Soil cultivation device

Abstract

The present invention relates to a soil cultivation device (1), in particular a rotary harrow (2), comprising a frame (3a) on which rotationally driven soil cultivation tools (10) and, downstream thereof, a rolling unit (14) are arranged, wherein a substantially bar-like levelling element (15), the height of which is adjustable by an actuating mechanism (12), is arranged in the region between the soil cultivation tools (10) and the rolling unit (14), wherein, on the soil cultivation device (1), there is arranged a first sensor arrangement (23) comprising at least one sensor (25, 26, 27, 30), which sensor arrangement is designed and configured to detect a material excess occurring within the working width of the soil cultivation device (1), and a second sensor arrangement (24) comprising at least one sensor (29), which sensor arrangement is designed and configured to detect a work result generated by the soil cultivation device (1), wherein a control unit (21) assigned to the soil cultivation device (1) is designed and configured to evaluate the data received from the first sensor arrangement (23) and the second sensor arrangement (24) and, depending on the evaluation, to generate control signals for setting the soil cultivation tools (10), the levelling element (15) and / or the rolling unit (14).

Description

[0001] Soil cultivation equipment

[0002] The present invention relates to a soil tillage implement, in particular a rotary harrow, according to the preamble of claim 1, a soil tillage system according to the preamble of claim 13 and a method for operating a soil tillage implement according to the preamble of claim 14.

[0003] Soil tillage equipment of the type mentioned above is used to break up lumpy soil material, known as clods, on agricultural land using rotating tillage tools. A rotary harrow is used to level the agricultural land after plowing or after primary tillage to prepare the soil for the next sowing. It is common practice for the operator of the tillage equipment to subjectively assess the achieved tillage quality during the tillage process. Therefore, in order to achieve the desired tillage result, the operator must consider the influence of the various adjustment options of the tillage equipment on the achievable work result.

[0004] A soil tillage implement of the type mentioned above is known from DE 10 2016 120620 A1. It is stated there that, in order to adapt the soil tillage implement to different soil types and conditions, side plates are adjusted to change the distance between the outermost tool rotors and the adjacent side plates.

[0005] Furthermore, a soil tillage device of the type mentioned above is known from EP 0 878 117 A1. A substantially beam-shaped leveling element, height-adjustable by an actuator, is arranged in the area between the rotating, driven soil tillage tools and a roller unit arranged downstream of them. The actuator comprises manually adjustable, vertically extending struts, between which the beam-shaped leveling element is arranged.

[0006] A soil tillage implement of the type mentioned above is also known from EP 3 269220 A1. To adjust the height of a leveling element designed as a dozer blade, it is kinematically coupled to a trailing roller arranged on a tool frame in a height-adjustable manner by means of a four-bar linkage, so that a height adjustment of the trailing roller results in a change in the height of the dozer blade. In addition, the dozer blade is mounted on the tool frame in a height-adjustable manner. The height adjustment of the dozer blade relative to the tool frame is performed manually by an operator.

[0007] The adjustment options for the soil tillage implement shown above are not intended to be exhaustive. However, it is clear that the effort required to optimize the adjustment of the soil tillage tool to suit existing operating conditions involves considerable work for the operator. In addition, the adjustment requires specialist knowledge in order to be able to make settings that are adapted to the operating conditions, and in particular those that correspond to the soil composition. Even recognizing changes in operating conditions while the agricultural land is being worked is a challenge. This is all the more true for the operator's ability to react appropriately to such a change. If the processing result is not satisfactory, the operator must manually adjust the various setting options of the soil tillage implement in order to achieve the desired work result.The visual assessment of the work result can be severely limited if visibility is restricted, for example in the case of heavy dust, fog or darkness.

[0008] Based on the above-mentioned prior art, the object of the invention is to further develop a soil tillage implement of the type mentioned at the outset, which is characterized by improved adjustability of the soil tillage implement during operation.

[0009] This object is achieved by a soil tillage device having the features of independent patent claim 1. Advantageous embodiments and further developments can be found in the dependent claims. According to claim 1, a soil tillage device, in particular a rotary harrow, is proposed, comprising a frame on which rotatingly driven soil tillage tools and a roller unit arranged downstream thereof are arranged. A substantially beam-shaped leveling element, height-adjustable by an actuator, is arranged in the area between the soil tillage tools and the roller unit.According to the invention, a first sensor arrangement comprising at least one sensor is arranged on the soil tillage implement, which is designed and configured to detect an excess of material occurring within the working width of the soil tillage implement, and a second sensor arrangement comprising at least one sensor, which is designed and configured to detect a work result generated by the soil tillage implement, wherein a control unit assigned to the soil tillage implement is designed and configured to evaluate the data received from the first sensor arrangement and the second sensor arrangement and, depending on the evaluation, to generate control signals for adjusting the soil tillage tools, the levelling element and / or the roller unit.

