METHOD FOR COORDINATING THE OPERATION OF A SINGLING DEVICE AND THE OPERATION OF A PORTIONING DEVICE TO EACH OTHER AND A CALIBRATION SYSTEM

Description

[0001] The invention is a method for coordinating the operation of a singulation device and the operation of a portioning device of an agricultural spreading machine according to claim 1 and a calibration system for an agricultural spreading machine according to claim 14.

[0002] To simultaneously apply individual seeds and fertilizer portions to an agricultural area, agricultural spreading machines are increasingly being used whose spreading units have a singulation device for singulating seeds and a portioning device for producing fertilizer portions.

[0003] Fertilizer portions produced by a portioning device on an agricultural spreading machine can exhibit different internal conveying times within the machine and / or different external flight times after dispensing, depending on the fertilizer properties. For example, the size, weight, and surface texture of the fertilizer granules can influence the internal conveying time of the fertilizer portion within the spreading machine and / or the external flight time of the fertilizer portion after dispensing.

[0004] Seeds separated by a singling device on an agricultural seed spreader can exhibit different internal conveying times within the spreader and / or different external flight times after release, depending on the seed characteristics. For example, the size, weight, and surface texture of the seeds can influence the internal conveying time of a separated seed within the spreader and / or the external flight time of a separated seed after release. For instance, seed dressing can affect both the internal conveying time and the external flight time of seeds.

[0005] A fluid dispensing system is known from US patent 2004 / 231575 A1. A combined distribution machine is known from EP patent 2 342 966 A1. A system for monitoring agricultural operations is known from WO patent 2019 / 236990 A1. A calibration of a seed placement device is known from US patent 2018 / 014457 A1.

[0006] In order to apply different fertilizer-seed combinations with an agricultural spreading machine, it is necessary that the operation of the singulation device and the operation of the portioning device are coordinated within a calibration process, so that a desired local placement relationship, for example a specified longitudinal distance, of the seeds and the fertilizer portions on the agricultural land is achieved.

[0007] The object underlying the invention is therefore to enable the setting of a predetermined local deposition relationship of seeds and fertilizer portions for different fertilizer-seed combinations using an agricultural spreading machine.

[0008] The problem is solved by a method of the type mentioned above, wherein at least one grain presence time of a singulated seed at a grain detection location and at least one portion presence time of a produced fertilizer portion at a portion detection location are detected by means of a detection system. Within the framework of the method according to the invention, a control system connected to the singulation device and / or the portioning device via a signal transmits a signal, at least temporarily, specifies an operating behavior to the singulation device and / or the portioning device in order to achieve the predetermined local deposition relationship of seeds and fertilizer portions. This operating behavior is determined by the control system based on the at least one detected grain presence time and the at least one detected portion presence time.

[0009] The recorded grain presence time and / or the recorded portion presence time can be used, for example, to determine the machine's internal conveying duration and / or conveying speed and / or the machine's external flight duration and / or flight speed of the singulated seed and / or the produced fertilizer portion, and to coordinate the operation of the singulation device and the operation of the portioning device.By at least temporarily specifying operating behavior for the singling unit and / or the portioning unit via the control system, the predetermined local placement relationship is achieved despite the seed-specific internal conveying time of the singled seeds in the application machine and / or the seed-specific external flight time of the singled seeds after dispensing by the application machine, as well as the fertilizer-specific internal conveying time of the generated fertilizer portions in the application machine and / or the fertilizer-specific external flight time of the generated fertilizer portions after dispensing by the application machine. The coordination of the singling unit and the portioning unit can take place before or during the application process.The specified local placement relationship can be an intended longitudinal distance between the individual seeds and the fertilizer portions produced on the agricultural land. The intended longitudinal distance can also be zero, meaning that the individual seeds and the fertilizer portions are not separated longitudinally. The individual seeds and the fertilizer portions can be placed at different depths and / or spaced apart laterally.

[0010] The control system can include an electronic control unit and / or an electronic operating unit. The electronic control unit can be part of the agricultural spreading machine. The electronic control unit can be a job computer that is connected to the singulation unit and / or the portioning unit via signal transmission. The electronic control unit can generate control signals for the singulation unit and / or the portioning unit, which can be used to predefine operating behavior, at least temporarily, for the singulation unit and / or the portioning unit. The electronic operating unit can, for example, be a terminal.

[0011] The detection system can detect at least one grain presence point either directly or indirectly. Direct detection of a grain presence point involves recording the actual presence of the isolated seed at the grain detection location, for example, using a grain sensor within the detection system. Indirect detection of a grain presence point is based, for example, on the detection of a specific operating state of the singulation unit. If the singulation unit is in a specific operating state, the detection system can infer that an isolated seed is located at a specific grain detection location. This specific operating state could, for example, relate to the angular position of a rotaryally driven singulation element within the singulation unit.The rotary-driven singulation element can be a singulation disc with multiple grain-collecting recesses. Such singulation discs are also referred to as perforated discs. Alternatively, the specific operating state of the singulation device can also relate to the state of a singulation valve within the device, for example, if grain singulation is achieved by opening and closing a singulation valve. An encoder, a fork-type optical sensor, or a reed switch can be used, for example, to detect the specific operating state of the singulation device.

