System for determining the degree of soil compaction in order to be able to change the working depth setting of a soil tillage machine using this system

Abstract

A system for determining the degree of soil compaction, which is attached to a soil tillage machine (19), wherein the soil tillage machine (19) is a soil loosener or a chisel plough, characterized in that the system comprises at least one hydraulic cylinder (1) for hydraulically securing the working tools (2), which is coupled to a working tool (2), wherein the working tool (2) is a chisel or a pre-cutter, where the hydraulic cylinder (1) is coupled into a hydraulic control circuit (20), wherein a pressure sensor (3) is connected in the hydraulic line, which is data-connected to the control unit (4), wherein the system further comprises a sensor (7) of the position of the working tool (2), which is data-connected to the control unit (4), wherein the hydraulic control circuit (20) is data-connected to the control unit (4).

Description

Technical Field of MatterThe invention relates to a system for measuring the degree of soil compaction on an agricultural surface applied to a soil working machine, preferably to a machine driven by a motor driven traction means, e.g. a tractor.Prior ArtUndesirable soil compaction is a negative phenomenon occurring on agricultural surfaces. A high degree of soil compaction not only reduces crop yields, but also carries environmental risks such as increased surface water drainage.It is known that there is a dependence between crop yield and soil bulk density, yield first increasing with increasing compaction (desired effect of tampers, rolls, etc.), and it is also known that yield decreases from a certain degree of compaction.Excessive compaction is largely influenced by the travel of the soil with agricultural machines, in particular by the use of machines which are unsuitable for soil conditions. Also, periodic repetition of the same operations, such as ploughing, also contributes to compaction, turning and loosening the soil surface, but at the same time forming a highly compacted soil layer below the soil working boundary.Soil compaction on a particular sub-piece is very different, both locally and depending on subsurface depth. It is influenced by the ground properties, the relief, the travel on machines and the like. In soil working, especially when working at greater depths, it is suitable to know the degree of soil compaction and to adjust the operation to achieve a maximum effect at minimum cost (fuel consumption, time, etc.).Various methods or technical solutions for detecting soil compactions are known. The most objective, but very complex method for determining the physical properties of the soil is the removal of intact soil samples using the so-called Kopecky rollers. In this case, the possibilities of automatizing the measurement are almost equal to zero. This method is completely unusable for continuous measurements.Another method is to measure the resistance to penetration of the soil. The resistance to penetration of the soil is the resistance of the soil to penetration of a metal cone of defined dimensions by uniform movement into the soil. This resistance is expressed in pascals or multiples thereof. With this measurement, the resistance to penetration of the soil in different horizons of the soil profile is determined. The advantage of evaluating the penetration resistance in comparison to the apparent density measurement is a simple acquisition of data from the ground horizon (depending on the depth of the range of the penetrometer). Most commonly, so-called vertical penetrometers are used, in which the tip penetrates vertically into the ground and the ground resistance is measured as a function of the penetration depth of the tip into the ground. Measurements with a vertical penetrometer can be automated to some extent, but are unusable for continuous measurements when the soil-working machine is operating simultaneously - one must always stop in order to make a puncture at a certain point of the field. In contrast, horizontal penetrometers measure the resistance of the soil when the tip penetrates horizontally with the soil surface. Their advantage is that they can be used for continuous measurements. Most of the known designs, however, only permit the measurement of the soil resistance (compaction) at a certain depth. A penetrometer for measuring soil properties in the field is described, for example, in patent application US2019059209A1, wherein the penetrometer comprises a rolling mechanism having a series of protruding surfaces operatively coupled to one or more force gauges.However, there are also designs which make possible a simultaneous measurement at several different depths below the ground surface. Such a solution is described, for example, in the utility model CZ34039. The drawback of the horizontal penetrometer is that it is a rather complicated device with a high price. The operating speed during the measurement is also limited, which should always be kept constant if possible.Another solution is the commercially available so-called SOILXPLORER™ - a contactless sensor mounted in the front hitch of the tractor. It allows online measurement not only of soil compaction but also of the water content, for example. On the basis of the measured data, the working depth of the soil working machine can be set online. However, the price of the equipment is quite high.Essence of the InventionThe deficiencies of the prior art are overcome by a system for detecting the degree of soil compaction by means of a hydraulic safety of the implements disposed on the soil working machine, said system comprising at least one hydraulic cylinder of the hydraulic safety of the implements coupled to the implement, where the hydraulic cylinder is coupled into a hydraulic control loop, wherein a pressure sensor is connected in the hydraulic line that is data-connected to the control unit, wherein the system further comprises a sensor of the position of the implement that is data-connected to the control unit, wherein the hydraulic control loop is data-connected to the control unit. This solution enables a continuous measurement of soil compaction with simultaneous use of a hydraulic safety device which also serves to secure the device in its position. This solution allows the use of measurements of compaction during operation of the soil working machine. The data connection may be one of the following data connections; a data cable such as a twisted pair cable, an optical fiber cable, a coaxial cable, a wireless data connection such as a connection by means of receivers and transmitters operating in the Bluetooth ® wireless communication standard standardized according to IEEE (Institute of Electrical and Electronics Engineers) 802.15.1, receivers and transmitters operating in the Wi-Fi™ wireless communication standard based on IEEE 802.11 standards, receivers and transmitters operating in the ZigBee™ wireless communication standard based on IEEE 802.15.4. The working implement is one of the following working implements; a chisel, a pre-cutter and a disk. The sensor of the position of the working implement is one of the following: a sensor for the piston extension of the hydraulic cylinder, an angle sensor, a linear encoder, an electronic gyro sensor with accelerometer.The system