Agricultural implement for cultivating row crops

Description

[0001] The invention relates to an agricultural attachment for cultivating row crops according to the preamble of patent claim 1, an agricultural machine assembly according to the preamble of patent claim 11 and a method for cultivating row crops according to the preamble of patent claim 12.

[0002] To improve the results of cultivating agricultural land, plant rows are recorded during various cultivation operations. Row detection devices are used for this purpose, which can, for example, be part of agricultural implements. Based on row detection, a corrective movement can then be implemented on the implement if the implement is not optimally positioned or aligned with the plant rows.

[0003] The corrective movement on the attachment can be implemented, for example, using a sliding frame, which allows adjustment of the relative position between the attachment and a drive vehicle to which the attachment is mounted. Document DE 10 2017 110 653 B3 discloses such a frame with a twisting and sliding function.

[0004] Without technical row tracking, correcting the position and alignment of the implement relative to the plant rows has so far only been possible via manual steering intervention on the tractor or the implement. Steering intervention on the tractor changes the direction of travel of the entire machine combination. To make steering interventions on the implement, for example on hoeing machines, a so-called seat carrier is used. This is mounted on the hoe and on which a person can sit during a tillage operation. During the tillage operation, the person makes manual adjustments to a sliding frame in order to adjust the position of the hoeing machine and its hoeing tools relative to the plant rows. Making such corrections manually is strenuous and only allows comparatively low working speeds.

[0005] The measures proposed in the prior art to improve the results of row crop cultivation are either extremely complex and therefore only of limited practical use, or they only lead to a slight improvement in the cultivation result. For example, WO 2019 / 148220 A1 discloses a cultivator with an adjustable working width. DE 10 2016 212 201 A1 proposes the alignment of an implement via a lower link adjustment on the tractor.

[0006] Document DE 10 2017 130 694 A1 discloses a work machine with its own steering system. Document DE 43 01 029 A1 describes how the steering angle of the tractor's front wheels is adjusted accordingly after the attachment has been adjusted laterally.

[0007] The object underlying the invention is therefore to further improve the processing results when processing row crops using an agricultural implement without increasing the effort required for processing.

[0008] The object is achieved by an agricultural attachment of the type mentioned at the outset, wherein the attachment according to the invention comprises a signal generating device which is designed to generate steering commands for a drive vehicle to which the attachment is attached, depending on the positions and / or courses of plant rows detected by the row detection device.

[0009] By generating the steering command, the implement can be positioned in the intended manner relative to the rows of plants and travels along the rows in the intended manner. The steering commands ultimately trigger a steering intervention on the drive vehicle from the implement. Based on the steering command generation, the machine combination consisting of the drive vehicle and implement can also be triggered to corner if the rows of plants follow a curved row path within a section of the agricultural land. By initiating the steering intervention of the implement on the drive vehicle, the workload of the drive vehicle driver is significantly reduced and the precision during row-specific cultivation of a row crop is increased.Furthermore, significant cost savings can be achieved on the attachment, as a shifting device, such as a shifting frame, is not absolutely necessary for aligning the attachment during processing and can therefore be omitted. However, a shifting frame offers additional advantages, particularly when cornering, as the shifting frame enables precise positioning of the attachment while cornering, taking into account the curve radius, the turning circle of the drive vehicle, and the dimensions of the attachment in the longitudinal and transverse directions. Furthermore, the drive vehicle is externally steered, meaning that the drive vehicle does not necessarily need its own automatic steering system to implement automated or semi-automated processing.The attachment is preferably designed to form a Tractor Implement Management (TIM) system together with a drive vehicle to which the attachment is attached.

[0010] The signal generating device preferably comprises a data processing device configured to evaluate data provided by the row detection device and, based on the data evaluation, to calculate suitable steering interventions on the drive vehicle. The drive vehicle can, for example, be a tractor that carries or pulls the attachment. The attachment can be configured to be mounted on the front and / or rear of the drive vehicle. The calculated steering interventions preferably take into account the attachment position of the attachment, so that both an attachment mounted on the front of the drive vehicle and an attachment mounted on the rear of the drive vehicle can be guided precisely along the rows of plants.

