Agricultural seed drill and methods for operating an agricultural seed drill

Abstract

The invention relates to an agricultural seed drill (10) for sowing seed on an agricultural area (N) with several rows of coulters (12a-12c) arranged one behind the other and spaced apart from each other in the direction of travel (F) of the seed drill (10) and extending parallel to each other transversely to the direction of travel (F) of the seed drill (10), wherein several seed coulters (14) are arranged spaced apart from each other along each row of coulters (12a-12c), and several actuators (16a-16c), wherein at least one actuator (16a-16c) of the several actuators (16a-16c) is arranged on each row of coulters (12a-12c), wherein the actuators (16a-16c) are configured to move the seed coulters (14) arranged on each row of coulters (12a-12c) relative to the ground by exerting an actuator force (A1-A3) on the rows of coulters (12a-12c). (B) to align with an agricultural area (N).

Description

[0001] The invention relates to an agricultural seed drill according to the preamble of claim 1 and to a method for operating an agricultural seed drill according to the preamble of claim 11.

[0002] Agricultural seed drills are often equipped with several rows of shares arranged one behind the other in the direction of travel of the seed drill, with several seed coulters arranged on each row of shares for spreading seed on an agricultural area.

[0003] To achieve the desired, and especially the most uniform, results, it is necessary to correctly adjust the seed drill's coulters for sowing on the agricultural land. This requires the coulters to be aligned as evenly as possible relative to the soil to ensure the intended seed placement depth across all coulters.

[0004] To adjust the alignment of the seed coulters arranged on the rows of shares for a sowing operation, it is common practice in the prior art to align the seed coulters relative to the soil of the agricultural area using actuators assigned to each row. Since uniform alignment of all seed coulters is desired, it has been standard practice to ensure that all actuators exert the same actuating forces on their respective rows of shares in order to align the seed coulters uniformly relative to each other.

[0005] However, it has been found that the assumption that applying the same actuator forces to all coulter rows leads to a uniform alignment of all seed coulters only holds true if the external forces acting on the seed coulters during the sowing process are uniform across all coulter rows. If the forces acting on the seed coulters differ—for example, because higher forces act on the foremost coulter row (viewed in the direction of travel of the seed drill) than on the coulter rows located behind it—different alignments of the seed coulters in the different coulter rows can occur, depending on the external forces, even if the actuator forces are uniform across all coulter rows.Consequently, despite uniform actuator forces, the uneven seed placement results in inconsistent work outcomes, with the seeds being placed at different depths depending on the coulter row, often deviating from the intended depth. This impairs the growth and therefore the yield of the crops cultivated on the land.

[0006] The object underlying the invention is therefore to improve the working quality of agricultural seed drills in order to ensure a desired working result.

[0007] The task is solved with an agricultural seed drill of the type mentioned above, wherein the actuators are designed to exert a row-specific actuator force on the respective rows of coulters assigned to the actuators independently of one another in order to bring about an intended alignment of the seed coulters.

[0008] Because the actuators are designed to independently exert row-specific actuator forces on the coulter rows, it is possible to ensure a uniform alignment of all coulters, particularly for guaranteeing a consistent seed placement depth, even when the forces acting on the coulters differ from row to row. If the external forces acting on the coulters of the respective rows differ, the actuators can be individually adjusted to respond to the forces acting on each row, thus ensuring uniform alignment and consequently a uniform seed placement depth across all coulters in all rows, despite the differing forces acting on the coulter rows.Multi-row agricultural seed drills are thus placed in the advantageous position of reliably achieving uniform working results across all rows of shares, even under heterogeneous external influences, such as uneven soil conditions.

[0009] Preferably, the agricultural seed drill is designed as a trailed seed drill, in particular as a seed drill with a large working width. Preferably, the agricultural seed drill comprises three rows of coulters. The coulters are preferably each attached to the seed drill via a single-arm swing arm. The coulters are preferably designed as tine coulters. Preferably, a depth control roller, in particular a trailing depth control roller, is arranged on each coulter, wherein the position and / or orientation of the depth control roller relative to the respective coulters is adjustable to influence the seed placement depth in the soil of the agricultural area. In particular, each coulter has a placement depth adjustment device by means of which the depth control roller can be adjusted relative to the respective coulter.

[0010] The intended alignment of the seed coulters is preferably closely linked to the intended sowing depth of the seed in the soil of the agricultural area. This intended alignment is, in turn, connected to the coulter pressure on the respective coulter or the torque on the respective coulter row. Achieving the intended alignment of the seed coulters thus involves a coulter row-specific adjustment of the coulter pressure acting on the seed coulters of the respective coulter row. It is particularly intended that, to ensure a uniform sowing depth, all seed coulters of the seed drill are uniformly aligned during a sowing operation.

[0011] Particularly in multi-row seed drills, such as three-row drills, inhomogeneous forces acting on the coulter rows can lead to varying and undesirable changes in the alignment of the seed coulters across the multiple rows. Therefore, to ensure uniform alignment of all seed coulters across all rows, it may be necessary to apply different actuator forces to each row. This compensates for the varying external forces acting on each row and the resulting deviations in seed coulter alignment, thus ensuring a consistent sowing depth. The actuator force is preferably the force generated by the actuators and acting on the respective coulter row.

[0012] In a preferred embodiment of the agricultural seed drill according to the invention, the actuators are configured to generate a coulter-row-specific coulter force on the coulter rows assigned to each actuator, resulting from the coulter-row-specific actuator forces and acting against a soil resistance force, in order to achieve the desired alignment of the coulter rows. The soil resistance force preferably results from the coulter engagement with the soil of the agricultural area during sowing and acts essentially against the direction of travel of the seed drill. The coulter force is preferably the force exerted by the coulter on the soil and counteracting the soil resistance force.From an actuator force exerted by the actuators, or the resulting coulter force, and the opposing resistance force of the soil, an intended alignment of the seed coulters of the respective coulter row results, or a desired seed placement depth results from the alignment, from which in turn a desired upright force of the depth control rollers results, resulting from the alignment or the placement depth.