[0012] The detection system can detect the presence of at least one portion either directly or indirectly. Direct detection of a portion presence point involves recording the actual presence of the generated fertilizer portion at the portion detection location, for example, using a portion sensor within the detection system. Indirect detection of a portion presence point is based, for example, on the detection of a specific operating state of the portioning device. If the portioning device is in a specific operating state, the detection system can infer that a generated fertilizer portion is located at a specific portion detection location. This specific operating state could, for example, relate to the angular position of a rotary-driven portioning element within the portioning device.The rotary-driven portioning element is a portioning vane that collects fertilizer granules during a rotational movement and combines them into a single portion of fertilizer. Alternatively, the specific operating state of the portioning device can also relate to the state of a portioning valve within the device, if the portioning is achieved by opening and closing such a valve. An encoder, a fork-type optical sensor, or a reed switch, for example, can be used to detect the specific operating state of the portioning device.

[0013] Furthermore, a method according to the invention is advantageous in which the seeds separated by the singling device are released from the singling device, particularly into a seed conveying line, at time-spaced intervals. Alternatively or additionally, the fertilizer portions produced by the portioning device are released from the portioning device, particularly into a fertilizer conveying line, at time-spaced intervals. The operating behavior specified by the control system preferably adjusts the time offset between the seed release times and the fertilizer release times. By adjusting the time offset between the seed release times and the fertilizer release times, the spatial relationship between the seeds and the fertilizer portions, in particular their longitudinal spacing, is altered.By adjusting the time offset between the seed release and fertilizer release times, the release cycle of the singulation unit and the release cycle of the portioning unit are synchronized. The singulation unit has a rotating singulation element for singulating seeds. This singulation element is driven by a drive unit within the singulation unit. The drive unit can be electric, pneumatic, or hydraulic. The predefined operating behavior can include control parameters for the drive unit. The portioning unit has...

[0014] A rotating portioning element is used to generate fertilizer portions. The portioning element is driven by a drive unit for the portioning device. This drive unit can be electric, pneumatic, or hydraulic. The predefined operating behavior can include control parameters for the drive unit. For example, the operating behavior specified by the control system can be used to initiate a temporary deviation from the intended speed ratio of the singulation element and the portioning element.By temporarily deviating from the intended rotational speed ratio of the singulation element and the metering element, the time offset between the seed release and fertilizer application times is altered. This allows, for example, a predetermined longitudinal distance between the singulated seeds and the fertilizer portions produced on the agricultural land to be set. Alternatively, the metering device for producing fertilizer portions can also have a metering valve that releases a portion of fertilizer when opened, particularly into a fertilizer delivery line. In this case, the fertilizer application times correspond to the valve opening times. By adjusting the valve opening times, the time offset between the seed release and fertilizer application times can also be changed, thus adjusting the longitudinal distance between the seeds and fertilizer portions on the agricultural land.

[0015] In a particularly preferred embodiment of the method according to the invention, the detection system detects at least two times when the singulated seed is present at spaced-apart seed detection locations and / or at least two times when the produced fertilizer portion is present at spaced-apart portion detection locations. In this case, the control system determines the operating behavior specified for the singulation device and / or the portioning device based on the at least two detected times when the seed is present and / or the portion is present.By recording two seed presence times at spaced-apart seed detection points, the control system can determine the machine's internal conveying speed and / or the machine's external flight speed of the isolated seed, taking into account the distance between the two seed detection points. This information can then be used to determine the machine's internal conveying duration and / or the machine's external flight duration of the isolated seed. Similarly, by recording two portion presence times at spaced-apart portion detection points, the control system can determine the machine's internal conveying speed and / or the machine's external flight speed of the produced fertilizer portion, again taking into account the distance between the two portion detection points. This information can then be used to determine the machine's internal conveying duration and / or the machine's external flight duration of the produced fertilizer portion.Based on the determined conveying and / or flight behavior of the singulated seed and / or the produced fertilizer portion, the control system can then determine an operating behavior for the singulation device and / or the portioning device, via which the specified local placement relationship of seeds and fertilizer portions on the agricultural land can be achieved.

[0016] In a further preferred embodiment of the method according to the invention, the control system determines, based on the at least two detected seed presence times, a seed-specific, machine-internal conveying time of the singulated seed in the application machine, a seed-specific, machine-external flight time of the singulated seed after dispensing by the application machine, and / or a seed-specific transport time comprising a machine-internal conveying component and a machine-external flight component. The determined seed-specific, machine-internal conveying time of the singulated seed in the application machine can refer to a section of the machine-internal conveying path or to the entire machine-internal conveying path. The determined seed-specific, machine-external flight time of the singulated seed can refer to a section of the machine-external flight path or to the entire machine-external flight path.The determined seed-specific transport time of the singulated seed can refer to a section of the transport path or to the entire transport path. The seed detection locations can be within the machine's internal conveying path of the singulated seed and / or within the machine's external flight path of the singulated seed. The control system determines the operating behavior specified by the singulation unit and / or the portioning unit based on the seed-specific internal conveying time, the seed-specific external flight time, and / or the seed-specific transport time.