may further be equipped with a speed sensor data connected to the control unit. The speed measurement is particularly advantageous if a correction of the measurement values or a repeatability of the measurement is required. Likewise, thanks to the speed sensor, the control in the hydraulic control circuit can be stopped with a stationary soil working machine. The speed sensor can be one of the following sensors; an accelerometer, a sensor of the wheel rotation of the soil working machine, a tachometer of the motor-driven traction means, a GNSS receiver (global navigation satellite system) with an evaluation unit.The aforementioned hydraulic control circuit preferably comprises an electronically controlled hydraulic reducing valve which is part of the control circuit which is data-connected to the control unit. The electronically controlled hydraulic valve enables precise pressure control in the hydraulic safety of the cylinder, the lowest permissible pressure being suitable for the correct functioning of the hydraulic safety of the cylinder. The pressure value is electronically controlled by the electronically controlled hydraulic valve, wherein the pressure is controlled by the electronically controlled hydraulic valve in such a way that a constant position of the working device is ensured by the hydraulic cylinder of the securing of the working device at the lowest possible pressure, wherein the maximum pressure value is limited by the maximum permissible pressure value. In this way, the pressure in the hydraulic cylinders for securing implements is regulated, as well as in hydraulic cylinders for securing implements which are not provided with a pressure sensor and are not intended for measurement, these aforementioned hydraulic cylinders for securing implements can be connected via such an electronically controlled hydraulic reducing valve or provided with a separate circuit, with a separate electronically controlled hydraulic reducing valve which is connected to a hydraulic pump or is connected to a separate hydraulic pump.Alternatively, the hydraulic cylinders for securing implements not suitable for measuring soil compaction are connected to the hydraulic pump via a manually operable hydraulic reducing valve which enables the operator to set the constant pressure, or via an electronically controlled hydraulic reducing valve which enables the operator to set the desired constant pressure, for example via an operator terminal which is data-connected to or connected to the electronically controlled hydraulic reducing valve via a control unit.The hydraulic control circuit may further comprise a tank for the hydraulic fluid and a hydraulic pump. It can preferably be provided that the tank for the hydraulic fluid and the hydraulic pump are parts of the motor-driven traction means and the system and thus the hydraulic branch are connected to them via a detachable hydraulic connection.In some configurations, the system may further include a hydraulic accumulator connected between the hydraulic cylinder and the hydraulic reducing valve. The hydraulic accumulator protects the system and the device from sudden pressure rises, for example when impacting a stone or another obstacle in the ground.It can also be used that the system comprises a GNSS (Global Navigation Satellite System) receiver which is data-connected to the control unit. The GNSS receiver makes it possible to track the position of the machine and thus to assign the print data to a specific position.Advantageously, it can be provided that the system further comprises a sensor of the working depth of the soil working machine, which is data-connected to the control unit. The sensor of the working depth of the machine can be used to determine not only whether the machine is in the working or non-working position, but also the depth at which the current value of the pressure sensor is measured. This is very useful because it also provides information about where the densified layer is located. It can then advantageously be provided that the control unit adjusts the desired working depth of the soil working machine on the basis of the pressure sensor value. This makes it possible to change the working depth of the machine during travel and to significantly improve the working efficiency or the desired degree of soil working. Advantageously, the control unit is then data-connected to the actuators for setting the working depth of the soil-working machine and is capable of transmitting a command for setting the working depth in accordance with the currently desired depth value of the soil-working machine. The actuators for adjusting the working depth of the machine are preferably hydraulic cylinders which are connected in a separate circuit or in a separate branch with its own control of the hydraulic fluid supply. Alternatively, however, linear electric motors or rotating electric motors and or hydraulic motors can also be used, supplemented by a kinematic connection which converts at least part of its torque into a movement which has a component in the vertical direction. The sensor of the working depth of the soil working machine can be manufactured in one of the following embodiments; a sensor of the extension of actuators for adjusting the working depth of the soil working machine, an angle sensor, a linear encoder, an electronic gyro sensor with accelerometer, a laser meter of the distance, etc. The embodiment of sensors for measuring the working depth of the soil working machine is known to the person skilled in the art and depends on the specific design arrangement of the soil working machine, in particular on the kinematic connection with which the adjustment of the working depth of the soil working machine takes place.Furthermore, it can be provided that the control unit comprises a data storage device on which a pressure limit value corresponding to the compacted soil is stored, wherein the control unit adjusts the nominal value of the working depth of the machine by the defined value of the working depth at a pressure value above the pressure limit value until the pressure value falls below the pressure limit value.Preferably, it may be provided that the control unit comprises a processor, a data store and at least one computer program which controls the processor to carry out the processing of the data, the cylinder pressure and the position from the data obtained from the GNSS receiver and stores the pressure values measured by the pressure sensor in the data store of the control unit, wherein the position obtained from the GNSS sensor at the time of the measurement is associated with these values. The computer program is adapted to process the graphic result in the latitude and longitude axes in which the measured pressure values are recorded.In an alternative embodiment of the invention, the controller comprises a processor, a data repository and a wireless communication module, wherein the computer program controls the processor to perform processing of data, cylinder pressure and position from the data received from the GNSS receiver and to transmit the data to a remote data repository external to the compression rate determination system. In both of the above cases, the data assigned by the computer program is used to create a map of compaction and other measured parameters.Many of the disadvantages of