Weed control machine

Description

[0001] The present invention relates to a multi-row machine for the mechanical control of weeds in gardens or agricultural fields. State of the art

[0002] Mechanical weed control is a popular method for managing weed populations in agricultural areas, both in organic and conventional farming. Firstly, chemical herbicides are increasingly being withdrawn from the market due to the revocation or denial of approval. This is due to the risk of unknown long-term effects from the release of these chemicals, particularly their impact on the environment and human health. Secondly, with prolonged use of chemical agents, resistance to certain weeds is increasingly observed. This creates gaps in herbicide control that, in conventional farming, can only be addressed through non-chemical methods. In organic farming, chemical weed control is generally prohibited, making mechanical weed control the most widely used method.

[0003] Within mechanical weed control, methods in which weed control tools, such as hoe blades, discs, rollers, etc., penetrate the soil are the most common. With these penetrating methods, a distinction must be made between broadcast and selective control. While broadcast weed control is carried out without electronic control of the weed control tools, in selective weed control the tools are specifically activated at least where weeds are present and specifically deactivated at least where crops are located. Consequently, broadcast weed control is only possible in the areas of the field between the crop rows, while selective weed control is also possible within the crop rows. Broadcast weed control between crop rows is known, for example, from utility model DE 298 07 777 U1.A machine for cutting weeds is known from patent application US 2019 / 0082591 A1. The cutting elements are guided between the rows of crops. Furthermore, patent application FR 2891692 A1 discloses a method for pruning two rows of plants. The first row is a row of crops, and the second row is a row of plants for the absorption of active ingredients. There are two cutting elements that are at different heights from the ground and thus prune the rows of plants as needed.

[0004] While a broad market with many suppliers has developed in recent years for widespread, penetrating, mechanical weed control between plant rows, especially in combination with camera-guided row control of the machine, penetrating, selective weed control is still primarily a research topic. Despite high demand, the supply is essentially limited to a few suppliers who treat the area between plants within the row, particularly in crops with long planting distances, using one or two actuators. Examples include the Robovator from Kress [NP1] and the RoboCrop from Garford [NP2].

[0005] In addition to penetrating methods, there are also some non-penetrating methods. These are based on different physiological properties of crops and weeds. The "Top-Cut Collect"™< from Zürn collects plant parts of weeds that extend above a crop stand [NP3]. The "CompCut"™< is designed to cut weeds with relatively thick and inflexible stems out of a cereal crop, while the flexible cereal stalks pass through the cutting combs undamaged [NP4]. Task

[0006] The object of the present invention is to provide a powerful machine for the mechanical control of weeds in gardens or agricultural fields, which integrates elements that penetrate the soil with those that do not, and for the non-penetrating control improves the differentiation quality based on the physiological characteristic of plant length by integrating an airflow into the cutting process. Solution

[0007] The problem is solved by a generic weed control machine according to claim 1. A machine designed in this way is particularly suitable for use in row crops, where it integrates weed control by penetrating tools between the rows of crops with non-penetrating control within the rows, thus enabling both in a single operation. In particular, the non-penetrating control is based on the physiological characteristic of plant length, whereby, due to the rotating shaft about a horizontal axis transverse to the direction of travel, with cutting elements attached to the radius and distributed across the working width, an airflow is generated in addition to the cutting action, which draws the plants upwards before the cutting process is carried out. Not only weeds protruding from the crop area, but also bending or curved plants, etc.This method captures weeds growing taller than the crops within the rows. In contrast, the "TopCut Collect"™ system, for example, only captures weeds protruding upwards from the crop area without sufficient airflow.

[0008] Weed control using the weed control machine according to the invention is particularly advantageous in row crops with short crops, such as beets, cabbage, lettuce, or similar crops. Its use is especially beneficial in advanced growth stages, after the individual plants in the row have begun to touch, as there are no longer any practical penetrative weed control methods available at these stages. The integrated design allows weed control above the row to be combined with the already common hoeing method in the inter-row area. Particularly sensitive to cutting damage from spring weeds, such as lambsquarters or thistles, are susceptible to damage from cutting and can therefore be effectively controlled in this way.Furthermore, the separate adjustment of the working height of the cutting shaft with cutting elements and the weed control tools penetrating the soil ensures that the height of the rotating shaft with cutting elements can always be adjusted within the growth phase of the crop plants so that the cutting effect takes place just above the height of the crop plants, thus preventing damage to the crop plants while always damaging weeds with a greater plant length.