[0011] The signal generating device can be configured to generate the steering commands for the drive vehicle depending on the dimensions and / or geometries of the drive vehicle and / or the attachment. When generating the steering command, for example, the wheelbase, turning circle, and / or structural length of the drive vehicle and / or the distances of soil cultivation tools or application elements of the attachment to the axles of the drive vehicle can be taken into account. Furthermore, the signal generating device can be configured to generate the steering commands for the drive vehicle depending on the tire positions, trailing characteristics, and / or pivoting characteristics of the attachment. When generating the steering command, the position of a camera and / or the position of a sensor of the row detection device can also be taken into account.In this context, the longitudinal and / or lateral distance of the camera or sensor from the center of the drive vehicle is preferably taken into account. Corresponding data may be required for steering signal generation so that the pivot point of the attachment can be taken into account when steering the drive vehicle.

[0012] If the implement has a sliding frame or is coupled to a sliding frame, this sliding frame can also be controlled depending on the signals from the row detection device. The sliding frame preferably has an automatic adjustment device that uses the signals from the row detection device. Taking into account the course and / or positions of the plant rows, the relative position between the sliding frame and the drive vehicle can then always be optimally adjusted. A sliding frame thus allows the soil cultivation tools or the application elements of the implement to be positioned when cornering, taking into account the curve radius, the turning circle of the drive vehicle, and the longitudinal and transverse dimensions of the implement.

[0013] In a preferred embodiment, the agricultural implement according to the invention has a communication device configured to bidirectionally exchange data with a control unit of the drive vehicle. The steering commands generated by the signal generating device for the drive vehicle can be transmitted to the drive vehicle via the communication device. The data exchange between the communication device of the implement and the control unit of the drive vehicle can be wired or wireless. A bus system of the drive vehicle can be used for communication between the communication device of the implement and the control unit of the drive vehicle, wherein the generated steering commands are transmitted, for example, as bus messages to the control unit of the drive vehicle.

[0014] In a further preferred embodiment, the agricultural attachment according to the invention has a plurality of tillage tools spaced apart from one another transversely to the direction of travel. The signal generating device is preferably configured to generate the steering commands for the drive vehicle to correct relative positions between plant rows and tillage tools. The attachment can be, for example, a hoe. The tillage tools can be, for example, hoeing tools. Deviations between the desired and actual positions of the tillage tools are compensated for via the steering of the drive vehicle, which is initiated by the generated steering commands.

[0015] In another preferred embodiment, the agricultural attachment according to the invention has a plurality of application elements spaced apart from one another transversely to the direction of travel, wherein the signal generating device is configured to generate the steering commands for the drive vehicle to correct relative positions between rows of plants and application elements. The attachment can be, for example, a crop protection sprayer. The application elements can be spray nozzles. The spray nozzles of a crop protection sprayer are usually arranged above the rows of plants. The spray liquid is often only intended to treat a band of plants and not the entire crop, so that exact positioning of the spray nozzles relative to the rows of plants is necessary. Deviations between the target positions and the actual positions of the application elements are compensated for via the steering of the drive vehicle.The attachment can also have a steerable axle so that deviations between the target positions and the actual positions of the application elements can be compensated alternatively or additionally via the steering of the attachment.

[0016] Furthermore, an agricultural implement according to the invention is advantageous in which the signal generating device is configured to generate speed setting commands for the drive vehicle. Using the speed setting commands, the implement can initiate a change in the driving speed of the drive vehicle. Thus, for example, the implement can initiate a reduction in speed if the machine combination needs to corner or if row detection is imprecise. By reducing the speed, the operator is also given the opportunity to manually intervene in the control of the implement and / or the drive vehicle. Such cornering may be necessary if the rows of plants follow curved row paths, for example, at the edge of an agricultural field or in the vicinity of an obstacle.

[0017] The agricultural implement according to the invention is further advantageously developed in that the signal generating device is configured to generate speed adjustment commands for the drive vehicle depending on the positions and / or courses of plant rows detected by the row detection device. If a straight row course is detected, the driving speed of the drive vehicle can be increased without impairing the processing result, since in this case, few steering interventions are required. If a curved or arched row course is detected, the driving speed of the drive vehicle can be reduced to avoid impairing the processing result.In this case, the driving speed must be reduced to such an extent that the movement path of the drive vehicle and the implement can be adjusted to the row layout within a tolerance range through steering interventions. Reducing the driving speed may be necessary, especially if the control speed of the drive vehicle is insufficient to implement the necessary steering interventions in a timely manner.

[0018] A permissible speed range can be specified for the agricultural implement, within which the implement can automatically adjust the driving speed. The permissible speed range can be factory-set and / or adjustable by the operator. Specifying the permissible speed range helps prevent excessive driving speeds, which could impair the processing result, for example, due to excessive soil erosion.