[0017] In a further preferred embodiment of the method according to the invention, the control system determines, based on the at least two detected portion presence times, a fertilizer-specific internal conveying time of the generated fertilizer portion in the application machine, a fertilizer-specific external flight time of the generated fertilizer portions after dispensing by the application machine, and / or a fertilizer-specific transport time comprising an internal conveying component and an external flight component. The determined fertilizer-specific internal conveying time of the generated fertilizer portions in the application machine can refer to a section of the internal conveying path or to the entire internal conveying path. The determined fertilizer-specific external flight time of the generated fertilizer portions can refer to a section of the external flight path or to the entire external flight path.The determined fertilizer-specific transport time of the generated fertilizer portions can refer to a section of the transport path or to the entire transport path. The portion detection locations can be within the machine's internal conveying path of the generated fertilizer portion and / or within the machine's external conveying path of the generated fertilizer portion. The control system determines the operating behavior specified for the singulation unit and / or the portioning unit based on the fertilizer-specific internal conveying time, the fertilizer-specific internal flight time, and / or the fertilizer-specific transport time.

[0018] In a further development of the method according to the invention, at least one grain presence time of the singulated seed is detected by means of a machine-internal grain sensor of the detection system. The machine-internal grain sensor can, for example, be an optical sensor. The machine-internal grain sensor of the detection system can be an opto-transducer that detects the presence of the singulated seed at a grain detection point located within the machine-internal conveying path of the singulated seed. The machine-internal grain sensor can be a grain counter. The machine-internal grain sensor can be arranged in or on the singulation device. The machine-internal grain sensor detects, for example, the grain presence time by detecting a specific angular position of a rotating singulation element of the singulation device.Alternatively or additionally, at least one portion presence time of the generated fertilizer portion is detected via an internal portion sensor of the detection system. The internal portion sensor can be a reed switch. The internal portion sensor can be located in or on the portioning device. The internal portion sensor detects the portion presence time, for example, by detecting a specific position of a rotating portioning element of the portioning device. The internal grain sensor and / or the internal portion sensor can be permanently installed on or in the agricultural application machine. The detection system can include one or more additional sensor-based presence detectors.

[0019] In another preferred embodiment of the method according to the invention, the at least two times of presence of the singulated seed are detected by means of several machine-internal seed sensors of the detection system arranged along an internal conveying path of the singulated seed. The seed-specific internal conveying time of the singulated seed in the spreading machine, the seed-specific external flight time of the singulated seed after dispensing by the spreading machine, and / or the seed-specific transport time of the singulated seeds can thus be measured continuously during operation. Alternatively or additionally, the at least two times of presence of the generated fertilizer portions are detected by means of several machine-internal portion sensors of the detection system arranged along an internal conveying path of the generated fertilizer portion.The fertilizer-specific internal delivery time of the generated fertilizer portion within the application machine, the fertilizer-specific external flight time of the generated fertilizer portion after dispensing by the application machine, and / or the fertilizer-specific transport time of the generated fertilizer portions can thus be continuously monitored during operation. This allows the control system to react directly to changes in seeding rate, fertilizer quantity, driving speed, or other application parameters while driving. By coordinating the operating behavior of the metering and singulation units, the control system can also respond to changing fertilizer properties, such as fluctuations in fertilizer moisture content throughout the day, which might be caused by a change in weather.Since it is usually not possible to measure the entire flight time to the bottom of the furrow, the machine-external flight time of the individual seed or the produced portion of fertilizer until it impacts the bottom of the fertilizer furrow or seed furrow must be calculated by the control system.

[0020] In a further development of the method according to the invention, at least one grain presence time of the singulated seed and / or at least one portion presence time of the produced fertilizer portion is detected by means of a supplementary sensor of the detection system. The supplementary sensor can be an integrated sensor. The supplementary sensor can, for example, comprise an optical light barrier, a mechanical paddle, or a deflector plate. The optical light barrier is, for example, positioned such that the singulated seed or the produced fertilizer portion moves through the light barrier. The mechanical paddle can be positioned such that the singulated seed or the produced fertilizer portion strikes and deflects the paddle. The measurements using the supplementary sensor of the detection system can, for example, be carried out with the application machine stationary, either before or during the application process.The deflector plate can be connected to an impact sensor that detects the deflection of the deflector plate. The impact sensor can be an angle sensor or a push button. The impact sensor can be a piezoelectric sensor. The supplementary sensor can be aligned with the actual point of impact in the furrow. The supplementary sensor can be held by an operator under the discharge opening of the grain conveying line or under the discharge opening of the fertilizer conveying line, or it can be mounted there. The sensor value detected by the supplementary sensor can be stored and / or used to calculate the total transport time of the singulated seed or the generated fertilizer portion.

