METHOD FOR DETERMINING COUPLING FORM-INDEPENDENT WORKING HEIGHTS OF SEVERAL AGRICULTURAL IMPLEMENTS

Description

[0001] The present invention relates to a method for determining coupling-form-independent working heights of a plurality of agricultural attachments according to the preamble of claim 1, a sensor arrangement according to the preamble of claim 14 and an agricultural working machine according to claim 15.

[0002] Agricultural machines such as combine harvesters, forage harvesters, and tractors can be combined with various attachments. These attachments are attached to the agricultural machine via an attachment interface. In this case, the focus is on agricultural combinations consisting of an agricultural machine and an agricultural attachment. The agricultural attachment can, in particular, be a separate vehicle. This is preferably towed by the agricultural machine.

[0003] Such attachments are generally used to carry out an agricultural work task. The focus here is on field cultivation. This field cultivation can include, for example, sowing or fertilizing processes, the application of pesticides, soil cultivation such as plowing, or harvesting processes such as mowing. What these field cultivation methods have in common is that the attachments are usually set to a specific working height. The working height can also take on a negative value, for example when plowing, and thus represent a working depth. The success and, to some extent, the energy consumption of field cultivation often depend significantly on the working height. At the same time, however, this also depends on various machine parameters of the attachment and the agricultural machine.

[0004] When plowing, for example, the working depth depends on parameters that are manually adjusted by the user on the plow, depending on the plow, and on the settings of the device interface on the agricultural implement. Furthermore, the axle load and tire pressure of the agricultural implement also indirectly influence the working depth of the plow via tire deflection. While modern plows can, at least in part, vary their working depth using hydraulic cylinders, the necessary measurement data to make these adjustments precisely is lacking. Similar problems exist with other agricultural implements.

[0005] In practice, various control types are used for field cultivation, in particular draft control, slip control, position control, and mixed control of draft and position control. The working height is automatically adjusted, although an attempt is made to keep it reasonably constant. Machine parameters of the agricultural machine, such as tire pressure, are usually not taken into account. Therefore, only a relative working height measurement is used. In some known systems, this relative working height measurement refers to the agricultural machine. In other known systems (WO 2019 / 158454 A1), the working height or working depth is measured relative to the implement itself.

[0006] DE 10 2018 203 245 A1 also discloses a method for determining working heights of agricultural implements by evaluating camera images, whereby a device interface is recognized and included in the evaluation as a reference.

[0007] It is a challenge to determine a working height cost-effectively and / or to offer a cost-effective way to influence the working height.

[0008] The invention is based on the problem of designing and developing the known method in such a way that further optimization is achieved with regard to the challenge mentioned.

[0009] The above problem is solved by the features of the characterising part of claim 1.

[0010] The fundamental idea is to determine the working height of several differently coupled attachments using a single sensor. This reuse of a single sensor to determine the working height makes it possible to determine and use the working height cost-effectively. The proposal is to design this sensor in such a way that a working height can be determined that is independent of the selected attachment coupling method. In particular, an absolute working height should be determined.

[0011] In detail, it is proposed that the control arrangement determines the coupling form-independent working heights of the differently coupled attachments in the coupled state using the same sensor and that the control arrangement displays the determined coupling form-independent working heights by means of the agricultural work machine and / or uses them to control and / or regulate the agricultural work machine, wherein a coupling form-independent working height is a working height that is not calculated relative to the device interface.

[0012] According to claim 2, it can be provided that the control arrangement determines the working height completely independently of the coupling type and preferably completely independently of the device interface and / or determines the working height primarily via the sensor. In particular, the modular sensor technology, which will be explained later, can be used in this case. The advantage of this is that data processing is significantly simplified. In the best case, the same algorithm for determining the working height can be used for completely different attachments and coupling types.

[0013] Claims 3 and 4 specify two possible sensor placement options. According to claim 3, the sensor can be attached to the agricultural machine. This allows the sensor to remain permanently attached to the agricultural machine, for example, simplifying data integration. In return, the complexity of determining the working height increases.

[0014] Alternatively, according to claim 4, the sensor can be reversibly mounted on the attachments. This allows even an expensive sensor for determining the working height to be used cost-effectively to determine the working heights of multiple attachments. In many cases, determining the working height on the attachment itself will be easier.

[0015] The preferred embodiments of the sensor are the subject of claim 5. Accordingly, the sensor can be a distance sensor, which operates in particular without contact. Attaching a distance sensor in a modular manner to multiple attachments creates a simple yet effective way of measuring the working heights of multiple attachments. The specified types of sensors are particularly suitable for use in the agricultural sector. It must be taken into account that the sensor must be robust, for example, resistant to vibrations, and must function reliably even under conditions of high levels of dust, contamination, varying temperatures, and in different environments.

[0016] It can be provided that the attachments include different types of attachments. This embodiment is the subject of claim 6. The more types of attachments supported, the higher the cost-effectiveness of the sensor.

[0017] Various implements, such as plows, have several relevant working heights, as they can also have a longitudinal or transverse inclination. According to claim 7, the control arrangement can therefore determine several working heights independent of the coupling type. This ensures homogeneous field cultivation.

[0018] In a particularly preferred embodiment according to claim 8, the control arrangement regulates the working height of the attachment. Due to the determination of the coupling-type-independent working height and the preferred usability of the sensor arrangement for various attachments, which may not even have their own sensors, numerous field cultivation cycles can be optimized. It also becomes possible to coordinate the working heights of various work processes with each other and / or with local conditions in the field.

