EQUIPMENT SYSTEM FOR USE IN VINEYARD AND FRUIT GROWING

Description

[0001] The invention relates to an implement system for coupling to an implement carrier vehicle which can be used in viticulture and fruit growing between rows of plants, with at least one processing implement which comprises a processing element whose working position is adjustable in relation to the implement carrier vehicle, and with means comprising sensor devices for automatically adapting the working position of the processing element to the respectively required working position which changes as the implement carrier vehicle moves between the rows of plants as a result of deviations in the positions of the plants from the alignment line of the rows of plants.

[0002] As is well known, equipment systems are used in viticulture and orchards in which small tractors serve as implement carriers, capable of navigating the relatively narrow space between adjacent rows of vines or trees. With the help of the coupled cultivation equipment, the soil or the planting itself can be cultivated in various ways, with the cultivation of the adjacent rows of plants usually taking place simultaneously on both sides of the implement carrier vehicle. Fluctuations in the soil level, i.e., deviations from the (possibly inclined) ground level, as well as variations in the distance between the two rows of plants or the distance of the implement carrier vehicle from the plants in the respective row, are compensated for by the driver by adjusting the cultivation elements of the cultivation equipment accordingly, by changing the working height, e.g., of a ploughshare, and / or the lateral distance of the cultivation element from the implement carrier vehicle.

[0003] According to the state of the art, it is also known to equip implement carrier vehicles with an automatic steering system in order to facilitate the operation of the processing equipment by the driver, which keeps the implement carrier vehicle on the path between the rows of plants without any intervention from the driver.

[0004] A known device system of the type mentioned above has a processing device that can be mounted on the rear of the implement carrier vehicle for cutting short vegetation between the rows of plants. The processing device comprises two cutting heads that can be extended and retracted independently of one another, each of which has a sensor bar on the outside that automatically engages the vine stems. The respective extension position of the cutting head is automatically adjusted based on the relative position of the sensor bar to the cutting head. The driver of the implement carrier vehicle must take care of the height adjustments of the cutting heads themselves.

[0005] Device systems of the type mentioned above are disclosed in EP 2 361 496 A1 and DE 39 16 852 C1. The sensor devices of these known device systems are directly associated with a processing device or a holder for a processing device and detect objects in the immediate vicinity of the processing device or holder. Similar systems are described in EP 1 290 929 A2 and FR 2 563 970 A1.

[0006] The present invention is based on the object of creating new sensor devices of the type mentioned at the outset, which enable more efficient processing of plantations in viticulture and fruit growing than according to the prior art.

[0007] The sensor devices according to the invention which achieve this object are characterized in that the sensor devices are provided for detecting positions of the plants in the direction of travel in front of a processing device of the implement carrier vehicle in relation to the sensor devices and further for detecting the change in the position of the sensor devices which has occurred since the time of detection of the respective plant position, wherein the sensor devices comprise an optical sensor which is designed to detect the ground level and, within the scope of an image evaluation, the coordinates of the stems of the plant rows in the ground plane which are related to the sensor position.

[0008] According to the invention, the positions of the plants in the rows are determined in the direction of travel in front of the tillage implement. The determined plant positions can thus advantageously be used to simultaneously control several tillage implements mounted at different locations on the implement carrier vehicle.

[0009] Preferably, the sensor devices are designed to detect the position coordinates of the plants at ground level and, if necessary, also to detect deviations of the soil level from ground level, particularly at the respective location of the plants. In the latter case, the sensor devices provide all the information needed to fully automatically control the position of the processing element, both laterally parallel to the ground and perpendicular to the ground level.

[0010] The sensor devices can be designed, in particular, to determine complete soil profiles in the direction of travel in front of the implement carrier vehicle. In this case, deviations of the implement carrier vehicle's wheels from the respective mean ground level can also be detected, and the tillage elements can be controlled accordingly in relation to the implement carrier vehicle.

[0011] The sensor devices expediently comprise at least one sensor for contactless detection of the positions of the plants, in particular for contactless detection of the soil profiles. Such a sensor can be provided for detecting the positions of the plants, in particular the soil profiles, by reflecting electromagnetic waves, e.g., light and / or radar waves.

[0012] In a further embodiment of the invention, the sensor devices can include, in addition to a sensor that detects the distance traveled by the implement carrier vehicle, a sensor that detects the steering angle. The steering angle can be used to detect any curvatures in the route and take them into account when calculating the required adjustment values ​​for the processing elements.