[0021] In another preferred embodiment of the method according to the invention, the same supplementary sensor is used, with a time interval between them, to detect at least one seed presence time of the singulated seed and to detect at least one portion presence time of the produced fertilizer portion. Thus, the conveying time, flight time, and / or transport time of the singulated seed and the produced fertilizer portion can be determined using the same supplementary sensor. The supplementary sensor can be attached to the seed conveying line to detect the seed presence time. The supplementary sensor can be attached to the fertilizer conveying line to detect the portion presence time.If the supplementary sensor is installed on the grain conveying line, the control system can determine the conveying time of the singulated seed between the two seed presence points by taking into account the signals from an internal grain sensor in the conveying path of the singulated seed. If the supplementary sensor is installed on the fertilizer conveying line, the control system can determine the conveying time of the generated fertilizer portion between the two portion presence points by taking into account the signals from an internal portion sensor in the fertilizer portion conveying path. Regarding the fertilizer portions, a portion center point can be determined, which serves as a reference point for the position of the fertilizer portion.

[0022] The method according to the invention is further advantageously developed by employing a first supplementary sensor for detecting at least one point in time when the singulated seed is present, and a second supplementary sensor for detecting at least one point in time when the fertilizer portion is present. The machine's internal conveying times for the seed and fertilizer portion are preferably measured simultaneously in order to directly determine the longitudinal displacement after placement on the agricultural land. The first supplementary sensor can be arranged on the seed conveying line. The second supplementary sensor can be arranged on the fertilizer conveying line. Using the supplementary sensors, the displacement of the supplementary sensor signals over several dispensing cycles can be recorded and made available to the machine as a calibration factor.If the signals from the machine's internal grain sensor and the machine's internal portion sensor are used simultaneously during measurement, the supplementary sensors would not necessarily have to be placed at the level of the respective furrow bottom, because then the remaining flight time not detected by the sensors can be calculated.

[0023] Furthermore, a method according to the invention is advantageous in which at least one grain presence time of the isolated seed and / or at least one portion presence time of the produced fertilizer portion is detected by means of a camera of the detection system. For example, the grain presence time of an isolated seed is detected by means of the camera or another sensor of the detection system at a grain detection point located in the end region or further along the grain conveying line, shortly before the isolated seed leaves the grain conveying line or after the isolated seed has left the grain conveying line. For example, the portion presence time of a produced fertilizer portion is detected by means of the camera or another sensor of the detection system at a portion detection point located in the end region or further along the fertilizer conveying line, shortly before the produced fertilizer portion leaves the fertilizer conveying line or after the fertilizer portion has left the fertilizer conveying line.After the generated fertilizer portion has left the fertilizer conveying line, the control system can determine an operating behavior for the singulation unit and / or the portioning unit based on the time difference between the seed's presence and the portion's presence. This behavior modifies or eliminates this time difference, ensuring a predetermined placement relationship, particularly a predetermined longitudinal distance, between the singulated seeds and the fertilizer portions on the agricultural land. The spreading machine can be in a normal operating state or in a raised state when the detection system, using a camera or another sensor, records when the seed and / or fertilizer portion exits the seed conveying line or fertilizer conveying line, or when it enters a position other than the seed conveying line or fertilizer conveying line.pass the grain detection point or portion detection point located in the fertilizer conveying line.

[0024] In a further preferred embodiment of the method according to the invention, the flight speed of the singulated seed and / or the flight speed of the generated fertilizer portion is detected by means of a camera of the detection system. The spreading machine can be in the raised position when the flight speed of the singulated seed or the flight speed of the generated fertilizer portion is detected. The camera of the detection system has, for example, a recording rate of at least 1000 fps. To synchronize the operating behavior of the singulation unit and the portioning unit, the detection system can initiate a virtual projection of the furrow bottom onto the camera image. Additionally, a scale can be attached to the seed conveying line and / or the fertilizer conveying line. With this scale, the flight speed at the moment the singulated seed exits the seed conveying line or fertilizer portion can then be determined.The precise timing of the fertilizer portion dispensed from the fertilizer delivery line can be calculated across multiple images, determining when the fertilizer portion or seed reaches the soil. If the singulated seed and the generated fertilizer portion are recorded in the same image, a camera with a significantly lower frame rate can be used, as the phase shift can be directly derived from the individual images as a correction factor for the operating behavior of the singulation and metering units.

[0025] In another preferred embodiment of the method according to the invention, the impact of the individual seed in the seed furrow as the seed presence time and / or the impact of the generated fertilizer portion in the fertilizer furrow as the portion presence time are determined by means of a placement sensor of the detection system. The seed detection location is thus the seed furrow. The portion detection location is thus the fertilizer furrow. The placement sensor can be a laser sensor. During impact detection using the placement sensor, the application machine can be in a raised position. The laser sensor can be aligned so that the seed and the fertilizer portion interrupt the laser beam. The fertilizer portion and the seed would each interrupt the laser beam if they were to hit the ground. Alternatively, a conversion is also possible.Ideally, the measurement should be taken from the grain conveying line towards the fertilizer conveying line, as the seed is a smaller and therefore more difficult object to detect. The measured distance can then be used to filter whether the detected object is a seed or a portion of fertilizer.

