METHOD FOR COMPACTING A CROPPED COUNTRY

Description

[0001] The invention relates to a method for compacting a harvested crop having the features of the preamble of patent claim 1.

[0002] Such a method is known from EP 1 825 740 A1. There, a control and evaluation unit of an agricultural machine receives a recoil signal as control information. The recoil signal is proportional to the recoil of the crop to be compacted. Depending on the recoil behavior of the crop to be compacted, the machine can initiate more or less intensive compaction of the crop.

[0003] Another method is known, for example, from EP3895520 A1.

[0004] The present invention is based on the object of improving work efficiency during the construction of a silo. This object is achieved by a method having the features of patent claim 1. A corresponding agricultural work machine is disclosed in claim 9.

[0005] Further advantageous embodiments of the method according to the invention emerge from the subclaims.

[0006] According to claim 1, a method for compacting a crop in a silo using an agricultural machine is provided, in which the compaction work (and thus compaction performance) is controlled as a function of at least one piece of control information. A density profile is determined as control information, which represents a target density of the crop as a function of a silo position or a silo section along a predetermined silo length. The driving speed of the working machine during the compaction process or during the compaction work is controlled as a function of the determined density profile.

[0007] The driving speed influenced by the control can refer to forward travel and / or reverse travel of the working machine.

[0008] To control the driving speed of the work machine, at least the density profile is considered as control information. It is not excluded that additional control information, such as information regarding vehicle tire pressure, may also be considered to influence and control the driving speed. The data from the density profile can be used directly to control the driving speed. Alternatively, specific control signals for controlling the driving speed can be derived from the density profile, so that the density profile serves at least indirectly to control the driving speed.

[0009] In general, variables and data for determining the density profile can also be regarded as control information, since the driving speed of the working machine is indirectly controlled by these variables and data.

[0010] The density profile with the target density influences the travel speed of the working machine and thus significantly increases the efficiency of the compaction process, since silo sections of the predetermined silo length with a relatively low target density can be achieved with a relatively high travel speed of the working machine. Taking this relationship into account, the working machine can, on the one hand, save working time (through a higher travel speed) in silo sections of the silo length with a lower target density, and, on the other hand, invest more working time (through a lower travel speed) in silo sections of the silo length with a higher target density.

[0011] As a result, along the specified silo length, only the target density of the stored crop is achieved, which is already sufficient for silage stability. This approach to silo construction helps reduce labor and machine requirements while achieving stable silage. This allows stable silage to be produced very efficiently. Consequently, any deterioration in the silage's nutritional value or nutrient loss due to overheating is effectively avoided.

[0012] The density profile allows for particularly efficient compaction during silo construction. At the same time, the silage can be provided with a stable feed quality throughout its storage period and throughout the entire removal period from the silo.

[0013] In particular, the target density can also take into account the different warming behavior of the silage during the removal of the feed rate for the animals to be fed at different times of the year. By setting different target densities along the silo length, any reduction in feed quality during the removal and decomposition of the silage can be very effectively prevented.

[0014] The agricultural machine includes at least one self-propelled vehicle (e.g., tractor). Preferably, the vehicle is assigned a compaction device (e.g., silo compaction roller) for compacting the crop. Alternatively, the vehicle can be used without a separate compaction device, for example, using its tires to compact the crop in the silo.

[0015] Preferably, the crop is first distributed in layers within the silo being constructed and then compacted, before another layer of crop is distributed and compacted on top of the last compacted crop layer. This process is then repeated until a planned or predetermined amount of crop is stored within the specified dimensions of the silo.

[0016] The compaction process for a single crop layer includes either a single compaction cycle (e.g. one forward travel or a combined forward and reverse travel of the working machine) or a sequence of several compaction cycles (e.g. several combined forward and reverse travels).

[0017] The silo (e.g., a flat silo) has a solid base plate and solid side walls. Fresh or pre-wilted biomass (e.g., grass clippings, green fodder) is preferably stored in the silo as harvested material.

