b.

[0103] The control device 30 can then compensate for the influence of the inclination on the spreading of the spreading material by relocating the discharge openings 28a, 28b of the discharge adjustment devices 26a, 26b. For example, the control device 30 can relocate the discharge openings 28a, 28b transversely to the right of the direction of travel F, so that despite the machine's inclination, the original impact points AP1, AP2 of the spreading material on the spreading discs 20a, 20b are restored. Depending on the specific inclination situation, however, other impact points may also be suitable for inclination compensation.

[0104] The Fig. Figure 9 shows the development of the discharge angles α1, α2 of the spreading fans 14a, 14b and the development of the spread angles σ1, σ2 of the spreading fans 14a, 14b with increasing leftward tilt of the spreading machine 100. The illustration shows that the magnitude of the discharge angle α1 of the spreading fan 14a decreases with increasing leftward tilt of the spreading machine 100, and that the magnitude of the discharge angle α2 of the spreading fan 14b increases with increasing leftward tilt of the spreading machine 100. Thus, with increasing leftward tilt of the spreading machine 100, the discharge angles α1', α2' are initially established. With further increasing leftward tilt of the spreading machine 100, the discharge angles α1", α2" are established.

[0105] Furthermore, the figure illustrates that the magnitude of the spread σ1 of the spreading fan 14a decreases with increasing leftward tilt of the spreading machine 100, and that the magnitude of the spread σ2 of the spreading fan 14b increases with increasing leftward tilt of the spreading machine 100. Thus, with increasing leftward tilt of the spreading machine 100, the spreads σ initially 1' , σ2'. With a further increasing leftward cross-tilt of the spreading machine 100, the spreads σ1", σ2" are established.

[0106] The electronic data processing device 24 uses a cross-slope relationship between the launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ to determine the inclination. 1' , σ2', σ1", σ2" of the spreading fan 14a, 14b on the one hand and the cross slope of the spreading machine 100 on the other. The cross slope relationship takes into account the in the Fig. 9. Changes in the magnitudes of the drop angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ1', σ2', σ1", σ2" are shown with increasing leftward cross-inclination of the spreading machine 100.

[0107] The Fig. Figure 10 shows the development of the discharge angles α1, α2 of the spreading fans 14a, 14b and the development of the spread angles σ1, σ2 of the spreading fans 14a, 14b with increasing cross-inclination of the spreading machine 100 to the right. The illustration shows that the magnitude of the discharge angle α1 of the spreading fan 14a increases with increasing rightward cross-inclination of the spreading machine 100, and that the magnitude of the discharge angle α2 of the spreading fan 14b decreases with increasing rightward cross-inclination of the spreading machine 100. Thus, with increasing rightward cross-inclination of the spreading machine 100, the discharge angles α1', α2' are initially established. With further increasing rightward cross-inclination of the spreading machine 100, the discharge angles α1", α2" are established.

[0108] Furthermore, the figure illustrates that the magnitude of the spread σ1 of the spreading fan 14a increases with increasing rightward cross-inclination of the spreading machine 100, and that the magnitude of the spread σ2 of the spreading fan 14b decreases with increasing rightward cross-inclination of the spreading machine 100. Thus, with increasing rightward cross-inclination of the spreading machine 100, the spreads σ initially 1' , σ2'. With a further increasing rightward cross-tilt of the spreading machine 100, the spreads σ1", σ2" are established.

[0109] The electronic data processing device 24 uses a cross-slope relationship between the launch angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ to determine the inclination. 1' , σ2', σ1", σ2" of the spreading fan 14a, 14b on the one hand and the cross slope of the spreading machine 100 on the other. The cross slope relationship takes into account the in the Fig. 10. Changes in the magnitudes of the drop angle α1, α2, α1', α2', α1", α2" and / or spread σ1, σ2, σ1', σ2', σ1", σ2" are shown with increasing rightward cross slope of the spreading machine 100.

[0110] In the Fig. In the depicted state, the spreader 100 is tilted forward in the direction of travel F and laterally to the left, for example, due to a slope. The spreader 100 thus exhibits a longitudinal tilt forward about a pitch axis running transversely to the direction of travel F and a lateral tilt to the left about a roll axis running in the direction of travel F. Due to the combined longitudinal and lateral tilt of the spreader 100, the impact points AP1 and AP2 move forward in the direction of travel F and laterally to the left, resulting in the longitudinal and lateral tilt-related impact points AP1' and AP2'. During the depicted spreading process, the impact points AP1 and AP2 therefore shift forward in the direction of travel F and laterally to the left. With respect to the axis of rotation z1, the impact point AP1 on the spreading disc 20a located on the downhill side has shifted radially outwards.With respect to the axis of rotation z2, the point of impact AP2 on the uphill spreading disc 20b has rotated in the direction of rotation φ2 of the spreading disc 20b.

[0111] Due to the shift in the impact points AP1, AP2, the launch angles α1, α2 also change, resulting in new launch angles α1', α2'. Furthermore, the spreads σ1, σ2 change, resulting in the new spreads σ 1' , σ2'. These changed properties of the spreading fans 14a, 14b are detected by the detection sensors 16a-16h of the sensor system 12, so that the electronic data processing device 24 can determine the inclination state of the spreading machine 100 based on these changed properties of the spreading fans 14a, 14b.

