Method for controlling the lift position on a tractor-mounted agricultural machine, control system and tractor-mounted machine

Abstract

The invention relates to a method for controlling the lift position on a tractor-mounted agricultural machine (100), particularly a seeder or soil tiller, during a process on a piece of usable agricultural land (N).

Description

[0001] Method for controlling the excavation position on an agricultural attachment, control system and attachment

[0002] Description

[0003] The invention relates to a method for controlling the excavation position on an agricultural attachment, in particular on a seed drill or on a soil tillage machine, during a tillage operation on an agricultural land.

[0004] Furthermore, the invention relates to a control system for controlling the excavation position on an agricultural attachment, in particular on a seed drill or on a soil tillage machine, during a tillage operation on an agricultural land.

[0005] Furthermore, the invention relates to an agricultural attachment, in particular a seed drill or a soil tillage machine, with at least one soil tillage and / or material depositing device and a control system for controlling the excavation position of the at least one soil tillage and / or material depositing device.

[0006] Agricultural attachments, particularly seed drills or tillage machines, typically require manoeuvring with tillage and / or material placement devices while cultivating an agricultural field, for example, when turning, when the machine has reached the edge of a field, or when traveling on a headland. To prevent damage to the tools caused by ground collisions, the tillage and material placement devices of the attachment, such as the seed drill coulters or the tine coulters of a cultivator, are raised from their working position during maneuvering, so that they are no longer in contact with the ground during maneuvering.

[0007] In order to lift the tillage and / or material placement devices of an agricultural implement, the prior art specifies a position at a distance from the ground into which the tillage and / or material placement devices are moved. For example, the document DE 10 2019 108 987 A1 shows an actuating device that can move tillage tools arranged on the side panels of an agricultural implement from a fixed working position to a fixed headland position, for example, in order to lift the tillage tools on the headland. For this purpose, the side panels of the implement are pivoted relative to a central section into a fixed angular position.

[0008] Furthermore, from the document DE 10 2010 025 944 A1, a switching device is known by means of which a working device of an agricultural distribution machine can be adjusted into a working position for distributing seed and into a headland position for turning the distribution machine.

[0009] In this respect, it is already known to lift the tillage and / or material placement devices of an agricultural implement when turning the implement. However, until now, the tillage and / or material placement devices have only been lifted to a fixed, defined position. In order to prevent the tillage and / or material placement devices from colliding with the ground during all conceivable turning maneuvers, a correspondingly very high, predefined lifting position must always be set to reliably prevent damage to the tillage and / or material placement devices from unintentional ground contact. However, such a high lifting position results in long lifting times when raising and lowering the tillage and / or material placement devices, meaning that the implement is subject to long downtimes during field work.Field cultivation is therefore significantly delayed by setting the high excavation position.

[0010] The object underlying the invention is therefore to optimize the lifting of soil cultivation and / or material depositing devices on an agricultural attachment in such a way that delays in field work caused by long downtimes of the attachment are minimized, without increasing the risk of damage to the soil cultivation and / or material depositing devices due to unintentional contact with the ground during turning maneuvers.

[0011] The object is achieved by a method of the type mentioned at the outset, wherein at least one soil tillage and / or material depositing device of the agricultural attachment is temporarily lifted out of a working position into a first predefined excavation position of at least two predefined excavation positions in at least one first category of maneuvering operations, and wherein the at least one soil tillage and / or material depositing device of the agricultural attachment is temporarily lifted out of the working position into a second predefined excavation position of the at least two predefined excavation positions in at least one second category of maneuvering operations.

[0012] At least two predefined excavation positions, which can be set in at least two categories of maneuvering operations of the agricultural attachment, have the advantage over a single predefined excavation position that when raising the at least one soil tillage and / or material depositing device, it is no longer necessary to set exclusively a very high excavation position, but at least one further excavation position, for example a less high excavation position, can also be set, taking into account the maneuvering operation, if the maneuvering operation does not require a very high excavation position in order to protect the soil tillage and / or material depositing devices from ground collisions.Thus, the at least two predefined excavation positions allow the optimal excavation position to be set during field cultivation, which is suitable for a maneuvering process, so that the soil cultivation and / or material placement devices can be protected from damage without unnecessary delays in field cultivation.

[0013] During the cultivation process on an agricultural area, a control device can selectively cause at least one soil cultivation and / or material depositing device of the agricultural attachment machine to be raised from the working position into the first predefined excavation position or into the second predefined excavation position of at least two predefined excavation positions.

[0014] The at least one soil cultivation and / or material placement device can be, for example, a share, a disc, a harrow, a tire, and / or a roller. If there are multiple soil cultivation and / or material placement devices, these can be arranged side by side transversely to the direction of travel and / or one behind the other parallel to the direction of travel on the agricultural implement.

[0015] The at least one soil cultivation and / or material placement device can be arranged on at least one segment of at least one support. The at least one soil cultivation and / or material placement device can be lifted out by lifting the at least one segment of the at least one support. The at least one support can be part of a rear frame of the mounted machine. The at least one rear frame is preferably arranged on a main frame of the agricultural mounted machine. Preferably, the at least one rear frame or at least one segment of the at least one rear frame is rotatably or pivotably attached to the main frame of the agricultural machine. The at least one support can also be designed as an outrigger.Preferably, the at least one boom or at least one segment of the at least one boom is rotatably or pivotably attached to the main frame and / or the rear frame of the agricultural attachment. Several segments of the at least one support can preferably be lifted independently of one another and / or can have different lift positions simultaneously. Preferably, an lift position sensor is arranged on the attachment, for example on the rear frame or on the main frame, which sensor detects the current lift position and / or a current change in the lift position. Individual segments can have different lift positions simultaneously. The agricultural attachment can be a soil tillage machine, in particular a hoe.