[0019] Alternatively or additionally, the signal generating device can be configured to generate the speed setting commands for the drive vehicle depending on the control speed of the drive vehicle and / or the direction of movement of the implement relative to the detected plant rows. If the drive vehicle has a comparatively low control speed, the driving speed of the drive vehicle must be adjusted to the sluggish control behavior. The higher the control speed of the drive vehicle, the higher the driving speed of the drive vehicle can be set, since the responsiveness of the machine combination increases with the control speed of the drive vehicle.

[0020] Furthermore, an agricultural attachment according to the invention is advantageous, which has an evaluation device, wherein the evaluation device is configured to evaluate the result of the cultivation of the row crops during a cultivation process with regard to at least one processing criterion dependent on the driving speed. During hoeing, for example, the degree to which the plants are buried by the thrown-up earth stream represents a processing criterion dependent on the driving speed. If the driving speed is too high, the plants are buried to an unintentional extent by the thrown-up earth stream. In this case, the evaluation device can be configured to detect the degree to which the plants are buried, wherein the detection of the degree of burial can be carried out, for example, using a camera and / or sensor.The signal generating device is preferably configured to generate speed adjustment commands for the drive vehicle depending on the row crop processing result evaluated by the evaluation device. The driving speed is thus adjusted depending on the achieved work quality. If the processing result lies outside an acceptable tolerance range, the signal generating device preferably initiates a reduction in the driving speed. If the processing result lies within a tolerance range, the signal generating device can initiate an increase in the driving speed, thus reducing the processing time. The evaluation device can be integrated into the row detection device.Furthermore, the evaluation device can use one or more cameras and / or one or more sensors of the row detection device to evaluate the processing result.

[0021] In one development, the agricultural attachment according to the invention has a yaw rate sensor which is configured to detect a change in the orientation of the attachment relative to the longitudinal direction of the plant rows, wherein the row detection device is configured to detect the positions and / or courses of plant rows on the agricultural land taking into account the change in the orientation of the attachment detected by the yaw rate sensor. Steering movements on the drive vehicle result in a change in the orientation and thus a tilt of the attachment. The tilt impairs row detection, for example due to the tilt of one or more cameras or one or more sensors. The tilt of a camera leads to a changed recording angle. The tilt of a sensor leads to a changed detection angle.The changed recording and / or detection angles can distort the row detection. The sensor data from the yaw rate sensor is made available to the row detection system so that the camera images or sensor data can be corrected to account for the change in the attachment's orientation. The yaw rate sensor can be a yaw rate sensor, for example.

[0022] In a further preferred embodiment, the agricultural attachment according to the invention has an inclination sensor which is configured to detect an inclination of the attachment relative to a horizontal axis, the ground of the agricultural land, a canopy of leaves and / or the top edge of a crop. The signal generating device is preferably configured to generate the steering commands for the drive vehicle also as a function of the inclination of the attachment detected by the inclination sensor. When working on a slope, this allows for early slope correction if the drive vehicle is about to slide or has already slipped. The inclination sensor allows early detection of a drift situation, so that the drift of the machine combination on the slope can be counteracted early on by steering intervention.

[0023] The row detection device can also be configured to detect the positions and / or courses of crop rows on the agricultural land, taking into account the inclination of the implement detected by the inclination sensor. When working on a slope, an inclination angle develops on the drive vehicle and the implement. This inclination impairs row detection, for example, through a related inclination of one or more cameras and / or one or more sensors. This leads to changed recording or detection angles, thus distorting row detection. The sensor data from the inclination sensor is made available to the row detection device so that the camera images or sensor data can be evaluated, taking into account the current implement inclination.

[0024] In a further preferred embodiment of the agricultural implement according to the invention, the row detection device has one or more cameras for row detection. Alternatively or additionally, the row detection device has one or more sensors for row detection. Alternatively or additionally, the row detection device has one or more sensors for row detection. The sensors can be ultrasonic sensors, for example. The row sensors can be used, for example, for row detection in a crop stand where stable plant stems are present. Thus, a row detection device with one or more row sensors can be used, in particular, for row detection in a corn crop.Furthermore, the agricultural implement can be configured to detect real-time kinematics (RTK) signals so that the steering commands for the drive vehicle can also be generated taking into account the detected RTK signals.