[0112] The control device 30 can then compensate for the influence of the inclination on the spreading of the spreading material by repositioning the discharge openings 28a, 28b of the discharge adjustment devices 26a, 26b. For example, the control device 30 can reposition the discharge openings 28a, 28b backwards against the direction of travel F and to the right perpendicular to the direction of travel F, so that despite the machine's inclination, the original impact points AP1, AP2 of the spreading material on the spreading discs 20a, 20b are restored. Depending on the specific inclination situation, however, other impact points may also be suitable for inclination compensation.

[0113] The Fig. Figure 12 shows the development of the discharge angles α1, α2 of the spreading fans 14a, 14b and the developments of the spreads σ1, σ2 of the spreading fans 14a, 14b with increasing combined longitudinal and transverse inclination at the spreading machine 100. The illustration shows that longitudinal inclination-related symmetrical changes occur with respect to the discharge angles (cf. α 1'L , α 2'L ) and cross-slope-related asymmetric changes (see α 1'q , α 2'q ). Furthermore, the diagram shows that longitudinal slope-related symmetrical changes also occur with respect to the spreads (see σ). 1'L , σ 2'L ) and cross-slope-related asymmetric changes (see σ) 1'q , σ 2'q ). Thus, with increasing combined longitudinal and transverse inclination of the spreading machine 100, the discharge angles α1', α2' are established.

[0114] The electronic data processing device 24 uses a longitudinal and transverse inclination relationship between the launch angle α1, α2, α1', α2' and / or the spread σ1, σ2, σ to determine the inclination. 1' , σ2' of the spreading fan 14a, 14b on the one hand and longitudinal and transverse inclination of the spreading machine 100 on the other. The longitudinal and transverse inclination relationship takes into account the in the Fig. Figure 12 shows the changes in the magnitudes of the drop angle α1, α2, α1', α2' and / or spread σ1, σ2, σ1', σ2' with increasing combined longitudinal and transverse inclination of the spreading machine 100. Reference sign 10. Setup 12 Sensor system 14, 14a, 14b Scatter fan 16a-16h Detection sensors 18 Sensor holder 20, 20a, 20b Scatter discs 22a, 22b Conductive elements 24 Data processing equipment 26a, 26b Outlet adjustment devices 28a, 28b Outlet openings 30 Control unit 100 spreader A r radial spacing F Direction of travel φ r Angle to the reference axis φ1, φ2 directions of rotation z, z1, z2 axes of rotation r Reference axis SP, SP1, SP2 Focus Areas SP1', SP2' Focus Areas v1, v2 connecting lines AP, AP1, AP2 impact points AP1', AP2' Impact Points α, α1, α2 Launch angle α1', α2' Launch angle α1' q , α2' q fictitious cross-slope-induced drop angle α1' l , α2' l fictitious launch angle due to longitudinal inclination α1", α2" Launch angle σ, σ1, σ2 Spreads σ1', σ2' spreads σ1' q , σ2' q fictitious cross-slope-induced spreading σ1' L , σ2' L fictitious longitudinal slope-related spreads σ1", σ2" Spreads