[0016] In a preferred embodiment of the method according to the invention, at least one maneuvering operation is assigned to the first or second category of maneuvering operations before the maneuvering operation is executed. Alternatively or additionally, at least one maneuvering operation is assigned to the first or second category of maneuvering operations during the execution of the maneuvering operation. The maneuvering operations are preferably assigned to the first or second category of maneuvering operations by a control device.

[0017] In a further preferred embodiment of the method according to the invention, the assignment of the at least one maneuvering process to the first or second category of maneuvering processes is carried out depending on a current direction of travel and / or an impending change in the direction of travel of the agricultural attachment. The direction of travel of the attachment can be forward, backward, or sideways. When the direction of travel changes, the direction of travel can be changed from forward to backward or from backward to forward. When the direction of travel changes, the direction of travel can be changed from forward to sideways or from backward to sideways as well as from sideways to forwards or from sideways to backwards. When the direction of travel changes, the direction of travel can be changed by cornering and / or a turning maneuver. A change in the direction of travel can involve a temporary standstill of the attachment.Assignment to the first or second category can be made depending on whether the current direction of travel of the attachment is forward or reverse. Assignment to the first or second category can be made depending on whether the attachment will change its direction of travel in the near future.

[0018] Furthermore, a method according to the invention is advantageous in which the agricultural implement does not move backward during the maneuvering operations of the first category and the agricultural implement does move backward during the maneuvering operations of the second category. During parallel travel and / or connecting travel of the implement, the turning maneuvers do not usually include reversing. During connecting travel, the agricultural implement moves in parallel strips, preferably turning forward in a 180-degree turn at the edge of the field. Turning maneuvers involving reversing are to be expected, in particular, when the implement moves on the headland. Headland travel is understood to mean travel by the implement in the edge area of ​​a field, close to the field boundaries.In order to fully cultivate all areas of a field, especially the corner areas, the agricultural implement must reverse into the corner areas of the field when driving on the headland.

[0019] Furthermore, a method according to the invention is preferred in which, during the maneuvering operations of the first category, no cornering takes place and / or the agricultural mounted machine corners in a manner during which a limit value for the machine inclination is expected not to be exceeded, and in the maneuvering operations of the second category, the agricultural mounted machine corners in a manner during which a limit value for the machine inclination is expected to be reached or exceeded. Between parallel runs and / or connecting runs of the mounted machine, the turning maneuvers can include cornering. In particular with small curve radii and / or high travel speeds during cornering, for example in 180-degree turns when turning the mounted machine between connecting runs, a tilt of the mounted machine is to be expected as a result of the forces acting on the mounted machine during cornering.Due to the tilt of the attachment, soil tillage and / or material placement devices, particularly those located outside the attachment, may inadvertently touch the ground. The tilt of the attachment can be detected by sensors, particularly by means of an inclination sensor and / or a gyroscope. Preferably, a limit value for the tilt of the attachment is set depending on the machine configuration, particularly the boom width of the attachment.

[0020] In a further development of the method according to the invention, the current direction of travel and / or an impending change in the direction of travel of the agricultural attachment is determined, wherein the determination of the current direction of travel and / or an impending change in the direction of travel of the agricultural attachment is carried out in particular based on the current machine configuration or an impending change in the machine configuration of the attachment and / or based on the current operating status or an impending change in the operating status of the attachment. A control device determines the current direction of travel and / or an impending change in the direction of travel of the agricultural attachment. A current machine configuration can be the current gear selection of the attachment.If a forward gear is currently engaged on the attachment, the current direction of travel of the attachment is forward; if a reverse gear is currently engaged on the attachment, the current direction of travel is reverse. A current machine configuration can be a current steering angle of the steering wheel and / or the wheels of the attachment. An impending change in the machine configuration of the attachment can be an impending change in the gear selection of the attachment. An impending change in the machine configuration can, for example, be an impending change from a forward gear to a reverse gear or a change from a reverse gear to a forward gear on the attachment. An impending change in the machine configuration of the attachment can be an impending change in the steering angle of the attachment.A current operating status of the attachment can be current forward travel or current reverse travel, current cornering, or current standstill of the attachment. An impending change in the operating status of the attachment can be the change from forward travel to reverse travel, or the change from reverse travel to forward travel, or the change from forward travel or reverse travel to standstill, or from standstill to forward travel or reverse travel, or the change from straight-ahead travel to cornering, or the change from cornering to straight-ahead travel of the attachment.

