AGRICULTURAL WORK MACHINE FOR FIELD MAINTENANCE

Description

[0001] The present invention relates to an agricultural machine for agricultural use on an agricultural field which has an unharvested crop and tramlines.

[0002] In modern agriculture, several different agricultural fields are cultivated using multiple and / or different agricultural machines, whereby the tramlines are established on this agricultural field by another agricultural machine during sowing, i.e. during the spreading of seeds, prior to this cultivation.

[0003] US Patent 10,729,055 B2 discloses a control system for an agricultural work vehicle configured to receive a set of swath paths and determine several possible connecting paths between the swath paths. These swaths form a harvested field crop. This work vehicle system is not suitable for maintaining an unharvested field crop.

[0004] German patent DE 10 2011 121433 A1 describes the automation of recurring field and farm work by teaching work cycles to a control device with memory. GPS / location tracking serves, among other things, for field end detection and recording the sequences demonstrated by the driver; the headland is taught and then driven through as a command sequence.

[0005] JP 2012 120449 A discloses a fertilization system which calculates and sets headland and inland routes L11-L14, L21-L23 based on setting points P1-P3 and a reference line L0; guidance is carried out along these internally determined routes using position information.

[0006] In contrast to the prior art, the present invention is based on the objective of providing an agricultural machine that supports the farmer in the previously planned maintenance of an unharvested crop in the agricultural field in such a way as to counteract, in particular, an undesired and / or an inappropriate journey on the agricultural field.

[0007] This problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims. The present invention is based on the general concept of adjusting the agricultural machine with respect to the agricultural field in such a way that the agricultural machine travels along a tramline within a headland area of ​​the agricultural field.

[0008] The agricultural machine according to the invention is designed for agricultural use on an agricultural field, which has at least one field area and at least one headland area. The field area and / or the headland area contain unharvested crops and tramlines.

[0009] This agricultural machine comprises a tractor and at least one implement coupled to the tractor, in particular a detachably coupled one, for the maintenance of the unharvested crop of the agricultural field.

[0010] In addition, the agricultural machine, in particular the tractor, has an adjustment device which is designed and equipped to adjust the agricultural machine based on satellite-based information regarding the tramlines of the agricultural field and based on satellite-based position information of the agricultural machine in relation to the agricultural field in such a way that the agricultural machine travels within a headland area of ​​the agricultural field along a tramline of the headland area.

[0011] This can reduce and / or prevent unwanted impacts of the agricultural machinery on the unharvested crop in the headland area.

[0012] The adjusting device can be designed as a control and / or regulating device that effects an adjustment by controlling and / or regulating the agricultural machinery, in particular components of the agricultural machinery. The adjusting device can include a computing device and a data storage unit. "Equipped" can be understood to mean that the adjusting device is designed and / or programmed accordingly.

[0013] The adjusting device can be designed and configured to adjust the tractor and the implement in such a way that the agricultural machinery travels along the tramlines in such a manner as to prevent intolerable damage to the unharvested crop.

[0014] Satellite-based information, such as information regarding tramlines and the position of the agricultural machinery relative to the field, can each be acquired using a positioning device. This device can be designed and / or programmed to determine position using satellite navigation signals, for example, to provide position data. At least one satellite device can be used to determine the position of the agricultural machinery relative to the field. The satellite device can include one and / or more GNSS satellites.The satellite system can include NAVSTAR-GPS, GLONASS, Galileo, Beidou, GPS, and / or Galileo satellites. The positioning system can be designed and / or programmed for positioning according to the RTK (Real-Time Kinematic) method, in which an RTK signal is used in addition to the satellite signals to determine the position of the agricultural machine in the field. The RTK signal can be generated by a stationary ground station. Alternatively, the RTK signal can be generated by a computer-based data center located outside the agricultural machine, which calculates correction data and transmits this data to the agricultural machine's adjustment mechanism via mobile network. In this case, the stationary ground station and / or the computer-based data center can be located outside the field.

