Control device for the height control of a spreading boom of an agricultural machine, method for the height control of the spreading boom and agricultural machine

Abstract

A control device (1) for the height control of a spreading boom (2) of an agricultural machine (M), preferably an agricultural spreading machine, wherein the control device (1) comprises a supply unit (3) which is configured to supply an actuating device (20) with an operating medium, and wherein the actuating device (20) is configured for the height control of the spreading boom (2) relative to a target surface (Z), and wherein the control device (1) comprises at least one sensor device (4) which is configured at least for detecting changes in the height of the spreading boom (2) relative to the target surface (Z). According to the invention, the control device (1) comprises a valve device (5) and the control device (1) is configured to simulate a load request of the actuating device (20) depending on a detected change in height by means of a control and / or regulation of the valve device (5).

Description

[0001] The present invention relates to a control device for height control of a distribution boom of an agricultural machine, preferably an agricultural spreading machine. The control device comprises a supply unit configured to supply an actuator with an operating medium, and the actuator is configured to height control the distribution boom relative to a target area. The control device has at least one sensor configured to at least detect height changes of the distribution boom relative to the target area. The present invention also relates to a method for height control of the distribution boom of the agricultural machine and to an agricultural machine.

[0002] State-of-the-art agricultural machinery is used to distribute liquid and / or solid agricultural agents over the agricultural area to be treated. To achieve the greatest possible impact, such spreading machines feature a wide distribution boom extending transversely to the direction of travel of the spreading machine. Distribution elements such as spray nozzles, impact elements, or the like are attached to the distribution boom to distribute the respective active agents.

[0003] During application, the distance between the distribution boom and the field soil or the crop should remain as constant as possible across the entire working width. To control the height of the distribution boom, particularly for adjusting its height relative to a crop, it is known from the prior art to mount the distribution boom on the carrier vehicle using an adjusting device that can be adjusted in height. The adjusting device is operated by a control device. Furthermore, adjusting devices are known for adjusting the pivot position of the distribution boom about a pivot axis running in the direction of travel or for adjusting the angle of the booms relative to one another or of boom segments relative to one another.

[0004] In order to detect the heights within the scope of the height control of the distribution boom, it is also known from the prior art to provide ultrasonic sensors on the distribution boom that are oriented towards the crop, i.e., directed essentially vertically downwards, with which an actual distance of the distribution boom to the crop or to the field can be detected.

[0005] However, known systems for height control of the distribution boom that use such ultrasonic sensors have the disadvantage that the boom height control can often react too late to changing height distances between the distribution boom and the crop. This is due to the comparatively long system response time, i.e., the time that elapses between the detection of the height and an actual adjustment, i.e., a change in the height of the distribution boom.

[0006] This reaction time is influenced, for example, by a comparatively high mass inertia of the linkage, the reaction time of the actuating device, e.g. a hydraulic system thereof, and the processing time of the sensor data.

[0007] The object of the present invention is therefore to provide an improved height control of the distribution boom of the agricultural spreading machine in order to overcome the disadvantages of the prior art.

[0008] The underlying problem is solved by a control device having the features of patent claim 1, by a method having the features of patent claim 10 and by an agricultural machine according to claim 13.

[0009] A core idea of ​​the present invention is to provide a control device for height control of a distribution boom of an agricultural machine, preferably a spreading machine. The control device has a supply unit configured to supply an actuating device with an operating medium. The actuating device is configured to height control the distribution boom relative to a target area. The control device has at least one sensor device configured to detect at least changes in height of the distribution boom relative to the target area.

[0010] The actuating device can preferably be regarded as part of the control device.

[0011] According to the invention, the control device comprises a valve device. Preferably, the control device is configured to simulate a load requirement of the actuating device by means of a control and / or regulation of the valve device, depending on a detected change in height.

[0012] An agricultural target area or target area can be, for example, a soil or field soil of the area to be cultivated, a plant population or the like.

[0013] The operating medium can be a fluid, such as (hydraulic) oil, an oil mixture, a gas such as air, or the like. Depending on the design of the system or control device, the operating medium can vary and is selected accordingly.

[0014] In the present context, a simulated load request of the actuating device is to be understood as meaning that no load request has actually been transmitted or sent by the actuating device to the system or the control device, preferably at the current time, in order to actuate the actuating device accordingly depending on the detected change in height, that is to say, for example, to extend or retract a piston or the like.

[0015] The system or entire system may comprise the control device, and preferably further components such as the actuating device, lines, supply lines, nodes, distribution points, operating fluid sump, further sensors, pressure accumulators, or the like.