[0026] The problem underlying the invention is further solved by a calibration system of the type mentioned above, wherein the calibration system according to the invention comprises a detection system configured to determine at least one grain presence time of a singulated seed at a grain detection location and at least one portion presence time of a produced fertilizer portion at a portion detection location. The control system of the calibration system according to the invention is configured to specify, at least temporarily, an operating behavior for achieving the predetermined local deposition relationship of the singulation device and / or the portioning device, which the control system determines based on the at least one detected grain presence time and the at least one detected portion presence time.

[0027] In a preferred embodiment, the calibration system according to the invention is configured to carry out the method for coordinating the operation of a singulation device and the operation of a portioning device according to one of the embodiments described above. With regard to the advantages and modifications of the calibration system according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention.

[0028] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show: Fig. 1 shows a dispensing unit in which the operation of the singulation device and the operation of the portioning device can be coordinated with each other by means of the method according to the invention; Fig. 2 shows an embodiment of the calibration system according to the invention in a schematic representation; Fig. 3 shows a further embodiment of the calibration system according to the invention in a schematic representation; and Fig. 4 shows a further embodiment of the calibration system according to the invention in a schematic representation.

[0029] The Fig. 1Figure 1 shows a spreading unit 10 of an agricultural spreading machine, by means of which fertilizer in the form of fertilizer portions P and seed in the form of individual seeds K can be spread in a coordinated manner onto an agricultural area N. The agricultural spreading machine preferably has several of the illustrated spreading units 10, which are arranged side by side in the transverse direction, i.e., perpendicular to the direction of travel.

[0030] The illustrated spreading unit 10 has a bracket 12 which includes a parallelogram linkage and by means of which the spreading unit 10 can be attached to a cross member of the agricultural spreading machine.

[0031] The application unit 10 further comprises a portioning device 14 by means of which fertilizer portions P can be produced. The portioning device 14 has a drive which rotates a portioning element 16 designed as a portioning wing. The drive of the portioning device 14 can be an electric motor, a hydraulic or a pneumatic drive.

[0032] The portioning element 16, rotating within the housing of the portioning device 14, collects the fertilizer continuously entering the housing of the portioning device 14 and thus produces a fertilizer portion P with each rotation. Due to the rotation of the portioning element 16, the fertilizer portions P produced by the portioning device 14 are dispensed into a fertilizer conveying line 18 at intervals. The fertilizer conveying line 18 is a discharge channel through which the produced fertilizer portion P is initially conveyed internally within the machine towards the agricultural area N. After leaving the fertilizer conveying line 18, the produced fertilizer portion P is initially in a flight phase before reaching the bottom of a furrow.The fertilizer furrow is produced by means of a fertilizer share 22, whereby the fertilizer share 22 can be a double disc share having two cutting discs 20.

[0033] The spreading unit 10 further comprises a singling device 26, by means of which the seed grains K stored in the hopper 24 can be singulated. For this purpose, the singling device 26 has a drive which rotates the singling element 28 of the singling device 26, which is designed as a singling disc. The drive of the singling device 26 can be an electric motor, pneumatic or hydraulic drive.

[0034] The singling element 28, designed as a singling disc, has seed receiving recesses, each of which receives and singulates a single seed. The singulated seeds K are then released by the singling device 26 into a seed conveying line 30 at timed intervals. The seed conveying line 30 is a discharge channel and serves to convey the singulated seeds K towards the agricultural area N. After leaving the seed conveying line 30, the singulated seeds K are initially in a flight phase before reaching the bottom of a seed furrow. The seed furrow is created by one or more cutting discs 32 of the seed coulter 34.

[0035] Depending on the fertilizer properties, the resulting fertilizer portions (P) can exhibit different internal conveying times within the spreading machine and different external flight times after dispensing. For example, the size, weight, and surface texture of the fertilizer granules can influence both the internal conveying time and the external flight time of the fertilizer portions. Similarly, the individual seeds (K) can exhibit different internal conveying times within the spreading machine and different external flight times after dispensing, depending on their properties. For example, the size, weight, and surface texture of the seeds (K) can influence both the internal conveying time and the external flight time of the individual seeds (K).

[0036] To achieve a predetermined local placement relationship Δx of the seeds K and the fertilizer portions P on the agricultural area N, the operation of the singulation unit 26 and the operation of the portioning unit 14 must be coordinated. The predetermined placement relationship Δx can, for example, be a predetermined longitudinal distance between the fertilizer portions P and the seeds K, whereby the predetermined longitudinal distance can also be zero, so that the singulated seeds K and the produced fertilizer portions P have no longitudinal distance to each other. To adjust the longitudinal distance Δx between the deposited singulated seeds K and the deposited produced fertilizer portions P, the portioning unit 14 and / or the singulation unit 26 are given an operating behavior, at least temporarily, by a control system 52 (see Figure 52). Figs. 2 to 4) specified. The operating behavior specified by the control system 52 for the portioning unit 14 and / or the singulation unit 26 triggers an adjustment of the time offset between the seed release times at the singulation unit 26 and the fertilizer release times at the portioning unit 14. In the illustrated application unit 10, this can be achieved by initiating a temporary deviation from an intended rotational speed ratio of the singulation element 28 and the portioning element 16 via the operating behavior specified by the control system 52, so that the longitudinal distance Δx between the fertilizer portions P and the seeds K changes.