[0025] Furthermore, a furrow could be drawn into the soil of the agricultural land during sowing, with the furrow running, for example, equidistant from a row of plants. The furrow created during the sowing process can then be recorded, for example, using a feeler wheel of the row detection device. The feeler wheel preferably has a sensor so that the courses and / or positions of the rows of plants can be determined via the sensor detection of the furrow created during sowing.

[0026] The object underlying the invention is further achieved by an agricultural machine assembly of the type mentioned above, wherein the agricultural attachment of the agricultural machine assembly according to the invention is designed according to one of the embodiments described above, and the drive vehicle is configured to automatically perform a steering operation based on steering commands from the attachment. Regarding the advantages and modifications of the agricultural machine assembly according to the invention, reference is first made to the advantages and modifications of the attachment according to the invention.

[0027] The drive vehicle can be a tractor, for example. The drive vehicle is preferably configured to automatically adjust the driving speed based on speed adjustment commands from the implement. The agricultural machine combination is thus automatically controlled based on row detection, so that no steering and / or speed adjustment interventions by the driver of the drive vehicle are required during cultivation of the agricultural land.

[0028] The object underlying the invention is further achieved by a method of the type mentioned above, wherein, within the scope of the method according to the invention, steering commands for a drive vehicle of the machine combination to which the attachment is attached are generated by means of a signal generation device of the attachment, depending on the positions and / or courses of plant rows detected by the row detection device. The steering commands generated by the signal generation device are then transmitted to a control unit of the drive vehicle. The drive vehicle then automatically executes a steering operation based on the transmitted steering commands of the attachment.The method according to the invention for processing row crops is preferably carried out by means of an agricultural machine combination according to one of the embodiments described above and / or using an agricultural attachment according to one of the embodiments described above.

[0029] In a preferred embodiment of the method according to the invention, speed setting commands for the drive vehicle are generated by means of the signal generating device of the attachment. The speed setting commands are preferably generated as a function of the positions and / or courses of plant rows detected by the row detection device. The speed setting commands generated by the signal generating device are preferably transmitted to a control unit of the drive vehicle, so that the drive vehicle can automatically adjust the driving speed based on the transmitted speed setting commands of the attachment.

[0030] Furthermore, a method according to the invention is advantageous in which the result of the processing of the row crops during a processing operation is evaluated with regard to at least one processing criterion dependent on the driving speed by means of an evaluation device of the attachment. The generation of the speed setting commands for the drive vehicle preferably takes place as a function of the result of the processing of the row crops evaluated by the evaluation device. Alternatively or additionally, a change in the orientation of the attachment relative to the longitudinal direction of the plant rows is detected by means of a rotation rate sensor of the attachment. The detection of the positions and / or courses of plant rows on the agricultural area preferably takes place taking into account the change in the orientation of the attachment detected by the rotation rate sensor.

[0031] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. Fig. 1 shows an embodiment of the agricultural machine combination according to the invention during the processing of an agricultural area in a plan view; Fig. 2 shows a further embodiment of the agricultural machine combination according to the invention during the processing of an agricultural area in a plan view; Fig. 3 shows a further embodiment of the agricultural machine combination according to the invention during the processing of an agricultural area in a plan view; and Fig. 4 shows a further embodiment of the agricultural machine combination according to the invention during the processing of an agricultural area in a plan view.

[0032] The Fig. 1shows an agricultural machine assembly 100 with a drive vehicle 102 and an agricultural attachment 10. The drive vehicle 102 is a tractor, with the attachment 10 being attached to a front coupling device of the drive vehicle 102. The attachment 10 is an agricultural hoe with several equidistantly spaced soil tillage tools 14a-14m. The soil tillage tools 14a-14m are arranged next to one another transversely to the direction of travel F and equidistantly spaced from one another. The soil tillage tools 14a-14m are hoeing tools which are attached to a cross member 12 of the attachment 10 extending transversely to the direction of travel F.

[0033] The cross member 12 is supported against the ground of the agricultural area 200 via the wheels 16a, 16b of the attachment 10. The cross member 12 is connected to the front coupling device of the drive vehicle 102 via an adjustment device 18 designed as a sliding frame.

[0034] The adjustment device 18 can have one or more adjustment drives, via which the cross member 12 can be moved and / or pivoted in the longitudinal and / or transverse direction in order to position the soil cultivation tools 14a-14m centrally between the plant rows 202a-202l. Furthermore, the soil cultivation tools 14a-14m can be displaceable along the cross member 12 and / or pivotable relative to the cross member 12.