[0016] An (actual) load request from the actuating device is transmitted to the system or control device when a target height at which the distribution rod is to be guided relative to the target area actually changes due to a change in height and the actuating device has to readjust the target height of the distribution rod.

[0017] The term "height control" is understood to mean that the distribution boom of the agricultural machine can or must be controlled and / or regulated in such a way that the distribution boom is positioned at the desired height and / or remains at the desired height. Changes in the desired height may occur purely by way of example and are not exhaustive, due to changes in plant height, gradients, driving maneuvers, e.g., during fast cornering, or the like.

[0018] In order to counteract this actual height change, i.e. an actually existing change in the target height, the invention accordingly provides for a load request from the actuating device to be simulated. A simulation of a load request from the actuating device means, as already described, that at the current time there is no load request from the actuating device, but due to an expected height change, i.e. a change in the target height, there will be a height change upstream of the distribution rod and the associated load request. The system, in particular the control device, is accordingly prepared, in particular controlled and / or regulated, for the upcoming and future change in the target height by simulating a load request based on the detected height change.

[0019] This has the advantage of reducing or minimizing the response time for height control. The response time for height control can be understood as the technically determined delay that elapses between the detection of a change in the target height and the (active) height control of the distribution boom.

[0020] As already mentioned above, the reaction time in this case is influenced, for example, by the processing time of the sensor data, the reaction time of the actuating device, e.g. a corresponding reaction time of the hydraulics in the case of hydraulic actuating devices, and the mass inertia of the distribution rod.

[0021] By predictively detecting height changes, a simulated load demand can be generated for the actuating device based on the expected change in the target height before the change in the target height is actually experienced. Accordingly, the reaction time for this adjustment can be at least partially, preferably completely, compensated. Advantageously, a faster adjustment of the height guide of the distribution boom to changing target distances can be achieved.

[0022] The term "target height" can be understood to mean that the distribution boom should have an adjustable and / or preset height or distance from the target area in order to be able to treat the target area as desired by the user. Likewise, the target height can be measured or defined as a distance between the underside of the distribution boom and the top side of the target area, for example, the top side of a plant stand, whereby other options for determining the target height are also conceivable.

[0023] This means that elevation changes are expected, but there are currently no changes in the target elevation. This could mean, for example, that a change in the target elevation is in the future and it has already been detected that a change in the target elevation will occur at a future point in time.

[0024] According to a first general aspect, a control device for an agricultural machine, also described as an agricultural spreading machine, is provided. The spreading machine comprises the distribution boom for spreading material, such as fertilizer, pesticide, or seed. The distribution boom, which may also be referred to below as the boom, comprises, purely by way of example and not by way of limitation, two lateral booms (boom wings), each of which may have a plurality of spreading elements for spreading the material. The distribution boom preferably further comprises a central part, on which the lateral booms are each pivotably mounted on the central part about an axis (boom axis) running in the direction of travel. The central part may also have a plurality of spreading elements for spreading the material.

[0025] The agricultural spreading machine can be, for example, self-propelled or trailed field sprayers or (pneumatic) fertilizer spreaders, although other agricultural machines are also conceivable.

[0026] The spreading machine can be a field sprayer, in which the spreading elements are designed as spray nozzles. The spreading machine can also be a pneumatic fertilizer spreader, in which granular spreading material can be conveyed along distribution lines arranged at least in sections on the distribution boom, toward the spreading elements by means of an air flow. In this case, the spreading element can have, for example, a deflector plate.

[0027] The adjusting device, preferably a controllable and / or adjustable adjusting device, is designed to change a height or a distance of the distribution boom of the agricultural spreading machine relative to an agricultural target area to be worked.

[0028] According to a particularly preferred embodiment, it can be provided that the sensor device is designed to detect height changes of the distribution boom in the direction of travel in front of the distribution boom.

[0029] The height changes can occur due to a change in plant growth and / or a change in the soil of the agricultural area and / or similar factors. If the height changes in front of the distribution boom can be detected by the sensor device while traveling in the direction of travel, particularly forward, the load requirement can be simulated by the control device even before an actual height change of the distribution boom occurs. The entire system can therefore be controlled and / or regulated accordingly in advance, so that an actual height change can be proactively counteracted based on the height change detected in front of the distribution boom.