[0037] In the Figs. 2 to 4Calibration systems 50 are shown, whose control systems 52 specify an operating behavior at least temporarily for a portioning device 14 and / or a singulation device 26 in order to achieve a specified local deposition relationship Δx of seeds K and fertilizer portions P on the agricultural land N.

[0038] The control systems 52 determine the operating behavior of the portioning device 14 and / or the singulation device 26, which is at least temporarily predetermined, based on two grain presence times and two portion presence times. Alternatively, it is conceivable, for example if the flight behavior of the seed K and / or the fertilizer portion P can be assumed to be known, that a control system 52 determines the operating behavior of the portioning device 14 and / or the singulation device 26, which is at least temporarily predetermined, based on two grain presence times, without taking into account the portion presence times of the fertilizer portion.Furthermore, it is conceivable, for example, if the flight behavior of the seed K and / or the fertilizer portion P can be assumed to be known, that a control system 52 determines the operating behavior of the portioning device 14 and / or the singulation device 26, at least temporarily, based on two portion presence times, without considering seed presence times. In addition, a control system 52 can also consider only one seed presence time and / or only one portion presence time when determining the operating behavior for the portioning device 14 and / or the operating behavior for the singulation device 26.

[0039] The grain presence times refer to the times at which a single seed K is located at spaced-apart grain detection locations K1 and K2. The portion presence times refer to the times at which a produced fertilizer portion P is located at spaced-apart portion detection locations P1 and P2. The two grain presence times and the two portion presence times are each recorded by a detection system 54.

[0040] The control system 52 determines a seed-specific, machine-internal conveying time of the singulated seed K in the application machine based on the recorded seed presence times. This determined seed-specific, machine-internal conveying time of the singulated seed K in the application machine refers to a section of the machine's internal conveying path for the singulated seed K, namely the section between seed detection locations K1 and K2. Furthermore, the control system 52 determines a fertilizer-specific, machine-internal conveying time of the generated fertilizer portion P in the application machine based on the recorded portion presence times. This determined fertilizer-specific, machine-internal conveying time of the generated fertilizer portion P in the application machine refers to a section of the machine's internal conveying path for the generated fertilizer portion P, namely the section between portion detection locations P1 and P2.The operating behavior specified for the singulation device 26 and the portioning device 14 is determined by the control system 52 on the basis of the seed-specific machine-internal conveying time of the singulated seed K and the fertilizer-specific machine-internal conveying time of the fertilizer portion P.

[0041] The times when the fertilizer portion P is present at the portion detection locations P1 and P2 are recorded by the machine's own portion sensors 58a and 58b of the detection system 54. The times when the individual seed grain K is present at the seed detection locations K1 and K2 are recorded by the machine's own seed sensors 62a and 62b of the detection system 54.

[0042] The machine's own portion sensor 58a is a reed switch located on the portioning device 14. The portion sensor 58a detects the portion presence time at the portion detection point P1 by detecting a specific angular position of the rotating portioning element 16 of the portioning device 14. The portion sensor 58a provides the detected portion presence times to the control system 52 via line 56a. The portion sensor 58b is an optical sensor located on the fertilizer conveying line 18, which detects the time at which the generated fertilizer portion P exits the fertilizer conveying line 18. In this case, the portion detection point P2 is therefore the outlet opening of the fertilizer conveying line 18. In an alternative embodiment, however, the portion sensor 58b can also be located at another point along the machine's internal conveying path for the fertilizer portions.The portion sensor 58b provides the control system 52 with the recorded portion presence times via line 56b.

[0043] The grain sensors 62a and 62b are arranged at spaced-apart positions along the machine's internal conveying path for the individual seeds K. The grain sensors 62a and 62b can be configured as opto-transducers, which detect the presence of the individual seed K at the seed detection locations K1 and K2. The grain sensor 62a can also be used, for example, as a seed counter. The grain sensors 62a and 62b provide the detected seed presence times to the control system 52 via lines 60a and 60b.

[0044] The fertilizer-specific, machine-internal conveying time of the generated fertilizer portions P in the spreading machine and the seed-specific, machine-internal conveying time of the singulated seeds in the spreading machine can be measured via the machine's own portion sensors 58a, 58b and the machine's own seed sensors 62a, 62b, even while the machine is in motion. This allows changes in the conveying and / or flight characteristics of the fertilizer portions P and / or the seeds K that occur during the spreading process to be taken into account when coordinating the operation of the portioning unit 14 and the singulation unit 26. The conveying and / or flight characteristics of the fertilizer portions P and / or the seeds K can vary, for example, due to a change in moisture content during the spreading process. The moisture content of the fertilizer portions and / or the seeds can change, for example, due to a change in the weather.