[0018] By determining a specific density profile, it can be taken into account that, depending on different influencing variables and factors along the predetermined silo length, a different target density is sufficient to achieve good preservation of the harvested material and thus good stability of the silage.

[0019] Preferably, at least one of the following variables is taken into account to determine the density profile: a predetermined quantity (e.g. volume or mass) of the harvested material to be compacted or stored, a predetermined dimensioning of the silo, in particular a predetermined silo cross-section transverse to the predetermined silo length, a feed rate (e.g. feed quantity or volume of silage per week) for the animals to be fed, a predetermined start time (e.g. calendar date) for the first removal of silage from the silo, a removal period (e.g. a calendar-related period, a number of days or weeks) for the removal of silage from the silo, at least one environmental parameter (e.g. average ambient temperature, average air humidity) of the silo environment during a removal period for the removal of silage from the silo.

[0020] The values ​​of the aforementioned quantities are easily and precisely available, as they partly represent planning data for silo dimensioning and the subsequent use of the silo and partly can be retrieved as weather data.

[0021] According to the invention, the density profile is determined based on a comparison between a withdrawal rate and a target rate. The withdrawal rate depends on the amount of feed required from the silo for the animals to be fed during a withdrawal period (e.g. several days, a week, or a period within a specific calendar month). The target rate, on the other hand, is determined independently of the amount of feed required from the silo for the same withdrawal period. In particular, the target rate is determined in such a way that any impairment of the silage (reduction in nutritional value, spoilage, etc.) is avoided. The idea behind this is that at higher ambient temperatures, the silage warms up more quickly, and thus the feed quality deteriorates more quickly. By setting a specific target withdrawal rate as the target rate along the length of the silo, a reduction in the quality of the silage still in storage due to warming up can be prevented.The target rate can therefore be regarded as a minimum required rate to avoid any deterioration in feed quality during use of the silo.

[0022] This target removal rate can, for example, be 2.5 meters per week in summer and 1.5 meters per week in winter (depending on the outside temperature). The target rate or target removal rate is therefore preferably defined as a target speed along the silo length, while the removal rate is preferably defined as a removal speed along the silo length.

[0023] In many cases, the actual withdrawal rate cannot be significantly changed, for example, even with an essentially constant amount of feed required per unit of time for the animals being fed. Thus, the withdrawal rate is significantly higher than the determined target rate, especially in winter, because the withdrawal rate (via the constant dimensioning of the silo) is adjusted to the summer to avoid the aforementioned disadvantages of reduced feed quality. Consequently, there is far from any risk of undesirable warming of the silage in winter.

[0024] This relationship can be advantageously used to set a lower target density for calendar-related harvesting periods or for sections along the silo length with a determined low target rate. Since the harvesting rate is higher than necessary during this harvesting period or section of the silo length, the lower target density remains without negatively impacting the desired silage stability.

[0025] In summary, a comparison between the above-mentioned quantities of the extraction rate and the target rate supports the determination of an optimized density profile, which enables a significantly improved efficiency of the compaction work when constructing the planned silo.

[0026] In a preferred embodiment, the withdrawal rate already explained is determined as a function of at least one of the following variables: a predetermined silo cross-section across the predetermined silo length, a feed rate (e.g. feed quantity or volume of silage per week) for the animals to be fed.

[0027] For example, the withdrawal rate is calculated as a withdrawal speed (e.g. in meters per week) by relating the feed rate (e.g. feed volume per week) and the predetermined silo cross-section (i.e. silo width x silo height) as a quotient.

[0028] The target rate already explained is advantageously determined depending on at least one of the following variables: a predetermined start time of the first removal of silage from the silo, the removal period, at least one environmental parameter of the silo environment during the removal period.