[0030] Particularly preferably, it is further possible to detect an area or a section or a partial area of ​​the target area and to be able to draw conclusions about the height changes accordingly. In particular, it can be provided that the area can extend over a certain length in the direction of travel. This can mean that the sensor device can detect the entire length in the direction of travel, starting at a point A, which lies in front of the distribution boom, up to a point B, which is also in front of the distribution boom. Point B is preferably located at a distance in front of point A, as seen in the direction of travel. Particularly preferably, one or more measuring points can be provided by the sensor device, wherein the provision of several measuring points enables detailed detection of height differences. It can also be provided that a sensor has several sensor elements, each of which can detect a specific area.Preferably, the sensor elements of a sensor can be arranged such that the areas are arranged one behind the other and / or next to each other.

[0031] The same can also apply to an area in a width direction, which preferably runs perpendicular to the direction of travel. Particularly preferably, the direction of travel and the width direction form a plane that is parallel to a horizontal plane.

[0032] According to a further preferred embodiment, the sensor device can comprise at least one sensor. The sensor device can therefore preferably have one, two, three, or more sensors, depending on the requirements and application. By providing preferably multiple sensors, ideally the entire width of the distribution boom can be covered with sensors for detecting height changes, thus providing the most effective height control possible.

[0033] Particularly preferably, the sensor device is designed in such a way that, given its application in agriculture, it is relatively insensitive to disruptive factors. Disturbing factors could include, for example, stirred-up dust, vibrations of the distribution boom, fog, rain, glare from sunlight, little or no sunlight, or the like.

[0034] According to a further preferred embodiment, each sensor may be selected from the group comprising: radar sensor, ultrasonic sensor, optical sensor, and any combination thereof.

[0035] As already mentioned, a plurality of measuring points is advantageous, so that according to a further preferred embodiment, the radar sensor is preferred. Alternatively or cumulatively, it is conceivable to detect an area using one or more ultrasonic sensors, whereby the single ultrasonic sensor should be configured to have multiple measuring points.

[0036] The optical sensor can, for example, be a laser scanner that is designed to scan a flat area.

[0037] Furthermore, according to a preferred embodiment, it can be provided that the control device is configured to transmit the simulated load request to the supply unit as a control signal for the supply unit.

[0038] This can mean that the supply unit is controlled accordingly based on the generated and simulated load demand of the actuating device, thus influencing the entire system or control device. Because the supply unit is controlled according to the simulated load demand, this can mean that, depending on the design, operating resources can be added to or removed from the entire system or actuating device. For example, additional operating resources can be added to or removed from the system via the supply unit in order to quickly control the actuating device when an actual load demand is encountered.

[0039] Particularly preferably, the change in the volume of operating fluid results in a corresponding change in pressure in the system.

[0040] According to a further preferred embodiment, the adjusting device can be provided with at least one actuator. Since the distribution rod assembly can also consist of several parts, the outriggers and the central section, it is advantageous for each of these parts to be assigned at least one separate actuator. This allows for further optimization of the height control.

[0041] According to a further preferred embodiment, it can be provided that an actuator can be designed as a double-acting cylinder. By designing the actuator as a double-acting cylinder, a single component can effectively achieve an upward and downward change in the height of the distribution rod. Alternative configurations, such as providing two single-acting cylinders instead of the double-acting cylinder, are also conceivable, although a reduced number of components is preferred.

[0042] According to a further embodiment, the supply unit can be a pump with adjustable delivery volume and / or delivery pressure. Further preferably, the supply unit can be configured to adjust the delivery volume and / or delivery pressure depending on the load requirement. The load requirement can be a simulated load requirement and / or an actual load requirement.

[0043] By preferably providing the supply unit as a pump with adjustable or variable delivery volume and / or delivery pressure, it is possible to react particularly easily and quickly to load requirements and to provide the appropriate operating resources.

[0044] According to an alternative embodiment, the supply unit can be a pump with a constant delivery volume and / or delivery pressure. In order to provide additional operating fluid or to remove operating fluid, the delivery rate of the pump can be limited by additional components, which are preferably arranged downstream of the pump or upstream of the pump in terms of flow. For example, throttle elements that can adjust the delivery volume and / or the delivery pressure could be provided. Particularly preferably, these components could be controlled and / or regulated by the control device according to or depending on the load requirement.

[0045] Furthermore, it could be conceivable for the supply unit to consist of two or more pumps. It would also be conceivable to combine a pump with a constant flow rate and / or discharge pressure with a pump with an adjustable flow rate and / or discharge pressure. The constant-flow pump could provide a certain base level of flow rate and / or discharge pressure, and the adjustable-flow pump could respond to corresponding load requirements.