[0045] The Fig. 3 and 4 show a spreading unit 10 which is equipped with a detection system 54 having three sensors 58, 62, 66.

[0046] The portion sensor 58 is connected to the control system 52 via line 56 and is configured to indirectly determine the point in time when the portion is present at the portion detection point P1 by measuring the angular position of a portioning element 16 of the portioning device 14. The grain sensor 62 is connected to the control system 52 via line 60 and is configured to determine the point in time when the grain is present at the grain detection point K1 by means of an optical light barrier.

[0047] The timing of the presence of the produced fertilizer portion P at portion detection point P2 and the timing of the presence of the isolated seed K at seed detection point K2 are detected by the supplementary sensor 66 of the detection system 64. The supplementary sensor 66 is an attachment sensor that can be mounted on the fertilizer conveying line 18 and on the seed conveying line 30.

[0048] The Fig. 3 Figure 1 shows a state in which the supplementary sensor 66 is attached to the fertilizer delivery line 18 and detects the exit of the fertilizer portion P from the dispensing opening of the fertilizer delivery line 18. The portion presence time detected in this way is made available to the control system 52 via line 64.

[0049] In the Fig. 4In the depicted state, the supplementary sensor 66 is attached to the grain conveying line 30. In this case, the supplementary sensor 66 detects the exit time at which the isolated seed K leaves the grain conveying line 30. The grain presence time thus detected at the grain detection point K2 is made available to the control system 52 via line 60.

[0050] The conveying time of the individual seed K and the conveying time of the produced fertilizer portion P are thus determined using the same supplementary sensor 66, whereby a time-delayed determination is required, since the supplementary sensor 66 is to be attached either to the fertilizer conveying line 18 or to the grain conveying line 30.

[0051] The control system 52 then determines, based on the recorded seed presence times, a seed-specific, machine-internal conveying time of the singulated seed K in the application machine, and, based on the recorded portion presence times, a fertilizer-specific, machine-internal conveying time of the generated fertilizer portions P in the application machine. Operating behavior is then specified for the singulation unit 26 and the portioning unit 14, which takes the machine-internal conveying time of the seed K and the fertilizer portion P into account in such a way that a predetermined spatial placement relationship of seeds K and fertilizer portions P on the agricultural area N is achieved. This predetermined spatial placement relationship can, for example, be a predetermined longitudinal distance, whereby the longitudinal distance of seeds K and fertilizer portions P on the agricultural area can also be zero. Reference symbol list

[0052] 10 Spreading unit 12 Bracket 14 Portioning device 16 Portioning element 18 Fertilizer conveying line 20 Cutting disc 22 Fertilizer coulter 24 Storage hopper 26 Singling device 28 Singling element 30 Grain conveying line 32 Cutting disc 34 Seed coulter 50 Calibration system 52 Control system 54 Detection system 56, 56a, 56b Lines 58, 58a, 58b Portion sensors 60, 60a, 60b Lines 62, 62a, 62b Grain sensors 64 Line 66 Supplementary sensor PFertilizer portions P1, P2 Portion detection locations NUsable area KSeeds K1, K2 Seed detection locations Δx Deposit relationship

Claims

1. Method for coordinating the operation of a singling device (26) and the operation of a portioning device (14) of an agricultural spreading machine for achieving a predetermined local placement relationship (Δx) when placing grains of seed (K) singled by the singling device (26) and fertilizer portions (P) produced by the portioning device (14) on an agricultural area (N), wherein the portioning device (14) comprises a rotatably driven portioning element (16) designed as a portioning wing, which collects grains of fertilizer during a rotational movement and merges them into a fertilizer portion (P), or a portioning valve, which dispenses a fertilizer portion (P) when opened, wherein the method comprises the following step: - detecting at least one grain presence time point of a singled grain of seed (K) at a grain detection location (K1, K2) and at least one portion presence time point of a produced fertilizer portion (P) at a portion detection location (P1, P2) by means of a detection system (54); wherein a control system (52) connected to the singling device (26) and / or the portioning device (14) in a signal-conducting manner predetermines, at least temporarily, an operating behavior for the singling device (26) and / or the portioning device (14) for achieving the predetermined local placement relationship (Δx) of grains of seed (K) and fertilizer portions (P), which operating behavior is determined by the control system (52) on the basis of the at least one detected grain presence time point and the at least one detected portion presence time point.

2. Method according to claim 1, characterized in that - the grains of seed (K) singled by the singling device (26) are discharged, in particular into a seed conveyor line, by the singling device (26) at temporal spaced-apart grain discharge time points; and / or - the fertilizer portions (P) produced by the portioning device (14) are discharged, in particular into a fertilizer conveyor line, by the portioning device (14) at temporal spaced-apart fertilizer discharge time points; wherein by the operating behavior predetermined by the control system (52) preferably an adjustment of the time offset between the grain discharge time points and the fertilizer discharge time points is caused.