[0010] The invention is based on the consideration that it is essential for the operation of the soil tillage implement to simultaneously monitor both the active soil tillage process and the directly resulting work result in order to be able to draw conclusions about the existing operating situation from the information obtained by evaluating the signals from the first sensor arrangement and the second sensor arrangement. In particular, this is intended to draw conclusions about the occurrence of an operating situation that is attributable to parameterization that is inadequately adapted to existing working conditions and / or the occurrence of an operational malfunction in at least one of the soil tillage tools and / or the roller unit.

[0011] In particular, the first sensor arrangement can be configured to detect an excess of material in front of the soil tillage implement and / or within the area that can be actively worked by the soil tillage implement's soil tillage tools. The first sensor arrangement can be used to detect an excess of material in front of the soil tillage implement, for example, a piling of earth or organic material lying on the soil material to be shredded. The first sensor arrangement can also be used to detect an excess of material on one or more of the soil tillage tools. An excess of material on the soil tillage tools can be due to organic material accumulating on the soil tillage tools, thereby disrupting the material flow through the soil tillage implement.The automatic detection of the occurrence of excess material makes it possible to react to it by controlling the soil cultivation tools, the leveling element and / or the roller unit in order to counteract any impairment of the work result by adjusting the parameterization.

[0012] Preferably, the first sensor arrangement can comprise a speed sensor assigned to the roller unit. Excess material can be detected, for example, via slippage occurring on the roller unit. The rotational speed of the roller unit is calculated using the measured speed of the roller unit and its diameter. The rotational speed of the roller unit is compared with the current travel speed of a towing vehicle on which the soil tillage implement is mounted. The current travel speed can be determined using a position-finding sensor mounted on the towing vehicle. Any difference between the rotational speed and the current travel speed is interpreted by the control unit as an indication that slippage is occurring on the roller unit.The occurrence of slippage is related to the amount of material accumulated in front of the tillage implement, which is determined by the tractive force required to move the tillage implement over the area to be tilled. If the tractive force required by the towing vehicle increases to the point where slippage occurs on the roller unit, the occurrence of slippage can be assumed to be an excess of material in front of the tillage implement. The control unit concludes that there is an excess of material when the detected slippage exceeds a threshold.

[0013] According to an alternative development, a theoretical driving speed of the towing vehicle is determined using additional sensors on the towing vehicle, for example, a speed sensor. This theoretical driving speed is then compared with the current driving speed determined by the towing vehicle's position sensor. Here, too, the fact that the slippage of the towing vehicle's tires over the earth embankment in front of the tillage implement is related to the tractive force, which can lead to slippage in the event of excess material, is utilized. The control unit compares the two driving speeds and interprets the exceeding of a threshold value for this speed difference as the occurrence of excess material in front of the tillage implement.Alternatively or additionally, the first sensor arrangement can comprise force sensors arranged at the pivot points of a three-point hitch or an attachment of the soil tillage implement. For this purpose, force sensors designed as load cells can be mounted at the three pivot points. The tensile force can be determined by summing the forces determined by the force sensors at the three pivot points. The control unit concludes that there is a material surplus when the tensile force exceeds a threshold.

[0014] Alternatively or additionally, the first sensor arrangement can comprise at least one optical sensor, which is arranged on the frame upstream of the soil cultivation tools, wherein the detection range of the at least one optical sensor is in front of the soil cultivation tools. The earth embankment forming in front of the soil cultivation device can be optically detected by the at least one optical sensor. The control unit can then determine the size of the earth embankment. As soon as the optically detected earth embankment reaches a certain threshold size, it is assumed that there is a material surplus.

[0015] For this purpose, the at least one optical sensor of the first sensor arrangement can be a LiDAR sensor, a radar sensor or an imaging sensor.

[0016] In particular, the first sensor arrangement can be configured for section-by-section detection of edge areas adjacent to both sides of the working area of ​​the tillage implement. This allows a flow of soil material containing unworked clods of earth to be detected, flowing laterally past the tillage implement. This flow of soil material containing unworked clods of earth results from a dam of earth accumulating in front of the tillage implement, which, given the existing parameterization of the tillage implement, allows only incomplete processing of the clods of earth by the tillage tools. Some of the unworked clods of earth can flow over the tillage implement and past it laterally.