[0013] To achieve the desired alignment of the seed coulters and the desired seed placement depth, it is particularly necessary that the coulter force is adjusted to the resistance force exerted on the seed coulters by setting a suitable actuator force specific to each row. The coulter force, which can be influenced by the actuator force, and the opposing resistance force of the soil preferably result in a contact force of the depth control rollers on the soil. The magnitude of this contact force indicates whether the actuator force setting is appropriately chosen for the respective resistance forces acting on the seed coulters and leads to the intended alignment of the seed coulters.

[0014] If the resistance becomes too great with a constant coulter force, for example due to hard soil, accumulations of organic material, or obstacles in the soil, the coulter will be pushed out of the soil by the resistance force, thus moving it out of its intended orientation and correspondingly reducing the resistance force of the depth control roller. If the soil resistance becomes too low with a constant coulter force, the coulter may be pushed too far into the soil by the coulter force, resulting in increased resistance and potentially an undesirable change in the coulter's orientation.By appropriately adjusting the coulter force by setting the actuator force depending on the resistance of the soil on the seed coulters and / or the resistance of the depth control roller, the intended alignment of the seed coulters can be ensured, whereby the actuators, which allow a coulter row-specific adjustment of the coulter forces, make it possible to ensure that the intended alignment of the seed coulters can be ensured on all coulter rows even if the resistance of the soil on the seed coulters differs from coulter row to coulter row.

[0015] In another preferred embodiment of the agricultural seed drill according to the invention, the coulter rows each comprise one or more, in particular at least two, coulter carriers arranged side by side transversely to the direction of travel of the seed drill, which support the seed coulters arranged along the respective coulter row, and on each coulter carrier, in particular on each coulter carrier of a coulter row comprising at least two coulter carriers, at least one actuator is arranged for bringing about a desired alignment of the seed coulters carried by the respective coulter carrier, wherein the actuators are preferably configured to exert the same coulter-row-specific actuator forces on all coulter carriers of a coulter row comprising several coulter carriers. Alternatively or additionally, the actuators can be configured to exert different coulter-carrier-specific actuator forces on each coulter carrier of the coulter row independently of one another.In particular, seed drills with a large working width can include at least two booms extending transversely to the direction of travel of the seed drill and pivotable, whereby in the case of very large working widths there may also be three or four booms, in particular with a boom designed as a central segment.

[0016] In seed drills with booms, the coulter rows each comprise at least two separately designed coulter carriers to which the seed coulters are attached, for example, via single-arm swing arms. To enable adjustment of the intended alignment of all seed coulters on all coulter carriers of the coulter rows, a separate actuator is preferably arranged on each coulter carrier. It is preferred that all actuators can be controlled and / or adjusted independently of each coulter carrier in order to adjust the coulter forces of the seed coulters of all coulter carriers independently of each other. Furthermore, it is advantageous if the actuators of the coulter carriers of a common coulter row are each adjustable specifically for that row, so that the actuator force and the resulting coulter force of the seed coulters of a coulter row can be adjusted together, even if the coulter row is composed of two or more coulter carriers.

[0017] Furthermore, independently adjustable actuator forces on the coulter carriers make it possible to react to varying soil conditions across the seed drill width, if necessary. The primary application, however, is adjusting the actuator forces for each coulter row, as the resistance force acting on the seed drill in the direction of travel is assumed to have a greater influence than the variation in resistance force perpendicular to the direction of travel. Generally, the resistance force decreases from front to back in the direction of travel, as the soil is loosened from coulter row to coulter row. However, scenarios are also conceivable in which the resistance force increases from front to back in the direction of travel, for example, due to the accumulation of organic material on the rear coulter rows.

[0018] In a further preferred embodiment of the agricultural seed drill according to the invention, the actuators are configured to exert a coulter-row-specific torque on the respective coulter carrier(s) of the coulter rows by means of the coulter-row-specific actuator forces in order to bring about an intended alignment of the seed coulters, wherein the coulter-row-specific torque preferably results in a coulter-row-specific coulter force of the seed coulters arranged on the respective coulter rows and / or coulter carriers acting against a resistance force of the soil.

[0019] Preferably, the actuators are connected to the coulter carriers in such a way that applying the actuator force generates a torque on the respective coulter carrier about its longitudinal axis, which runs transversely to the direction of travel of the seed drill. This torque about the longitudinal axis of the coulter carriers is transmitted to the coulters via the single-arm swing arm, by means of which the seed coulters are mounted to the coulter carriers. Thus, the actuator force and the resulting torque on the coulter carrier generate the coulter force against the soil resistance and the downward force of the depth control roller on the soil. This, in turn, determines the alignment of the seed coulters and / or the sowing depth. The actuator force is therefore distributed at least approximately equally among all seed coulters attached to the respective coulter carrier.

[0020] In a further development of the agricultural seed drill according to the invention, the actuators for exerting the actuator forces on the coulter rows, in particular on the coulter carriers of the coulter rows, are designed as hydraulic, pneumatic and / or electric actuators, in particular as hydraulic cylinders, wherein the seed drill preferably comprises a hydraulic system which is configured to apply a hydraulic pressure, in particular a hydraulic pressure specific to each coulter row, independently of one another to generate the respective coulter row-specific actuator forces. Alternatively, the actuators can also be designed as pneumatic cylinders or as electric actuators.

[0021] The hydraulic system of the seed drill can include one or more throttles, each of which can be assigned to one, several, or all of the actuators designed as hydraulic cylinders. These throttles create a pressure differential in the respective hydraulic cylinders relative to the other hydraulic cylinders. For example, one or more actuators of the first row of coulters can be subjected to a higher actuator force than the subsequent rows of coulters, whose actuator force is reduced by a constant, e.g., percentage, via the throttles. Alternatively, the force can decrease from the first row of coulters to the second and / or third row.