[0029] Taking the predetermined start time into account makes it possible to assign each silo position to a removal time or removal period within the calendar year. The start time and the removal periods can advantageously be provided within the framework of a previously known or predetermined removal time profile. For greater accuracy, environmental parameters (e.g., ambient temperature, humidity) can also be taken into account, the values ​​of which are known at least as average values ​​for the respective removal time or removal period. Thus, using simple physical variables, the desired target rate (in particular, the target speed) for efficient compaction work can be precisely determined for each silo position.

[0030] According to the invention, the work machine contains a control unit for processing received data. This control unit can support the automated implementation of the method for compacting the crop. In particular, the density profile is determined in this control unit itself through appropriate data processing. The data can, for example, contain values ​​of the variables already explained, depending on which the density profile is determined. In order to provide the data with minimal technical effort, it can preferably be sent from an external data source (e.g., data center) to the control unit via a radio connection. Additionally or alternatively, data can be sent to the control unit via an operating interface of the work machine.Thus, the transmission of data to the control unit can be carried out partially or fully automatically, which relieves the driver of the working machine in connection with the determination of the density profile.

[0031] A technically simple and automatic influencing or changing of the driving speed of the working machine depending on the density profile is preferably achieved by the aforementioned control unit controlling a speed control function (e.g. engine control unit) of the working machine.

[0032] The method according to the invention is explained in more detail below with reference to the accompanying drawings. Components that are identical or comparable in terms of their function are designated by the same reference numerals. They show: Fig. 1 is a schematic block diagram of functional units for an agricultural working machine for carrying out the method according to the invention, Fig. 2 is a diagram representing the dimensioning of a silo, Fig. 3 is a diagram representing different removal speeds, Fig. 4 is a diagram representing a determined density profile, and Fig. 5 is a diagram representing a driving speed of the working machine as a function of the determined density profile.

[0033] Fig. 1 shows an agricultural working machine 10 with a tractor 12 and a compaction device 14 coupled to the front. The latter is shown only schematically as a block, which represents different embodiments, e.g. for a silo compaction roller. Even if the compaction device 14 in Fig. 1 While the compaction device 14 is mounted on the front of the tractor 12, rear-mounted compaction devices 14 are also conceivable in alternative or supplementary variants. In further embodiments, the tractor 12 can be replaced by another suitable self-propelled vehicle.

[0034] A control unit 16 integrated into the work machine 10, more precisely in the tractor 12, receives various data D for data processing and for determining a density profile PRO_d resulting from the data processing, which will be explained in more detail below. Position data D_pos from a position detection system 18 (e.g., GPS) of the work machine 10 may also be taken into account to determine the density profile PRO_d.

[0035] The data D can be specified manually, for example, by an operating interface 20 integrated in the tractor 12 (e.g. optical display unit, screen, input unit, etc.) and / or made available to the control unit 16 by an external data source 22 (e.g. external data / computing center) via a wireless data connection 24 (e.g. mobile radio).

[0036] In particular, at least one of the following quantities is used as data D: a predetermined quantity m_E (e.g. volume or mass) of the crop 26 to be compacted in a silo 28; a predetermined dimensioning of the silo 28, in particular a predetermined silo cross-section A as the product of a silo height H and a silo width B, wherein the silo cross-section A runs transversely to a predetermined silo length L; a feed rate R_f for the animals to be fed; a predetermined start time T_start for the initial removal of compacted crop 26 from the silo 28; a removal period Δt_ent for the removal of compacted crop 26 from the silo 28; at least one environmental parameter P_amb (e.g. ambient temperature, air humidity) of the environment of the silo 28 during a removal period Δt_ent for the removal of compacted crop 26 from the silo 28.

[0037] The aforementioned variables partially constitute planning data for the planned dimensioning of the silo 28 and for the subsequent removal of compacted crop 26 from the silo 28 within the framework of a planned removal time profile PRO_t. Some of the aforementioned variables can be conveniently retrieved as weather data. Depending on the data organization of the planned structure of the silo 28, the values ​​of the aforementioned variables can then be sent to the control unit 16 via the operating interface 20 and / or the external data source 22.