[0035] The attachment 10 is equipped with a row detection device 20, via which the positions and courses of the plant rows 202a-202l on the agricultural area 200 can be recorded during a cultivation process. The row detection device 20 has a camera 22 for row detection. Alternatively or additionally, the row detection device 20 could also have one or more sensors and / or one or more probes for row detection. The camera 22 has a recording area 24, wherein the positions and courses of the plant rows 202b, 202c located in the recording area 24 can be detected by the row detection device 22. The position and course detection of the plant rows 202b, 202c is carried out by evaluating the images recorded by the camera 22.

[0036] The agricultural implement 10 can have a yaw rate sensor, via which a change in the orientation of the implement 10 relative to the longitudinal direction of the plant rows 202a-202l can be detected. The change in the orientation of the implement 10 leads to a tilt of the implement 10, which changes the recording angle of the camera 22. The change in the orientation of the implement 10 detected by the yaw rate sensor can be used to take the changed recording angle of the camera 22 into account during row detection, so that the courses and positions of the plant rows 202b, 202c can be determined with greater precision. The camera images of the camera 22 are therefore evaluated taking into account the current tilt of the implement 10 and thus taking into account the current tilt of the camera 22.

[0037] The agricultural attachment 10 further comprises a signal generating device 26, which generates steering commands for the drive vehicle 102. The steering commands generated by the signal generating device 26 are transmitted to a control unit 104 of the drive vehicle 102 via the data connection 106. For this purpose, the attachment 10 comprises a communication device that allows bidirectional data exchange with the control unit 104 of the drive vehicle 102. The data connection 106 can be a wired or wireless data connection.

[0038] The signal generating device 26 generates the steering commands for the drive vehicle 102 depending on the positions and paths of the plant rows 202b, 202c detected by the row detection device 20. The steering command generation ensures that the implement 10 travels along the plant rows 202a-202l of the agricultural field 200 in an intended manner, namely such that the soil cultivation tools 14a-14m are always arranged centrally between the plant rows 202a-202l. The steering commands generated by the signal generating device 26 ultimately result in a steering intervention on the drive vehicle 102 initiated by the implement 10. The drive vehicle 102 is thus externally steered, so that no manual steering intervention by the driver is required. Furthermore, lane detection on the drive vehicle 102 can be dispensed with, since an exclusively vehicle-side automatic steering system is not required.The machine combination 100 comprising the drive vehicle 102 and the attachment 10 therefore forms a so-called tractor implementation management system.

[0039] When generating the steering command, the signal generating device 26 can take into account the dimensions and / or geometries of the drive vehicle 102 and / or the attachment 10. Furthermore, when generating the steering command, the signal generating device 26 can take into account the tire positions, the caster characteristics, and / or the pivoting characteristics of the attachment 10.

[0040] The row detection device 20 is attached to the cross member 12 of the attachment 10 and aligned in the direction of travel F. The detection area of ​​the row detection device 20 is arranged in front of the soil tillage tools 14a-14m in the direction of travel F.

[0041] The Fig. 2also shows a machine combination 100 comprising a drive vehicle 102 designed as a tractor and an attachment 10 designed as a hoe. In the illustrated embodiment, the attachment 10 is attached to a rear-side coupling device of the drive vehicle 102.

[0042] In this case, the row detection device 20 of the attachment 10 is arranged in a front area of ​​the drive vehicle 102. For example, the row detection device 20 is reversibly and non-destructively detachably attached to an engine cover of the drive vehicle 102. Alternatively, the row detection device 20 can be reversibly and non-destructively detachably attached to the roof or a front power lift of the drive vehicle 102. The camera 22 of the row detection device 20 is oriented in the direction of travel F, with the plant rows 202e-202h located within the recording area 24 of the camera 22. The positions and courses of the plant rows 202e-202h can be determined during the processing process by analyzing the camera images.

[0043] The row detection device 20 is again connected to a control unit 104 of the drive vehicle 102 via a communication module, so that steering commands for the drive vehicle 102 generated by the signal generating device 26 can be transmitted to the drive vehicle 102 via the data connection 106.