[0019] Furthermore, the control system can regulate at least two working heights of the implement, allowing field cultivation to be carried out even more precisely. This also minimizes the implement's longitudinal and / or transverse tilt.

[0020] Claim 10 concerns the possibility of varying control variables of the agricultural machine and / or the attachment to regulate the working height, whereby, in particular, a machine parameter of a three-point linkage can serve as the control variable. The three-point linkage has a significant influence on the working heights of various attachments and, at the same time, is under the control of the agricultural machine, independent of the attachment.

[0021] Claim 11 specifies several attachments with possible control variables for which a correctly adjusted working height is particularly relevant.

[0022] It is also possible to determine the working height at a position of the implement that lies before a field cultivation position of the implement. This allows predictive control to be achieved. These embodiments are the subject of claim 12.

[0023] Finally, claim 13 concerns the possibility of varying the target working height of the control system during field cultivation. Conventionally, constant working heights or working heights that change depending on the control of another parameter are often used. The proposed solution makes it possible to flexibly adapt the working height to the field's conditions. This takes into account the fact that the soil and vegetation in a field are by no means homogeneous.

[0024] According to a further teaching according to claim 14, which has independent significance, a sensor arrangement is claimed for determining coupling form-independent working heights of several agricultural attachments, wherein the sensor arrangement has at least one sensor for recording measurement data and a control arrangement, wherein the attachments can be coupled to an agricultural work machine via at least one device interface by means of different coupling forms.

[0025] It is essential that the control arrangement is set up to determine the coupling form-independent working heights of the differently coupled attachments in the coupled state using the same sensor and that the control arrangement is set up to display the determined coupling form-independent working heights by means of the agricultural work machine and / or to use them for controlling and / or regulating the agricultural work machine, wherein a coupling form-independent working height is a working height that is not calculated relative to the device interface.

[0026] Reference is made to all statements regarding the proposed method. According to a further teaching according to claim 15, which also has independent significance, an agricultural work machine with a sensor arrangement according to the proposed method is claimed.

[0027] Reference may be made to all statements concerning the proposed method and the proposed sensor arrangement.

[0028] In the following, the invention is explained in more detail with reference to a drawing which merely represents exemplary embodiments. In the drawing, Fig. 1 shows an agricultural fleet with the proposed sensor arrangement during the implementation of the proposed method, Fig. 2 in a) to d) shows different attachments with which the proposed method can be implemented, and Fig. 3 schematically shows the control of working heights of an attachment designed as a plough.

[0029] The proposed solution can be applied to a wide range of agricultural machinery 1, in particular self-propelled agricultural machinery 1. These include tractors, in particular tractors, and harvesting machines, in particular combine harvesters, forage harvesters, or the like.

[0030] In the illustrated and thus preferred embodiment, the agricultural work machine 1 is a tractor. The work machine 1 can be equipped with at least one attachment 3 via at least one implement interface 2. The implement interface 2 is generally a mechanical coupling between the work machine 1 and the attachment 3. In the illustrated and thus preferred embodiment, the implement interface 2 is designed as a three-point linkage 4, which has two lower links 5 and a top link 6 for coupling to the attachment 3. The implement interface 2 can be designed as a front or rear linkage. In principle, however, the implement interface 2 can also be a drawbar. Other variants for the implement interface 2 are systems with a simple drawbar coupling, with a hitch hook, with a ball head coupling, or the like.

[0031] Fig. 1 shows several agricultural attachments 3 that can be used in the proposed method, specifically a baler 7, a fertilizer spreader 8 and a plough 9. In Fig. 2 these are shown in action.

[0032] The exemplary embodiment shown in the figures and preferred in this respect relates to a method for determining coupling-type-independent working heights 10 of a plurality of agricultural attachments 3 by means of a sensor arrangement 11, wherein the sensor arrangement 11 has at least one sensor 12 for recording measurement data and a control arrangement 13, wherein the attachments 3 can be coupled to an agricultural work machine 1 via at least one device interface 2 by different coupling forms and wherein the attachments 3 are temporarily coupled to the agricultural work machine 1 by the different coupling forms.

[0033] The measured data is transmitted from sensor 12 to control arrangement 13. The different coupling forms can relate to different uses of the same implement interface 2, the connection of different attachments 3, and / or different implement interfaces 2. In the present case, at least two different coupling forms are used in the proposed method. These can, of course, be used at different times. For example, a plow 9 can be attached to a rear linkage at the beginning of the season, while a mower can be attached to the front linkage during harvesting.

[0034] According to the invention, the term "coupling form-independent working height" refers to a working height 10 that is not calculated relative to the device interface 2. Specifically, for example, an incomplete coupling or a change in the coupling should not have any influence on the determined working height 10, provided that this does not interfere with the measurement.

[0035] The sensor arrangement 11 can be independent as such or at least partially integrated into the agricultural work machine 1. In particular, the control arrangement 13 of the sensor arrangement 11 can, for example, be a control arrangement 13 of the agricultural work machine 1. However, it can also consist of distributed computing units. For example, it can have a control unit of the agricultural work machine 1 and a cloud control unit.