[0009] Preferably, the weed control machine is designed as a trailed implement for an agricultural tractor. In this case, both the wheel dimensions and the track widths of the tractor and the supporting chassis of the trailed weed control machine are designed so that the wheels run in the working position in the area between the rows of plants.

[0010] In one embodiment of the weed control machine according to the invention, the machine is designed as a trailed implement for an agricultural tractor, wherein the trailed machine has a supporting chassis with at least one axle and the wheels of this axle are actively steerable. This has the advantage that the wheels of the trailed machine can be steered when entering the rows of plants in such a way that fewer crops are damaged. Furthermore, by actively steering the wheels of the trailed machine, improved guidance of the trailed machine along the rows of crops can be ensured in addition to the steering of the tractor. This is particularly important on sloping terrain.

[0011] The design of the weed control machine according to the invention as a trailed implement with actively steerable wheels for an agricultural tractor is particularly advantageous if the actively steerable wheels are automatically controlled. Suitable guidance signals in this case are GNSS-based positioning data or the position data of the plant rows relative to the machine based on sensor-based acquisition, for example using cameras and corresponding evaluation electronics and software.

[0012] Alternatively, the weed control machine can be designed as a self-propelled agricultural vehicle or an autonomous robot. In this configuration as well, both the wheel dimensions and the track width of the supporting chassis of the weed control machine are designed so that the wheels run in the working position in the area between the rows of plants.

[0013] The advantages of the weed control machine according to the invention are particularly evident when it has a large working width, for example, more than 8 meters. In advanced growth stages of the crops, damage can occur if the leaves of the crops, which extend into the row space, are driven over, even if the track width and tire width of the weed control machine and, if applicable, the tractor are designed to fit into the row space. While the growth cone of the crop plants is not driven over, parts of the leaves are. Therefore, a large working width of the weed control machine according to the invention is advantageous because – in addition to increased performance – less damage to the crops occurs if, for example, only 2 rows per 8 m, 12 m, or 15 m working width are damaged during each pass.When repeatedly processing crops with the weed control machine according to the invention, for example at intervals of 2 to 3 weeks, it is advantageous if the chassis wheels always run in the same track, so that the rows already reduced by the previous damage are visited again and thus the subsequent damage is less.

[0014] In one embodiment of the machine according to the invention, a large working width is achieved by constructing it from several sub-segments, for example, 3, 4, or 5 sub-segments, each of which has at least one separate shaft rotating about a horizontal axis transverse to the direction of travel, with cutting elements attached to the radius and distributed across the working width. This division serves, firstly, to improve force absorption and weight distribution. A particularly advantageous feature of the multi-part construction in one embodiment of the machine according to the invention is that the individual sub-segments can be shifted relative to one another, for example, by mechanical, electrical, pneumatic, or hydraulic drive, and the laterally outer sub-segments, when in the working position, can be shifted or folded in the transport position in front of, behind, or over the middle sub-segment.In this way, the transport width of the machine is reduced to enable road transport.

[0015] In an advantageous embodiment of the machine according to the invention, the individual segments in the multi-part structure are each equipped with at least one additional guide wheel, in addition to the supporting wheels of the chassis. These guide wheels touch the ground in the working position but not in the transport position. In the working position, they ensure improved guidance of the working height of the shaft with cutting elements. The guide wheels are arranged so that they run between the rows of crops in the working position. Due to their lower load-bearing capacity compared to the supporting wheels of the chassis, the guide wheels can be smaller, thus largely preventing damage to the crops caused by running over leaves that protrude laterally into the space between the rows.

[0016] In an advantageous embodiment of the machine according to the invention, the cutting elements attached to the radius of the shaft rotating about a horizontal axis transverse to the direction of travel are shaped such that they have a largely continuous width and, in the area of ​​attachment to the shaft, still possess at least 50 percent of the width of the cutting edge. A tapering of the cutting elements in the area of ​​attachment to the shaft may be necessary to prevent the elements from interlocking with one another. However, it is advantageous if the cutting elements have a continuous width and, in the area of ​​attachment to the shaft, still possess a width of at least 50 percent of the width of the cutting edge, as this ensures the generation of a strong airflow. In particular, the airflow is stronger with cutting elements shaped in this way than with cutting elements with a flat mounting on the shaft, for example, in an L- or T-shape.The airflow is advantageous because it draws up the weeds before the cutting process takes place during operation.