the prior art are overcome by a method of altering the adjustment of the working depth of the soil working machine using a compaction degree determination system, further wherein user adjustable values of the working depth are stored in the control unit data store comprising a minimum optimum value of the working depth, a minimum value of the working depth and a maximum value of the working depth, the maximum portable pressure also being stored in the control unit data store, the system comprising two selectable modes, the first mode comprising:When setting the soil working machine to the corresponding optimum working depth, when exceeding the pressure limit value, the control unit sets the required working depth to a value lower than the optimum value of the working depth and higher than the minimum value of the working depth,the actuators for adjusting the working depth of the machine set the machine to the currently desired working depth,When the pressure limit value is exceeded, the control unit resets the desired working depth to a value that is lower than the optimum value of the working depth and higher than the minimum value of the working depth,the actuators for adjusting the working depth of the machine set the machine to the currently desired working depth,the step of setting the desired working depth and setting the working depth is repeated until either the pressure falls below the threshold or the working depth reaches the minimum value of the working depth,wherein the minimum working depth is reached and when the pressure value is still above the pressure threshold value, the control unit sets the optimum value of the working depth again as the desired working depth and restarts the steps of the first mode after the time t stored in the data store of the control unit has elapsed,wherein the following occurs in the second mode:When setting the soil working machine to the corresponding optimum working depth, when exceeding the pressure limit value, the control unit sets the desired working depth to a value lower than the optimum value of the working depth and higher than the maximum value of the working depth,the actuators for setting the working depth of the soil working machine set the soil working machine to the currently desired working depth,When the pressure limit value is exceeded, the control unit resets the desired working depth to a value that is higher than the optimum value of the working depth and lower than the maximum value of the working depth,the actuators for setting the working depth of the soil working machine set the soil working machine to the currently desired working depth,the step of setting the desired working depth and setting the working depth is repeated until either the pressure rises to the maximum value of the maximum portable pressure or the working depth reaches the maximum value of the working depth, and when the maximum working depth is reached, that working depth is maintained,If the maximum portable pressure is reached at any time, the control unit again sets the preceding working depth, at which the maximum portable pressure has not been reached, as the desired working depth and, after the time t stored in the data store of the control unit has elapsed, restarts the steps of the second mode starting from the current working depth.The maximum portable pressure corresponds to the maximum pressure in the hydraulic cylinder for safety at which the working implement or the soil working machine are not destroyed, and this value can be reduced by a safety coefficient. Thus, it is not necessarily the value at which the destruction as such occurs, but the value which is maximally permissible.The triggering of the modes can take place fully automatically or by a user instruction via the human-machine interface, and likewise the user can instruct the termination of the first or second mode via the human-machine interface. In the fully automatic variant, an additional step can also be provided, wherein during the first mode, a return to the optimum working depth takes place for a short interval when the working depth is reduced from the optimum working depth and in the second mode, a return to the optimum working depth takes place for a short interval when the working depth is increased from the optimum working depth and it is determined whether the pressure in the optimum working depth has fallen below the pressure limit value, wherein, if this is the case, the optimum working depth is retained, if not, a return to the last current working depth takes place. This step takes place, for example, every 900 seconds of the time when the working depth of the soil working machine deviates from the optimum working depth of the soil working machine, but can be expediently selected in an interval of 350-3600 seconds.The system according to the invention for determining the degree of compaction uses largely the components with which the soil cultivation machine is already equipped. This concept is particularly suitable for machines for medium and large ground working depths with hydraulic safety of the working tools, such as bit ploughs or ground loosening devices. In these machines, which can machine the ground to a depth of 65 cm, each working implement is secured by a hydraulic cylinder. If the implement is overloaded, for example due to excessive soil compaction or the presence of an obstacle (stone, etc.), the oil is drained from the hydraulic cylinder into the hydraulic accumulator for securing purposes, whereby the implement is partially excavated and its damage is avoided. When the ground resistance decreases, the oil from the reservoir is automatically pushed back into the cylinder and the implement returns to its original position. The magnitude of the ground resistance at which the safety system is activated and the implement is excavated is directly proportional to the hydraulic pressure set in the system. This behavior can be advantageously provided for a system for detecting soil compactions. It is suitable to use the system on a working implement which is not affected, for example, by the compaction of the tractor wheels or the upwinding of the soil by the appliance located in front of it.For the operation of the system it is suitable to have a constant source of pressurized oil, most frequently from the hydraulic output of the tractor. Theoretically, the machine can be equipped with more than one measurement tool, in the extreme case all tools could be used as measurement tools, but each of them would have to have a separate hydraulic control loop, a sensor of the position of the tool and a pressure sensor.An advantageous function of the compaction detection system is to detect the degree of compaction of the soil during agricultural machine operation. In the basic application, the machine operates at a constant working depth and the resulting map of soil compaction on the base corresponds to the working depth used. The acquired data can serve as a basis for decision for future agricultural measures on the specific basis. Interesting possibilities are possible above all in the long-term use of the system when a time series of the compaction rate of the soil is available on the specific base. For example, if the machine is equipped with a hydraulic system for controlling the depth of work, the system for determining the compression may