[0036] By means of the sensor 12, an absolute working height 10 is measured, preferably as a coupling-type-independent working height 10. The term "absolute" does not necessarily refer to a highly precise measurement, but rather generally to a measurement relative to the ground. In principle, it is conceivable for the measurement to be taken relative to a component whose height relative to the ground is known; however, the absolute working height 10 is preferably measured directly relative to the ground. It can also be a working depth if the attachment 3 engages the ground. In principle, the working height 10 refers to a component of the agricultural attachment 3 that is used for field cultivation. However, this field cultivation can also be sowing or the like.For example, the absolute working height 10 refers to the distance of a ploughshare 14 from the ground, in this case usually as the working depth, the distance of an outlet of a fertilizer spreader 8 or sprayer from the ground, or the like. The focus of a particularly preferred embodiment here is on the soil cultivation equipment, which is why the working height 10 is preferably a working depth.

[0037] The transmission of measurement data from sensor 12 to control arrangement 13 can, in principle, take place in any desired manner. In particular, sensor 12 does not have to actively transmit the data; it can also be read out. Preferably, the transmission takes place regularly and / or continuously.

[0038] It is now essential that the control arrangement 13 determines the coupling form-independent working heights 10 of the differently coupled attachments 3 in the coupled state using the same sensor 12 and that the control arrangement 13 displays the determined coupling form-independent working heights 10 by means of the agricultural work machine 1 and / or uses them to control and / or regulate the agricultural work machine 1 and / or the agricultural attachment 3, wherein a coupling form-independent working height is a working height that is not calculated relative to the device interface.

[0039] An example of controlling the agricultural implement 3 via the agricultural work machine 1 is explained below. A control system can be defined analogously. The display of the coupling-type-independent working height 10 is preferably done on a terminal 15 of the agricultural work machine 1, but can also be done on a smartphone, tablet, laptop, smartwatch, or the like.

[0040] The use of the same sensor 12 is essential. As will be explained below, this sensor 12 can be located on the agricultural work machine 1. Another preferred option is the reuse of the sensor 12 on various attachments 3. This will also be explained in more detail below. The figures show both options and a total of several sensors 12 in each case. However, just one of the sensors 12 shown can also be present.

[0041] In addition, there is the possibility that the control arrangement 13 documents the coupling form-independent working heights 10, at least partially, in particular incorporating them into a documentation of field processing.

[0042] Furthermore, it is preferably provided here that the control arrangement 13 determines the working height 10 completely independently of the coupling form and preferably completely independently of the device interface 2. Additionally or alternatively, it can be provided that the control arrangement 13 determines the working heights 10 primarily, preferably exclusively, via the sensor 12.

[0043] The term "fully independent" means that no properties, parameters, settings, and the like of the coupling form or device interface 2 are taken into account when determining the working height 10. Regardless of this, settings of the device interface 2 can, however, be manipulated variables of the control system to be explained below.

[0044] If the working height 10 is determined primarily via sensor 12, other sensors 12 can be used to support the determination. A stereo camera, however, would count as a sensor 12. Determining the working height 10 from a variety of parameters, including a tire pressure sensor, for example, does not count as a determination primarily via the tire pressure sensor.

[0045] Two exemplary embodiments of the sensor 12 are explained below. The sensor 12 is mounted either on the agricultural work machine 1 or on the agricultural attachment 3. In principle, however, there is nothing to prevent sensors 12 from being mounted on the agricultural work machine 1 and the agricultural attachment 3.

[0046] It can be provided that the sensor 12 is attached to the agricultural work machine 1, preferably that the sensor 12 is an optical sensor 12, in particular a camera.

[0047] The camera is preferably a stereo camera. In this case, it can be provided, quite generally, that the sensor 12 on the agricultural work machine 1 measures the working height 10 on the attachment 3 without contact. It can be provided that no machine parameters of the agricultural work machine 1 are taken into account. In particular, however, it can be provided that the positioning of the sensor 12 is taken into account when determining the working height 10. Information about the type and type of the agricultural attachment 3 can also be taken into account.

[0048] The modular sensor system on attachment 3 mentioned above is explained in more detail below.

[0049] Within the framework of the modular sensor system, it can be provided that the sensor 12 can be reversibly mounted on the attachments 3 and that the sensor 12 is used to determine the working height 10 of several attachments 3 and is mounted on the attachment 3 for this purpose.

[0050] The sensor arrangement 11 can have at least one sensor holder 16, wherein the sensor 12 is reversibly mounted by means of the at least one sensor holder 16 at a mounting position 17 on different attachments 3, wherein the sensor 12, in the mounted state, records measurement data relating to a working height 10 of the attachment 3 and transmits it to the control arrangement 13, and wherein the control arrangement 13 determines the working height 10 of the respective attachment 3 from a mounting position-specific calibration data set.

[0051] The sensor 12 is mounted at the mounting position 17 using the sensor mount 16 in such a way that the assembly is non-destructively reversible. In particular, it is not performed during the manufacture of the attachment 3, but rather can preferably be performed on-site in the field using simple tools or even without any tools at all.

[0052] As will be explained below, the calibration data set can in principle be stored in any memory, be newly created or be otherwise available to the control arrangement 13.