[0044] The signal generating device 26 is further configured to generate speed adjustment commands for the drive vehicle 102. The speed adjustment commands are generated depending on the positions and paths of the plant rows 202e-202h detected by the row detection device 20. The implement 10 can therefore use the speed adjustment commands to initiate a change in the travel speed of the drive vehicle 102. If a straight row path is detected, the travel speed of the drive vehicle 102 can be increased without impairing the processing result, since in this case, few critical steering interventions are required. If a curved row path is detected, the travel speed of the drive vehicle 102 can be reduced to avoid impairing the processing result.In this case, the driving speed must be reduced at least to the extent that a machining result can be achieved via steering interventions that lies within a tolerance range.

[0045] To check whether the processing result lies within a tolerance range, the attachment 10 can further comprise an evaluation device, via which the result of the processing of the row crops is evaluated during the processing process with regard to a travel speed-dependent evaluation criterion. The evaluation device can be configured to determine the degree of burial of the plants by the earth flow thrown up during processing. The burial of the plants by the earth flow thrown up must not exceed a tolerance range during the processing process. If the degree of burial of the plants by the earth flow thrown up exceeds the tolerance range, the signal generating device 26 generates a speed adjustment command, which leads to a reduction in the travel speed of the drive vehicle 102.

[0046] The Fig. 3shows an undesirable tilted alignment of the tillage tools 14a-14m with respect to the longitudinal axes of the crop rows 202a-202l. The tilted position α of the tillage tools 14a-14m also results in the tillage tools 14a-14m not being positioned centrally between the crop rows 202a-202l.

[0047] This incorrect positioning of the soil tillage tools 14a-14m with respect to the plant rows 202a-202l is detected by the row detection device 20 of the attachment 10. Based on the row detection, the signal generating device 26 generates steering commands, which are transmitted via the data connection 106 to a control unit 104 of the drive vehicle 102. Based on the received steering commands, the control unit 104 initiates a steering movement L on the front axle of the drive vehicle 102. The steering movement L on the front axle of the drive vehicle 102 corrects the positioning of the soil tillage tools 14a-14m, so that the soil tillage tools 14a-14m move again centrally between the plant rows 202a-202l through the soil of the agricultural area 200 without being tilted. The steering intervention on the drive vehicle 102 caused by the attachment 10 ensures the elimination of the inclination α.

[0048] The Fig. 4 shows a machine assembly 100 during the cultivation of an agricultural area 200, wherein the machine assembly 100 approaches a curved section in which the rows of plants 202a-202l follow curved row paths. In the curved section, a changing differential angle β results between the longitudinal axis of the machine assembly 100 and the tangents that can be applied to the rows of plants 202a-202l.

[0049] Via the row detection device 20, the attachment 10 is able to detect the curved or arched course of the plant rows 202b-202d at an early stage and to derive the curve radius based on the course of the plant rows 202b-202d, so that steering commands for the drive vehicle 102 can be generated via the signal generation device 26, taking into account the forward speed and control speed. The steering commands generated by the signal generation device 26 are transmitted to the drive vehicle 102 via the data connection 106, with the drive vehicle 102 implementing the steering commands so that a steering movement L is executed on the front axle of the drive vehicle 102. Via the steering movement L, the soil tillage tools 14a-14m always remain centered between the plant rows 202a-202l, even within the curve area, without manual steering intervention by the vehicle driver being required. List of reference symbols

[0050] 10 Attachment 12 Cross member 14a-14m Soil cultivation tools 16a, 16b Wheels 18 Adjustment device 20 Row detection device 22 Camera 24 Recording area 26 Signal generation device 100Machine network 102Drive vehicle 104Control unit 106Data connection 200Usable area 202a-202lRows of plants FDriving direction LLeering movement αIncline position βDifference angle

Claims

1. Agricultural attachment (10) for cultivating row crops, comprising - a row-detection device (20) adapted to detect, during a cultivation process, locations and / or courses of rows of plants (202a-202l) on farmland (200); characterized by a signal generating device (26) adapted to generate steering commands for a drive vehicle (102) to which the attachment (10) is attached, in accordance with the locations and / or courses of the rows of plants (202a-202l) detected by the row-detection device (20).

2. Agricultural attachment (10) according to claim 1, characterized by a communication device which is adapted to exchange data bidirectionally with a control unit (104) of the drive vehicle (102), wherein the steering commands for the drive vehicle (102) generated by the signal generation device (26) can be transmitted to the drive vehicle (102) via the communication device.