[0022] Preferably, each actuator is assigned a fixed, row-specific value for the actuator force exerted by the actuator on the respective row of coulters, in particular by setting a fixed hydraulic pressure for each actuator. For example, a high row-specific actuator force can be set on the row of coulters furthest forward in the direction of travel of the seed drill due to the higher expected soil resistance forces on the coulters of the furthest row, and a reduced actuator force of a fixed percentage can be set on each of the rows of coulters located behind it, which is adapted to the reduced expected soil resistance force compared to the furthest row of coulters. The actuator force required for the intended alignment of the coulters can therefore preferably be individually determined for each row of coulters and / or each coulter carrier based on the expected soil resistance force.Alternatively, a low coulter-specific actuator force can be set on the foremost row of coulters in the direction of travel of the seed drill due to the lower resistance forces expected from accumulations of organic material on the coulters of the foremost row of coulters, and an actuator force increased by a fixed percentage can be set on each of the coulter rows arranged behind it, which is adapted to the increased resistance force expected from accumulations of organic material in contrast to the foremost row of coulters.

[0023] Furthermore, an agricultural seed drill according to the invention is advantageous, which comprises a control device, in particular an electronic one, which is configured to independently adjust the actuator force to be exerted by the actuators on the respective rows of coulters assigned to the actuators in a coulter-row specific manner in order to bring about an intended alignment of the seed coulters, wherein the control device is preferably configured to control a hydraulic system and / or one or more hydraulic valves of the hydraulic system assigned to the actuators in a coulter-row specific manner.In particular, the control device is configured to control the actuators to generate coulter-row-specific coulter forces, each resulting from the coulter-row-specific actuator forces and acting against a resistance force of the soil, for the seed coulters arranged on the respective coulter rows. Preferably, the control device is configured to adjust the torque acting on the coulter carriers by the actuator forces in a coulter-row-specific and / or coulter-carrier-specific manner.

[0024] In coulter rows with multiple coulter carriers, the control device is preferably configured to independently adjust the actuator forces, the resulting torque, the resulting coulter forces against soil resistance, and / or the contact forces of the depth control rollers corresponding to the orientation of the seed coulters. Preferably, the control device is configured to regulate the hydraulic system of the seed drill such that the hydraulic pressures in the actuators can be adjusted independently.In particular, the control unit is configured to control hydraulic valves assigned to each actuator in order to control the hydraulic pressure of the respective actuators such that a required torque is applied to the respective coulter carrier and / or the multiple coulter carriers of a respective coulter row, resulting in the intended alignment of the seed coulters of the respective coulter carrier and / or the respective coulter row. Preferably, the control unit is further configured to control the actuators of several actuators belonging to a common coulter row jointly and independently of the other coulter rows. Preferably, the hydraulic system of the seed drill is configured such that the generated actuator forces decrease or increase from coulter row to coulter row in the direction of travel from front to rear.

[0025] Furthermore, an agricultural seed drill according to the invention is preferred, in which the control device is configured to, when adjusting the actuator force to be exerted by the actuators on the respective rows of coulters assigned to the actuators in order to bring about an intended alignment of the coulters, in particular when controlling the hydraulic system and / or the hydraulic valves, use one or more stored and / or predefinable, in particular row-specific, actuator force setpoint values ​​for one, several or all of the actuators, in particular stored in a data memory of the control device and / or permanently assigned to the actuators and / or manually specified by a machine operator of the seed drill and / or automatically by the control device, and / or use data relating to the agricultural land, in particular the soil condition of the land.and / or a current geoposition and / or a movement path of the seed drill. Preferably, the actuator force setpoints differ from each other for the different coulter rows and / or for the different coulter carriers in order to achieve a uniform alignment of the seed coulters and a uniform resulting sowing depth.

[0026] For example, one or more actuator force setpoints for each actuator can be stored on an electronic data storage device of the control unit. A machine operator of the seed drill can preferably manually assign an intended actuator force setpoint to each actuator from these setpoints, for example, via an operating terminal for the seed drill. This assignment can be based on factors such as the area to be cultivated, particularly the soil conditions, and / or the current weather conditions and / or the type of seed being sown. Furthermore, the control unit can be configured to automatically select suitable actuator force setpoints from the setpoints based on current conditions, such as the current soil conditions on the cultivated area and / or the current weather conditions.The control device can, for example, include at least one sensor configured to determine the soil resistance force and / or the contact force of the depth control roller. Preferably, the control device includes at least two sensors arranged in the direction of travel on different rows of shares to determine the force profile in the direction of travel. Particularly preferably, the control device includes at least one sensor on each row of shares.

[0027] Furthermore, fixed actuator force setpoints can be assigned to each actuator, for example with percentage gradations (offsets) for the different rows of shares, whereby the offsets for setting the percentage gradations between the rows of shares can be selected.In this way, it can be determined, for example, that the foremost row of shares is set to an actuator force that is matched to the resistance forces acting on the foremost row of shares, while the middle row of shares behind the foremost row of shares is assigned an actuator force that is, for example, 10% lower or higher, since the expected resistance forces of the soil on the middle row of shares are 10% below or above the resistance forces acting on the foremost row of shares, while the rearmost row of shares is again set to actuator forces that are, for example, 10% lower or higher, since it is expected that the rearmost row of shares will experience a further 10% lower or higher resistance force of the soil due to the previous soil cultivation by the first two rows of shares.

[0028] The land use data can include, in particular, map data containing information on soil conditions and / or information on the necessary actuator forces resulting from these soil conditions. The land use data can also include information on how soil conditions and the resulting necessary actuator forces change under different weather conditions, such as wet conditions. The actuator forces are preferably adjusted by the control unit, depending on the geoposition and / or the movement path of the seed drill, taking into account the land use data and the prevailing soil conditions at the current position, and are adjusted for each coulter row. The actuator force setpoints preferably specify the actuator force to be set, so that the intended alignment of the seed coulters results when the set actuator forces correspond to the respective actuator force setpoints.