be extended to control the depth of work of the machine.Brief Description of the DrawingsThe invention is explained in more detail with reference to the drawings, wherein FIG. 1 shows a block diagram of a seventeenth exemplary embodiment of a system for detecting the degree of soil compaction by means of a hydraulic safety device of working tools,FIG. 2 is a block diagram of a first exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 3 is a block diagram of a second exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 4 is a block diagram of a third exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 5 is a block diagram of a fourth exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 6 is a block diagram of a fifth exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 7 is a block diagram of a sixth exemplary embodiment of a ground compaction degree determination system using hydraulic safety of implements,FIG. 8 is a block diagram showing a seventh exemplary embodiment of a ground compaction degree determination system using hydraulic safety of working tools,FIG. 9 is a block diagram showing an eighth exemplary embodiment of a ground compaction degree determination system using hydraulic safety of working tools,FIG. 10 is a block diagram showing ninth, tenth, eleventh, twelfth, thirteenth and fourteenth exemplary embodiments of a ground compaction degree detecting system using hydraulic safety of working tools,FIG. 11 is a block diagram of a fifteenth exemplary embodiment of a ground compaction degree determination system using hydraulic safety of working tools,FIG. 12 shows a detail of a soil working machine with a system for determining the degree of soil compaction using hydraulic safety of working tools.Embodiments of the InventionExample 1A first exemplary embodiment of the system is the embodiment schematically shown in FIG. 2, in which the system for determining the degree of soil compaction is attached to the soil working machine 19. The system for determining the degree of soil compaction comprises, in this exemplary embodiment, a control unit 4, a sensor 7 for the position of the working implement 2, a hydraulic control circuit 20, a pressure sensor 3 and a working implement 2 which is connected to a hydraulic cylinder 1 for hydraulically securing the working implements 2.The hydraulic cylinder 1 for hydraulically securing the working tools 2 is connected to the working tool 2, wherein the working tool 2 is fastened movably, preferably rotatably, to the frame of the soil working machine 19, wherein the movement of the working tool 2 relative to the frame of the soil working machine 19 is limited to a limit force by the hydraulic cylinder 1. The limit force corresponds either to the flexibility of the hydraulic cylinder 1 or to the setting of the hydraulic control circuit 20 or to a combination of the two. In this exemplary embodiment, the hydraulic cylinder 1 is connected at one end by means of a rotational connection to the working device 2 and at the other end by means of a rotational connection to the frame of the soil working machine 19.The working device 2 is a chisel in this exemplary embodiment. And the soil working machine 19 is the pick plow. The control unit 4 is connected in terms of data to the hydraulic control circuit 20, the pressure sensor 3 and the sensor 7 of the position of the working implement 2; the data connection is represented in FIG. 2 by a dash-dot line. In this exemplary embodiment, the data connection is realized via a data cable.The hydraulic control circuit 20 is hydraulically connected to the hydraulic cylinder 1 for securing the working implement 2. The pressure sensor 3 is connected to the hydraulic line.In this exemplary embodiment, the sensor 7 of the position of the working implement 2 is a sensor of the piston extension of the hydraulic cylinder 1 of the hydraulic securing of the working implements 2.The data from the sensors are processed by the control unit 4. The corresponding extension of the piston of the hydraulic cylinder 1 is converted into the position of the working implement 2 for securing purposes, i.e. into one of the following positions; the distance of the end of the working implement 2 from the plane of the frame of the soil working machine 19, the inclination with respect to the frame of the soil working machine 19, the inclination with respect to the soil.Example 2A first exemplary embodiment of the system is the embodiment schematically shown in FIG. 3, in which the ground compaction degree determination system is mounted on the soil working machine 19. The ground compaction degree determination system in this exemplary embodiment includes a control unit 4, a work implement 2 position sensor 7, a hydraulic control circuit 20, a pressure sensor 3, a speed sensor 17 and a work implement 2 connected to a hydraulic cylinder 1 for hydraulically securing the work implements 2.The hydraulic cylinder 1 for hydraulically securing the working tools 2 is connected to the working tool 2, wherein the working tool 2 is fastened movably, preferably rotatably, to the frame of the soil working machine 19, wherein the movement of the working tool 2 relative to the frame of the soil working machine 19 is limited to a limit force by the hydraulic cylinder 1. The limit force corresponds either to the flexibility of the hydraulic cylinder 1 or to the setting of the hydraulic control circuit 20 or to a combination of the two. In this exemplary embodiment, the hydraulic cylinder 1 is connected at one end by means of a rotational connection to the working device 2 and at the other end by means of a rotational connection to the frame of the soil working machine 19.The working device 2 is a pre-cutter in this exemplary embodiment. And the soil working machine 19 is a soil loosening machine. The control unit 4 is connected in terms of data to the hydraulic control circuit 20, the pressure sensor 3, the speed sensor 17 and the sensor 7 of the position of the working implement 2; the data connection is represented in FIG. 2 by a dash-dot line. In this exemplary embodiment, the data connection is realized via a data cable.The hydraulic control circuit 20 is hydraulically connected to the hydraulic cylinder 1 for securing the working implement 2. The pressure sensor 3 is connected to the hydraulic line.In this exemplary embodiment, the sensor 7 for the position of the working implement 2 is a sensor for the piston extension of the hydraulic cylinder 1 for the hydraulic securing of the working implements 2, which is designed as a linear sensor connected in parallel with the hydraulic cylinder 1 for securing, for example a linear encoder. The speed sensor 17 is a pulse-output GNSS receiver in this exemplary embodiment.The data from the sensors are processed by the control unit 4. The corresponding extension of the piston of the hydraulic cylinder 1 for securing purposes is converted into the position of the working implement 2, i.e. into one of the following positions; the distance of the end of the working implement 2 from the plane of the frame of the soil working machine 19, the inclination with respect to the frame of the soil working machine 19, the inclination with respect to the soil. The outputs of the speed sensor 17 are the speed of the soil working machine 19, primarily the speed in the working direction being