[0021] In a further preferred embodiment of the method according to the invention, the current direction of travel and / or an impending change in the direction of travel of the agricultural implement is determined based on the current movement speed and / or an impending change in the movement speed of the implement, and / or the current geographical position of the implement and / or an impending movement path of the implement. The current movement speed or a change in the movement speed of the implement can indicate the current direction of travel or a change in the direction of travel of the implement. Comparatively slow movement speeds can indicate reversing and / or cornering. Comparatively fast movement speeds can indicate forward travel.A reduction in movement speed can indicate an impending change in direction, for example, a change from forward to reverse and / or cornering. The current movement speed and the change in movement speed can be detected by sensors. For sensory detection of the movement speed and the change in movement speed, at least one speed sensor, at least one GPS sensor, and / or at least one rotational speed sensor can be used. Furthermore, a change in movement speed can be detected using an acceleration sensor, which can detect the deceleration and acceleration of the attachment.The current geographical position of the implement and / or an upcoming movement path of the implement can indicate the current direction of travel of the implement or an impending change in the direction of travel of the implement. If the implement is close to a field boundary of an agricultural area and / or is moving towards a field boundary, this can indicate that a change in direction of travel is imminent. If the implement is at a comparatively large distance from the field boundaries, for example in the middle of an agricultural area, this indicates that the implement is moving forward. In addition, the movement path of the implement, which was predefined, for example, before field cultivation, can indicate a change in direction of travel.Alternatively or additionally, the progress of field cultivation may indicate that a change in the direction of travel of the mounted implement is imminent. To determine the path of movement of the mounted implement and / or the progress of field cultivation, the agricultural area can be divided into sub-areas, for example, into a tramline system that the mounted implement follows during field cultivation. Using the tramline system, the field cultivation sequence and thus the change in the direction of travel of the mounted implement can be planned in advance.

[0022] Furthermore, a method according to the invention is advantageous in which the at least one soil cultivation and / or material placement device is at a first excavation height in the first excavation position and at a second excavation height in the second excavation position, wherein the second excavation height is higher than the first excavation height. By having at least two excavation positions of different heights, delays during cultivation can be reduced, since a high excavation position is not required for turning maneuvers without reversing and / or when cornering with a slight machine inclination. This means that the machine does not have to remain stationary for any longer or shorter periods while the excavation position is being adjusted. The automatic selection of the appropriate excavation position makes field cultivation more time- and cost-effective by preventing downtime, energy consumption and damage to the attached machine.The excavation height is the distance from the soil surface of the agricultural land to the lowest point of a soil tillage and / or material placement device. The distance from the soil surface of the agricultural land to the lowest point of a soil tillage and / or material placement device is greater in the second excavation position than in the first excavation position. A greater distance of the soil tillage and / or material placement device from the soil surface is advantageous during maintenance work on the attached machine in order to have better access to the soil tillage and / or material placement devices. A greater distance of the soil tillage and / or material placement device from the soil surface is advantageous when reversing and / or cornering with the attached machine at a high machine inclination in order to minimize the risk of the soil tillage and / or material placement devices colliding with the ground.When reversing, the rear of the attachment may drop slightly, for example due to the chassis, making a collision with the ground likely at low excavation heights. When cornering, the outside of the attachment may drop due to the machine tilt while cornering, making a collision with the ground likely at low excavation heights. A high excavation position is therefore only necessary during maintenance work, when reversing, and when cornering with a high machine tilt to avoid collisions with the ground, for example to prevent damage to tools and unwanted soil disruption. In all situations in which neither maintenance work nor reversing and / or cornering with a high machine tilt is being carried out, a high excavation height is not necessary.Lowering tillage and / or material placement equipment to a lower excavation height requires less time and energy. It is therefore advantageous to set the high excavation height only when necessary and to set a lower excavation height in all other situations, thus minimizing the time required to lower the tillage and / or material placement equipment, thus minimizing machine downtime.

[0023] Furthermore, a method according to the invention is preferred in which the lifting of the at least one soil cultivation and / or material depositing device into the first excavation position takes place by carrying out a first excavation movement of the at least one soil cultivation and / or material depositing device and the lifting of the at least one soil cultivation and / or material depositing device into the second excavation position takes place by carrying out a second excavation movement of the at least one soil cultivation and / or material depositing device, wherein the second excavation movement of the at least one soil cultivation and / or material depositing device goes beyond the first excavation position of the at least one soil cultivation and / or material depositing device when lifting the at least one soil cultivation and / or material depositing device into the second excavation position.The first excavation movement for raising the at least one soil cultivation and / or material placement device into the first excavation position follows a first excavation path. The second excavation movement for raising the at least one soil cultivation and / or material placement device into the second excavation position follows a second excavation path. The first excavation path and / or the second excavation path can be linear and / or circular, at least in sections. The first excavation movement and / or the second excavation movement can be a linear movement and / or a rotary movement. A linear excavation movement is preferably carried out via a parallelogram linkage of the attachment machine. The excavation can be a single-row parallelogram excavation. The first excavation path and the second excavation path can be congruent up to the first excavation position.

[0024] In a further preferred embodiment of the method according to the invention, the first and / or the second excavation movement is a linear movement, in particular a vertical movement and / or the first and / or the second excavation movement is a pivoting movement, wherein the pivoting movement is preferably carried out about a pivot axis extending transversely or parallel to the direction of travel. During a pivoting movement, the excavation movement along the excavation path creates an excavation angle between the soil cultivation and / or material placement device and the ground surface. The excavation angle can be in a range between 0 degrees and 90 degrees. Preferably, the excavation angle in the first excavation position is in a range between 5 degrees and 20 degrees, for example 12 degrees, and in the second excavation position is in a range between 20 degrees and 30 degrees, for example 25 degrees.