[0015] In an advantageous further development of the solution according to the invention, it is provided that the satellite-based information regarding the tramlines of an, in particular another, agricultural machine was acquired during sowing on this agricultural field, and / or that the satellite-based position information of the agricultural machine according to the invention regarding the agricultural field is acquired during the maintenance of the unharvested crop and therefore only after sowing on this agricultural field.In other words, the satellite-based information regarding the tramlines was acquired, in particular completely, before the start of the maintenance of the unharvested crop and stored electronically in a data storage device, while the position information of the agricultural machine according to the invention is acquired during the maintenance of the unharvested crop and used for setting purposes, in particular without any time delay or with only a minimal time delay. It can be provided that the same and / or identical tractor is used for sowing on this agricultural field and for the maintenance of the unharvested crop in order to acquire the satellite-based information and / or satellite-based position information.

[0016] In an advantageous embodiment of the solution according to the invention, a data storage device is provided for storing satellite-based information regarding tramlines for multiple agricultural fields. The adjustment device is designed and configured to determine and use, based on the satellite-based position information of the agricultural machine according to the invention, the stored satellite-based information regarding tramlines from the data storage device. This information relates to the agricultural field on which the agricultural machine is located and / or is planned to be located. The adjustment device can be connected to the data storage device via data communication.

[0017] In an advantageous further development of the solution according to the invention, the adjusting device is provided and configured to adjust the agricultural machine based on metrologically recorded operating parameters and satellite-based information in such a way that the agricultural machine travels a first tramline and a second tramline spaced apart from it within a field area of ​​the agricultural field, wherein the adjusting device is additionally provided and configured to adjust the agricultural machine in such a way that, for a journey from the first tramline to the second tramline of the field area, the agricultural machine travels or travels along the appropriate part of the tramline of the headland area.

[0018] The agricultural machine may have at least one measuring device for the metrological recording of the operating parameters of the agricultural machine, in particular of components of the agricultural machine and / or the environment of the agricultural machine. The measuring device may include sensor devices.

[0019] In an advantageous further development of the solution according to the invention, it is provided that the agricultural machine has a front-mounted attachment and / or a rear-mounted attachment.

[0020] In an advantageous embodiment of the solution according to the invention, the adjusting device is provided and configured to adjust the front-mounted implement and / or the rear-mounted implement depending on the tramlines. The adjusting device can be provided and configured to adjust the front-mounted implement and / or the rear-mounted implement depending on the tramline of the headland area.

[0021] In an advantageous further development of the solution according to the invention, the adjusting device is provided and configured to adjust the implement coupled to the tractor such that, during use in an agricultural field, the implement maintains a distance from the soil of the agricultural field and / or a distance from the unharvested crop. This prevents undesirable damage to the unharvested crop by the implement.

[0022] In an advantageous further development of the solution according to the invention, it is provided that an attachment is designed as a plant protection device for applying plant protection products to the unharvested crop and / or that an attachment is designed as a fertilizer spreader for applying fertilizer to the unharvested crop.

[0023] In an advantageous further development of the solution according to the invention, it is provided that the first tramline and the second tramline of the field area are each aligned parallel to a longitudinal axis of the agricultural field, wherein the tramline of the headland area has at least a part that extends parallel to a transverse axis of the agricultural field, wherein the longitudinal axis and the transverse axis are aligned transversely and / or perpendicularly to each other.

[0024] In an advantageous further development of the solution according to the invention, it is provided that the first tramline and the second tramline of the field area are spaced apart from each other with respect to the transverse axis, wherein the part of the tramline of the headland area which extends parallel to the transverse axis is formed with respect to the transverse axis between the first tramline and the second tramline of the field area.

[0025] In an advantageous further development of the solution according to the invention, it is provided that the operating parameter recorded by measurement relates to and / or includes field inventory information regarding the unharvested field inventory, weather information, further location information, further field information, a further working machine parameter and / or an operating state of the agricultural working machine.

[0026] In an advantageous further development of the solution according to the invention, it is provided that the further field information includes information regarding the field boundaries of the agricultural field, wherein the adjusting device is provided and set up to adjust the agricultural machine in such a way that the agricultural machine does not cross the field boundaries during the maintenance of the unharvested crop.

[0027] In an advantageous embodiment of the solution according to the invention, it is provided that the satellite-based information was and / or is acquired by means of at least one satellite. This satellite-based information can be acquired by several satellites, in particular by at least three or four satellites.