[0038] The density profile PRO_d is determined depending on at least one of the above-mentioned variables and optionally also other variables not mentioned here, which are Fig. 1 are summarized as data D. The density profile PRO_d determined in this way represents a target density of the crop 26 as a function of a silo position along the specified silo length L of the silo 28. In Fig. 2 The positions p1_sil, p2_sil and p3_sil are indicated as individual silo positions.

[0039] Depending on the determined density profile PRO_d, the control unit 16 controls a speed control function 30 (e.g., an engine control unit) of the work machine 10 or the tractor 12, in order to thereby influence a travel speed v_ma of the work machine 10 or the tractor 12. Influencing the travel speed v_ma can relate to a forward travel F_vor and / or a reverse travel F_rue of the work machine 10 or the tractor 12.

[0040] To control the driving speed v_ma, the control unit 16 sends corresponding control signals S_st to the speed control function 30. The control signals S_st represent, for example, the density profile PRO_d or are determined in the control unit 16 by mathematical derivation from the density profile PRO_d.

[0041] For the planned construction of silo 28, dimensioning data, in particular the silo length L, the silo height H and the silo width B, are initially specified ( Fig. 2 ).

[0042] From the silo cross-section A and the known feed rate R_f (e.g., in tons per week) for the animals to be fed, an actual or current withdrawal rate or withdrawal rate v_act (e.g., in meters per week) can be calculated. This current withdrawal rate v_act represents the actual amount of feed required for the animals to be fed during a specific withdrawal period Δt_ent (e.g., one week).

[0043] The current withdrawal rate v_act is compared along a time axis t in each withdrawal period Δt_ent of the withdrawal time profile PRO_t with a target rate or target speed v_soll ( Fig. 3 ).

[0044] The target rate or target speed v_soll is dimensioned as a required minimum rate in order to avoid any reduction in the feed quality during the use of the silo 28 during the feed removal from the silo 28, taking into account the removal time profile PRO_t (in particular the start time T_start and the removal periods Δt_ent) and at least one environmental parameter P_amb.

[0045] According to the above explanations, in withdrawal periods Δt_ent in which the actual withdrawal rate v_act is lower than the required target rate v_soll, a higher target density d_soll must be provided in the construction of silo 28 compared to a reference density d_ref = 100%. In the example shown, this is essentially only necessary in the withdrawal period Δt_ent or the calendar month of August ( Fig. 4 ). Taking into account the removal time profile PRO_t, this is a silo section ΔL1 along the silo length L.

[0046] Furthermore, in the example according to Fig. 4 The withdrawal rate v_act on the one hand and the target rate v_target on the other hand are essentially identical during the withdrawal periods Δt_ent and the calendar months September and May, so that during these periods the target density d_target corresponds to the reference density d_ref = 100%. Taking into account the withdrawal time profile PRO_t, these are silo sections ΔL2 and ΔL3 along the silo length L.

[0047] In the remaining withdrawal periods Δt_ent or calendar months according to Fig. 4 the target speed v_soll is lower than the actual removal speed v_akt. Consequently, a lower target density d_soll can be provided compared to the reference density d_ref = 100%.

[0048] Depending on the above-described comparison between the withdrawal speed v_act and the target speed v_target ( Fig. 3 ) the already mentioned density profile PRO_d can be determined ( Fig. 4 ). The latter represents the target density d_soll of the crop 26 to be compacted as a function of the respective silo position (e.g., p1_sil, p2_sil, p3_sil) or the respective silo section (e.g., ΔL1, ΔL2, ΔL3) along the silo length L.

[0049] As already explained, the driving speed v_ma of the working machine 10, 12 is controlled via the determined density profile PRO_d ( Fig. 5 ). According to the relationships explained above, the travel speed v_ma is slowed in the silo section ΔL1 compared to a reference speed v_ref = 100%, which corresponds to the reference density d_ref. Consequently, more working time must be invested in compaction in the silo section ΔL1.