[0025] In another preferred embodiment of the method according to the invention, the first excavation movement and the second excavation movement are carried out at least partially simultaneously when raising the at least one soil cultivation and / or material depositing device. When raising the at least one soil cultivation and / or material depositing device, for example, a pivoting movement and a substantially linear movement of the at least one soil cultivation and / or material depositing device can be carried out at least partially simultaneously. Alternatively, the first excavation movement and the second excavation movement can be carried out one after the other when raising the at least one soil cultivation and / or material depositing device.In a further development of the method according to the invention, the material flow of a seed stream and / or a fertilizer stream to the at least one material depositing device is controlled as a function of the current excavation position of the at least one material depositing device and / or an impending or current change in the excavation position of the at least one material depositing device. The material flow of a seed stream and / or a fertilizer stream to the at least one material depositing device is preferably controlled by a switching device. The mounted machine can comprise a distribution device, for example a distribution head. The switching device can, for example, control flaps in the distribution head to control the material flow of the seed and / or fertilizer stream.The flaps can be used to partially or completely close seed and / or fertilizer lines leading from a storage container to the at least one material depositing device in order to regulate the volume flow of the seed and / or fertilizer and thus the material flow. Furthermore, the mounted machine can comprise a care system, wherein the distribution device is then designed as a donor unit that distributes seed and / or fertilizer to receiver units of the individual material depositing devices. The switching device can also control a metering device, for example a singling device and / or a portioning device, to control the material flow of the seed and / or fertilizer flow. The switching device can then temporarily stop the singling and / or metering of seed and / or fertilizer. Preferably, the seed flow and the fertilizer flow can be controlled independently of one another.Preferably, the seed flow and the fertilizer flow are each switched on and / or off at different times. The length of the seed lines and the length of the fertilizer lines can differ from one another, so that the conveying distances of the seed and fertilizer are different. The flow velocities of the seed and fertilizer along their respective conveying distances can also vary. The different conveying distance lengths and the different flow velocities lead to a delivery delay. A delivery delay is the time difference between the times at which the fertilizer and the seed arrive at the at least one material deposition device. It is necessary that this time difference is as small as possible and, ideally, eliminated completely.In order to compensate for the different conveying distances and the different flow velocities of the seed stream and the fertilizer stream, and the resulting delivery delay, the fertilizer stream and the seed stream are switched on and / or off at different times so that the fertilizer stream and the seed stream arrive at the at least one material depositing device at the same time. Preferably, if multiple material depositing devices are present, the material flow of the seed stream and / or the fertilizer stream can be controlled independently at each material depositing device. The material flow of the seed stream and / or the fertilizer stream is preferably controlled depending on the current direction of travel of the mounted machine and / or an impending change in the direction of travel of the mounted machine.The control of the material flow of the seed flow and / or the fertilizer flow is preferably carried out depending on the current excavation position of the at least one soil tillage and / or.

[0026] Material depositing device and / or of an impending change in the excavation position of at least one soil tillage and / or

[0027] Material storage device.

[0028] Furthermore, a method according to the invention is advantageous in which the lifting of at least one soil cultivation and / or material placement device of the agricultural attachment is controlled by a control device depending on the current direction of travel and / or an impending change in the direction of travel of the agricultural attachment. The lifting of the at least one soil cultivation and / or material placement device of the agricultural attachment by means of the control device preferably occurs automatically. The lifting of the at least one soil cultivation and / or material placement device of the agricultural attachment by means of the control device can also occur automatically after confirmation of an operator request.The lifting of the at least one soil cultivation and / or material placement device of the agricultural attachment by means of the control device can also be carried out manually by an operator, for example by pressing a button or key. The control device is preferably configured to control the switching device. Furthermore, the control device is preferably configured to control an excavation adjustment device, which is configured to raise the at least one soil cultivation and / or material placement device into the first or second excavation position.

[0029] The object underlying the invention is further achieved by a control system as mentioned above, wherein the control system comprises a control device configured to cause a temporary lifting of at least one soil cultivation and / or material placement device of the agricultural attachment from a working position into a first predefined excavation position of at least two predefined excavation positions in at least one first category of maneuvering operations, and to cause a temporary lifting of the at least one soil cultivation and / or material placement device of the agricultural attachment from the working position into a second predefined excavation position of the at least two predefined excavation positions in at least one second category of maneuvering operations. The control device can be a component of an operating terminal of the agricultural attachment.

[0030] In a preferred embodiment of the control system according to the invention, the control system comprises a switching device which is designed to change the material flow of a seed flow and / or a fertilizer flow to the material depositing devices, wherein the control device is designed to control the switching device to change the material flow of the seed flow and / or the fertilizer flow to the material depositing devices depending on the current excavation position of the material depositing devices and / or an impending or current excavation position change of the material depositing devices.

[0031] In another preferred embodiment of the control system according to the invention, the control system comprises an excavation adjustment device which is configured to raise the at least one soil cultivation and / or material placement device into the first or second excavation position, wherein the control device is configured to control the excavation adjustment device for raising the at least one soil cultivation and / or material placement device into the first or second excavation position depending on the current direction of travel and / or an impending change in direction of travel of the agricultural attachment. The excavation adjustment device can operate hydraulically, pneumatically, electrically, or mechanically. The excavation adjustment device can comprise one or more actuators, for example servomotors and / or cylinders. The cylinders can be, for example, folding cylinders, in particular hydraulic folding cylinders.