[0017] In an advantageous embodiment of the machine according to the invention, cutting elements are attached to the shaft rotating about a horizontal axis transverse to the direction of travel along the working width of the machine only at those positions which, in the working position, are located above a row of plants, but not at those positions which, in the working position, are located above the spaces between the rows. This results in a reduction of energy consumption.

[0018] In an advantageous embodiment of the machine according to the invention, cutting elements are always attached to the shaft rotating about a horizontal axis transverse to the direction of travel along the working width of the machine only at the positions which are located in the working position above a row of plants, and angled fan vanes are attached at the positions above the row spaces, which do not have a cutting effect but additionally generate a lateral airflow which directs the weeds in the edge area of ​​the rows of plants into the area of ​​the cutting elements above the rows of plants.

[0019] In an advantageous embodiment of the machine according to the invention, the working height of the rotating shaft with cutting elements is adjustable by a pneumatic, hydraulic, or electromechanical drive. This allows the operator to conveniently adjust the working height from the cab without having to get out or interrupt the work process.

[0020] In an advantageous embodiment of the machine according to the invention, the working height of the rotating shaft with cutting elements is adjustable by a pneumatic, hydraulic, or electromechanical drive and is controlled by an automatic control system. In this embodiment, the machine additionally comprises at least one optical sensor which, in combination with at least one processing unit and software, scans the crop, distinguishes between crops and weeds, and detects the height of the crops. Based on the signal of crop heights generated in this way, the working height of the shaft with cutting elements is automatically adjusted so that it is always as close as possible to the height of the crops during the working process, for example, 2 cm above or 1 cm below, and so that the working height is adjusted accordingly if the height of the crops fluctuates in the field.This results in an optimal processing outcome.

[0021] It is expressly pointed out that the embodiments of the invention described above can be combined with the subject matter of the main claim, both individually and in any combination with each other, provided that there are no compelling technical obstacles to this.

[0022] Further modifications and embodiments of the machine according to the invention can be found in the following element-by-element description and the drawings.

[0023] The device according to the invention will now be described in more detail using some exemplary embodiments. The figures show: Figure 1 : a possible arrangement of the working tools of the weed control machine in side view, Figure 2 :a weed control machine according to the invention with a shaft with cutting elements in working position in top view, Figure 3 : a weed control machine according to the invention with 3 segments, each with a separate shaft with cutting elements in working position in top view, Figure 4 : A weed control machine according to the invention with 3 segments, each with a separate shaft with cutting elements in transport position, shown in top view.

[0024] Figure 1 This shows a possible arrangement of the working tools of the weed control machine in a side view. The device is positioned along the direction of travel. 1 through the stock of crop plants 20 driven. The rotating shaft 2 rotates along the direction of rotation 3.The axis of rotation is therefore perpendicular to the direction of travel; in this illustration, it is perpendicular to the image plane. On the rotating shaft 2 are cutting elements 4 The rotating shaft is secured by the support. 5 The device also includes weed control tools that penetrate the soil. 10, Here, hoe shears. These works are in the space between the rows, therefore in the picture plane in front of the crops. 20. The weed control tool, which penetrates the soil, is guided by the carrier 11 recorded. The carrier 11 can along the adjustment direction 12 be postponed. The carrier 5 can along the adjustment direction 6 They can be moved. This affects the working height of the cutting elements. 4 and the working depth of the weed control tools penetrating the soil 10,Here, the hoe blades are independently adjustable, allowing the working height of the cutting elements to be adjusted. 4 always within the range of the height of the crop plants 20 lies and the working depth of the weed control tools penetrating the soil 10 below the ground surface 20 lies.