[0013] In a further embodiment of the invention, sensor devices can comprise a sensor mounted directly next to the processing device in relation to the direction of travel for detecting the ground level, in particular for detecting the respective distance of the processing element from the ground.

[0014] Such a sensor is conveniently arranged above a wheel track so that any existing vegetation is pressed down and a clear detection of the ground surface is possible.

[0015] The sensor devices may further include a position sensor that detects the position of the implement carrier vehicle. Signals from such a position sensor can be used, if necessary, to control the inclination of a processing element relative to the vertical axis of the implement carrier vehicle.

[0016] The devices for automatically adjusting the working position of the processing element preferably process the signals from several sensors simultaneously in real time, so that in this way a large number of processing devices can be operated simultaneously and the carrier vehicle can be equipped with processing devices both at the front and at the rear, as well as in mid-axle positions, additionally on the sides.

[0017] In a further embodiment of the invention, the aforementioned sensor devices can be provided for detecting the position of the plants based on detecting the position of tension wires running along the rows of plants and / or markers attached to the plants. In particular, the sensor devices can detect electromagnetic waves reflected or actively emitted by the tension wires and / or markers. Reflective circuits, for example, which may be attached to the stem of the plants, can be considered as markers.

[0018] The invention will be further explained below with reference to an embodiment and the accompanying drawings relating to this embodiment. They show: Fig. 1 a device carrier vehicle with a device system that can be coupled to the vehicle in plan view, Fig. 2 the device system with the device carrier vehicle of Fig. 1in a side view, Fig. 3 a functional diagram of a control device of the device system of Fig. 1 and 2 , and Fig. 4 shows a sensor which can be used in a device system according to the invention in a schematic representation.

[0019] An implement carrier vehicle in the form of a small tractor 1 has front wheels 2 and 3 and rear wheels 4 and 5. The width of the tractor 1 is only 1.20 m in the illustrated embodiment, so that the tractor can be moved between two rows 6 and 7 planted with vines.

[0020] At the front, cultivation implements 8 and 9 are coupled to tractor 1, each with a cultivation element 10 and 12, respectively. Further cultivation implements 12 and 13, each with a cultivation element 14 and 15, are located in a mid-axle position. Finally, cultivation implements 16 and 17, each with a cultivation element 18 and 19, are coupled to the rear of tractor 1.

[0021] As in the Fig. 1 and 2As indicated by arrows, the positions of the processing elements 10, 11, 14, 15, 18 and 19 can be adjusted perpendicular to the direction of travel of the tractor 1, both horizontally and vertically.

[0022] At the front of tractor 1 is a sensor 20 that optically scans the area in front of tractor 1 in the direction of travel. Additional optical or mechanical sensors 21 to 26 are arranged at the processing devices 8, 9, 12, 13, 16, and 17, respectively, relative to the direction of travel. Sensors 23 to 26 are located above the track of the front wheels 2, 3 and the rear wheels 4, 5, respectively.

[0023] In addition, a position sensor 27 and a sensor 28 for detecting the travel path and / or the final impact angle of the steering are installed on the tractor 1.

[0024] As from Fig. 3 As can be seen, the sensors 20 to 28 are connected to a central control device 29, which in turn is connected to (in the Fig. 1 and 2not shown) hydraulic, pneumatic and / or electromechanical devices 30 to 35 for adjusting the processing elements 10, 11, 14, 15, 18 and 19.

[0025] The processing equipment mentioned may be the equipment commonly used in viticulture and fruit growing, in particular for soil cultivation, vine or tree cultivation and for cutting back ground vegetation.

[0026] During cultivation, tractor 1 travels through the narrow area between planting rows 6 and 7, with the tractor driver only having to steer the tractor. All cultivation operations performed with the aid of cultivation implements 8, 9, 12, 13, 16, and 17, in particular the necessary adjustments to the working position of cultivation elements 10, 11, 14, 15, 18, and 19, are fully automated.

[0027] While tractor 1 is traveling, sensor 20 records, e.g., as part of an image analysis, the coordinates of the vine stems at ground level in rows 6 and 7 in front of the tractor, which coordinates are related to the sensor position. These position coordinates may deviate from an imaginary alignment line 40 of the row. The position measurements continuously determined by sensor 20 are temporarily stored in control device 29.

[0028] The control device 29 also receives measured values ​​relating to the travel path of the tractor 1 from the sensor 28, so that the control device 29 can calculate the times or travel paths at or after which the respective processing devices 8, 9, 12, 13, 16, and 17 reach the positions of the vine stems previously measured by the sensor 20 in the direction of travel. Based on the data thus determined, the control device 29 can calculate control signals that effect a corresponding lateral adjustment of the processing elements 10, 11, 14, 15, 18, and 19.