[0050] In the silo sections ΔL2 and ΔL3 the driving speed v_ma corresponds to the reference speed v_ref.

[0051] On the other hand, in the remaining silo sections of the silo length L, the driving speed v_ma can be increased compared to the reference speed v_ref and thus working time can be saved during the compaction process.

[0052] Overall, the efficiency of the compaction work in the construction of silo 28 can be significantly improved with the help of the optimized density profile PRO_d.

[0053] For the sake of clarity, it should be noted that schematic details depicted in the drawings are not necessarily to scale. The diagrams presented also make no claim to scale or to precise quantitative values.

Claims

1. Method for compacting a harvested crop (26) in a silo (28) by means of an agricultural working machine (10, 12, 14), the compaction work of which is controlled in dependence on at least one piece of control information (D, D_pos, PRO_d, S_st), wherein - a density profile (PRO_d), which represents a target density (d_soll) of the harvested crop (26) in dependence on a silo position (p1_sil, p2_sil, p3_sil) along a predetermined silo length (L) of the silo (28) or a silo portion (ΔL1, ΔL2, ΔL3) along a predetermined silo length (L) of the silo (28), is determined as a piece of control information, and - a travel speed (v_ma) of the working machine (10, 12) is controlled during the compaction work in dependence on the determined density profile (PRO_d), characterized in that the density profile (PRO_d) is determined in dependence on a comparison between an extraction rate (v_akt) and a target rate (v_soll), wherein - the extraction rate (v_akt) is dependent on a feed quantity (R_f) for animals to be fed which is actually required in an extraction time period (Δt_ent) from the silo (28), and - the target rate (v_soll) is determined as a target feedout rate independently of the feed quantity (R_f) required for the same extraction time period (Δt_ent) from the silo (28).

2. Method according to Claim 1, characterized in that the density profile (PRO_d) is determined in dependence on at least one of the following variables: - a predetermined quantity (m_E) of the harvested crop (26) to be compacted, - a predetermined dimensioning of the silo (28), in particular a predetermined silo cross section (A) transversely to the predetermined silo length (L), - a feed rate (R_f) for animals to be fed, - a predetermined start time (T_start) of the first extraction of compacted harvested crop (26) from the silo (28), - an extraction time period (Δt_ent) for the extraction of compacted harvested crop (26) from the silo (28), - at least one environmental parameter (P_amb) of the silo environment during an extraction time period (Δt_ent) for the extraction of compacted harvested crop (26) from the silo (28).

3. Method according to Claim 1 or 2, characterized in that the extraction rate (v_akt) is defined as an extraction speed along the silo length (L) and the target rate (v_soll) is defined as a target speed along the silo length (L).

4. Method according to one of the preceding claims, characterized in that the extraction rate (v_akt) is determined in dependence on at least one of the following variables: - a predetermined silo cross section (A) transversely to the predetermined silo length (L), - a feed rate (R_f) for animals to be fed.

5. Method according to one of the preceding claims, characterized in that the target rate (v_soll) is determined in dependence on at least one of the following variables: - a predetermined start time (T_start) of the first extraction of compacted harvested crop (26) from the silo (28), - the extraction time period (Δt_ent), - at least one environmental parameter (P_amb) of the environment of the silo (28) during the extraction time period (Δt_ent).

6. Method according to one of the preceding claims, characterized in that a control unit (16) of the working machine (10, 12) receives data (D, D_pos) for determining the density profile (PRO_d) .

7. Method according to Claim 6, characterized in that the data (D, D_pos) are at least partially transmitted from a user interface (20) of the working machine (10, 12) and / or from an external data source (22) to the control unit (16).

8. Method according to Claim 6 or 7, characterized in that the control unit (16) activates a speed control function (30) of the working machine (10, 12) in dependence on the determined density profile (PRO_d).

9. Agricultural working machine (10, 12) with a control unit (16) which is designed for carrying out the method according to one of the preceding claims.