[0025] Figure 2 Figure 1 shows a weed control machine according to the invention, with a shaft containing cutting elements in a working position, in a top view. The machine is constructed in one piece and has only one shaft with cutting elements rotating about an axis located transversely to the direction of travel. 2. The machine will travel along the direction of travel. 1 about the stock of crop plants 20 Dangers. In the area of ​​the crop rows 22 is the rotating wave 2 with cutting elements 4 equipped. In the area of ​​the space between the rows. 23 are attached to the rotating shaft2 No cutting elements attached 33. The width of the cutting elements is largely consistent and lies within the area where the cutting element is attached to the rotating shaft. 32 still at more than 50 percent of the cutting width of the cutting element 31. The chassis 17 In this embodiment, the frame that holds the rotating shaft is integrated as a single unit. The weed control tools, which penetrate the soil, operate in the area between the rows. 10, Here are the hoe blades. Regarding the height adjustment... 13 are the weed control tools that penetrate the soil relative to the frame 17, which accommodates the rotating shaft, vertically displaceable. The chassis wheels 8 They run in the space between the rows and are adjustable in height. 7 relative to the frame 17,which accommodates the rotating shaft, is vertically adjustable. The working height of the cutting elements can be adjusted by combining the two vertical adjustment devices. 4 and the working depth of the weed control tools penetrating the soil 10 Each can be set independently.

[0026] Figure 3 Figure 1 shows a weed control machine according to the invention with 3 segments, each with a separate shaft and cutting elements in working position, in a top view. The weed control machine is moved along the direction of travel 1 over the crop of cultivated plants. 20 driven. The weed control machine has 3 segments here. 41, each via a separate rotating shaft with cutting elements and relative to the frame of the sub-segment 47 These include height-adjustable, penetrating weed control tools. 41are through the central chassis 43 The weed control machine was recorded. The chassis wheels 8a are steerable here along the steering direction 9. The weed control machine is operated by a manned agricultural tractor. 44 The sub-segments are pulled. 42 equipped for depth control, which is in working position in the row spacing 23 running. Via the height adjustment 46 can the guide wheels 42 relative to the frame 47 of the sub-segment 41, The rotating shaft, which holds cutting elements, can be moved vertically. These adjustment devices, in combination with the adjustment devices of the weed control tools that penetrate the soil, determine the working height of the rotating shafts. 2 with cutting elements 4and the working depth of the weed control tools that penetrate the soil 10 They are independently adjustable. Furthermore, the working heights of the separate shafts with cutting elements of the individual segments can also be adjusted independently in this way. The track width and dimensions of the chassis wheels 8a the weed control machine and the wheels 45 The tractor unit is designed so that it fits in the row space. 23 Running. Damage to the crop rows. 22 are thus avoided.

[0027] Figure 4 Figure 1 shows a weed control machine according to the invention with 3 segments, each with a separate shaft and cutting elements in transport position, in a top view. The [unclear text] in the direction of travel 1 inner subsegment 41b is only raised for transport. The direction of travel 1 outer sub-segments 41aare folded vertically towards the center for transport and are located in front of the inner sub-segment 41b. The guide wheels 42 In transport position, only the chassis wheels have no contact with the ground. 8 of the chassis 43 They serve for transport and maintain ground contact in the transport position. The weed control machine is pulled by the tractor. 44 pulled.

[0028] The foregoing embodiments serve only to illustrate the invention. The invention is not limited to the embodiments described above. It will be easy for a person skilled in the art to modify the embodiments in a manner deemed suitable to adapt them to a specific application. Reference symbol list

[0029] 1 Direction of travel of weed control machine 2 Shaft with cutting elements rotating around an axis transverse to the direction of travel 3 Direction of rotation of shaft with cutting elements 4 Cutting element 5 Support frame for shaft with cutting elements 6 Height adjustment direction for support frame of shaft with cutting elements 7 Height adjustment for support frame of shaft with cutting elements 8 Chassis wheel 8a Chassis wheel, steerable here 9 Steering direction of chassis wheel 10 Weed control tool penetrating the soil, here hoe share 11 Support for weed control tool penetrating the soil 12 Height adjustment direction for support of weed control tool penetrating the soil 13 Height adjustment for support of weed control tool penetrating the soil 17 Chassis incl. frame,which accommodates the rotating shaft with cutting elements 20 Crop 21 Soil surface 22 Crop row 23 Row spacing 31 Cutting edge of cutting element 32 Attachment of cutting element to shaft with more than 50 percent of the width of the cutting edge 33 No cutting elements in the area above the row spacing 41 Sub-segment of the weed control machine with separate shaft with cutting elements 41a Sub-segment of the weed control machine with separate shaft with cutting elements, here outer element folded vertically into transport position 41b Sub-segment of the weed control machine with separate shaft with cutting elements,here along the direction of travel inner element 42 Guide wheel for depth control of the sub-segment 43 Chassis of the weed control machine 44 Manned agricultural tractor 45 Track width and tire dimensions of the tractor's wheels adapted to the row spacing of the crops 46 Height adjustment for depth control wheel 47 Frame of the sub-segment that accommodates the rotating shaft with cutting elements , Non-patented literature