[0029] In another preferred embodiment of the agricultural seed drill according to the invention, the agricultural seed drill comprises a sensory detection device which is configured to detect sensor data relating to the orientation of the seed coulters, in particular the position and / or orientation of the seed coulters, by means of one or more position and / or orientation sensors of the detection device, which are in particular designed as rotary angle sensors, displacement sensors and / or cable tension sensors, and / or one or more forces acting on the seed coulters and / or on the coulter rows, in particular torques acting on one or more coulter carriers and / or a ground force acting from the soil of the working area on one or more depth control rollers of the seed coulters, by means of one or more force sensors of the detection device, which are in particular designed as force measuring bolts and / or strain gauges.and / or to detect sensor data relating to a pressure change in one, several or all actuators, in particular those designed as hydraulic cylinders, by means of one or more pressure sensors of the detection device, wherein the control device is preferably configured to take the detected sensor data into account when adjusting the actuator force to be exerted by the actuators on the respective rows of shares assigned to the actuators in order to bring about an intended alignment of the seed shares, in particular when controlling the hydraulic system and / or the hydraulic valves.

[0030] The rotary angle sensor is preferably designed as a potentiometer. Each actuator, designed as a hydraulic cylinder, can incorporate an integrated length measurement system, allowing the measurement of the piston travel of the respective hydraulic cylinder. Changes in the orientation of the seed coulters can be detected by means of the cable pull sensor, the length measurement system in the hydraulic cylinders, and / or the rotary angle sensor. This allows undesired changes in orientation to be identified and corrected by adjusting the actuator forces based on the angle measurement.Furthermore, the force acting on a seeding depth adjustment mechanism, which determines the height difference between the respective coulter and the corresponding depth control roller, can be measured using a force-measuring bolt, and / or the force acting on the single-arm swing arm of the respective coulter can be measured using a strain gauge. Additionally, the force acting on the axle of a depth control roller can be measured, for example, using a force-measuring bolt on the axle of the respective depth control roller, allowing the contact force of the depth control roller on the soil of the agricultural area to be determined.

[0031] It can preferably be deduced from the acting forces whether an orientation of the seed coulters resulting from these forces corresponds to a desired orientation. For example, if the determined contact force of a depth control roller deviates from an intended contact force and / or the deflection of the seed coulters detected by an angle measurement deviates from an intended deflection, it can be deduced that the actuator force is too high or too low, so that the seed coulters are pushed out of or pulled into the soil too much by the soil's resistance force.

[0032] In a further preferred embodiment of the agricultural seed drill according to the invention, at least one pressure sensor and / or position sensor and / or force sensor of the sensory detection device is arranged on each row of coulters, wherein preferably one position sensor and / or force sensor is arranged on at least two coulters per row of coulters and / or per coulter carrier of one, several, or all rows of coulters, in particular on the outermost coulters of each row of coulters and / or coulter carrier. With several sensors per row of coulters and / or per coulter carrier, for example, an average value of the sensor data acquired by the sensors can be calculated in order to detect and / or filter out implausible sensor data, in particular outliers in the sensor data.

[0033] Furthermore, multiple sensors per coulter row and / or coulter carrier can detect deviations from a desired position of the coulter rows and / or coulter carriers in the transverse direction of the seed drill, for example, caused by incorrect folding of the booms. By comparing the sensor data from sensors of the first coulter row with sensors of the rearmost coulter row, deviations from a desired position of the seed coulters in the longitudinal direction of the seed drill can also be detected, whereby such longitudinal deviations can be caused, for example, by incorrect folding of the coulter section of the seed drill.

[0034] Furthermore, an agricultural seed drill according to the invention is advantageous which comprises an electronic data processing device which is configured to determine the coulter-specific actuator force necessary to bring about an intended alignment of the seed coulters, to be exerted independently of one another on the respective coulter rows assigned to the actuators, wherein the data processing device is preferably configured to process one or more currently prevailing actuator forces of one or more actuators with one or more of the actuator force setpoint values, and / or the sensor data relating to the alignment of the seed coulters and / or the forces acting on the seed coulters and / or coulter rows and / or the pressure change with setpoint values ​​for the alignment of the seed coulters and / or the coulter rows and / or for the acting forces and / or for the pressure change.to compare and / or, based on the respective comparison, to derive control specifications for the control unit for adjusting the actuator force for each row of coulters to achieve the intended alignment of the coulters. Preferably, the data processing unit determines, in particular by evaluating the acquired sensor data, whether the currently set actuator forces correspond to the currently set actuator force setpoints. Furthermore, the data processing unit can be configured to derive from the sensor data whether the coulters are aligned as intended and / or whether corrections are necessary by adjusting the actuator forces, in particular coulter-specific adjustments of the actuator forces, for example by specifying and / or maintaining actuator force setpoints suitable for an intended alignment of the coulters.

[0035] The data processing unit can compare a current geo-position and / or the movement path of the seed drill with stored map data, particularly information on soil conditions, to specify suitable actuator force setpoints and / or derive control commands for the control unit to adjust the actuator forces, especially for controlling the seed drill's hydraulic system. Furthermore, the data processing unit can be configured to save acquired sensor data and / or derived actuator force setpoints in order to use the saved sensor data and / or actuator force setpoints, particularly in conjunction with corresponding stored geo-positions and / or movement paths of the seed drill, for future sowing operations.In particular, the actuator force setpoints and / or the recorded sensor data can be stored in the form of a write-back card, which provides information on which positions and / or areas of an agricultural area must be set to achieve a desired work result.

[0036] The problem underlying the invention is further solved by a method of the type mentioned at the outset, wherein the actuators independently exert a share-specific actuator force on the respective share rows assigned to the actuators, so that an intended alignment of the seed shares is achieved.

[0037] Preferably, in the context of the inventive method, an agricultural seed drill according to the invention is operated according to one of the embodiments described above. With regard to the advantages and modifications of the inventive method, reference is therefore made to the advantages and modifications of the agricultural seed drill according to the invention.

[0038] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show: Fig. 1 a seed drill according to the invention with three rows of shares in a perspective view; Fig. 2 a three-row boom of a seed drill according to the invention in a perspective view; Fig. 3 Three rows of shares of a seed drill according to the invention during a sowing process on an agricultural area in a side view; Fig. 4 an actuator for exerting a coulter-row specific actuator force on a coulter row of a seed drill according to the invention with several position and / or location sensors in a detailed side view; Fig. 5 a seed coulter of a seed drill according to the invention in a side view; and Fig. 6 the sower from Fig. 5 in a perspective detail view from a slanted front view.