[0028] Furthermore, the invention relates to the data-technical, in particular computer-implemented, provision of satellite-based information regarding tramlines, which were detected by an agricultural machine during sowing in an agricultural field, for use in setting operations by means of an adjustment device of an agricultural machine according to the invention, in order to adjust this, and in particular further, agricultural machine during the maintenance of an unharvested crop created by sowing in the headland area of ​​the agricultural field. The agricultural machine according to the invention may have features described above as well as below.

[0029] Further important features and advantages of the invention will become apparent from the dependent claims, the drawing and the associated description of the figures based on the drawing.

[0030] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0031] A preferred embodiment of the invention is shown in the drawing and is explained in more detail in the following description, wherein identical reference numerals refer to identical or similar or functionally identical components.

[0032] Fig. 1Figure 1 shows a top view of the agricultural machine 1 according to the invention during the maintenance of the unharvested crop 3 of an agricultural field 2, which is bounded by field boundaries 28. Within the field boundaries 28, at least one field area 15 and at least one headland area 14 are formed. The field area 15 and the headland areas 14 are symbolically indicated as being separated from each other by an intermediate boundary.

[0033] Prior to the situation that arose in the Fig. 1As shown, sowing was carried out by another agricultural machine not shown, during which this other agricultural machine drove along tramlines 4, 5, 6, 7 and thereby acquired the satellite-based information 12 relating to tramlines 4, 5, 6, 7 during sowing on this agricultural field (2), in particular with the aid of at least one satellite 19.

[0034] Tramlines 5 and 6 are tramlines 4 of field area 15, while tramline 7 is a tramline 4 of headland area 14.

[0035] The one in Fig. 1The depicted agricultural machine 1 comprises a tractor 8 with a front-mounted implement 9 and a rear-mounted implement 10. Furthermore, the agricultural machine 1 has an adjustment device 11, which includes a computing device 16 and a data storage device 17. The adjustment device 11 is designed and configured to adjust the agricultural machine 1 based on satellite-based information 12 regarding the tramlines 4, 5, 6, 7 of the agricultural field 2 and based on satellite-based position information 13 of the agricultural machine 1 with respect to the agricultural field 2 during field maintenance, such that the agricultural machine 1 travels within the headland area 14 of the agricultural field 2 along the tramline 7 of the headland area 14.

[0036] This can reduce and / or prevent undesirable effects of the agricultural machinery 1 on the unharvested crop 3 in the headland area 14.

[0037] The satellite-based information 12 regarding the tramlines 4, 5, 6, 7 was acquired prior to the start time of the maintenance of the unharvested crop 3 and stored in a data storage device 17 within the adjustment device 11 and / or an external data storage device 18 outside the adjustment device 11, while the position information of the agricultural machine according to the invention is acquired during the maintenance of the unharvested crop and is used for adjustment purposes, in particular without time delay or with only a minimal time delay.

[0038] The internal data storage device 17 and / or external data storage device 18 can contain satellite-based information 12 regarding tramlines 4, 5, 6, 7 for several agricultural fields, wherein the adjusting device 11 is provided and configured to determine and use, depending on the satellite-based position information 13 of the agricultural machine 1 from the corresponding data storage device 17, 18, the stored satellite-based information 12 regarding the tramlines 4, 5, 6, 7 relating to the agricultural field 2 on which the agricultural machine 1 is and / or will be located.

[0039] The adjusting device 11 is designed and configured to adjust the agricultural machine 1 based on metrologically recorded operating parameters and satellite-based information 12, 13 such that the agricultural machine 1 travels a first tramline 5 and a second tramline 6 spaced apart from it within a field area 15 of the agricultural field 2, wherein the adjusting device 11 is also designed and configured to adjust the agricultural machine 1 such that, for a journey from the first tramline 5 to the second tramline 6 of the field area 15, the agricultural machine 1 travels the corresponding part of the tramline 7 of the headland area 14.