monitored.Example 3In the third exemplary embodiment of the system shown in FIG. 4, the system is identical to the second exemplary embodiment. The difference is that it also comprises an electronically controlled hydraulic reducing valve 6 which is part of the hydraulic control circuit 20. The electronically controlled hydraulic reducing valve 6 is hydraulically connected to the input of the hydraulic control circuit 20 in the branch coming from the hydraulic cylinder 1 of the hydraulic fuse. The electronically controlled hydraulic reducing valve 6 is data-connected to the control unit 4, wherein the control unit 4 is adapted to give a command for controlling the electronically controlled hydraulic reducing valve 6.Example 4The fourth exemplary embodiment corresponds to the third exemplary embodiment, and in this exemplary embodiment, the hydraulic control circuit 20 includes a hydraulic pump 15 and a hydraulic tank 16. The hydraulic pump 15 is connected with its output to the input of the electronically controlled hydraulic reducing valve 6, i.e. to the input to which the branch from the hydraulic cylinder 1 for securing the working tools 2 is not connected, and the hydraulic pump 15 is connected with its input to the hydraulic tank 16. The electronically controlled hydraulic valve 6 is connected via its third inlet to the hydraulic tank 16, wherein this third inlet is closable and the branch is represented in FIG. 5 by a dash-dot line.This embodiment is particularly advantageous for use on the floor processing machine 19 with its own drive, the so-called agricultural robot.The application of this exemplary embodiment to a soil working machine is realized by two measuring hydraulic cylinders 1 for securing the working implement 2, which are each assigned to one of the working implements 2, wherein these hydraulic cylinders 1 are connected in a single circuit for securing the working implements 2, as is illustrated in this exemplary embodiment. The other working tools 2 of the soil working machine are provided with hydraulic cylinders 1 for securing the working tools 2, but they are no longer provided with a pressure sensor 3 and are connected to the hydraulic circuit via a dedicated reducing valve which is adjustable in order to keep the pressure in their hydraulic cylinders 1 constant for securing the working tools 2.Example 5The fifth exemplary embodiment corresponds to the third exemplary embodiment, and in this exemplary embodiment, the hydraulic control circuit 20 includes a hydraulic pump 15 and a hydraulic tank 16. The hydraulic pump 15 is connected with its output to the input of the electronically controlled hydraulic reducing valve 6, i.e. to the input to which the branch from the hydraulic cylinder 1 is not connected for safety, and the hydraulic pump 15 is connected with its input to the hydraulic tank 16. The electronically controlled hydraulic valve 6 is connected via its third inlet to the hydraulic tank 16, wherein this third inlet is closable and the branch is illustrated in FIG. 6 by a dashed line.In this exemplary embodiment, the hydraulic pump 15 and the hydraulic tank 16 are part of the motor-driven traction means 18, the motor-driven traction means 18 being one of the following: a tractor, an autonomous tractor, a motor-driven traction means with electric power traction line, and an autonomous motor-driven robot with connected traction device.The branches of the hydraulic line between the hydraulic pump 15 and the electronically controlled hydraulic reducing valve 6 as well as the line between the hydraulic tank 16 and the electronically controlled hydraulic valve 6 are interrupted, wherein they can be connected by a detachable hydraulic connection. In this exemplary embodiment, quick-action hydraulic couplings 14 are used, one in each of the aforementioned branches.The application of the present exemplary embodiment to a soil working machine is realized by a single measurement hydraulic cylinder 1 for securing the working implement 2, wherein the latter is connected as illustrated in the present exemplary embodiment. The other working tools 2 of the soil working machine are provided with hydraulic cylinders 1 for securing the working tools 2, but no longer have a pressure sensor 3 and are connected to a separate one via a separate reducing valve which is connected via a separate releasable connection to the hydraulic pump 15 and to the hydraulic container 16 which is adjustable in order to maintain a constant pressure in their hydraulic cylinders 1 for securing the working tools 2.Example 6The sixth exemplary embodiment corresponds to the fifth exemplary embodiment and is schematically illustrated in FIG. 7. The difference is that the system in this exemplary embodiment additionally comprises a hydraulic accumulator 5. The hydraulic accumulator 5 is connected to a branch of the hydraulic line between the hydraulic cylinder 1 and the electronically controlled hydraulic reducing valve 6.The system also includes a hydraulic accumulator 5, in other aspects, the third example embodiment is identical to the second example embodiment.Example 7In the seventh exemplary embodiment of the ground compaction degree determination system illustrated in FIG. 8, the ground compaction degree determination system further includes a global navigation satellite (GNSS) receiver 8, the seventh exemplary embodiment being identical to the sixth exemplary embodiment in other aspects. The GNSS receiver 8 is data-connected to the control unit 4. The GNSS receiver 8 is any one of the following GNSS receivers 8; Global Positioning System (GPS) receivers, Quasi-Zenith Satellite System (GLONASS) receivers, Global Navigation System (SNбальная SNвигационная SnТ), Galileo receivers, Global Navigation System (BDS) receivers, Quasi-Zenith Satellite System (QZSS) receivers, and Indian Regional Navigation Satellite System (IRNSS) receivers. The data from the GNSS receiver 8 is processed by the control unit 4.Example 8In the eighth exemplary embodiment of the ground compaction degree determination system illustrated in FIG. 9, the ground compaction degree determination system further includes a working depth sensor 9 of the soil working machine 19, in other aspects, the eighth exemplary embodiment is identical to the seventh exemplary embodiment.The sensor 9 of the working depth of the soil working machine 19 is designed as an angle sensor which detects the inclination of the mechanism which is determined together with the actuators 25 for setting the working depth of the soil working machine 19. The sensor 9 of the working depth of the soil working machine 19 is data-connected to the control unit 4. The actual sensor 9 of the working depth of the soil working machine 19 is located on the frame of the soil working machine 19 and measures the working depth, which is achieved by measuring the height of the frame of the soil working machine 19 on which the working tools 2 are mounted.Example 9In the ninth exemplary embodiment, the ground compaction degree determination system is the ground compaction degree determination system as in the eighth exemplary embodiment, and is illustrated in FIG. 10. In this exemplary embodiment, the control unit 4 is configured to set the desired depth of the soil working machine 19 and adjusts this value to the desired depth of the soil working machine 19 based on the