[0029] The sensors 21 to 26 continuously supply the control device 29 with measuring signals relating to the distance of the processing devices 8, 9, 12, 13, 16 and 17 from the ground, which enable a corresponding adjustment of the respective processing elements 10, 11, 14, 15, 18 and 19.

[0030] In addition to the signals from sensors 21 to 26, the control device 29 can use measurement signals from the inclination sensor 27 when calculating setting signals for the height adjustment of the processing elements 10, 11, 14, 15, 18 and 19.

[0031] The sensors 21 to 26, which are decisive for adjusting the ground clearance, could, in contrast to the embodiment shown, also be connected to the processing elements 10, 11, 14, 15, 18 and 19 themselves and be adjustable with them. While sensors mounted on the processing elements themselves can also be optical sensors, a Fig. 4A schematically illustrated sensor is used, which mechanically scans the ground using a wheel 36 mounted on a pivoting lever 37. The pivoting lever 37, actuated by a spring 38, is connected to an angle measuring device 39 that detects the pivoting angle. The respective height of the processing element above the ground can be determined from the detected angle 39.

[0032] As an alternative to sensors 21 to 26, the required measurements of the ground level could already be carried out using sensor 20, which could also be designed to determine complete ground profiles in front of the equipment carrier vehicle.

[0033] In addition to the described adjustment options for the processing elements, it could also be possible to adjust the inclination of the processing elements with respect to the vertical axis of the equipment carrier vehicle; the inclination of these processing elements could then be controlled by signals from the above-mentioned position sensor 27.

Claims

1. Sensor devices for connection to a device carrier vehicle able to be used between rows of plants (6, 7) in viticulture and fruit cultivation, characterized in that the sensor devices (20-28) are configured to detect positions of the plants in relation to the sensor devices (20-28) in the direction of travel in front of a processing device of the device carrier vehicle (1) and also to detect the change in the position of the sensor devices (20-28) that has occurred since the time of detection of the respective plant position, characterized in that the sensor devices (20-28) comprise an optical sensor (20) that is configured to detect the soil level and, in the course of an image evaluation, to detect the coordinates of the stems of the rows of plants (6, 7) in the soil plane in relation to the sensor position.

2. Sensor devices according to Claim 1, characterized in that the sensor devices (20-28) are configured to detect the position coordinates of the plants in the soil plane and, if necessary, to detect deviations of the soil level from the soil plane, in particular at the respective location of the plants.

3. Sensor devices according to Claim 1 or 2, characterized in that the sensor devices (20-28) are configured to determine soil profiles.

4. Sensor devices according to one of Claims 1 to 3, characterized in that the sensor devices (20-28) are configured to contactlessly detect the positions of the plants, in particular to contactlessly detect the soil profiles, through the reflection of electromagnetic waves, for example light waves and / or radar waves.

5. Sensor devices according to one of Claims 1 to 4, characterized in that the sensor devices (20-28) comprise a sensor (20) .

6. Sensor devices according to one of Claims 1 to 5, characterized in that the sensor devices (20-28) have a sensor (28) that is configured to detect the distance travelled by the sensor devices (20-28).

7. Sensor devices according to one of Claims 1 to 6, characterized in that the sensor devices (20-28) comprise a sensor (21-26) that is configured to detect a soil level.

8. Sensor devices according to one of Claims 1 to 7, characterized in that the sensor devices (20-28) have a position sensor (27) that is configured to detect the position of the sensor devices (20-28).

9. Method for automatically setting the working position of at least one processing element (10,11,14,15,18,19) of a device system able to be connected to a device carrier vehicle (1) able to be used between rows of plants (6, 7) in viticulture and fruit cultivation, characterized in that the positions of the plants in the direction of travel in front of the device carrier vehicle (1) and the change in the position of the device carrier vehicle (1) that has occurred since the time of detection of the respective plant position are detected by way of sensor devices (20-28) according to one of Claims 1 to 8, and devices (30-35) control the working position of the processing element (10,11,14,15,18,19) based on the determined positions of the plants and determined changes in the position of the device carrier vehicle (1).

10. Method according to Claim 9, characterized in that an area in the direction of travel in front of the device carrier vehicle (1) is detected by way of the sensor devices (20-28) with detection of both rows of plants (6,7) and determination of the positions of the plant stems in the rows of plants in the soil plane and with determination of complete soil profiles.