[0032] In a further preferred embodiment of the control system according to the invention, the control system is configured to carry out the method according to one of the preceding embodiments. Regarding the advantages and modifications of the control system according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention.

[0033] The object underlying the invention is also achieved by an agricultural attachment of the type mentioned above, wherein the attachment is configured to carry out the method according to one of the preceding embodiments and / or wherein the control system is designed according to one of the preceding embodiments. With regard to the advantages and modifications of the agricultural attachment according to the invention, reference is therefore made to the advantages and modifications of the method according to the invention and the control system according to the invention.

[0034] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings.

[0035] Fig. 1 shows an agricultural attachment according to the invention with raised soil cultivation and material depositing devices in a perspective view; Fig. 2 shows the agricultural attachment from Fig. 1 with raised soil cultivation and material depositing devices in a side view;

[0036] Fig. 3 shows an agricultural implement during straight-ahead travel during field cultivation on an agricultural area with a tramline system in a plan view;

[0037] Fig. 4 shows an agricultural implement during cornering during field cultivation on an agricultural area with a tramline system in a plan view;

[0038] Fig. 5 shows an agricultural implement during reversing during field cultivation on an agricultural area with a tramline system in a plan view;

[0039] Fig. 6 shows an agricultural attachment according to the invention with soil cultivation and material depositing devices in working position in a side view;

[0040] Fig. 7 shows the agricultural attachment from Fig. 6 with soil cultivation and material depositing devices in a first excavation position in a side view;

[0041] Fig. 8 shows the agricultural attachment from Fig. 6 with soil cultivation and material depositing devices in a second excavation position in a side view;

[0042] Fig. 9 shows an agricultural attachment according to the invention with soil tillage devices in working position in a perspective view;

[0043] Fig. 10 shows the agricultural attachment from Fig. 9 with soil tillage devices in working position in a frontal view; Fig. 11 shows the agricultural attachment from Fig. 9 with soil tillage devices in a first excavation position in a frontal view; and

[0044] Fig. 12 the agricultural attachment from Fig. 9 with soil tillage equipment in a second excavation position in a frontal view.

[0045] 1 and 2 show an agricultural cultivation machine 100 according to the invention, which is designed as a seed drill. The cultivation machine 100 comprises a storage container 110, in which fertilizer and / or seed is stored and which is attached to a main frame 105. By means of the fan 109a, seed and / or fertilizer is conveyed via a seed and / or fertilizer line 107 to the soil cultivation and material depositing devices 102. The seed and / or fertilizer is conveyed to the soil cultivation and material depositing devices 102 by means of a nursing system. A feed unit acting as a distribution device distributes the seed and / or fertilizer to receiving units and subsequently to metering devices of the individual soil cultivation and material depositing devices 102. The metering devices can be singulating devices for the seed or portioning devices for the fertilizer.A blower 109b can provide pressure for the singulating devices via a blower line 108. Using the soil cultivation and material deposition devices 102, the soil of an agricultural area N can be cultivated and / or seed and / or fertilizer can be deposited on the agricultural area N.

[0046] Furthermore, the attachment 100 comprises wheels 114 for moving the attachment 100 and support wheels 115 for supporting the attachment 100, as well as a coupling device 112 by means of which the attachment 100 can be attached to a towing vehicle, for example, a tractor. The soil cultivation and material depositing devices 102 are arranged on a carrier 106 of the agricultural attachment 100, which in turn is attached to a rear frame 104. The rear frame 104 is pivotally attached to the main frame 105 of the attachment 100. The agricultural attachment 100 further comprises a control system 10 according to the invention, comprising a control device 12, a switching device 14, and a lift adjustment device 16.By means of the excavation adjustment device 12, the pivotable rear frame 104, together with the carrier 106 and the soil cultivation and material depositing devices 102 attached to the carrier 106, can be pivoted so that the soil contact of the soil cultivation and material depositing devices 102 with the agricultural area N can be eliminated. By means of the switching device 14, the seed and / or fertilizer flow through the seed and / or fertilizer line 107 can be controlled, for example by controlling flaps in a distributor head, and / or the depositing of seed and / or fertilizer on the agricultural area N can be controlled, for example by controlling a metering device.

[0047] Figures 3 to 5 show a plan view of an agricultural area N with an agricultural implement 100 during field cultivation. The implement 100 follows a path defined by a tramline system S, which divides the agricultural area N into sub-areas. The agricultural area N is demarcated from adjacent areas by a rectangular field boundary G.

[0048] Fig. 3 shows the agricultural attachment 100 traveling forward and straight ahead during a cultivation operation on the agricultural land N. The agricultural attachment 100 travels forward and straight ahead according to its direction of travel F and follows a parallel track defined by the tramline system S. When traveling forward and straight ahead during field cultivation, the soil cultivation and material depositing devices 102, 102a-102i of the agricultural attachment 100 are in a working position, so that the soil cultivation and material depositing devices 102, 102a-102i

[0049] Have soil contact with agricultural land N.