[0030] [NP1] "Robovator, Mechanical Selective Weeding System" https: / / www.kress-landtechnik.eu / de / produkte / robovator.php, accessed on March 9, 2020. [NP2] "Robocrop InRow Weeder", https: / / garford.com / de / robocrop-inrow-weeder / , accessed on March 9, 2020. [NP3] "TOP CUT collect - Improve field hygiene sustainably", https: / / www.zuern.de / schneidwerke / produkte / mech-unkrautkontrolle / top-cutcollect / eigenschaften.html, accessed on November 24, 2020. [NP4] "Mechanical weeders: What are the options?", https: / / www.fwi.co.uk / arable / cropmanagement / weed-management / mechanical-weeders-what-are-the-options, accessed on November 24, 2020.

Claims

1. Weed control machine for working on row crops, comprising at least one shaft (2) rotating about a horizontal axis transverse to the direction of travel, with cutting elements (4) attached to the radius, which are effective at least above the crop rows (22) during working operation, at least two weed control tools (10) that penetrate the ground and are arranged in the inter-row space (23) during working operation, a chassis (17, 43) with wheels (8) or tracks, which runs in the inter-row space (23) during working operation and carries the weed control machine over the cultivated areas, the machine is equipped with at least one height adjustment device (13) for the weed control tools (10) penetrating into the ground and at least one height adjustment device (7, 46) for the rotating shaft with cutting elements (2), which are combined in such a way that the working height of the shaft with cutting elements (2) and the working depth of the weed control tools (10) penetrating the ground can be adjusted independently of each other.

2. Weed control machine according to claim 1, characterized in that the machine is designed as a towed attachment for an agricultural tractor (44).

3. Weed control machine according to claim 2, characterized in that at least two wheels (8a) of the chassis (43) of the weed control machine are actively steerable (9).

4. Weed control machine according to claim 3, characterized in that at least the actively steerable wheels (8a) of the chassis (43) of the weed control machine are steered automatically, wherein the control signal is determined based on GNSS coordinates or sensors that detect the crop rows (22).

5. Weed control machine according to claim 1, characterized in that the machine is constructed from several, preferably 3 or 5, partial segments (41), each of which has at least one separate, horizontally rotating shaft with cutting elements, and the positions of the partial segments relative to each other can be changed, whereby the outer elements (41a) in a working position are moved in a transport position to a position above and / or in the transport direction in front of or behind the inner element (41b).

6. Weed control machine according to claim 1, characterized in that the partial segments each have at least one guide wheel (42) which, in the working position, is lowered to the ground and guides the partial segment in height, but does not touch the ground in the transport position, whereby the distance between the guide wheels and between the guide wheels and the wheels of the chassis is designed such that, in the working position, they run between the rows of crops (22).

7. Weed control machine according to claim 1, characterized in that the cutting elements (4) have a width of at least 50 percent of the width of the cutting edge (31) up to their connection to the shaft in order to create an air flow which sucks in the weeds before the cutting action.

8. Weed control machine according to claim 1, characterized in that cutting elements (4) are mounted across the working width of the horizontally rotating shaft (2) only at those points which are effective in the working position above the crop row (22), but not in the areas (33) which are in the working position above the inter-row space (23).

9. Weed control machine according to claim 8, characterized in that angled wind wings are mounted across the working width of the horizontally rotating shaft in the areas (33) which are in the working position above the inter-row space (23), which cause the weed mass to be sucked up and directed into the area above the crop row (22).

10. Weed control machine according to claim 1, characterized in that the working height of the horizontally rotating shaft (2) is adjustable by means of a hydraulic, pneumatic, or electromechanical drive.

11. Weed control machine according to claim 10, further comprising at least one sensor system for detecting crops (20) and recording their height, characterized in that the working height of the rotating shaft (2) with cutting elements (4) is automatically changed in the field in such a way that the effective height of the cutting elements (4) is adjusted at different points in the field based on the detected growth height when the growth height of the crops (20) varies.