[0046] According to a further preferred embodiment, the valve device may comprise a first valve. Preferably, the first valve may be a directional control valve and / or a pressure control valve. More preferably, the directional control valve is a 2 / 2-way valve.

[0047] According to a further preferred embodiment, it can be provided that the first valve is arranged between a pressure connection of the supply unit and a control connection of the supply unit and is operatively connected to each of these, in particular fluidically connected.

[0048] This makes it possible to provide a certain type of control for the supply unit by connecting the pressure connection to the control connection, preferably depending on the load requirement.

[0049] According to a further preferred embodiment, the control device can be a hydraulic and / or pneumatic and / or electrical control device. This can mean that the control device has means for hydraulic, pneumatic and / or electrical command transmission, wherein the command transmission can preferably be carried out via a wired connection, a wired connection, and / or both wired and wirelessly. The control device is particularly preferably an electrohydraulic control device.

[0050] According to a further preferred embodiment, the control device may comprise a control block, in particular a load-signaling control block, preferably with a load-signaling connection. Further preferably, the load-signaling connection is operatively connected to the supply unit and to the valve device.

[0051] The term “load reporting” may also be known as “load sensing” (LS).

[0052] The control block can also be called a hydraulic block or load-sensing block.

[0053] The control block is designed to regulate the flow of operating fluids between pumps, actuators and other components of the system.

[0054] Particularly preferably, the load signaling connection can be connected to the control connection of the supply unit.

[0055] According to a preferred embodiment, it can be provided that the control device is operatively connected to an electronic control unit or comprises the electronic control unit.

[0056] Particularly preferably, the electronic control unit is configured to receive sensor signals from the sensor device. Further preferably, the electronic control unit can be configured to process the received sensor signals.

[0057] Particularly preferably, the operating medium flow between the supply unit and the actuating device can be defined by means of the control block and adjusted if necessary.

[0058] A further core idea of ​​the present invention is to provide a method for height control of a distribution boom of an agricultural machine, preferably an agricultural spreading machine, comprising the method steps: a) Providing a control device with a supply unit for supplying an actuating device with an operating means for height control of the distribution rod relative to a target surface, and with a sensor device, b) detecting a change in height of the distribution boom relative to the target area by means of the sensor device, c) Simulating a load requirement of the actuator by controlling and / or regulating the valve device depending on the detected height change.

[0059] Preferably, it can also be provided that the method in method step a) provides a control device according to an embodiment.

[0060] According to a further preferred embodiment, it can be provided that the height changes in the direction of travel are detected upstream of the distribution boom. This makes it possible to proactively counteract the height changes. This can preferably mean that the sensor device 4 is arranged on the distribution boom 2 in such a way that the sensor device 4 can detect height changes to such an extent that the simulation of the load requirement can be carried out before the height change is reached. Parameters that may be considered for this purpose are travel speed, system response time, processing times of sensor signals, signal transmission, and / or the like.

[0061] Particularly preferably, the load requirement is simulated before an actual load requirement occurs. This allows the system or control device to be adapted accordingly to the impending load requirement.

[0062] According to a further preferred embodiment, it can be provided that the simulated load request is transmitted to the supply unit as a control signal for the supply unit.

[0063] Likewise, a further core idea of ​​the present invention is to provide an agricultural machine, preferably an agricultural spreading machine, which preferably has a control device according to one of claims 1 to 9, and / or which is designed to carry out a method according to one of claims 10 to 12.

[0064] Preferably, the term "control device" can refer to electronics (e.g., implemented as a driver circuit or with microprocessor(s) and data memory) and / or a mechanical, pneumatic, and / or hydraulic control system, which, depending on its design, can perform control tasks and / or regulation tasks and / or processing tasks. Even if the term "control" is used herein, it can also appropriately include or mean "regulation" or "control with feedback" and / or "processing."

[0065] The explanations regarding the features apply to both the device claims and the method claims in a corresponding manner.

[0066] For the purposes of the application, features disclosed in conjunction with other features may also be considered as being disclosed on their own.

[0067] All features disclosed for the control device, the agricultural machine and the method can be used in a corresponding manner with each other.

[0068] Further advantageous embodiments emerge from the subclaims.

[0069] Further objects, advantages, and benefits of the present invention will become apparent from the following description taken in conjunction with the accompanying drawings, in which: Fig. 1 a schematic representation of an agricultural machine; Fig. 2A-2C Detecting altitude changes Fig. 3A-3F embodiments of a control device; Fig. 4 schematic representation of a method according to an embodiment.