pressure value from the pressure sensor 3.Example 10In the tenth embodiment, the ground compaction degree determination system is identical to the tenth embodiment and corresponds to FIG. 10, and the control unit 4 is data-connected to the actuators 25 for adjusting the working depth of the soil working machine 19 (not shown). Here, the control unit 4 is adapted to transmit a command for setting the working depth of the soil working machine 19 according to a currently desired depth of the soil working machine 19.The actuators 25 for adjusting the working depth of the soil working machine 19 are electric linear electric motors in this exemplary embodiment.Example 11In the eleventh exemplary embodiment, the compression degree determination system is executed as in the ninth exemplary embodiment. Here, the control unit 4 is provided with a data storage 21 of the control unit 4, in which a pressure limit value corresponding to the compacted soil is stored. If the pressure value is above this value, the control unit 4 adjusts the desired value of the working depth of the soil working machine 19 by the defined value of the working depth until the pressure value falls below the pressure limit value.Example 12The twelfth exemplary embodiment is a ground compaction degree determination system corresponding to the eighth exemplary embodiment illustrated in FIG. 10. In this exemplary embodiment, the control unit 4 further comprises a processor 22 and a data store 21 of the control unit 4. the control unit 4 comprises in the data store 21 of the control unit 4 at least one computer program which controls the processor 22 for processing data, the cylinder pressure and the position from the data obtained by the GNSS receiver 8 and stores in the data store 21 of the control unit 4 the pressure values measured by the pressure sensor 3, wherein the position determined by the GNSS receiver 8 at the time of the measurement is associated with these values.Example 13The thirteenth exemplary embodiment corresponds to the twelfth exemplary embodiment, wherein the computer program stored in the data store 21 of the control unit 4 is suitable for processing the graphic output in the axes of latitude and longitude on which the pressure measurement values are recorded.Example 14The fourteenth exemplary embodiment corresponds to the thirteenth exemplary embodiment, wherein the computer program stored in the data store 21 of the control unit 4 is suitable for processing the graphic output in the axes of the geographical width and length on which, in addition to the pressure measurement value, the measurement values of the working depth of the soil working machine 19, the speed of the soil working machine 19 and the position of the working implement 2 are also entered.Example 15The fifteenth exemplary embodiment is a ground compaction degree determination system corresponding to the eighth exemplary embodiment illustrated in FIG. 11. In this exemplary embodiment, the control unit 4 further comprises a processor 22, a wireless communication module 24 and a data store 21 of the control unit 4. the control unit 4 comprises in the data store 21 of the control unit 4 at least one computer program which controls the processor 22 for processing data, the cylinder pressure and the position from the data obtained by the GNSS receiver 8 and stores in the data store 21 of the control unit 4 the pressure values measured by the pressure sensor 3, wherein the position determined by the GNSS receiver 8 at the time of the measurement, the working depth of the soil working machine 19 (if present), the position of the working implement 2 and the speed (if present) are associated with these values.These values are transmitted from the control unit 4 via the wireless communication module 24 to the remote data store 23. The wireless communication module 24 is one of the following modules; Groupe Spécial Mobile (GSM) module, First Generation (1G) mobile network module, Second Generation (2G) mobile network module, Third Generation (3G) mobile network module, Fourth Generation (4G) mobile network module, Fifth Generation (5G) mobile network module, Satellite Internet connection module (e.g., StarlinkTM commercially available service), Wireless Radio Communication module, Bluetooth ® standardized according to IEEE (Institute of Electrical and Electronics Engineers) 802.15.1, Module of wireless communication Wi-FiNB based on the IEEE 802.11.standards, module of wireless communication ZigBeeNB according to IEEE 802.15.4. Standard, LoRaWa (Long Range Wide Area Network), NB-IoT (Narrow Internet of Things) module and the LPWAN (Low-Power Wide-Area Network) communication module.The remote data store 23 itself can be connected to a computer which enables data processing, for example using Microsoft ® Azure technologies: SQL (Structured Query Language), IOT HUB (Internet of Things Hub), Blob (Binary Large OBject), or comprises a computer program for data processing, for example Microsoft ® Power BI™.Example 16The sixteenth exemplary embodiment shows a method of changing the working depth of the soil working machine 19 using a compaction degree determination system according to the eleventh exemplary embodiment of the invention.Further, in the data store 21 of the control unit 4 user editable values of working depth are stored, which comprise at least an optimum value of working depth, a minimum value of working depth and a maximum value of working depth, the system comprising two selectable modes.In the first mode, which is considered to be the energy saving mode, the following steps are carried out:setting the soil working machine 19 to the working depth corresponding to the optimum working depththe control unit 4 sets the desired working depth to a value which is lower than the optimum value of the working depth and higher than the minimum value of the working depth, when the pressure limit value is exceeded,the actuators 25 for setting the working depth of the soil working machine 19 set the soil working machine 19 to the currently desired working depth,the control unit 4 again sets the desired working depth to a value which is lower than the optimum value of the working depth and higher than the minimum value of the working depth, when the pressure limit value is exceeded,the actuators 25 for setting the working depth of the soil working machine 19 set the soil working machine 19 to the currently desired working depth,the step of setting the desired working depth and setting the working depth is repeated until either the pressure falls below the limit value or the working depth reaches the minimum value of the working depth,wherein, when the minimum working depth is reached and when the pressure is still above the pressure threshold value, the control unit resets the optimum value of the working depth as the desired working depth and restarts the steps of the first mode after the time t stored in the data store 21 of the control unit 4. The aforementioned time interval is in the interval between 0.1-3600 seconds, preferably in the interval between 10-900 seconds, particularly preferably in the interval between 60-600 seconds, a specific example value being 439 seconds.In the aforementioned second mode, which serves to break through the compaction, i.e. to destroy the compacted layer determined, the following steps take place:setting