[0050] Fig. 4 shows the agricultural implement 100 during a turn during a cultivation operation on the agricultural land N. The agricultural implement 100 travels forward according to its direction of travel F into a curve predetermined by the tramline system S for turning between two parallel tracks. When cornering during field cultivation, in particular during a turning maneuver, the soil cultivation and material depositing devices 102, 102a-102i of the agricultural implement

[0051] Attachment machine 100 in one of at least two predefined lifting positions, such that the soil cultivation and material depositing devices 102, 102a-102i have no ground contact with the agricultural area N. When cornering without exceeding a limit value of the machine inclination during cornering, for example, at a comparatively slow travel speed of the attachment machine 100 or a large curve radius, the soil cultivation and material depositing devices 102, 102a-102i are raised to a first, lower lifting position. When cornering with a limit value of the machine inclination exceeded during cornering, for example, at a comparatively fast travel speed of the attachment machine 100 or a tight curve radius, the soil cultivation and material depositing devices 102, 102a-102i are raised to a second, higher lifting position.

[0052] In Fig. 5, the agricultural attachment 100 is shown during a reverse and straight-ahead travel during a cultivation operation on the agricultural land N. The agricultural attachment 100 travels backwards and straight ahead according to its direction of travel F and follows a track in the headland predetermined by the tramline system S. When reversing and straight-ahead travel during field cultivation, the soil cultivation and material depositing devices 102, 102a-102i of the agricultural attachment 100 are located

[0053] Attachment 100 in a lift position, so that the soil cultivation and material depositing devices 102, 102a-102i have no contact with the ground on the agricultural area N. When reversing, for example to cultivate the area N in a field corner near the field boundary G in the headland, the soil cultivation and material depositing devices 102, 102a-102i are moved to a second, higher

[0054] Excavation position lifted out. Figs. 6 to 8 show an agricultural attachment 100 according to the invention, designed as a seed drill, with a control system 10 according to the invention on an agricultural field N with different positions of the soil cultivation and material placement devices 102.

[0055] Fig. 6 shows the soil tillage and material depositing devices 102 in a working position during field cultivation. In the working position, the soil tillage and material depositing devices 102 contact the soil surface of the agricultural land N and cultivate it. The working position is set, for example, when the attachment 100, as shown in Fig. 3, moves forward in a straight line on a parallel track during field cultivation, for example, during a sowing operation.

[0056] Fig. 7 shows the soil cultivation and material depositing devices 102 in a first excavation position. In the first excavation position, the soil contact of the soil cultivation and material depositing devices 102 with the soil surface of the agricultural area N is eliminated, and soil cultivation is interrupted. To set the first excavation position, the rear frame 104, which is rotatably attached to the main frame 105 and has the soil cultivation and material depositing devices 102 attached to the carrier 106, is pivoted along the excavation path P1. For pivoting, the control device 12 of the control system 10 controls the excavation adjustment device 16 of the control system. The excavation adjustment device 16 comprises an actuator 18, which is designed, for example, as a hydraulic cylinder, by means of which the soil cultivation and material depositing devices 102 are pivoted about a pivot axis running transversely to the direction of travel of the attached machine 100.In the first excavation position, an excavation height H1 is set, which corresponds to the distance from the lowest point of the soil cultivation and material placement devices 102 to the soil surface of the usable area N, and an excavation angle W1 between the soil cultivation and material placement devices 102 and the usable area N. The first excavation position is set, for example, when the mounted machine 100, as shown in Fig. 4, is in a turning maneuver with cornering during field cultivation, for example during a sowing operation. Due to the lower excavation height H1 in the first excavation position, a delay in field cultivation can be avoided and energy can be saved compared to a higher excavation position.

[0057] Fig. 8 shows the soil cultivation and material depositing devices 102 in a second excavation position. In the second excavation position, the ground contact of the soil cultivation and material depositing devices 102 with the soil surface of the agricultural area N is eliminated and soil cultivation is interrupted. To set the second excavation position, the rear frame 104, which is rotatably attached to the main frame 105 and has the soil cultivation and material depositing devices 102 attached to the carrier 106, is pivoted along the excavation path P2 by means of the actuator 18. In the second excavation position, an excavation height H2 and an excavation angle W2 are established between the soil cultivation and material depositing devices 102 and the agricultural area N. The excavation height H2 of the second excavation position is higher than the excavation height H1 of the first excavation position. The excavation angle W2 of the second excavation position is greater than the excavation angle H1 of the first excavation position.The excavation path P2 is longer than the excavation path P1. The second excavation position is set, for example, when the mounted machine 100, as shown in Fig. 5, reverses during field cultivation, for example, in the headland to reach the field corners. The higher excavation height H2 in the second excavation position prevents ground collision of the soil cultivation and material placement devices 102 during reversing.

[0058] Fig. 9 shows a further embodiment of an agricultural attachment 100 according to the invention with a control system 10 according to the invention. The attachment 100, designed as a hoe, comprises a rear frame 104 and arms 118a, 118b rotatably mounted on the rear frame 104, which arms can be pivoted by means of the actuators 18a, 18b about a pivot axis running parallel to the direction of travel of the attachment 100. Furthermore, support wheels 115 are arranged on the arms 118a, 118b, which can support the arms 118a, 118b on a soil surface. By means of a coupling device 112, the attachment 100 can be attached to a towing and / or carrier vehicle, for example, a tractor. Furthermore, the attachment 100 comprises soil cultivation devices 102a-102i, which are attached to linkage assemblies 116a-116i. The soil tillage devices 102a-102c are attached to the boom 118a by means of the linkage assemblies 116a-116c.The soil tillage devices 102e-102f are attached to the rear frame 104 by means of the linkage assemblies 116e-116f. The soil tillage devices 102g-102i are attached to the boom 118b by means of the linkage assemblies 116g-116i. The linkage assemblies 116a-116i are designed as parallelogram linkages and can be adjusted by means of actuators 19a-19i such that the soil tillage devices 102a-102i are raised. The control device 12 of the control system 10 controls the lift adjustment device 16 for raising the soil tillage devices 102a-102i by means of the actuators 18a, 18b and / or 19a-19i.