[0039] The Fig. Figure 1 shows an agricultural seed drill 10 according to the invention in a perspective side view. The illustrated embodiment of the agricultural seed drill 10 is designed as a trailed seed drill 10, which is pulled in a direction of travel F by a towing vehicle, for example, by a tractor, during a sowing operation on an agricultural area N. The agricultural seed drill 10 comprises two laterally arranged and pivotable booms 24a, 24b extending transversely to the direction of travel F of the seed drill 10. Furthermore, the seed drill 10 comprises three rows of coulters 12a - 12c extending one behind the other in the direction of travel F of the seed drill 10 and transversely to the direction of travel F of the seed drill 10 and parallel to each other, wherein the three rows of coulters 12a - 12c each extend over both booms 24a, 24b of the seed drill 10.

[0040] For sowing seed on the agricultural area N, the seed drill 10 comprises a plurality of seed coulters 14, which are arranged side by side and spaced apart from each other along the coulter rows 12a - 12c. The seed coulters 14 are attached to coulter carriers 26a - 26c via single-arm swing arms 18, wherein coulter row 12a comprises two coulter carriers 26a arranged side by side, coulter row 12b comprises two coulter carriers 26b arranged side by side, and coulter row 12c comprises two coulter carriers 26c arranged side by side, with all coulter carriers 26a - 26c of all coulter rows 12a - 12c extending transversely to the direction of travel F of the seed drill 10. In each case, a first share carrier 26a of the share row 12a, a first share carrier 26b of the share row 12b and a first share carrier 26c of the share row 12c are arranged on the boom 24a of the seed drill 10.Furthermore, a second share carrier 26a of share row 12a, a second share carrier of share row 12b, and a second share carrier 26c of share row 12c are each arranged on the boom 24b of the seed drill. Share rows 12a-12c thus each consist of two share carriers 26a-26c, with one share carrier 26a-26c being arranged on the boom 24a and one share carrier 26a-26c on the boom 24b. Both share carriers 26a-26c, together with the seed coulters 14 attached to them via the single-arm swing arms 18, form share rows 12a-12c, which extend over both booms 24a and 24b.

[0041] To ensure high-quality work and a uniform result when sowing seeds on agricultural land N using the seed drill 10, the seed coulters 14 arranged in the rows 12a-12c are intended to always be in a specific orientation, particularly in the most uniform orientation possible. To align the seed coulters 14 of the rows 12a-12c, the seed drill 10 comprises several actuators 16a-16c designed as hydraulic cylinders, with each row 12a-12c having one actuator 16a-16c on each of its two coulter carriers 26a-26c.Thus, an actuator 16a is arranged on each of the two share carriers 26a of the share row 12a, an actuator 16b is arranged on each of the two share carriers 26b of the share row 12b, and an actuator 16c is arranged on each of the two share carriers 26c of the share row 12c, so that the alignment of all seed shares 14 on all share carriers 26a - 26c of the share rows 12a - 12c is adjustable.

[0042] Furthermore, the agricultural seed drill 10 comprises a control device 30, which is preferably designed as an electronic and / or hydraulic control device 30, a detection device 32, which is preferably designed as a sensory and / or electronic detection device 32, and an electronic data processing device 38, wherein the control device 30, the detection device 32, and the data processing device 38 are preferably arranged on the seed drill 10. In particular, the control device 30 and the data processing device 38 can be part of an operator terminal for the seed drill 10.

[0043] The detection device 32 is configured to acquire sensor data relating to the orientation of the seed coulters 14. The data processing device 38 is configured to evaluate the sensor data from the detection device 32, data stored in a data storage device, in particular data relating to the usable area N and / or map data, and / or stored and / or specified target values ​​for the orientation of the seed coulters 14, in particular target values ​​for the actuators 16a - 16c, and / or to derive control specifications for the control device 30.The control unit 30 is configured to control the actuators 16a-16c to achieve the desired alignment of the seed coulters 14, such that the actuators 16a-16c each exert an actuator force A1-A3 on the coulter carriers 26a-26c, resulting in the desired alignment of the seed coulters 14 and thus ensuring the desired work result, in particular a uniform work result. Specifically, the control unit 30 is configured to control a hydraulic system of the seed drill 10, through which the actuators 16a-16c are supplied with hydraulic pressure. For this purpose, the control unit 30 can vary the respective hydraulic pressure in the actuators 16a-16c, which are designed as hydraulic cylinders, to adjust the actuator forces A1-A3, for example, by controlling corresponding throttles and / or valves.

[0044] The Fig. Figure 2 shows a boom 24a of an agricultural seed drill 10 comprising two booms 24a, 24b, in particular the boom 24a of the seed drill 10. Fig. 1. Consequently, in the Fig. Figure 2 shows one of the two share carriers 26a - 26c of the share rows 12a - 12c and one of the actuators 16a - 16c assigned to each share row 12a - 12c, which are each arranged on the share carriers 26a - 26c. The seed coulters 14 arranged in the share rows 12a - 12c and attached to the share carriers 26a - 26c are designed as tine coulters in the illustrated embodiment, with a depth control roller 20 arranged behind each seed coulter 14 in the direction of travel F, by means of which the seed coulters 14 are guided in the soil B of an agricultural area N during a sowing operation on the agricultural area N. During sowing, the seed coulters 14 engage in the soil B of the usable area N to deposit the seed, while the depth control rollers 20 roll over the surface of the soil B.

[0045] In the Fig. Figure 3 shows three rows of coulters 12a-12c of an agricultural seed drill 10 according to the invention during a sowing process on an agricultural area N in a side view. In particular, the rows shown in the Fig. The three depicted rows of shares 12a - 12c each comprise two share carriers 26a - 26c, which extend over two booms 24a, 24b of a seed drill 10, for example as already shown in the context of the Fig. 1 and Fig. 2 described.