[0070] In the figures, identical components are designated by the same reference symbols, although in some figures the reference symbols may be omitted for the sake of clarity.

[0071] In the Fig. In FIG. 1, the agricultural machine M is designed, for example, as a towed field sprayer, i.e., as an agricultural field sprayer that can be coupled or towed by a towing vehicle (not shown here). The direction of travel F is indicated by the corresponding arrow. The longitudinal extension direction of the distribution boom is indicated by the arrow L, which can also correspond to the width direction of the machine 1.

[0072] The machine M has a distribution boom 2, which is directly or indirectly mounted on a carrier vehicle 16, for spreading material such as fertilizer, pesticide, or seed. In the case of a field sprayer, the material to be spread is a spray liquid. The distribution boom 2 comprises two lateral arms 17, which are pivotally attached at their inner end to a central part 18 and have an outer free end. The distribution boom 2 can, for example, have working widths of more than 20 meters. The distribution boom 2 or the arms 17 can be formed, at least in sections, by a lattice-like rod structure or by a lattice construction. Furthermore, the rod structure or the lattice construction has a greater height than depth.

[0073] The two lateral booms 17 and the central part 18 each have a plurality of dispensing elements for dispensing the material, e.g. spray nozzles arranged at a distance in the longitudinal direction of the distribution boom.

[0074] The central section 18 is mounted on the carrier vehicle 16 in a height-adjustable manner by means of an adjusting device 20 for adjusting the height of the central section 18 in order to adjust its height relative to an agricultural target area Z to be worked. The adjusting device 20 for adjusting the height of the central section 18 comprises a height-adjustable lifting frame 19 to which the central section 18 is mounted. The lifting frame 19 is mounted on the carrier vehicle 16 in a height-adjustable manner by means of a parallelogram linkage 21 in a manner known per se. The adjusting device 20 for adjusting the height of the central section 18 further comprises at least one actuatable actuator 8, which is supported at one end on the carrier vehicle 16 and at the other end on the lifting frame 19. The adjusting device 20 can thus raise and lower the entire distribution boom 2 for height control.

[0075] The agricultural machine M can have a sensor device 4. This is designed to detect changes in the height of the distribution boom 2 relative to a target area Z located in front of the distribution boom. The sensor device 4 comprises, purely by way of example, two sensors 7 on each boom 17, although other arrangements and more or fewer than two sensors 7 per boom 17 are also conceivable.

[0076] In the following Fig. 2A to 2C show different scenarios in which a change in height occurs, i.e. a target height S is changed relative to or compared to the target area Z. Purely schematically, in each of the Fig. 2A to 2C show the distribution rod 2 and the sensor device 4 with sensor 7. Sensor 7 is also arranged on the distribution rod 2 in such a way that elevation changes in the direction of travel F in front of the distribution rod 2 can be detected. The sensors 7 have measuring ranges M1, M2, M3, in each of which several measuring points can preferably be arranged. Elevation changes can then be detected in the measuring ranges M1, M2, M3.

[0077] In the Fig. 2A, the target area Z is defined by a surface formed by plants P. It can be seen that the growth height of the plants P changes along the direction of travel F, so that a change in height, for example, the target height S, changes to the plants P. The target height S can be regarded as the first height H1.

[0078] Because sensor 7 is directed forward and can detect height changes in front of the current position of the distribution boom 2, the sensor device 4 detects a height change, which is represented by the height H2. This then controls and / or regulates the control device 1 accordingly, so that a load demand is simulated before the distribution boom 2 experiences the height change. This is illustrated in more detail in the following figures.

[0079] After detecting the change in height or height H2, the target surface Z remains at this height, so that after detecting the change in height with height H2, the same height H3 is detected.

[0080] In the Fig. 2B shows a similar relationship, with the difference that the height of the plants P remains unchanged, but the target area Z changes in height due to an increase in the ground B. The explanation is analogous to the explanations of the Fig. 2A.

[0081] In the Fig. 2C also shows a similar relationship, with the difference that the target area is formed by the ground B. The explanations of the Fig. 2A and Fig. 2B apply analogously to the Fig. 2C.

[0082] According to the following Fig. 3A to 3F show several embodiments of a control device 1 by means of which a corresponding load requirement can be simulated.