[0059] Fig. 10 shows the agricultural attachment 100 from Fig. 9 with the soil tillage devices 102a-102i in the working position. In the working position, the soil tillage devices 102a-102i contact the soil surface of the agricultural land N and till it. The working position is set, for example, when the attachment 100, as shown in Fig. 3, moves forward in a straight line on a parallel track during field tillage.

[0060] Fig. 11 shows the soil tillage devices 102a-102i of the mounted machine 100 in a first lifting position. In the first lifting position, the soil tillage devices 102 are no longer in contact with the soil surface of the agricultural land N, and soil cultivation is interrupted. To set the first lifting position, the soil tillage devices 102a-102i are lifted to the lifting height H1 by adjusting the linkage assemblies 116a-116i using the actuators 19a-19i, essentially linearly perpendicular to the agricultural land N along the lifting path P1. For lifting, the control device 12 of the control system 10 controls the lifting adjustment device 16 of the control system. The first lifting position is set, for example, when the mounted machine 100 is in a turning maneuver with cornering during field cultivation, during which a limit value for the machine inclination is not exceeded.If the attachment 100 is slightly inclined during cornering, the risk of the soil tillage devices 102a-102i colliding with the ground is comparatively low.

[0061] Fig. 12 shows the soil tillage devices 102a-102i in a second excavation position. In the second excavation position, the soil contact of the soil tillage devices 102a-102i with the soil surface of the agricultural land N is eliminated and soil tillage is interrupted. To set the second excavation position, the soil tillage devices 102a-102i are excavated essentially linearly perpendicular to the agricultural land N along the excavation path P1 to the excavation height H1 by adjusting the linkage assemblies 116a-116i using the actuators 19a-19i. In addition, the soil tillage devices 102a-102c, 102g-102i are excavated by means of the actuators 18a, 18b by pivoting the booms 118a, 188b along the excavation path P2 to the excavation height H2, so that the excavation angle W2 is established. The excavation height H2 of the second excavation position is higher than the excavation height H1 of the first excavation position. The excavation path P2 is longer than the excavation path P1.The excavation path P2 consists of a linear movement up to the excavation height H1 and a curved movement up to the excavation height H2. The linear excavation by means of the actuators 19a-19i to the excavation height H1 and the pivoting by means of the actuators 18a, 18b to the excavation height H2 can be carried out simultaneously. The second excavation position is set, for example, when the attachment 100, during field cultivation, corners in which a limit value for the machine inclination is reached or exceeded. If the machines are steeply inclined, the risk of a collision with the ground of the soil tillage devices 102a-102i, in particular the soil tillage devices 102a-102c, 102g-102i arranged on the booms 118a, 118b, is high. The higher lifting height H2 in the second lifting position prevents a ground collision of the soil tillage devices 102a-102i when cornering with a strong machine inclination.List of reference symbols.