the soil working machine 19 to the working depth corresponding to the optimum working depththe control unit 4 sets the desired working depth to a value which is higher than the optimum value of the working depth and lower than the maximum value of the working depth, when the pressure limit value is exceeded,the actuators 25 for setting the working depth of the soil working machine 19 set the soil working machine 19 to the currently desired working depth,the control unit 4 again sets the desired working depth to a value which is higher than the optimum value of the working depth and lower than the maximum value of the working depth, when the pressure limit value is exceeded,the actuators 25 for setting the working depth of the soil working machine 19 set the soil working machine 19 to the currently desired working depth,the step of setting the value of the desired working depth and setting the working depth is repeated until either the pressure rises to the value of the maximum portable pressure or the working depth reaches the maximum value of the working depth,wherein when the maximum working depth is reached, this working depth is maintained,When the maximum portable pressure is reached at any time in the course of the process, the control unit 4 again sets the preceding working depth at which the maximum portable pressure has not been reached as the desired working depth, and, after the time t stored in the data store 21 of the control unit 4, starts the steps of the second mode again starting from the current working depth.The aforementioned time interval is in the interval between 0.1-3600 seconds, preferably in the interval between 10-900 seconds, particularly preferably in the interval between 60-600 seconds, a specific example value being 438 seconds.Example 17The seventeenth embodiment of the system is shown in Fig. 1. The ground compaction detection system, which is arranged on a soil working machine 19 coupled to a motor driven traction means 18, which in this exemplary embodiment is the tractor of FIG. 1, comprises a hydraulic cylinder 1 coupled to a working implement 2, the hydraulic cylinder 1 being coupled to a pressure sensor 3, a hydraulic accumulator 5 and an electronically controlled hydraulic reducing valve 6. The system for determining the degree of soil compaction is furthermore data-connected to the control unit 4, wherein the control unit 4 is data-connected to the sensor 7 of the position of the working implement 2, which in this exemplary embodiment is the sensor of the piston extension of the hydraulic cylinder 1, the GNSS receiver 8, the speed sensor 17 of the soil working machine 19, the sensor 9 of the working depth of the soil working machine 19 and the pressure sensor 3, and is furthermore connected via the data bus 10 and the connection socket 11 to the human-machine interface, which in this embodiment is the operating terminal 12. The GNSS receiver 8, the control unit 4, the connection socket 11 and the operating terminal 12 are supplied from the accumulator 13 of the motor-driven traction means 18. The electronically controlled hydraulic reducing valve 6 is connected via hydraulic quick-acting couplings 14 to a hydraulic pump 15 which delivers the liquid from the hydraulic tank 16 of the motor-driven traction means 18.The hydraulic cylinder 1 secures the working implement 2, and the working implement 2 is one of the following working implements 2: a chisel, a pre-cutter, and a disk. The selected (so-called measurement) working device 2 is held at the limit at which the excavation begins by continuously adapting the pressure in the hydraulic system. The current pressure in the system is thus proportional to the current magnitude of the ground resistance. The current pressure in the hydraulic cylinder 1 is measured by the pressure sensor 3 and the degree of extension of the piston rod of the hydraulic cylinder 1 is measured by the sensor 7 of the position of the working implement 2. The electronic control unit 4 evaluates the position of the working implement 2, regulates the pressure in the system via the reducing valve 6 and detects the actual pressure values and the geographical position. A hydraulic accumulator 5 serves to dampen the shocks of the system. The position of the soil cultivation machine 19 is determined by satellite navigation using the GNSS receiver 8. The sensor 9 of the working depth of the soil working machine 19 serves to determine the working position of the soil working machine 19, i.e. whether the soil working machine 19 is located in the part of the base to be worked, in the front end etc. In addition, the sensor 9 of the working depth of the soil working machine 19 determines a specific value of the working depth, i.e. the depth at which the working tools 2 or their cutting edges or another working surface are located. The sensor 9 of the working depth of the soil working machine 19 makes it possible, inter alia, to shut off the measurement when the soil working machine 19 is not in use, i.e. when the working tools 2 are above the soil level.The electronic control unit 4 continuously evaluates the position of the working implement 2 with the aid of the sensor 7 of the position of the working implement 2. During excavation work, the control unit 4 increases the hydraulic pressure in the system. When the working implement 2 is not excavated, the pressure is gradually reduced. The pressure change in the system is controlled by an electronically controlled hydraulic reducing valve 6, which determines the flow of hydraulic fluid from the hydraulic pump 15 to the hydraulic cylinder 1.A detail of the soil working machine 19 is shown in Fig. 12, where it is shown in section in a plane perpendicular to the soil and parallel to the working direction of the soil working machine 19. The frame of the soil working machine 19 is static in the front and rear part of the soil working machine 19 and is provided with a support element for the ground contact, here in the form of a wheel in the front part and rear tampers in the rear part. In this exemplary embodiment, the movable part of the frame is connected to the static part of the frame by a mechanism, wherein FIG. 12 shows a connection by means of a parallelogram and an actuator 25 for adjusting the working depth, which is connected by means of a rotational connection to one of the arms of the parallelogram and by means of another rotational connection to the movable part of the frame, wherein the actuator 25 is designed as a hydraulic cylinder. In the front part, the mechanism is analogous, wherein in FIG. 12 only the actuator 25 for adjusting the working depth is shown, designed as a hydraulic cylinder, which is fastened via a rotational connection to the static part of the frame and via another rotational connection to the movable part of the frame.FIG. 12 also shows an example of the attachment of the working implement 2. the working implements 2 are attached to the carrier 26 of the working implements 2. In this exemplary embodiment, the carrier 26 of the working tools 2 has an outer cross-sectional shape in the form of a rectangle with rounded corners, which is guided in the plane of the illustration of FIG. 12. In this exemplary embodiment, the working implement 2 is fastened to the carrier 26 of the working implements 2 via the arm 27 for fastening the working implements 