3. Agricultural attachment (10) according to claim 1 or 2, characterized by a plurality of soil cultivating tools (14a-14m) spaced apart transversely to the direction of travel (F), wherein the signal generation device (26) is adapted to generate the steering commands for the drive vehicle (102) to correct relative positions between plant rows (202a-202l) and soil cultivating tools (14a-14m).

4. Agricultural attachment (10) according to one of the preceding claims, characterized by a plurality of spreading elements spaced apart transversely to the direction of travel (F), wherein the signal generation device (26) is adapted to generate the steering commands for the drive vehicle (102) to correct relative positions between plant rows (202a-202l) and spreading elements.

5. Agricultural attachment (10) according to one of the preceding claims, characterized in that the signal generation device (26) is adapted to generate speed setting commands for the drive vehicle (102).

6. Agricultural attachment (10) according to claim 5, characterized in that the signal generation device (26) is adapted to generate speed adjustment commands for the drive vehicle (102) as a function of the locations and / or courses of plant rows (202a-202l) detected by the row detection device (20).

7. Agricultural attachment (10) according to claim 5 or 6, characterized by an evaluation device which is adapted to evaluate the result of the cultivation of the row crops during a cultivation process with regard to at least one cultivation criterion which is dependent on the driving speed, wherein the signal generation device (26) is adapted to generate speed setting commands for the drive vehicle (102) as a function of the result of the processing of the row crops evaluated by the evaluation device.

8. Agricultural attachment (10) according to one of the preceding claims, characterized by a rotation rate sensor adapted to detect a change in alignment of the attachment (10) relative to the longitudinal direction of the plant rows (202a-202l), wherein the row-detection device (20) is adapted to detect the locations and / or courses of plant rows (202a-202l) on the farmland (200) taking into account the change in alignment of the attachment (10) detected by the rotation rate sensor.

9. Agricultural attachment (10) according to one of the preceding claims, characterized by an inclination sensor which is adapted to detect an inclination of the attachment (10) relative to a horizontal plane, the ground of the farmland (200), a leaf canopy and / or a crop top, characterized in that the signal generation device (26) is adapted to generate the steering commands for the drive vehicle (102) also as a function of the inclination of the attachment (10) detected by the inclination sensor.

10. Agricultural attachment (10) according to one of the preceding claims, characterized in that the row-detection device (20) comprises one or more cameras (22), one or more sensors and / or one or more sensing devices for row detection.

11. Agricultural machine assembly (100), comprising - an agricultural attachment (10); and - a drive vehicle (102) on which the attachment (10) is mounted; characterized in that the agricultural attachment (10) is configured according to one of the preceding claims, and the drive vehicle (102) is adapted to automatically perform a steering operation based on steering commands from the attachment (10).

12. Method for cultivating row crops by means of an agricultural machine assembly (100) according to claim 11, comprising the step: - detecting locations and / or courses of plant rows (202a-202l) on a farmland (200) during a cultivation process by means of a row-detection device (20) of an agricultural attachment (10) of the agricultural machine assembly (100); characterized by the steps of: - generating steering commands for a drive vehicle (102) of the machine assembly (100), on which the attachment (10) is mounted, as a function of the locations and / or courses of plant rows (202a-202l) detected by the row-detection device (20) by means of a signal generation device (26) of the attachment (10); - transmitting steering commands generated by the signal generation device (26) to a control unit (104) of the drive vehicle (102); and - automatic execution of a steering operation by the drive vehicle (102) based on the transmitted steering commands of the attachment (10).

13. Method according to claim 12, characterized by the step of: - generating speed setting commands for the drive vehicle (102) by means of the signal generation device (26) of the attachment (10); wherein generating said speed setting commands is preferably performed as a function of locations and / or courses of plant rows (202a-202l) detected by said row-detection device (20).

14. Method according to claim 13, characterized by the step of: - evaluating the result of the cultivation of the row crops during a cultivation process with regard to at least one cultivation criterion dependent on the driving speed by means of an evaluation device of the attachment (10); wherein the generation of the speed setting commands for the drive vehicle (102) preferably takes place as a function of the result of the cultivation of the row crops evaluated by the evaluation device.

15. Method according to one of claims 12 to 14, characterized by the step of: - detecting a change in the alignment of the attachment (10) relative to the longitudinal direction of the plant rows (202a-202l) by means of a rotation rate sensor of the attachment (10), wherein detecting the locations and / or courses of plant rows (202a-202l) on the farmland (200) is performed taking into account the change in alignment of the attachment (10) detected by the rotation rate sensor.