[0017] According to a preferred development, the second sensor arrangement for detecting the work result generated by the soil tillage implement can comprise an imaging sensor system. The imaging sensor system optically records the work result generated by the soil tillage implement and feeds it to the control unit for evaluation. The second sensor arrangement is configured to detect a surface condition as a work result of the area worked by the soil tillage implement directly behind the soil tillage implement. Using an evaluation algorithm stored in the control unit, the work result is evaluated and assessed based on the detected surface condition.

[0018] Preferably, the control unit can be configured to compare data for the work result provided by the second sensor arrangement with target data stored or capable of being stored in a memory unit of the control unit. The detected work result, the actual data, determined by evaluation, can be output, for example, in the form of a numerical value, a 3D profile, or an image, in order to compare it with the corresponding stored or capable of being stored target data.

[0019] For example, the control unit calculates a numerical value as target data for a surface to be machined, which indicates the desired surface finish to be achieved through machining. The numerical value determined as actual data based on the detected surface finish is compared with the desired numerical value based on the target data.

[0020] According to a preferred embodiment, the control unit can record an initial adjustment and incorporation process in order to generate target data for the work result, which serve as a benchmark for subsequent processing by the soil tillage implement. Initially performing and recording an adjustment and incorporation process is particularly advantageous because, through appropriate evaluation of the work result achieved during the adjustment and incorporation process, target data can be generated that correspond to the currently prevailing operating conditions on the agricultural area to be worked. The parameterization of the soil tillage implement performed in this process can be linked to the initially determined target data.In this way, the determined target data is also available for later processing, in a subsequent processing period, on the same area or an area with comparable soil conditions. This allows the desired work results to be used in the next processing period. Before processing, the desired surface condition can be selected by selecting the corresponding target data.

[0021] Furthermore, the control unit can be configured to georeference the target data recorded during the initial setup and training process. Georeferenced storage of the recorded target data has the advantage that it can, for example, be automatically suggested to the operator for selection upon reaching the field to be worked again. In conjunction with the selection of the target data, the parameters of the soil tillage implement, which were set during the recording of the target data, can also be adopted as the default setting.

[0022] Furthermore, the control unit can include a static or adaptive fuzzy logic control system and / or an artificial neural network. Based on the difference between the actual and target data, the control unit decides whether one or more parameters of the tillage implement need to be adjusted in order to get closer to or achieve the desired work result. Designing the control unit with a fuzzy logic control system, for example, enables decisions regarding the adjustment of the tillage implement's parameters to be made based on empirical values. This makes it possible to use an adaptive controller that learns over time which parameter changes lead to the desired work result under which conditions.

[0023] The object stated at the outset is further achieved by a soil cultivation system according to claim 13.

[0024] According to claim 13, a soil cultivation system is proposed, which comprises a soil cultivation implement and a vehicle for carrying and driving the soil cultivation implement, wherein the soil cultivation system is designed and configured for autonomous operation of the soil cultivation implement according to one of claims 1 to 12. Reference may be made to the advantages of the soil cultivation implement according to the invention.

[0025] Furthermore, the object posed at the outset is achieved by a method according to the independent claim 14.

[0026] According to claim 14, a method for operating a soil tillage device, in particular a rotary harrow, is proposed, wherein the soil tillage device comprises a frame on which rotatingly driven soil tillage tools and a roller unit arranged downstream thereof are arranged, wherein in the area between the soil tillage tools and the roller unit a substantially bar-shaped levelling element which is height-adjustable by an actuator is arranged.According to the invention, a first sensor arrangement is arranged on the soil tillage implement, by which an excess of material occurring within the working width of the soil tillage implement is detected, as well as a second sensor arrangement, by which a work result generated by the soil tillage implement is detected. A control unit assigned to the soil tillage implement evaluates the data received from the first sensor arrangement and the second sensor arrangement and, depending on the evaluation, generates control signals for adjusting the soil tillage tools, the leveling element, and / or the roller unit. Reference may be made to the advantages of the soil tillage implement according to the invention.