[0083] According to the Fig. 3A, the control device 1 comprises a supply unit 3, by means of which operating fluid can be provided to the entire system. The supply unit 3 is represented here as a pump, in particular a hydraulic pump, which is connected on the one hand to an operating fluid sump 22, by means of which operating fluid is provided. The supply unit 3 also has a control connection 12, through which control signals can be transmitted to the supply unit 3 and on the basis of which the supply unit 3 can be operated correctly. A pressure connection 11 leads from the supply unit 3, into which operating fluid can be provided by the supply unit 3.

[0084] The sensor device 4 is also shown, by means of which the height changes of the distribution rod 2 to the target area Z can be detected.

[0085] Furthermore, a valve device 5 is provided, which preferably has a first valve 6. The valve device 5 is arranged between the pressure connection 11 and the control connection 12 of the supply unit 3 and is fluidly connected to them. In the present case, the first valve 6 is designed as a pressure control valve, in particular an electro-proportional pressure control valve. In the case of the pressure control valve 6, a relief line 24 can also be provided to drain excess operating fluid from the pressure control valve 6. The relief line 24 is connected to the pressure control valve 6 and to a return line 25, by means of which unused operating fluid can be returned to the operating fluid sump 22.

[0086] Preferably, a control unit 23, preferably an electronic control unit 23, is provided, which is connected at least in terms of signaling to the sensor device 4. Preferably, it can be provided that the control device 1 is operatively connected to the control unit 23, for example, in terms of signaling, or comprises the control unit 23.

[0087] Particularly preferably, the control unit 23 is configured to receive sensor signals from the sensor device 4. Further preferably, the control unit 23 can be configured to process the received sensor signals.

[0088] Further preferably, the valve device 5 can be controlled and / or regulated by means of the control unit 23, in particular depending on the sensor signal of the sensor device 4. In particular, the first valve 6 can be controlled and / or regulated by means of the control unit 23.

[0089] In addition, an actuating device 20 is shown, which in this example comprises two actuators 8, each of which is preferably designed as a double-acting cylinder. It is conceivable that the actuating device 20 is connected directly or indirectly to the supply unit 3. In the present example, the Fig. 3A, a load signaling control block 13 is additionally provided, which is connected on the one hand to the supply unit 3 and on the other hand to the actuating device 20, in particular is fluidly connected.

[0090] The load signaling control block 13 has a load signaling connection 14. Further preferably, the load signaling connection 14 is operatively connected to the supply unit 3 and to the valve device 5.

[0091] The control block 13 is designed to regulate operating resources between the supply unit 3 and the actuating device 20 and, if necessary, other components of the system, for example other consumers not shown here.

[0092] Particularly preferably, the load signaling connection 14 can be connected to the control connection 12 of the supply unit 3.

[0093] An actual load requirement can be transmitted to the supply unit 3 via the load reporting connection so that the supply unit 3 can provide resources according to the actual load requirement.

[0094] According to the invention, it is provided that the supply unit 3 already makes operating resources available on the basis of a simulated load requirement before an actual load requirement even exists.

[0095] For this purpose, height changes can be detected by means of the sensor device 4, which are detected in the direction of travel F in front of the distribution rod 2. If such a height change is detected in front of the distribution rod 2 by the sensor device 4, it is provided that the control device 1, for example via the control unit 23, controls and / or regulates the valve device 5 accordingly, so that a simulated load request is present.

[0096] The valve device 5 is controlled and / or regulated in such a way that, if a change in altitude has been detected, a flow of operating fluid between the pressure port 11 and the control port 12 can be enabled due to the arrangement of the valve device 5 between the pressure port 11 and the control port 12. On the other hand, if no change in altitude has been detected, such a flow of operating fluid between the pressure port 11 and the control port 12 is prevented, so that an unchanged or no control signal is present or transmitted at the control port.

[0097] The regulation and / or control of the valve device 5 is accordingly preferably dependent on the magnitude of the height change, i.e. whether a large or only a small height compensation will have to be compensated.

[0098] By changing the amount of operating fluid or changing the flow volume of the operating fluid, the corresponding pressure level is also indirectly increased.

[0099] If there is an actual load requirement, this is also transmitted to the supply unit 3 via the load reporting line 15.

[0100] Because the operating medium volume has already been increased due to the simulated load requirement, no further control and / or regulation of the supply unit 3 or only a small control and / or regulation of the supply unit 3 is necessary for the actual load requirement.

[0101] In the Fig. 3B shows a further example of a control device 1, which now differs in that no line to the supply unit 3 is arranged at the load signaling connection 14, but rather a pressure sensor 25.

[0102] In this case, the pressure sensor 25 is preferably connected in terms of signal technology to the control unit 23, which can also process the additional sensor signals of the pressure sensor 25.