3. Method according to claim 1 or 2, characterized in that the detection system (54) detects at least two grain presence time points of the singled grain of seed (K) at spaced-apart grain detection locations (K1, K2) and / or at least two portion presence time points of the produced fertilizer portion (P) at spaced-apart portion detection locations (P1, P2); wherein the control system (52) determines the operating behavior predetermined for the singling device (26) and / or the portioning device (14) on the basis of the at least two detected grain presence time points and / or the at least two detected portion presence time points.

4. Method according to claim 3, characterized in that the control system (52) determines, on the basis of the at least two detected grain presence time points, a seed-specific machine-internal conveying duration of the singled grain of seed (K) in the spreading machine, a seed-specific machine-external flight duration of the singled grain of seed (K) after the discharging by the spreading machine and / or a seed-specific transport duration comprising a machine-internal conveying portion and a machine-external flight portion.

5. Method according to claim 3 or 4, characterized in that the control system (52) determines, on the basis of the at least two detected portion presence time points, a fertilizer-specific machine-internal conveying duration of the produced fertilizer portion (P) in the spreading machine, a fertilizer-specific machine-external flight duration of the produced fertilizer portion (P) after the discharging by the spreading machine and / or a fertilizer-specific transport duration comprising a machine-internal conveying portion and a machine-external flight portion.

6. Method according to one of the preceding claims, characterized in that - at least one grain presence time point of the singled grain of seed (K) is detected by means of a machine-internal grain sensor (62, 62a, 62b) of the detection system (54); and / or - at least one portion presence time point of the produced fertilizer portion (P) is detected via a machine-internal portion sensor (58, 58a, 58b) of the detection system (54).

7. Method according to claim 3, characterized in that - the at least two grain presence time points of the singled grain of seed (K) are detected by means of several machine-internal grain sensors (62, 62a, 62b) of the detection system (54) arranged along a machine-internal conveyor path of the singled grain of seed (K); and / or - the at least two portion presence time points of the produced fertilizer portion (P) are detected by means of several machine-internal portion sensors (58, 58a, 58b) of the detection system (54) arranged along a machine-internal conveyor path of the produced fertilizer portions (P).

8. Method according to one of the preceding claims, characterized in that at least one grain presence time point of the singled grain of seed (K) and / or at least one portion presence time point of the produced fertilizer portion (P) is detected by means of a supplementary sensor (66) of the detection system (54).

9. Method according to claim 8, characterized in that the same supplementary sensor (66) is used temporally spaced-apart for detecting at least one grain presence time point of the singled grain of seed (K) and for detecting at least one portion presence time point of the produced fertilizer portion (P).

10. Method according to claim 8, characterized in that a first supplementary sensor (66) is used for detecting at least one grain presence time point of the singled grain of seed (K) and a second supplementary sensor (66) is used for detecting at least one portion presence time point of the produced fertilizer portion (P).

11. Method according to one of the preceding claims, characterized in that at least one grain presence time point of the singled grain of seed (K) and / or at least one portion presence time point of the produced fertilizer portion (P) is detected by means of a camera of the detection system (54).

12. Method according to one of claims 1 to 10, characterized in that the flight speed of the singled seed (K) and / or the flight speed of the produced fertilizer portion (P) is detected by means of a camera of the detection system (54).

13. Method according to one of the preceding claims, characterized in that the impact of the singled grain of seed (K) in the seed furrow is determined as grain presence time point and / or the impact of the produced fertilizer portion (P) in the fertilizer furrow is determined as portion presence time point by means of a placement sensor of the detection system (54).

14. Calibration system (50) for an agricultural spreading machine for achieving a predetermined local placement relationship (Δx) when placing singled grains of seed (K) and produced fertilizer portions (P) on an agricultural area (N), with - a singling device (26) for singling grains of seed; - a portioning device (14) for producing fertilizer portions (P), wherein the portioning device (14) comprises a rotatably driven portioning element (16) designed as a portioning wing, which collects grains of fertilizer during a rotational movement and merges them into a fertilizer portion (P), or a portioning valve, which dispenses a fertilizer portion (P) when opened; and - a control system (52) connected to the singling device (26) and / or the portioning device (14) in a signal-conducting manner and is set up to coordinate the operation of the singling device (26) and the operation of the portioning device (14); the calibration system further comprises a detection system (54) which is set up to determine at least one grain presence time point of a singled grain of seed (K) at a grain detection location (K1, K2) and at least one portion presence time point of a produced fertilizer portion (P) at a portion detection location (P1, P2); wherein the control system (52), for achieving the predetermined local placement relationship (Δx), is set up to predetermine, at least temporarily, an operating behavior for the singling device (26) and / or the portioning device (14) which operating behavior is determined by the control system (52) on the basis of the at least one detected grain presence time point and the at least one detected portion presence time point.

15. Calibration system (50) according to claim 14, characterized in that the calibration system (50) is set up to carry out the method according to one of claims 1 to 12.