[0053] An advantageous application of the modular sensor system also relates to the measurement of the working height 10 on an attachment 3 that does not have its own electronics. As will become apparent below, the sensor arrangement 11 can thus be independent of the attachment 3. Alternatively, it can be provided that the sensor 12 does not communicate with the attachment 3. However, it can equally well be provided that the sensor 12 is integrated into the electronics of the attachment 3 or communicates with it. Even with attachments 3 with electronics, however, it can be provided that the sensor 12 does not communicate directly with the attachment 3. It is preferred that the sensor arrangement 11 can be used with attachments 3 with and without electronics. Overall, it can even be provided that the determination of the working height 10 is completely independent of the agricultural attachment 3, apart from the calibration itself.

[0054] Preferably, the mounting position-specific calibration data sets include a reference height and / or an orientation of the sensor 12 in the mounted state at the respective mounting position 17 and / or a localization of the mounting position 17 relative to the attachment 3.

[0055] The reference height can originate from a calibration routine to be explained later and relates to a height of the mounting position 17 of the sensor 12 in a reference state, preferably at a known working height 10. The orientation of the sensor 12 can, for example, be a tilt of the sensor 12. This allows for the possibility that the sensor 12 may not measure the shortest distance to the ground to be taken into account. The location of the mounting position 17 relative to the attachment 3 can be selected from a group of predefined mounting positions 17 or determined in another way. Fig. 1 for example, represents two mounting positions 17 on a plough 9. Also Fig. 2 shows several possible mounting positions 17 on different attachments 3. As will be explained later, it is also possible to measure several working heights 10 per attachment 3 and thus, for example, to detect an inclination of the attachment 3. For this purpose, the localization of the mounting position 17 of one or more sensors 12 may be necessary.

[0056] It can be provided that the mounting position-specific calibration data sets are stored in a memory of the control arrangement 13. This memory is here and preferably a local memory of the agricultural work machine 1. In principle, however, a cloud storage or the like is also conceivable. Calibration data sets relating to mounting positions 17 on at least two, preferably at least three, different types of attachments 3 can be stored in the memory.

[0057] As in the lower part of Fig. 1As shown, it is preferably provided here that the sensor holder 16 can be mounted separately from the sensor 12 on the various attachments 3. The sensor 12 can then be reversibly mounted on the sensor holder 16. It can generally be provided that the sensor holder 16 is a relatively inexpensive mass-produced component, while the sensor 12 itself is relatively expensive. The proposed method enables the reuse of the expensive sensor 12.

[0058] For convenience, however, it may be provided that the sensor holder 16 remains on the attachment 3. This has significant advantages within the scope of the calibration routine to be explained below, but it also allows the sensor holder 16 to be mounted more stably and with less effort, while mounting the sensor 12 on the sensor holder 16 itself is preferably relatively simple. This also allows the same mounting position 17 to be reused when the sensor 12 is reattached. Accordingly, the mounting position-specific calibration data set can also be assigned to the sensor holder 16 at the corresponding mounting position 17. To map this assignment, the sensor holder 16 can be provided with an identification feature 18.

[0059] The identification feature 18 can be transmitted from the sensor holder 16 to the control arrangement 13. In some embodiments, however, this sensor holder 16 does not have its own electronics. Therefore, it can also be provided that the sensor 12, particularly in the mounted state, reads the identification feature 18 and transmits it to the control arrangement 13. Preferably, the sensor holder 16 has an NFC tag. The sensor 12 can then have an NFC reader, by means of which the sensor 12 reads the identification feature 18 of the sensor holder 16 and transmits it to the control arrangement 13. Alternatively, it can also be provided that the user 19 can enter the identification feature 18 via an input device, in particular a smartphone, or read it with the smartphone. The input device then communicates with the control arrangement 13 or is part of the control arrangement 13.The identification feature 18 can thus also be a QR code, which the user 19 reads, for example, in a dedicated app. All of these options allow for quick installation of the sensor 12, which directly leads to the usability of the sensor 12 for determining the working height 10.

[0060] Additionally or alternatively, it can be provided that a user 19 selects the mounting position-specific calibration data set on an input unit, preferably an input unit of an agricultural work machine 1 that communicates with the control arrangement 13, or that the control arrangement 13 automatically selects the mounting position-specific calibration data set on the basis of the identification feature 18.

[0061] Furthermore, it is preferably provided here that the control arrangement 13 performs a calibration routine in which the control arrangement 13 generates a mounting position-specific calibration data set and preferably stores it in the memory. This calibration routine is explained in more detail below. It is preferably provided that, in the calibration routine, the control arrangement 13 stores a reference height and / or an orientation of the sensor 12 in the mounted state at the respective mounting position 17 and / or a localization of the mounting position 17 relative to the attachment 3 in the mounting position-specific calibration data set.

[0062] The calibration routine is performed here, preferably on level ground. The control arrangement 13 can inform the user 19 that they should park the agricultural work machine 1 and / or the attachment 3 on level ground and / or assume that this has happened. Furthermore, it is preferably provided that the attachment 3 assumes a reference height. For the plough 9, the reference height can, for example, be set at a working height 10 of zero when the ploughshares 14 are parked on the ground. However, with a seed drill, it can also happen that the lowest adjustable height and a typical working height 10 are too far apart to calibrate the sensor 12 and still remain within the specifications of the sensor 12 during use. Therefore, it can equally be provided that the user 19 must enter the reference height or otherwise determine it.