[0046] To achieve the most uniform working result possible and thus high working quality, it is intended that all seed coulters 14 of all coulter rows 12a - 12c are aligned uniformly so that the seed is placed at a uniform depth T in the soil B of the field N during a sowing operation. For aligning the seed coulters 14, each of the two coulter carriers 26a of coulter row 12a, each of the two coulter carriers 26b of coulter row 12b, and each of the two coulter carriers 26c of coulter row 12c is assigned an actuator 16a - 16c, so that in a seed drill 10 with two arms 24a, 24b, two actuators 16a - 16c are arranged on each coulter row 12a - 12c.

[0047] In order to keep the seed coulters 14 in an intended orientation during a sowing process and / or to ensure the most uniform possible sowing depth T across all seed coulters 14 of all coulter rows 12a - 12c, it is necessary to exert coulter forces S1 - S3 on the seed coulters 14 of the coulter rows 12a - 12c, which each act against resistance forces W1 - W3. The resistance forces W1 - W3 act against the direction of travel F of the seed drill 10 through the engagement of the seed coulters 14 in the soil B of the field N. Without a counterforce acting against the resistance forces W1 - W3 of the seed coulters 14 in the form of the coulter forces S1 - S3, the resistance forces W1 - W3 would cause the seed coulters 14 to be pushed out of the soil B of the field N by the soil engagement during a sowing process, so that the seed would not be placed in the soil B of the field N at the desired sowing depth T as intended.Therefore, by means of the actuators 16a - 16c and the actuator forces A1 - A3 generated by the actuators, shear forces S1 - S3 acting against the resistance forces W1 - W3 are generated, by which the seed shares 14 are held in an intended orientation.

[0048] However, the resistance forces W1 - W3 acting on the seed coulters and caused by the soil penetration of the seed coulters 14 can differ from coulter row to coulter row. In a first soil section I immediately in front of the foremost coulter row 12a of the seed drill 10, the soil B is still undisturbed, so the seed coulters 14 of the foremost coulter row 12a penetrate an undisturbed soil section I of the soil B on the field N. In a soil section II of the soil B on the field N, the soil has already been partially disturbed by the seed coulters 14 of the first coulter row 12a, so that the soil in soil section II, into which the seed coulters 14 of the coulter row 12b arranged behind coulter row 12a enter, is already partially loosened and therefore less firm than soil section I.The seed shares 14 of the rearmost share row 12c therefore penetrate a soil section III, which has already been largely loosened by both the seed shares 14 of the first share row 12a and by the seed shares 14 of the second share row 12b, so that in soil section III an increasingly loose soil is to be expected in contrast to soil section II.

[0049] Consequently, the seed shares 14 of the first row 12a experience a high resistance force W1 from the soil B due to the firm soil in soil section I. The seed shares 14 of the second, middle row 12b experience a slightly lower resistance force W2 in soil section II due to the soil already loosened somewhat by row 12a, compared to resistance force W1. The seed shares 14 of the rearmost row 12c experience the lowest resistance force W3 compared to resistance forces W1 and W2, as the soil in soil section III is already the most loosened. Since the resistance forces W1–W3 differ accordingly from row to row, it is necessary to counteract these resistance forces S1–S3, adapted to the respective resistance forces W1–W3, in order to achieve uniform alignment of all seed shares 14 in all rows 12a–12c.If the coulter forces S1 - S3 are not adapted to and counteract the respective resistance forces W1 - W3, the seed coulters 14 would be pushed out of the soil B of the working area N by the resistance force W1 - W3 if the coulter force S1 - S3 is chosen too low compared to the acting resistance force W1 - W3, and / or if the coulter force S1 - S3 is chosen too high, the seed coulters 14 would be pushed into the soil B with an unnecessarily high force, thereby increasing the mechanical load on the seed coulters 14 and / or the depth control rollers 20 and / or ensuring uniform alignment of all seed coulters 14.

[0050] Alternatively, it is conceivable that the seed shares 14 of the first row 12a are subject to a low resistance force W1 of the soil B due to well-distributed organic material in soil section I. The seed shares 14 of the second middle row 12b experience a slightly higher resistance force W2 compared to resistance force W1 due to the organic material in soil section II already somewhat displaced by row 12a. The seed shares 14 of the rearmost row 12c experience the highest resistance force W3 compared to resistance forces W1 and W2, since the organic material in soil section III has already been most thoroughly gathered.

[0051] To ensure uniform alignment of all seed coulters 14, the coulter forces S1-S3, which act against the resistance forces W1-W3 of the soil B, can be adjusted accordingly, the actuators 16a-16c, each arranged on the coulter supports 26a-26c of the coulter rows 12a-12c, can be controlled row-specifically. Consequently, it is possible to adjust a coulter force S1 acting against the resistance force W1 of the soil B on the seed coulters 14 of the coulter row 12a using the actuators 16a arranged on the coulter supports 26a, independently of the actuators 16b and 16c. Similarly, it is possible to adjust a coulter force S2 acting against the resistance force W2 acting on the seed coulters 14 of the coulter row 12b using the actuators 16b arranged on the coulter supports 26b. Furthermore, it is made possible to set a seed force S3 acting against the resistance force W3 by means of the actuator 16c on the seed coulters 14 of the coulter row 12c.

[0052] To adjust the respective coulter-row-specific forces S1 - S3, the actuators 16a - 16c each generate an actuator force A1 - A3, which, via a transmission lever 28, causes a torque D1 - D3 to act on the respective coulter carrier 26a - 26c. Thus, to adjust the alignment of the seed coulters 14 in the first coulter row 12a, the actuators 16a generate an actuator force A1, which in turn produces a torque D1 acting around the coulter carrier 26a. This torque D1 is transmitted around the coulter carrier 26a via the single-arm swing arms 18 of the seed coulters 14 to the seed coulters 14 and the depth control rollers 20 arranged on the seed coulters 14.