[0040] The first tramline 5 and the second tramline 6 of field area 15 are each aligned parallel to a longitudinal axis 29 of the agricultural field 2, wherein the tramline 7 of the headland area 14 has at least a partial section that extends parallel to a transverse axis 30 of the agricultural field 2, the longitudinal axis 29 and the transverse axis 30 being oriented transversely and / or perpendicularly to each other. In other words, the longitudinal axis 29 and a partial section of the transverse axis 30 are not aligned parallel to each other.

[0041] The first tramline 5 and the second tramline 6 of the field area 15 are spaced apart with respect to the transverse axis 30, wherein the part of the tramline 7 of the headland area 14, which extends parallel to the transverse axis 30, is formed with respect to the transverse axis 30 between the first tramline 5 and the second tramline 6 of the field area 15.

[0042] Additionally, the adjusting device 11 can be provided and configured to adjust the front attachment 9 and / or the rear attachment 10 depending on the tramlines 4, 5, 6, 7.

[0043] The attachment 9, 10 can be designed as a plant protection device for applying plant protection products to the unharvested field crop 3 and / or as a fertilizer spreader for applying fertilizer to the unharvested field crop 3.

[0044] The adjusting device 11 is designed and configured to adjust the implement 9, 10 coupled to the tractor 8 such that, during operation on the agricultural field 2, this implement 9, 10 maintains a distance from the soil of the agricultural field 2 and / or a distance from the unharvested crop 3. This provides additional support to the operator 20 of the agricultural machine 1.

[0045] The metrologically recorded operating parameter can relate to field inventory information 22 regarding the unharvested field inventory, weather information 23, further location information 24, further field information 25, further working machine parameter 26 and / or an operating state 27 of the agricultural working machine 1, which and / or which are stored in a data record 21 of the data storage 17 and / or 18.

[0046] The further field information 25 may contain information regarding the field boundaries 28 of the agricultural field 2, wherein the adjusting device 11 may be provided and set up to adjust the agricultural machine 1 in such a way that the agricultural machine 1 does not cross the field boundaries 28 during the maintenance of the unharvested crop 3 without explicit authorization from the driver 20. Reference symbol list

[0047] 1 Agricultural machine 2 Agricultural field 3 Unharvested field 4 Tramlines 5 First tramline in the field 6 Second tramline in the field 7 Tramline at the headland 8 Tractor 9 Front-mounted implement 10 Rear-mounted implement 11 Adjustment device 12 Satellite-based information regarding tramlines 13 Satellite-based position information of the agricultural machine 14 Headland 15 Field 16 Rake 17 Data storage 18 External data storage 19 Satellite 20 Driver 21 Data record 22 Field inventory information 23 Weather information 24 Additional location information 25 Additional field information 26 Machine parameters 27 Operating states 28 Field boundary 29 Longitudinal axis 30 Transverse axis

Claims

1. Agricultural working machine (1) for agricultural use in an agricultural field (2) that has unharvested field crop (3) and tramlines (4, 5, 6, 7), - having a tractor (8) and at least one add-on unit (9, 10), which is coupled to the tractor (8), for managing the unharvested field crop (3) of the agricultural field (2), characterized - in that the agricultural working machine (1) has a setting device (11) which is intended and configured to set the agricultural working machine (1) according to satellite-based information (12) relating to the tramlines (4, 5, 6, 7) of the agricultural field (2), and according to satellite-based positional information (13) of the agricultural working machine (1) relating to the agricultural field (2), in such a way that the agricultural working machine (1) travels within a headland region (14) of the agricultural field (2) along a tramline (7) of the headland region (14).

2. Agricultural working machine (1) according to Claim 1, characterized - in that the satellite-based information (12) relating to the tramlines (4, 5, 6, 7) was acquired by an agricultural working machine while sowing was being carried out in said agricultural field (2), and / or - in that the satellite-based positional information (13) of the agricultural working machine (1) relating to the agricultural field (2) is acquired during management of the unharvested field crop (3) and therefore only after sowing has been carried out in said agricultural field (2).

3. Agricultural working machine (1) according to Claim 1 or 2, characterized - in that the satellite-based information (12) relating to tramlines (4, 5, 6, 7) is stored in a data memory (17, 18) for multiple agricultural fields, - wherein the setting device (11) is intended and configured to ascertain and use from the data memory (17, 18), according to the satellite-based positional information (13) of the agricultural working machine (1), the stored satellite-based information (12) relating to tramlines (4, 5, 6, 7) that relates to the agricultural field (2) in which the agricultural working machine (1) is and / or will be situated.