[0103] The load requirement can be simulated as in the present example. In addition, actual load requirements are now detected by pressure sensor 25 and processed by control unit 23, with control unit 23 being configured to control and / or regulate valve device 5 accordingly based on the detected signals from sensor device 4 and / or pressure sensor 25. This means that actual load requirements can now also be transmitted to supply unit 3 via valve device 5.

[0104] According to the Fig. 3C shows another example which differs in the following points. The first valve 6 of the valve device 5 is arranged according to the Fig. 3C is designed as a directional control valve, in particular a 2 / 2-way valve.

[0105] If a change in altitude is detected and a load requirement is to be simulated accordingly, the first valve 6 is switched in such a way that an operating fluid flow is permitted, i.e., the pressure port 11 and the control port 12 are fluidly connected to one another.

[0106] The supply unit 3 accordingly provides additional operating fluid and introduces it into the pressure connection 11, so that a pressure accumulator 27 can be filled. For this purpose, the pressure accumulator 27 is fluidly connected to the pressure connection 11. Particularly preferably, the pressure accumulator 27 is arranged near the actuating device 20 and / or the control block 13, so that operating fluid can be quickly made available to the actuating device 20 and / or the control block 13 via the pressure accumulator 27.

[0107] A pressure sensor 26 is also provided, which is now also connected to the pressure port 11 and, in fluid terms, is connected upstream of the pressure accumulator 27. The sensor signal of the pressure sensor 26 can be transmitted to the control unit 23.

[0108] It is conceivable that the filling of the pressure accumulator 27 can be time-dependent, i.e., for a certain period of time, and / or pressure-dependent, i.e., up to a certain limit pressure. A corresponding control and / or regulation for this purpose can be specified and / or specifiable by the control unit 24. The sensor signal of the pressure sensor 27 can be used for pressure-dependent control and / or regulation.

[0109] The exemplary arrangement of the Fig. 3C can also be considered as a storage charging circuit.

[0110] A similar embodiment according to the Fig. 3C is in the Fig. 3D, whereby only no load signaling line 14 is provided.

[0111] In the examples of Fig. 3C and Fig. 3D, it can also be provided that the valve device 3 is controlled and / or regulated when the pressure sensor 26 has detected that the pressure level in the pressure accumulator 27 is too low.

[0112] In the Fig. 3E is a combination of the exemplary embodiments of the Fig. 3A and Fig. 3C, wherein the first valve 6 is designed as a pressure control valve. The explanations regarding the Fig. 3A and Fig. 3C also apply to the Fig. 3E.

[0113] In addition, the filling or charging of the pressure accumulator 27, i.e. the switching of the accumulator charging circuit, can be made “softer” by providing the pressure control valve instead of the 2 / 2-way valve of the Fig. 3C.

[0114] In the Fig. 3F shows a further embodiment, which is based on the embodiment of the Fig. 3E, where the Fig. 3E and the Fig. 3F in that the Fig. 3F the pressure sensor 27 of the Fig. 3E no longer has.

[0115] Additionally, a second valve 28 is now provided, which is arranged between the pressure connection 11 and the pressure accumulator 27. A further embodiment of the second valve 28 is designated by the reference numeral 28'.

[0116] The second valve 28, 28' is signal-connected to the control unit 23, so that the second valve 28, 28' can be controlled by the control unit 23.

[0117] Because the second valve 28, 28', which can be controlled by the control unit 23, is now provided, the timing of energy supply, i.e., by releasing operating fluid from the pressure accumulator 27, can be controlled. This further increases the supply of operating fluid for the actuating device 20.

[0118] In the Fig. 4 shows a purely schematic representation of a preferred method for controlling the height of the distribution rod 2.

[0119] In a first method step S1, provision of the control device 1 with a supply unit 3 for supplying an actuating device 20 with an operating means for height control of the distribution rod 2 relative to a target surface Z, and with a sensor device 4, is provided,

[0120] In a second method step S2, a change in height of the distribution rod 2 relative to the target surface is detected by means of the sensor device, which is preferably located in front of the distribution rod 2.

[0121] In a further method step S3, a load request of the actuating device 20 is carried out by a control and / or regulation of the valve device 5 as a function of the detected height change in order to preferably already proactively counteract the height change that then follows in time.

[0122] In a preferred method step S4, the simulated load requirement is transmitted to the supply unit 3 and the supply unit 3 is controlled and / or regulated accordingly, so that additional operating fluid is preferably introduced into the pressure connection 11.