[0053] Consequently, the torque D1 generated by the actuator force A1 produces the coulter force S1 against the resistance force W1, resulting in a ground force K of the depth control rollers 20 on the ground. Since the expected resistance force W2 on the seed coulters 14 of the middle coulter row 12b is lower due to loosening effects, a lower actuator force A2 is generated by the actuators 16b compared to the actuators 16a to achieve uniform alignment of all seed coulters 14. This results in a correspondingly lower torque D2 around the coulter supports 26b and, in turn, correspondingly lower coulter forces S2 of the seed coulters 14 against the resistance forces W2.At the actuators 16c of the rearmost share row 12c, a further reduced actuator force A3 is set compared to the second share row 12b, resulting in a correspondingly reduced torque D3 around the share carriers 26c and the resulting share forces S3 of the seed shares 14 of the rearmost share row 12c, which are adapted to the resistance forces W3.

[0054] In this way, the actuator forces A1 - S3 of the actuators 16a - 16c can be individually adjusted for each coulter row 12a - 12c to the respective acting resistance forces W1 - W3, so that all seed coulters 14 across all coulter rows 12a - 12c maintain a uniform alignment during a sowing process, even if the resistance forces W1 - W3 in the coulter rows 12a - 12c differ due to the varying soil conditions in soil sections I - III. Alternatively or additionally, the actuator forces A1 - A3 can also be adapted to other scenarios in which different resistance forces W1 - W2 act on the seed coulters 14 of the multiple coulter rows 12a - 12c, for example, due to weather conditions and / or an inhomogeneous soil composition, in particular different soil materials and / or obstacles in the ground.

[0055] To control the actuator forces A1 - A3 independently of each other, individually for each coulter row and adapted to the respective acting resistance forces W1 - W3, in order to achieve the uniform alignment of the seed coulters 14, the actuators 16a - 16c are preferably controllable by means of the control unit 30 of the seed drill 10, in particular on the basis of sensor data acquired by means of the detection unit 32 and / or depending on control specifications derived by means of the data processing unit 38 and / or on the basis of stored and / or specified actuator force setpoints and / or stored field data and / or map data. The sensor data and / or the control specifications and / or the field data and / or the map data may in particular include information on the prevailing soil conditions and / or on the resistance forces W1 - W3 acting on the seed coulters and / or on the contact forces K acting on the depth control rollers 20.

[0056] The contact forces K of the depth control rollers 20 result from the force equilibrium and / or moment equilibrium at the seed coulters 14 and are accordingly derived from the actuator forces A1 - A3, the respective resulting torques D1 - D3 around the coulter supports 26a - 26c, as well as from the resistance forces W1 - W3 and the opposing coulter forces S1 - S3. Consequently, the magnitude and / or changes of the contact forces K of the depth control rollers 20 can provide indications as to whether the seed coulters 14 are uniformly aligned as intended and / or whether the set actuator forces A1 - A3 are correctly matched to the soil conditions in soil sections I - III and the resulting resistance forces W1 - W3 for the most uniform working result possible.In particular, it is intended that the bearing forces K of all depth control rollers 20 are as uniform as possible, since this indicates a uniform alignment of the seed coulters 14 and thus a uniform seeding depth T in the soil B of the usable area N.

[0057] In the Fig. Figure 4 shows an actuator 16a and a coulter carrier 26a of an agricultural seed drill 10 according to the invention, with a sensor arrangement comprising several position and / or orientation sensors 34a-34c of the detection device 32 of the seed drill 10. Preferably, one or more position and / or orientation sensors 34a-34c of the detection device 32 are arranged on several and / or all actuators 16a-16c and / or coulter carriers 26a-26c, wherein the Fig. Figure 4 shows a sensor arrangement consisting of position and / or orientation sensors 34a-34c, representatively mounted on an actuator 16a and a coulter carrier 26a of a seed drill 10 according to the invention. In other embodiments and / or on the other actuators 16b, 16c and / or the other coulter carriers 26b, 26c, the number and / or arrangement of the position and / or orientation sensors 34a-34c may differ from the number and / or arrangement shown in Figure 4. Fig. 4 differ.

[0058] On the actuator 16a, shown as an example and designed as a hydraulic cylinder, a position sensor 34b, designed as a length measurement integrated into the actuator 16a, is arranged by means of which a change in length of the actuator 16a, in particular a change in length of the actuator 16a resulting from the extension and / or retraction of a piston rod from a cylinder of the actuator 16a, can be determined. Preferably, corresponding position sensors 34b for measuring changes in length of the actuators 16a - 16c are arranged on several and / or all actuators 16a to 16c of the seed drill 10.By detecting changes in length of one, several, or all actuators 16a-16c of the seed drill 10, inferences can be drawn from the acquired sensor data regarding the orientation of the coulters 14, which are attached to the respective coulter carriers 26a-26c arranged with the actuators 16a-16c, since changes in the orientation of the coulters 14 can lead to changes in the length of the corresponding actuators 16a-16c. Consequently, the current length of one, several, or all actuators 16a-16c can indicate the current orientation of the corresponding coulters 14, and / or a change in the length of one, several, or all actuators 16a-16c can indicate a corresponding change in the orientation of the corresponding coulters 14.The sensor data of the position and / or orientation sensors 34b are preferably taken into account when adjusting the actuator forces A1 - A3 to bring about an intended alignment of the seed shares 14, in particular for adjusting the share-row-specific actuator forces A1 - A3 by means of the control device 30.

[0059] Furthermore, in the Fig. Figure 4 shows a position sensor 34c arranged on the coulter carrier 26a, which is designed as a rotary angle sensor, in particular as a potentiometer, wherein preferably one position sensor 34c can be arranged on several or all coulter carriers 26a - 26c of a seed drill 10 according to the invention. The position sensors 34c of the detection device 32, designed as rotary angle sensors, are configured to detect a current angle of rotation and / or changes in the angle of rotation of the respective coulter carriers 26a - 26c, wherein the sensor data relating to the angle of rotation of the position sensors 34c allow conclusions to be drawn about the orientation and / or changes in orientation of the corresponding seed coulters 14 attached to the respective coulter carriers 26a - 26c.Consequently, the current orientation of the corresponding seed shares 14 and / or a change in orientation of the corresponding seed shares 14 can be determined from the sensor data acquired by the position and / or orientation sensors 34c. In this way, it can be determined from a detected rotation angle and / or a change in rotation angle whether the intended orientation of the seed shares 14 is currently present and / or whether an undesired change in the orientation of the seed shares 14 is occurring. Preferably, the sensor data acquired by the position and / or orientation sensors 34c are taken into account by the control unit when setting the row-specific actuator forces A1 - A3 at the actuators 16a - 16c to bring about the intended orientation of the seed shares 14a - 14c.