[0063] Preferably, the control arrangement 13 measures a distance of the sensor 12 from the ground during the calibration routine and stores this distance as a reference height. What is particularly interesting about this is that the mounting position 17, which can be specified by the control arrangement 13, does not have to be precisely maintained by the user 19, especially in the vertical direction, since it is subtracted from the reference height when determining the working height 10. Due to the tolerances prevailing in agriculture, high precision is generally not required in other directions either.

[0064] If the attachment 3 has its own adjustment options for the working height 10, it can be provided that the settings present during the calibration routine are also saved in the mounting position-specific calibration data set and changes to these settings can lead to a warning to the user 19 or, if necessary, can be taken into account when determining the working height 10 using a model of the attachment 3.

[0065] Furthermore, it is preferably provided here that the control arrangement 13 guides a user 19 through the calibration routine by means of an output unit in a natural language dialogue, preferably that the control arrangement 13 specifies an installation position 17 to the user 19 or the user 19 transmits the installation position 17, preferably via voice input, to the control arrangement 13. Additionally or alternatively, it can be provided that the control arrangement 13 specifies a setting of a working height 10 of the attachment 3 to the user 19 or the user 19 transmits the setting of a working height 10, preferably via voice input, to the control arrangement 13, and / or that the control arrangement 13 specifies to the user 19 that the agricultural work machine 1 and / or the attachment 3 should be parked on level ground.

[0066] The dialogue can be conducted using a voice output device and / or voice input device of the agricultural work machine 1 and / or a smartphone. However, a terminal 15 of the agricultural work machine 1 and / or the smartphone can also be used without voice input and / or output.

[0067] Here and preferably it is provided that the agricultural work machine 1 and / or the attachment 3 is on level ground during the calibration routine, that the user 19 mounts the sensor holder 16 at a mounting position 17 on an agricultural attachment 3 and connects the sensor 12 to the sensor holder 16 and that the control arrangement 13 carries out a calibration routine in which the control arrangement 13 determines a reference height and generates a mounting position-specific calibration data set and preferably stores it in the memory.

[0068] The output unit can be the terminal 15 or the smartphone and / or have the voice output device.

[0069] It can be provided that the sensor 12 can be mounted on the sensor holder 16 in a form-fitting and / or force-fitting manner, preferably that the sensor 12 can be mounted on the sensor holder 16 by means of a quick-release device and / or by means of one or more screws and / or magnetically and / or can be clipped into the sensor holder 16. Preferably, the sensor 12 can be mounted on the sensor holder 16 using commercially available tools or entirely without tools.

[0070] Furthermore, it is preferably provided here that the sensor holder 16 has a battery and / or an electrical connection unit, in particular a cable or an antenna, for connection to the control arrangement 13 and / or for transmitting energy from an agricultural work machine 1 to the sensor 12, preferably that the electrical connection unit has a bus connection, in particular an ISOBUS or CAN bus connection.

[0071] By means of a sensor mount 16 configured in this way, the sensor 12, in particular, can be supplied with power. Simultaneously or alternatively, the sensor mount 16 can be used to transmit data from the sensor 12 to the control arrangement 13. This is particularly advantageous if the control arrangement 13 is part of the agricultural machine 1 or the connection to the control arrangement 13 runs via the agricultural machine 1. If the sensor mount 16 has a cable that can be connected to a bus of the agricultural machine 1, if necessary, and the sensor mount 16 remains on the agricultural implement 3, the cabling only needs to be performed once. This consistently further develops the "plug and play" concept of the sensor arrangement 11.

[0072] The battery can, of course, alternatively be a rechargeable battery. Likewise, the sensor 12 can also have its own battery or rechargeable battery. In particular, it is also conceivable for the sensor mount 16 to have no electronics at all, in which case the NFC tag does not count as electronics. If the attachment 3 has its own power supply, which may be fed by the agricultural work machine 1, the sensor 12 can also be connected to the latter, in particular via the sensor mount 16.

[0073] Furthermore, it is preferably provided here that the sensor 12 is a distance sensor, in particular a contactless one, preferably that the distance sensor functions based on electromagnetic waves or acoustic waves or mechanical scanning. Furthermore, it is preferred that the distance sensor is a radar sensor, a lidar sensor, an optical sensor, or an ultrasonic sensor, or that the sensor 12 is a sensor 12, in particular a force sensor or displacement sensor, on a component in contact with the ground, in particular a contact bar, a skid, or a support roller.

[0074] It can also be provided that the sensor arrangement 11 has at least two sensors 12 with different functional principles, each of which can be reversibly mounted on the sensor holder 16. Because the sensors 12 can be used modularly, several different sensors 12 can also be present, which are selected accordingly depending on the attachment 3 and / or the agricultural activity to be performed. These are then preferably each compatible with the same sensor holder 16.

[0075] Here and preferably, the attachments 3 comprise different types of attachments 3, for each of which the control arrangement 13 determines a coupling-type-independent working height 10. The different types of attachments 3 preferably comprise at least one type of soil tillage implement, more preferably at least two types of soil tillage implements. The types of soil tillage implements preferably comprise a plough 9 and / or a cultivator and / or a harrow. The different types of attachments 3 preferably comprise a seed drill and / or a fertilizer spreader 8, in particular a seed coulter, and / or a mower and / or a pickup and / or an attachment 3 with a pickup, in particular a baler 7 or a loader wagon.