Claims

[1] Method for determining the inclination state of an agricultural spreading machine (100), comprising the step: - Detecting the properties of a spreading fan (14, 14a, 14b) produced by dropping spreading material from a spreading disc (20, 20a, 20b) of the spreading machine (100) by means of a sensor system (12) of the spreading machine (100) for detecting the spreading fan; characterized by the step: - Determining a change in the inclination of the spreading machine (100) based on the change in the properties of the spreading fan (14, 14a, 14b) detected by the sensor system (12) by an electronic data processing device (24). [2] Method according to claim 1, characterized by, that the electronic data processing device (24) takes into account, when determining the change in inclination of the spreading machine (100), the current position of a discharge opening (28a, 28b) relative to the spreading disc (20, 20a, 20b), for example above the spreading disc (20, 20a, 20b), through which the spreading material is discharged in the direction of the spreading disc (20, 20a, 20b). [3] Method according to claim 1 or 2, characterized by , that the properties of the spreading fan (14, 14a, 14b) detected by the sensor system (12) include the launch angle (α, α1, α2, α1', α2', α1", α2") of the spreading fan (14, 14a, 14b), so that the electronic data processing device (24) determines the change in inclination of the spreading machine (100) based on the change in the launch angle (α, α1, α2, α1', α2', α1", α2") of the spreading fan (14, 14a, 14b). [4] Method according to any of the preceding claims, characterized by, that the properties of the scattering fan (14, 14a, 14b) detected by the sensor system (12) determine the spread (σ, σ1, σ2, σ 1' , σ2', σ1", σ2") of the scattering fan (14, 14a, 14b) include, such that the electronic data processing device (24) can determine the change in inclination of the scattering machine (100) based on the change in the spread (σ, σ1, σ2, σ 1' , σ2', σ1", α2") of the scattering fan (14, 14a, 14b) determined. [5] Method according to any of the foregoing claims, characterized by , that the electronic data processing device (24) calculates the longitudinal inclination and / or the transverse inclination of the spreading machine (100) on the basis of the determined change in inclination of the spreading machine (100). [6] Method according to any of the foregoing claims, characterized by, that the electronic data processing device (24) determines the longitudinal inclination of the spreading machine (100) via a longitudinal inclination relationship between the discharge angle (α, α1, α2, α1', α2', α1", α2") and / or the spread (σ, σ1, σ2, σ 1' , σ2', σ1", σ2") of the spreading fan (14, 14a, 14b) and the longitudinal inclination of the spreading machine (100) is calculated. [7] Method according to claim 6, characterized by , that the longitudinal slope relationship used by the electronic data processing device (24) takes into account that the magnitude of the spread (σ, σ1, σ2, σ 1' , σ2', σ1", σ2") of the spreading fan (14, 14a, 14b) as a function of the longitudinal inclination of the spreading machine (100). [8] Method according to any of the foregoing claims, characterized by, that the electronic data processing device (24) determines the cross slope of the spreading machine (100) via a cross slope relationship between the discharge angle (α, α1, α2, α1', α2', α1", α2") and / or the spread (σ, σ1, σ2, σ 1' , σ2', σ1", σ2") of the spreading fan (14, 14a, 14b) and the cross slope of the spreading machine (100) is calculated. [9] Method according to any of the foregoing claims, characterized by , that the electronic data processing device (24) in the event of a combined longitudinal and transverse inclination of the spreading machine (100) - longitudinal inclination-related components of the change in the launch angle (α, α1, α2, α1', α2', α1", α2") and / or the change in the spread (σ, σ1, σ2, σ 1' , σ2', σ1", σ2") of the spreading fan (14, 14a, 14b) assigns the longitudinal inclination of the spreading machine (100); and / or - cross slope-related components of the change in the launch angle (α, α1, α2, α1', σ2', α1", α2") and / or the change in the spread (σ, σ1, σ2, σ1' , σ2', σ1", σ2") of the scatter fan (14, 14a, 14b) of the cross slope. [10] Method for operating an agricultural spreading machine (100), comprising the steps: - Determining the inclination state of the agricultural spreading machine (100); and - Adjusting the spreading material application to a spreading disc (20, 20a, 20b) of the spreading machine (100) depending on the determined inclination state of the spreading machine (100) to compensate for the influence of the inclination of the spreading machine (100) on the spreading material application; characterized by , that the determination of the inclination state of the agricultural spreading machine (100) is carried out using a method according to one of the preceding claims. [11] Method according to claim 10, characterized by, that the adjustment of the spreading material application to the spreading disc (20, 20a, 20b) of the spreading machine (100) is carried out by adjusting a discharge adjustment device (26a, 26b) of the spreading machine (100), via which the position and / or the shape of a discharge opening (28a, 28b) for the spreading material above the spreading disc (20, 20a, 20b) can be adjusted in the circumferential direction and / or in the radial direction of the spreading disc (20, 20a, 20b). [12] Method according to claim 11, characterized by , that a control device (30) upon detecting a longitudinal inclination of the spreading machine (100) causes the discharge adjustment device (26a, 26b) of the spreading machine (100) to make a change in the position of the point of impact (AP, AP1, AP2, AP1', AP2') of the spreading material on the spreading disc (20, 20a, 20b) in the circumferential direction and / or in the radial direction. [13] Method according to claim 11 or 12, characterized by, that a control device (30) upon detecting a transverse inclination of the spreading machine (100) causes the discharge adjustment device (26a, 26b) of the spreading machine (100) to make a change in the position of the point of impact (AP, AP1, AP2, AP1', AP2') of the spreading material on the spreading disc (20, 20a, 20b) in the circumferential direction and / or in the radial direction. [14] Device (10) for determining the inclination state of an agricultural spreading machine (100), with - a sensor system (12) of the spreading machine (100) for the purpose of detecting the spreading fan, which is designed to detect the properties of a spreading fan (14, 14a, 14b) produced by dropping spreading material from a spreading disc (20, 20a, 20b) of the spreading machine (100); characterized byan electronic data processing device (24) which is configured to determine a change in the inclination of the spreading machine (100) based on the change in the properties of the spreading fan (14, 14a, 14b) detected by means of the sensor system (12); wherein the device (10) is preferably configured to carry out the method for determining the inclination state of an agricultural spreading machine (100) according to one of claims 1 to 9. [15] Agricultural spreading machine (100), with - a device (10) for determining the inclination state of the agricultural spreading machine (100); and - a discharge adjustment device (26a, 26b) by means of which the spreading material feed onto a spreading disc (20, 20a, 20b) of the spreading machine (100) can be adapted depending on the determined inclination state in order to compensate for the influence of the inclination of the spreading machine (100) on the spreading material application; characterized by, that the device (10) for determining the inclination state is designed according to claim 14 and / or the spreading machine (100) is designed to be operated by means of a method according to one of claims 10 to 13.

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