[0060] Furthermore, in the Fig. Figure 4 shows a position sensor 34a designed as a cable-operated sensor, by means of which the pivoting of a transmission lever 28 between the actuator 16a and the coulter carrier 26a can be detected. Preferably, a position sensor 34a designed as a cable-operated sensor is arranged on several and / or all transmission levers 28 of the seed drill 10. Analogous to the position sensors 34b, 34c, it can also be deduced from the sensor data of the position sensor 34a whether the respective seed coulters 14 are currently in an intended orientation and / or whether an adjustment of the respective actuator force A1 - A3 is necessary to bring about the intended orientation of the seed coulters 14 in a coulter-row specific manner.The sensor data from the position and / or orientation sensors 34a are also preferably taken into account by the control unit 30 when adjusting the actuator forces A1 - A3 in a row-specific manner to achieve the intended alignment of the seed shares 14.

[0061] The Fig. Figure 5 shows an arrangement consisting of a seed coulter 14 with a depth control roller 20 of a seed drill 10 according to the invention, which are attached to a coulter carrier 26a via a single-arm swing arm 18. The arrangement is as follows: Fig. Figure 5 shows, by way of example, a seed coulter 14 arranged in the foremost row 12a of a seed drill 10. In soil section I of the soil B of an agricultural area N, a high resistance force W1 acts upon this coulter due to the undisturbed soil in soil section I. To achieve the desired alignment of the seed coulters 14 in the first row 12a, a row-specific actuator force A1 is set in row 12a, resulting in a torque D1 around the coulter carriers 26a. This generates a coulter force S1, matched to the resistance force W1, acting against the resistance force W1. This results in a ground force K of the depth control roller on the soil B of the agricultural area N. This, in turn, results in the desired sowing depth T of the seed in the soil B.

[0062] Furthermore, in the Fig. Figure 5 shows an exemplary sensor arrangement with force sensors 36a-36c of the detection device 32, wherein preferably at least one of the sensors 36a-36c is arranged on at least one coulter per coulter carrier 26a-26c, and in particular on at least two coulters 14 on each coulter carrier 26a-26c. The force sensor 36a is designed as a strain gauge and is arranged on the single-arm swing arm 18 of the coulter 14, whereby sensor data can be acquired by means of the force sensor 36a designed as a strain gauge, by means of which the forces acting on the coulter 14 and / or on the depth control roller 20 can be determined. The force sensor 36a designed as a strain gauge detects the deformations of the single-arm swing arm 18 caused by the forces acting on the single-arm swing arm 18.From these sensor data, it can therefore be determined whether the forces acting on the respective seed coulter 14 and / or the respective depth control roller 20, in particular the resistance force W1 - W3, the coulter force S1 - S3 and / or the ground force K, each result in an intended orientation of the respective seed coulter 14. In particular, the sensor data of several force sensors 36a of different seed coulters 14 can be compared with each other to check whether the orientation of the seed coulters 14 is uniform.

[0063] Furthermore, in the Fig. Figure 5 shows that a force sensor 36b is arranged in an adjustment device 22 for adjusting the depth control roller 20 relative to the coulter 14 to adjust the sowing depth T. This force sensor records sensor data relating to the forces acting on the adjustment device 22. Preferably, the seed drill 10 comprises several force sensors 36b, in particular on at least one coulter per coulter carrier 26a, and more preferably on at least two coulters 14 per coulter carrier 26a-26c. The force K acting on the depth control roller 20 can be determined from the sensor data obtained by the force sensors 36b on the adjustment device 22. The force K acting on the depth control rollers allows conclusions to be drawn about the alignment of the respective coulters 14, in particular by comparing the sensor data of several force sensors 36b.

[0064] Furthermore, in the Fig. In Figure 5, a further force sensor 36c is arranged in the axis of rotation of the depth control roller 20, which also records sensor data relating to the contact force K of the depth control roller 20. Analogous to the force sensors 36a, 36b, it is particularly preferred if at least one depth control roller 20 is arranged on each coulter carrier 26a - 26c of a seed drill 10, but in particular at least two depth control rollers 20 are arranged on each coulter carrier 26a - 26c, so that the sensor data of several force sensors 26c are comparable with each other for determining the uniformity of the alignment of the seed coulters 14.

[0065] Preferably, the sensor data from the force sensors 36a, 36b and / or 36c are evaluated and / or stored by the data processing unit 38 and / or taken into account by the control unit 30 for the row-specific setting of the actuator forces A1 - A3 when controlling the actuators 16a - 16c.

[0066] The Fig. Figure 6 shows a detailed view of the [unclear text] in the Fig. The arrangement shown in Figure 5, with the seed coulter 14 and the depth control roller 20, is viewed from a front oblique angle. Consequently, in the Fig. 6 in particular the arrangement of the force sensor 36b on the adjustment device 22 and the force sensor 36c arranged in the axis of rotation of the depth guide roller 20 can be seen from the rear. Reference sign 10 Seed drill 12a-12c rows 14 seeders 16a-16c Actuators 18 single-sided swingarms 20 depth control rollers 22 Adjustment device 24a, 24b cantilever 26a-26c shovel carrier 28 transmission levers 30 Control unit 32 Recording device 34a-34c Position and / or orientation sensors 36a-36c Force sensors 38 Data processing facility A1-A3 Actuator force B Floor D1-D3 torque F Direction of travel K Rebellion force N Usable area S1-S3 Sharing force T Storage depth W1-W3 Resistance I-III Soil section

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