[0076] Preferably, at least some of the attachments 3 are separate vehicles with at least one dedicated axle and wheels. Additionally or alternatively, the attachment 3 can be designed without an axle or wheels and can be carried by the tractor or another attachment 3. In this regard, reference is made to the previously mentioned device interfaces 2.

[0077] As already indicated, various agricultural implements 3 have different relevant working heights 10. For example, Fig. 2a ) shows a plough 9 with several ploughshares 14. Each of these ploughshares 14 has its own working height 10. If, for example, the plough 9 is steeply inclined along its longitudinal axis, optimizing only one working height 10 would not lead to optimal results.

[0078] It can be provided that the control arrangement 13 determines a plurality of coupling-type-independent working heights 10 for at least one of the attachments 3, in particular a plurality of the differently coupled attachments 3, preferably that the sensor arrangement 11 has a plurality of sensors 12, that the control arrangement 13 uses a sensor 12 for each of the coupling-type-independent working heights 10 on the same attachment 3, further preferably that the control arrangement 13 uses the plurality of sensors 12 for each of the coupling-type-independent working heights 10 of the differently coupled attachments 3.

[0079] The statements regarding one sensor 12 can apply accordingly to the remaining sensors 12, whereby different designs of the sensors 12 can also be combined.

[0080] It can also be provided that the control arrangement 13 additionally determines the working height 10 from an attachment-specific calibration data set, and the attachment-specific calibration data set comprises kinematics of the respective attachment 3. Additionally or alternatively, it can be the case that the control arrangement 13 additionally determines the working height 10 from a coupling data set, and the coupling data set comprises machine parameters of a device interface 2 between the agricultural work machine 1 and the respective attachment 3, preferably that the coupling data set comprises machine parameters of a three-point linkage 4.

[0081] Using the attachment-specific calibration data set and coupling data set, the number of sensors 12 required to determine multiple working heights 10 can be reduced, for example, via an axis transformation using the kinematics of the attachment 3 or via known machine parameters of the device interface 2. The determination of a single working height 10 can also be verified or made more precise in this way, if necessary. In a preferred embodiment, however, at least one working height 10 can be determined without taking the machine parameters of the device interface 2 into account.

[0082] In principle, the attachment-specific calibration data set can be contained in the mounting position-specific calibration data set, or vice versa. The coupling data set can be attachment-specific, but does not have to be. For example, it can include the lengths of hydraulic cylinders of the device interface 2. Generally, machine parameters are understood to include all settings, associated sensor measurements, and the like. Here, and preferably, the machine parameters at least partially relate to machine parameters that have a direct influence on the working height 10 to be determined.

[0083] It is also possible for the control arrangement 13 to regulate a working height 10 of the attachment 3 taking into account the determined coupling form-independent working height 10 of the attachment 3, preferably for the control arrangement 13 to regulate the working height 10 of the respective attachment 3 to a predetermined target working height 20 and for this purpose the coupling form-independent working height 10 is fed back and offset against the target working height 20, further preferably for a control variable of the control to be a machine parameter of the attachment 3 and / or the device interface 2.

[0084] All of the control variables mentioned always include dependent variables that also fulfill the purpose of the control.

[0085] By means of the proposed sensor arrangement 11, a simple and efficient control of the working height 10 of the attachment 3 is possible. The target working height 20 can be specified by the user 19, calculated dynamically, originate from a farm management information system, and the like. Preferably, the target working height 20 takes into account local conditions of the field and / or working heights 10 of past work tasks, which were also carried out using the proposed sensor arrangement 11, in particular by determining a working height 10. The control is schematically shown in Fig. 3 As shown, the target working height 20 can be derived from a user input, another system, or a front-end sensor 21. Together with feedback from the measured working heights 10, it is input into a control block 22, from which target values ​​of manipulated variables for actuators 23 are derived.

[0086] The machine parameters of the attachment 3 can, for example, be settings of hydraulic cylinders that adjust the height of the attachment 3. Furthermore, the machine parameters can be settings of the three-point linkage 4, in particular settings of the lower link 5 and / or the top link 6. It is understood that the machine parameters serving as control variables influence the working height 10 to be controlled.

[0087] Here and preferably, the control arrangement 13 regulates at least two working heights 10 of the attachment 3, preferably, the control arrangement 13 regulates a deviation of the working heights 10 at at least two positions of the attachment 3 and / or a transverse inclination of the attachment 3 and / or a longitudinal inclination of the attachment 3, further preferably, the control arrangement 13 minimizes the deviation of the working heights 10 and / or the transverse inclination and / or the longitudinal inclination or regulates it to a predetermined value.

[0088] When controlling the multiple working heights 10 of the attachment 3, the kinematics of the attachment 3 are preferably taken into account. It may also be possible to determine the kinematics from the reaction of the attachment 3 to various changes in the control variables. For this purpose, a test run for adjusting the attachment 3 may be provided.

[0089] Furthermore, it is preferably provided here that the control arrangement 13 varies at least one manipulated variable for regulating the working height 10, that the at least one manipulated variable is a machine parameter of the agricultural work machine 1 and / or the attachment 3, preferably that the device interface 2 to which an attachment 3 is at least temporarily coupled is a three-point linkage 4, further preferably that a manipulated variable of the control is a machine parameter of the three-point linkage 4.