[0027] Preferably, the soil tillage implement can be carried and driven by a towing vehicle, in particular an autonomous one. For this purpose, the soil tillage implement is designed according to one of claims 1 to 12. The method is particularly advantageous when autonomous soil tillage systems are used, which are in particular remotely controlled. The method makes it possible to operate the soil tillage system without the permanent presence of an operator on site or on the towing vehicle, in such a way that the soil tillage system achieves the desired work result independently, without operator intervention.

[0028] The present invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0029] They show:

[0030] Fig. 1 shows a schematic representation of a soil tillage implement designed as a rotary harrow;

[0031] Fig. 2 shows a schematic and exemplary highly simplified representation of the operation of a rotary harrow;

[0032] Fig. 3 shows exemplary and schematic tines of the rotary harrow according to Fig. 2 which are clogged with organic material;

[0033] Fig. 4 shows a schematic and exemplary view from above of the rotary harrow 2 according to Fig. 2;

[0034] Fig. 5 shows a schematic and exemplary side view of the rotary harrow 2 according to the operating situation shown in Fig. 4; and Fig. 6 shows a simplified representation of a control circuit for controlling the soil tillage device.

[0035] Fig. 1 shows a soil tillage implement 1 designed as a rotary harrow 2. In the illustrated embodiment, it is connected as an attachment via a three-point headstock 3 and pivot points 4 and 5 to an upper link 6 and lower links 7 of a three-point linkage 8 of a towing vehicle 9, preferably a tractor, in particular an autonomous one. Instead of the three-point headstock 3, another attachment device can be provided for connection to the towing vehicle 9. The soil tillage implement 1 forms a soil tillage system with the towing vehicle 9.

[0036] The rotary harrow 2 has rotating, driven tines 11 as soil cultivation tools 10 on a frame 3a. The working depth of the tines 11 of the rotary harrow 2 can be adjusted by an adjustment device 12. The tines 11 are only partially visible, as they are largely concealed by a side plate 13. A leveling element 15 is arranged on the frame 3a of the rotary harrow 2 behind the tines 11 and in front of a roller unit 14 in the working direction AR. The leveling element 15 serves to support the working intensity of the tines 11. The leveling element 15 is essentially beam-shaped and height-adjustable by an actuator 20, as shown by way of example in Fig. 2. The roller unit 14 has scrapers 16, which are intended to prevent soil particles from becoming stuck to the roller bodies of the roller unit 14. The leveling element 15 is here and preferably designed as a leveling beam.

[0037] The actuators 20 for adjusting the height of the leveling element 15 can be designed as linear actuators. Preferably, the actuators 20 can be designed as double-acting hydraulic cylinders. The actuators 20 can also be designed as linear motors or threaded rod drives.

[0038] Fig. 2 shows a schematic and exemplary, highly simplified representation of the operation of a rotary harrow 2. During operation of the rotary harrow 2, clods of earth 17, i.e. larger clumps of soil material resulting from previous soil cultivation, plowing or basic soil cultivation, are crushed by the rotating tines 11. In Fig. 2, reference numeral 18 designates a flow of soil material of clods 17 crushed by the rotating tines 11, which are located between the tines 11 and the leveling element 15. The leveling element 15 arranged behind the tines 11 has the task of temporarily holding the clods of earth 17 to be crushed between the rotating tines 11 until they are crushed. Furthermore, the task of the leveling element 15 is to create a substantially flat surface 19 after the crushing of the clods of earth 17.

[0039] To control the actuator 20, a control unit 21 is assigned to the soil tillage implement 1. Using the control unit 21, an operator of the soil tillage implement 1 can specify the height of the leveling element 15, i.e., the distance of the lower edge of the leveling element 15 from the ground B, and adjust it by controlling the actuator 20. In an autonomous design of the towing vehicle 9, the height of the leveling element 15 can be specified by an automation unit in order to adjust the height by controlling the actuator 20.

[0040] The control unit 21 is further configured to control or regulate the working depth and working speed of the rotating soil cultivation tools 10 and tines 11, respectively. Furthermore, the direction of rotation of the soil cultivation tools 10 can be adjusted by the control unit 21 to achieve different working results. Clockwise rotation results in the tines 11 achieving a better leveling effect, with more stones remaining in the soil. Counterclockwise rotation results in the tines 11 engaging more effectively in the soil B, thus achieving, for example, improved mixing of soil B and vegetation during mulch sowing.

[0041] For setting or changing the parameters of the soil cultivation tools 10 and the leveling element 15 by an operator of the soil cultivation system, the control unit 21 is connected to an operating unit 22. Using the operating unit 22, data can be entered, selected, and displayed by the operator.