[0123] In a method step S5, if an actual load requirement is present, the actuating device 20 can then be controlled and / or regulated to counteract the actual height change of the distribution rod 2. This results in the advantage that, through the simulated load requirement and the corresponding provision of operating resources before an actual height change, an optimized control and / or regulation of the actuating device 20 can be provided.

[0124] All features disclosed in the application documents are claimed as essential to the invention, provided that they are new, individually or in combination, compared to the prior art. List of reference symbols 1 control device 2 distribution rods 3 supply unit 4 Sensor device 5 Valve device 6 first valve 7 Sensor 8 Actuator 9 double-acting cylinders 10 Pump 11 Pressure connection 12 Control connection 13 Load reporting control block 14 Load signaling connection 15 Load reporting line 16 carrier vehicle 17 booms 18 Middle section 19 lifting frames 20 Adjusting device 21 parallelogram linkage 22 Operating fluid sump 23 Control unit 24 relief line 25 Return line 26 Pressure sensor 27 pressure accumulators 28 second valve B Soil / Field soil F Direction of travel H1, H2, H3 height M agricultural machine M1, M2, M3 measuring range P Plant S Target height Z target area

Claims

[1] Control device (1) for the height control of a distribution boom (2) of an agricultural machine (M), preferably an agricultural spreading machine, wherein the control device (1) has a supply unit (3) which is designed to supply an adjusting device (20) with an operating medium, and wherein the adjusting device (20) is designed to guide the height of the distribution boom (2) relative to a target area (Z), and wherein the control device (1) has at least one sensor device (4) which is designed at least to detect changes in the height of the distribution boom (2) relative to the target area (7), characterized by in that the control device (1) has a valve device (5) and the control device (1) is designed to simulate a load requirement of the actuating device (20) by means of a control and / or regulation of the valve device (5) as a function of a detected change in height. [2] Control device (1) according to claim 1, characterized by that the sensor device (4) is designed to detect height changes of the distribution rod (2) in the direction of travel (F) in front of the distribution rod (2). [3] Control device (1) according to one of claims 1 to 2, characterized by that the sensor device (4) has at least one sensor (7), wherein each sensor (7) is selected from the group comprising: radar sensor, ultrasonic sensor, optical sensor, and any combination thereof. [4] Control device (1) according to one of claims 1 to 3, characterized by that the control device (1) is configured to transmit the simulated load request to the supply unit (3) as a control signal for the supply unit (3). [5] Control device (1) according to one of claims 1 to 4, characterized bythat the actuating device (20) has at least one actuator (8), wherein each actuator (8) can be at least a double-acting cylinder. [6] Control device (1) according to one of claims 1 to 5, characterized by that the supply unit (3) is a pump (10) with adjustable delivery volume and / or delivery pressure and is preferably designed to adjust the delivery volume and / or the delivery pressure depending on the load requirement. [7] Control device (1) according to one of claims 1 to 6, characterized by that the valve device (5) comprises a first valve (6), which is preferably a directional control valve, in particular a 2 / 2-way valve, and / or a pressure control valve. [8] Control device (1) according to claim 7, characterized by that the first valve (6) is fluidically arranged between a pressure connection (11) of the supply unit (3) and a control connection (12) of the supply unit (3) and is fluidically connected to each of them. [9] Control device (1) according to one of claims 1 to 8, characterized by that the control device (1) has a load-signaling control block (13) with a load-signaling connection (14) which is operatively connected, in particular fluidically connected, to the supply unit (3) and to the valve device (5). [10] Method for the height control of a distribution boom (2) of an agricultural machine (M), preferably an agricultural spreading machine, comprising the method steps: a) providing a control device (1) with a supply unit (3) for supplying an actuating device (20) with an operating means for guiding the height of the distribution rod (2) relative to a target surface (Z), and with a sensor device (4), b) detecting a change in height of the distribution rod (2) relative to the target surface (Z) by means of the sensor device (4), c) Simulating a load requirement of the actuating device (20) by controlling and / or regulating the valve device (5) as a function of the detected height change. [11] Method according to claim 10, characterized by that the height changes in the direction of travel (F) in front of the distribution rod (2) are recorded. [12] Method according to one of claims 10 to 11, characterized by that the simulated load request is transmitted to the supply unit (3) as a control signal for the supply unit (3). [13] Agricultural machine (M), preferably an agricultural spreading machine, preferably with a control device (1) according to one of claims 1 to 9, and / or which is designed to carry out a method according to one of claims 10 to 12.

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