[0090] Other machine parameters that can serve as control variables include, for example, the tire pressure of agricultural machine 1 and general machine parameters of agricultural machine 1 that can influence the height of the device interface 2. This also includes, for example, axle loads. However, not all of these parameters are always easily adjustable.

[0091] Input parameters such as position control and / or traction control and / or mixed control and / or slip control of the agricultural machine 1 and its device interface 2 can also serve as control variables. This option is particularly interesting because it allows for integration with existing control systems.

[0092] Furthermore, it is preferably provided here that one of the attachments 3 is a plough 9, that a control variable of the control is a machine parameter, in particular a hydraulic pressure, of the plough 9, and / or that one of the attachments 3 is a cultivator or a harrow, that a control variable of the control is a machine parameter, of the cultivator or the harrow, preferably that the machine parameter is a roller or a support wheel, in particular a height of the roller or the support wheel, of the cultivator or the harrow.

[0093] Until now, the height control of mowers and pick-ups has often been achieved through direct ground contact with skids, support wheels, and the like. This increases fuel consumption and reduces area coverage due to friction or rolling resistance. Furthermore, damage to the field or field vegetation can occur. The machine itself is therefore also subject to increased wear. Height control sometimes occurs behind the actual working tools and is generally rather reactive and difficult to adjust mechanically. All of these disadvantages can be partially or completely avoided using the proposed teaching.

[0094] In particular, it is provided that the determined coupling form-independent working height 10 relates to a position on the attachment 3 which, in the direction of travel of the agricultural work machine 1, is located in front of a field cultivation position of the attachment 3, preferably that the control arrangement 13 regulates at least one working height 10 at the field cultivation position in a predictive manner, in particular in real time.

[0095] Through predictive control or generally the determination of the working height 10 before a field cultivation position, the working height 10 can be adjusted in real time to the local conditions. In this case, as in Fig. 3As shown, a filter 24 is provided, which, depending on the application, can be a low-pass filter, for example. When plowing, for example, a quick response to potholes and the like will be negative or even impossible, so these can be filtered out of the measurement. In other applications, such as with a fertilizer spreader 8, a response to these can also be provided.

[0096] This application also demonstrates that the working height 10 can generally be measured at various positions on the agricultural implement 3, depending on the application. This measurability is another advantage of the modular sensor technology.

[0097] Furthermore, it is preferably provided here that the target working height 20 of the control varies during field cultivation, preferably that the target working height 20 is location-dependent and / or is specified by the user 19 and / or is determined by the control arrangement 13 on the basis of measurement data from a soil sensor.

[0098] The proposed solution makes it possible to adjust the working height 10 as needed at various locations in the field during field cultivation. Accordingly, field cultivation planning can be provided that already specifies different target working heights 20 for the field. These can be implemented, for example, using a GPS system.

[0099] Also proposed according to a further teaching which is of independent importance is a sensor arrangement 11, in particular for use in a proposed method, for determining coupling form-independent working heights 10 of a plurality of agricultural attachments 3, wherein the sensor arrangement 11 has at least one sensor 12 for recording measurement data and a control arrangement 13, wherein the attachments 3 can be coupled to an agricultural work machine 1 via at least one device interface 2 by means of different coupling forms.

[0100] It is now essential that the control arrangement 13 is configured to determine the coupling form-independent working heights 10 of the differently coupled attachments 3 in the coupled state using the same sensor 12 and that the control arrangement 13 is configured to display the determined coupling form-independent working heights 10 by means of the agricultural work machine 1 and / or to use them for controlling and / or regulating the agricultural work machine 1, wherein a coupling form-independent working height is a working height that is not calculated relative to the device interface.

[0101] According to a further teaching of independent significance, an agricultural working machine 1 with a sensor arrangement 11 according to the proposal is also proposed. List of reference symbols

[0102] 1Agricultural machine 2Device interface 3Agricultural implement 4Three-point linkage 5Lower link 6Top link 7Bale press 8Fertilizer spreader 9Plough 10Working height 11Sensor arrangement 12Sensor 13Control arrangement 14Ploughshare 15Terminal 16Sensor bracket 17Mounting position 18Identification feature 19User 20Target working height 21Apron sensor 22Control block 23Actuator 24Filter

Claims

1. A method for determining working heights (10) which are independent of the type of coupling of a plurality of agricultural implements (3) by means of a sensor system (11), wherein the sensor system (11) has at least one sensor (12) for receiving measurement data and a control system (13), wherein the implements (3) can be coupled to an agricultural working machine (1) via at least one equipment interface (2) by means of different types of coupling, wherein the implements (3) are temporarily coupled to the agricultural working machine (1) by means of the different types of coupling, characterized in that the control system (13) determines the coupling type-independent working heights (10) of the differently coupled implements (3) in the coupled state by using the same sensor (12) and in that the control system (13) displays the determined coupling type-independent working heights (10) by means of the agricultural working machine (1) and / or uses the determined coupling type-independent working heights (10) for the control and / or regulation of the agricultural working machine (1) and / or of the agricultural implement (3), wherein a coupling type-independent working height (10) is a working height (10) which is not calculated relative to the equipment interface (2).

2. The method according to claim 1, characterized in that the control system (13) determines the working height (10) entirely independently of the coupling type and preferably entirely independently of the equipment interface (2), and / or in that the control system (13) determines the working heights (10) primarily, preferably exclusively, via the sensor (12).