2. The working implement 2 is fixedly attached to its upper side, wherein the arm 27 for fastening the working implements 2 is connected at one of its ends by means of a rotational connection 28 for fastening the working implements 2 to a sleeve which is detachably fastened to the carrier 26 of the working implements 2. The arm 27 for fixing the working tools 2 is connected at its second end, which is higher than its first end, to one of the ends of the hydraulic cylinder 1 for securing the working tools 2 via a rotary joint 28 for fixing the working tools 2. The hydraulic cylinder 1 for securing the working tools 2 is then connected at its other end to the sleeve via a rotational connection 28 for fastening the working tools 2, this connection being located higher than the rotational connection 28 for fastening the working tools 2 which connects the sleeve and the arm 27 for fastening the working tools 2 to one another.Industrial applicabilityThe system according to the invention for determining the degree of compaction by regulating the hydraulic safety pressure of the implements is intended for agricultural soil working machines whose implements are equipped with a hydraulic safety system. This is most common in medium to deep soil working (20-65 cm) machines.List of reference characters1 Hydraulic cylinder 2 working implement 3 pressure sensor 4 control unit 5 hydraulic accumulator 6 electronically controlled hydraulic reducing valve 7 sensor of the position of the working implement 8 GNSS receiver 9 sensor of the working depth of the soil working machine 10 data bus 11 connection socket 12 operating terminal 13 accumulator of the motor-driven traction means 14 hydraulic quick clutch 15 hydraulic pump 16 hydraulic tank 17 speed sensor 18 motor-driven traction means 19 soil working machine 20 hydraulic control circuit 21 data storage of the control unit 22 processor 23 remote data storage 24 wireless communication module 25 actuator for setting the working depth 26 carrier of the working implements 27 arm for fastening the working implements 28 rotational connection of the fastening of the working implementsReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedUS 2019059209A1

[0007]

Claims

A system for detecting the degree of soil compaction attached to a soil working machine (19), the soil working machine (19) being a soil loosening device or a pick plough, characterized in that the system comprises at least one hydraulic cylinder (1) for hydraulically securing the working tools (2) coupled to a working tool (2), the working tool (2) being a pick or a pre-cutter, where the hydraulic cylinder (1) is coupled into a hydraulic control circuit (20), wherein a pressure sensor (3) is connected in the hydraulic line which is data-connected to the control unit (4), the system further comprising a sensor (7) of the position of the working tool (2) which is data-connected to the control unit (4), wherein the hydraulic control circuit (20) is data-connected to the control unit (4).The ground compaction degree detection system according to claim 1, characterized in that it further comprises a speed sensor (17) data-connected to the control unit (4).The compression degree determination system according to any one of the preceding claims, characterized in that the hydraulic control circuit (20) comprises an electronically controlled hydraulic reducing valve (6) which is part of the hydraulic control circuit (20) which is data-connected to the control unit (4).The compression degree determination system according to any one of the preceding claims, characterized in that the hydraulic control circuit (20) further comprises a hydraulic tank (16) for the hydraulic fluid and a hydraulic pump (15).The system for determining the degree of compaction according to claim 4, characterized in that the hydraulic tank (16) is part of the motor-driven traction means (18) and the hydraulic pump (15) is part of the motor-driven traction means (18), said system being connected to these components by a detachable hydraulic connection.The compression degree detection system according to any one of claims 3 to 5, characterized in that it further comprises a hydraulic accumulator (5) connected between the hydraulic cylinder (1) and the electronically controlled hydraulic reducing valve (6).The compaction degree determination system according to any one of the preceding claims, characterized in that it further comprises a global navigation satellite system receiver (8) data-linked to the control unit (4).The compaction degree detection system according to any one of the preceding claims, characterized in that it further comprises a depth of work sensor (9) of the soil working machine (19), which is data-linked to the control unit (4).The compaction degree determination system according to any one of the preceding claims, characterized in that the control unit (4) is configured to set the target value of the working depth of the soil working machine (19) based on the pressure value from the pressure sensor (3).The compaction degree determination system according to claim 9, characterized in that the control unit (4) is data-connected to the actuators (25) for adjusting the working depth of the soil working machine (19) and is configured to transmit a command for adjusting the working depth according to a currently desired value of the depth of the soil working machine (19).The compaction degree determination system according to claim 10, characterized in that the control unit (4) further comprises a data storage (21) of the control unit (4) in which a pressure limit value corresponding to the compacted soil is stored, the control unit (4) being configured to adjust a working depth set point of the machine (19) by a defined working depth value if the pressure value is above the pressure value corresponding to the compacted soil and at the same time the pressure value does not fall below the pressure limit value.The compaction degree determination system according to any one of claims 7 to 11, characterized in that the control unit (4) comprises a processor (22) and at least one computer program for controlling the processor (22) to perform the processing of data, cylinder pressure and position from the data obtained from the global navigation satellite system receiver (8) and to store the pressure values measured by the pressure sensor (3) in the data store (21) of the control unit (4), these values being associated with a position obtained from the global navigation satellite system receiver (8) at the time of measurement.The compaction degree determination system according to claim 12, characterized in that the computer program is adapted to process a graphical output in the latitude and longitude axes on which the measured pressure values are recorded.The compaction degree determination system according to any one of claims 7 to 11, characterized in that the control unit (4) comprises a processor (22) and a wireless communication module (24), wherein the computer program for controlling the processor (22) performs the processing of data, cylinder pressure and position from the data received from the global navigation satellite system receiver (8) and sends the data to a remote data repository (23) external to the compaction degree determination system.

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