4. Agricultural working machine (1) according to one of the preceding claims, characterized - in that the setting device (11) is intended and configured to set the agricultural working machine (1) according to metrologically detected operating parameters and the satellite-based information (12, 13) in such a way that the agricultural working machine (1) travels all the way along a first tramline (5) and a second tramline (6), spaced apart from said first tramline, within a field region (15) of the agricultural field (2), - wherein the setting device (11) is intended and configured to set the agricultural working machine (1) in such a way that, for travelling from the first tramline (5) into the second tramline (6) of the field region (15), the agricultural working machine (1) travels all the way along the appropriate section of the tramline (7) of the headland region (14).

5. Agricultural working machine (1) according to one of the preceding claims, characterized in that the agricultural working machine (1) has a front-side add-on unit (9) and / or a rear-side add-on unit (10).

6. Agricultural working machine (1) according to Claim 5, characterized in that the setting device (11) is intended and configured to set the front-side add-on unit (9) and / or the rear-side add-on unit (10) according to the tramlines (4, 5, 6, 7).

7. Agricultural working machine (1) according to one of the preceding claims, characterized in that the setting device (11) is intended and configured to set the add-on unit (9, 10) coupled to the tractor (8) in such a way that, during use in the agricultural field (2), said add-on unit (9, 10) is spaced apart from the ground of the agricultural field (2) and / or is spaced apart from the unharvested field crop (3).

8. Agricultural working machine (1) according to one of the preceding claims, characterized in that the add-on unit (9, 10) is designed as a plant-management unit for managing the field crop (3).

9. Agricultural working machine (1) according to one of the preceding claims, characterized in that the add-on unit (9, 10) is designed as a fertiliser distributor for spreading fertiliser on the unharvested field crop (3), and / or in that the add-on unit (9, 10) is designed as a plant protector for spreading plant-protection agent on the unharvested field crop (3).

10. Agricultural working machine (1) according to one of Claims 4 to 9, characterized - in that the first tramline (5) and the second tramline (6) of the field region (15) are each oriented parallel to a longitudinal axis (29) of the agricultural field (2), - wherein the tramline (7) of the headland region (14) has at least one section which extends parallel to a transverse axis (30) of the agricultural field (2), - wherein the longitudinal axis (29) and the transverse axis (30) are oriented transversely and / or perpendicularly to one another.

11. Agricultural working machine (1) according to Claim 10, characterized - in that the first tramline (5) and the second tramline (6) of the field region (15) are spaced apart from one another in relation to the transverse axis (30), - wherein that section of the tramline (7) of the headland region (14) which extends parallel to the transverse axis (30) is formed between the first tramline (5) and the second tramline (6) of the field region (15) in relation to the transverse axis (30).

12. Agricultural working machine (1) according to one of Claims 4 to 11, characterized in that the metrologically detected operating parameter concerns a piece of field-crop information (22) relating to the unharvested field crop, a piece of weather information (23), further piece of location information (24), a further piece of field information (25), a further working-machine parameter (26) and / or an operating state (27) of the agricultural working machine (1).

13. Agricultural working machine (1) according to Claim 12, characterized - in that the further piece of field information (25) comprises information relating to field boundaries (28) of the agricultural field (2), - wherein the setting device (11) is intended and configured to set the agricultural working machine (1) in such a way that the agricultural working machine (1) does not go beyond the field boundaries (28) during management of the unharvested field crop (3).

14. Agricultural working machine (1) according to one of the preceding claims, characterized in that the satellite-based information (12, 13) was acquired and / or is acquired by means of multiple satellites (19).

15. Provision in terms of data technology of satellite-based information (12) relating to tramlines (4, 5, 6, 7), that was acquired by an agricultural working machine while sowing was being carried out in an agricultural field (2), for use in terms of setting technology by means of a setting device (11) of a further agricultural working machine (1) according to one of the preceding claims, in order to set said further agricultural working machine (1) during management of unharvested field crop (3), which arose as a result of the sowing, in the headland region (14) of the agricultural field (2).