3. The method according to claim 1 or claim 2, characterized in that the sensor (12) is attached to the agricultural working machine (1), preferably in that the sensor (12) is an optical sensor (12), in particular a camera.

4. The method according to claim 1 or claim 2, characterized in that the sensor (12) can be reversibly mounted on the implements (3), in that the sensor (12) is used for the determination of the working height (10) of a plurality of implements (3) and is mounted on the respective implement (3) for this purpose.

5. The method according to claim 4, characterized in that the sensor (12) is a distance sensor, in particular a contactless distance sensor, preferably in that the distance sensor functions on the basis of electromagnetic waves or acoustic waves or mechanical sensing, more preferably in that the distance sensor is a radar sensor or a lidar sensor or an optical sensor or an ultrasonic sensor, or in that the sensor (12) is a sensor (12), in particular a force sensor or position sensor, on a component which contacts the ground, in particular a sensor arm, a glide skid or a support roller.

6. The method according to one of the preceding claims, characterized in that the implements (3) comprise different types of implements (3), for which the control system (13) respectively determines a coupling type-independent working height (10), the different types of implements (3) preferably comprising at least one type of ground working implement, more preferably at least two types of ground working implements, the types of ground working implements preferably comprising a plough (9) and / or a cultivator and / or a harrow, and / or the different types of implements (3) comprising a sowing drill and / or an artificial fertilizer spreader (8), in particular a sowing coulter, and / or a mowing assembly and / or a pickup and / or an implement (3) with a pickup, in particular a baler (7) or a loading vehicle.

7. The method according to one of the preceding claims, characterized in that the control system (13) determines a plurality of coupling type-independent working heights (10) for at least one of the implements (3), in particular for a plurality of the differently coupled implements (3), preferably in that the sensor system (11) has a plurality of sensors (12), in that the control system (13) uses one sensor (12) in each case for determining one of the coupling type-independent working heights (10) on the same implement (3), more preferably in that the control system (13) uses the plurality of sensors (12) for the respective determination of coupling type-independent working heights (10) for the differently coupled implements (3).

8. The method according to one of the preceding claims, characterized in that the control system (13) regulates a working height (10) of the implement (3) by taking the determined coupling type-independent working height (10) of the implement (3) into consideration, preferably in that the control system (13) regulates the working height (10) of the respective implement (3) to a predetermined nominal working height (20) and for this purpose, the coupling type-independent working height (10) is fed back and offset with the nominal working height (20), more preferably in that a manipulated variable of the regulation is a machine parameter of the implement (3) and / or of the equipment interface (2).

9. The method according to claim 7 and claim 8, characterized in that the control system (13) regulates at least two working heights (10) of the implement (3), preferably in that the control system (13) regulates a deviation of the working heights (10) at at least two positions of the implement (3) and / or a transverse inclination of the implement (3) and / or a longitudinal inclination of the implement (3), more preferably in that the control system (13) minimises the deviation of the working heights (10) and / or the transverse inclination and / or the longitudinal inclination or regulates the deviation to a predetermined value.

10. The method according to claim 8 or claim 9, characterized in that in order to regulate the working height (10), the control system (13) varies at least one manipulated variable, in that the at least one manipulated variable is a machine parameter of the agricultural working machine (1) and / or of the implement (3), preferably in that the equipment interface (2) onto which an implement (3) is at least temporarily coupled is a three point power lift (4), more preferably in that a manipulated variable of the regulation is a machine parameter of the three point power lift (4).

11. The method according to one of the preceding claims, characterized in that one of the implements (3) is a plough (9), in that a manipulated variable of the regulation is a machine parameter, in particular a pressure of the hydraulics, of the plough (9), and / or in that one of the implements (3) is a cultivator or a harrow, in that a manipulated variable of the regulation is a machine parameter of the cultivator or the harrow, preferably in that the machine parameter is a roller or a support wheel, in particular a height of the roller or of the support wheel of the cultivator or of the harrow.

12. The method according to one of the preceding claims, characterized in that the determined coupling type-independent working height (10) relates to a position on the implement (3) which lies in front of a field working position of the implement (3) in the direction of travel of the agricultural working machine (1), preferably in that the control system (13) regulates at least one working height (10) at the field working position in an anticipatory manner, in particular in real time.

13. The method according to one of claims 8 to 12, characterized in that the nominal working height (20) of the regulation varies during the field working, preferably in that the nominal working height (20) is location-dependent and / or is specified by the user (19) and / or is determined by the control system (13) on the basis of measurement data from a ground sensor.

14. A sensor system, in particular for use in a method according to one of the preceding claims, for determining working heights (10) which are independent of the type of coupling of a plurality of agricultural implements (3), wherein the sensor system (11) has at least one sensor (12) for receiving measurement data and a control system (13), wherein the implements (3) can be coupled to an agricultural working machine (1) via at least one equipment interface (2) by means of different types of coupling, characterized in that the control system (13) is configured to determine the coupling type-independent working heights (10) of the differently coupled implements (3) in the coupled state by using the same sensor (12) and in that the control system (13) is configured to display the determined coupling type-independent working heights (10) by means of the agricultural working machine (1) and / or to use the determined coupling type-independent working heights (10) for the control and / or regulation of the agricultural working machine (1), wherein a coupling type-independent working height (10) is a working height (10) which is not calculated relative to the equipment interface (2).

15. An agricultural working machine with a sensor system (11) according to claim 14.