[0062] 10 Tax system

[0063] 12 Control device

[0064] 14 Switching device

[0065] 16 Excavation adjustment device

[0066] 18, 18a, 18b Actuator

[0067] 19a-19i actuator

[0068] 100 agricultural machinery

[0069] 102, 102a-102i Soil cultivation and / or material depositing device

[0070] 104 rear frame

[0071] 105 main frame

[0072] 106 carriers

[0073] 107 Seed and / or fertilizer line

[0074] 108 Blower line

[0075] 109a, 109b Blower

[0076] 110 storage containers

[0077] 112 Coupling device

[0078] 114 wheels

[0079] 115 support wheels

[0080] 116a- 116i handlebar arrangement

[0081] 118a, 118b boom

[0082] N agricultural land

[0083] F Direction of travel

[0084] S tramline system

[0085] G field boundary

[0086] P1 , P2 excavation path

[0087] H1, H2 excavation height

[0088] W1, W2 excavation angle

Claims

Claims: Method for controlling the lifting position on an agricultural machine (100), in particular a seed drill or tillage machine, during a cultivation operation on an agricultural area (N), characterized by the steps: temporarily lifting at least one tillage and / or material depositing device (102, 102a-102i) of the agricultural machine (100) from a working position into a first predefined lifting position of at least two predefined lifting positions in at least a first category of maneuvering operations, and temporarily lifting the at least one tillage and / or material depositing device (102, 102a-102i) of the agricultural machine (100) from the working position into a second predefined lifting position of at least two predefined lifting positions in at least a second category of maneuvering operations.The method according to claim 1, characterized in that one or both of the following steps are carried out:. Assigning at least one maneuver to the first or second category of maneuvers before executing the maneuver; Assigning at least one maneuvering operation to the first or second category of maneuvering operations during the execution of the maneuvering operation. Method according to claim 2, characterized in that the assignment of the at least one maneuvering operation to the first or second category of maneuvering operations depends on a current direction of travel (F). and / or is carried out in preparation for an upcoming change of direction of travel of the agricultural implement (100). A method according to one of the preceding claims, characterized in that no reverse travel of the agricultural implement (100) occurs during the maneuvering operations of the first category, and a reverse travel of the agricultural implement (100) occurs during the maneuvering operations of the second category. A method according to one of the preceding claims, characterized in that no turning occurs during the maneuvering operations of the first category and / or a turning operation of the agricultural implement (100) occurs in which a limit value for machine tilt is not expected to be exceeded; and a turning operation of the agricultural implement (100) occurs during the maneuvering operations of the second category in which a limit value for machine tilt is expected to be reached or exceeded.Method according to one of the preceding claims, characterized by the step:. Determining the current direction of travel (F) and / or an imminent change of direction of travel of the agricultural implement (100), wherein the determination of the current direction of travel (F) and / or an imminent change of direction of travel of the agricultural implement (100) is made in particular on the basis of the current machine configuration or an imminent change in the machine configuration of the implement (100) and / or the current operating status or an imminent change in the operating status of the implement (100) The method according to claim 6, characterized in that the determination of the current direction of travel (F) and / or an impending change in the direction of travel of the agricultural implement (100) is carried out on the basis of the current speed of travel and / or an impending change in the speed of travel of the implement, and / or the current geographical position of the implement and / or an impending path of travel of the implement. The method according to any of the preceding claims, characterized in that the at least one soil cultivation and / or material depositing device (102, 102a-102i) is located in the first excavation position at a first excavation height (H1) and in the second excavation position at a second excavation height (H2), wherein the second excavation height (H2) is higher than the first excavation height (H1).A method according to one of the preceding claims, characterized in that the lifting of the at least one soil cultivation and / or material storage device (102, 102a-102i) into the first excavation position is carried out by performing a first excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i) and the lifting of the at least one soil cultivation and / or material storage device (102, 102a-102i) into the second excavation position is carried out by performing a second excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i), wherein the second excavation movement of the at least one soil cultivation and / or material storage device (102, 102a-102i) occurs when lifting the at least one soil cultivation and / or material storage device (102, 102a-102i) into the second excavation position. beyond the first excavation position of the at least one soil cultivation and / or material storage device (102, 102a-102i). Method according to claim 9, characterized in that the first and / or the second excavation movement is a linear movement, in particular a vertical movement; and / or the first and / or the second excavation movement is a pivoting movement, wherein the pivoting movement is preferably carried out about a pivot axis extending transversely or parallel to the direction of travel (F). Method according to one of claims 9 or 10, characterized in that the first excavation movement and the second excavation movement are carried out at least partially simultaneously when excavating the at least one soil cultivation and / or material storage device (102, 102a-102i).A method according to any one of the preceding claims, characterized in that the material flow of a seed stream and / or a fertilizer stream to the at least one material placement device (102, 102a-102i) is controlled depending on the current excavation position of the at least one material placement device (102, 102a-102i) and / or an impending or current change in the excavation position of the at least one material placement device (102, 102a-102i). A method according to any one of the preceding claims, characterized in that the excavation of at least one soil cultivation and / or material placement device (102, 102a-102i) of the agricultural implement (100) is controlled by a control device (12) depending on the current direction of travel (F) and / or an impending change in the direction of travel of the agricultural implement (100). Control system (10) for controlling the lifting position on an agricultural machine (100), in particular a seed drill or tillage machine, during a tillage operation on an agricultural area (N), characterized by a control device (12) which is configured to cause a temporary lifting of at least one tillage and / or material depositing device (102, 102a-102i) of the agricultural machine (100) from a working position to a first predefined lifting position of at least two predefined lifting positions in at least a first category of maneuvering operations, and to cause a temporary lifting of the at least one tillage and / or material depositing device (102,102a-102i) of the agricultural implement (100) from the working position into a second predefined excavation position of at least two predefined excavation positions in at least a second category of maneuvering operations. Control system according to claim 14, characterized by a switching device (14) configured to change the material flow of a seed stream and / or a fertilizer stream to the material deposition devices (102, 102a-102i), wherein the control device (12) is configured to control the switching device (14) to change the material flow of the seed stream and / or the fertilizer stream to the material deposition devices (102, 102a-102i) depending on the current excavation position of the material deposition devices (102, 102a-102i) and / or an impending or current change in the excavation position of the material deposition devices (102, 102a-102i). Control system according to one of claims 14 or 15.characterized by an excavation adjustment device (16) which is configured to perform at least one soil cultivation and / or, The control device (12) is configured to raise the material depositing device (102, 102a-102i) into the first or second excavation position, wherein the control device (12) is configured to control the excavation setting device (16) to raise the at least one soil cultivation and / or material depositing device (102, 102a-102i) into the first or second excavation position depending on the current direction of travel (F) and / or an impending change of direction of travel of the agricultural implement (100). The control system according to any one of claims 14 to 16 is characterized in that the control system (10) is configured to execute the method according to any one of claims 1 to 13.Agricultural cultivation machine (100), in particular seed drill or soil cultivation machine, with at least one soil cultivation and / or material placement device (102, 102a-102i), and a control system (10) for controlling the excavation position of the at least one soil cultivation and / or material placement device (102, 102a-102i); characterized in that the cultivation machine (100) is configured to perform the method according to one of claims 1 to 13 and / or wherein the control system (10) is configured according to one of the preceding claims 14 to 17.

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