[0042] A first sensor arrangement 23 comprising at least one sensor 25, 26, 27 is arranged on the soil tillage implement 1 and is designed and configured to detect an excess of material occurring within the working width of the soil tillage implement 1. The term excess of material includes both the soil material, i.e. the clods of earth 17, and organic material located on the soil B. Furthermore, a second sensor arrangement 24 comprising at least one sensor 29 is arranged on the soil tillage implement 1 and is designed and configured to detect a work result generated by the soil tillage implement 1. The first sensor arrangement 23 is designed to detect an excess of material in front of the soil tillage implement 1 and / or within the area that can be actively worked by the soil tillage tools 10 of the soil tillage implement 1.This also includes the detection of clods of earth 17 flowing over the soil cultivation tools 10 and / or the leveling element 15 and / or the roller unit 14 by the first sensor arrangement 23.

[0043] For this purpose, the first sensor arrangement 23 can comprise at least one sensor 25, which is arranged in the area directly in front of the soil cultivation tools 10 on the frame 3a in order to detect excess material in front of the soil cultivation tools 10. Alternatively or additionally, the first sensor arrangement 23 can comprise at least one sensor 26, which is arranged between the soil cultivation tools 10 and in front of the leveling element 15 on the frame 3a. Alternatively or additionally, the first sensor arrangement 23 can comprise a speed sensor 27 assigned to the roller unit 14.

[0044] The at least one sensor 25 and / or sensor 26 of the first sensor arrangement 23 can be embodied as at least one optical sensor. For this purpose, the at least one sensor 25 and / or sensor 26 of the first sensor arrangement 23 can be a LiDAR sensor, a radar sensor, or an imaging sensor. The control unit 21 has an analysis system configured to evaluate the data provided by the at least one optical sensor.

[0045] Alternatively or additionally, the first sensor arrangement 23 can comprise force sensors arranged at the pivot points 4, 5 of the three-point hitch 3 of the soil tillage implement 1. For this purpose, force sensors designed as load cells, for example, can be provided. By summing the forces determined by the force sensors at the three pivot points 4, 5, the tensile force transmitted to the soil tillage implement 1 can be determined.

[0046] The control unit 21 is connected to a sensor unit 28 of the towing vehicle 9 for data communication. The sensor unit 28 provides data that enables the control unit 21 to determine the current driving speed of the towing vehicle 9. The sensor unit 28 can, for example, be a position-finding sensor arranged on the towing vehicle 9. The second sensor arrangement 24 for detecting the work result generated by the soil tillage device 1 comprises the imaging sensor 29. The work result generated by the soil tillage device 1 is optically recorded by the imaging sensor 29 of the second sensor arrangement 24 and fed to the control unit 21 for evaluation. The second sensor arrangement 24 is configured to detect a surface condition as a work result of the area worked by the soil tillage device 1 directly behind the soil tillage device 1.By means of an evaluation algorithm stored in the control unit 21, the work result is evaluated and assessed based on the surface quality detected and assessed by the evaluation algorithm.

[0047] In the soil tillage implement 1 designed as a rotary harrow 2, clods of soil 17 are broken up by the rotating tines 11. When the soil tillage implement 1 is correctly adjusted, a small earth ridge forms in front of the soil tillage implement 1. Clods of soil 17 contained in the earth ridge are broken up by the tines 11. The shape and size of this earth ridge can be influenced by the various adjustment options on the soil tillage implement 1. If the parameters of the soil tillage implement 1 are inadequately adjusted, this earth ridge may become too large. The flow of soil material 18 may then partially flow laterally past the soil tillage implement 1, meaning that this flow of soil material 18 is not worked.A further effect of the damming in front of the soil tillage implement 1 is that clods of earth 17 partially flow over the soil tillage implement 1, so that the clods of earth reach the back of the soil tillage implement 1 unprocessed. This situation is illustrated in Figs. 4 and 5. Furthermore, insufficiently adjusted parameterization of the soil tillage implement 1 can lead to the towing vehicle 9 no longer being able to move the soil tillage implement 1 with the earth embankment because insufficient traction is available.

[0048] Furthermore, if there is a high proportion of organic material 31 on the surface of the soil B to be worked, the tines 11 of the soil tillage implement 1 may become clogged with the organic material 31, and thus no soil material is worked by the rotary harrow 2. This in turn leads to a piling up of the clods of earth 17 to be worked in front of the rotary harrow 2, which is shown as an example in Fig. 3. Fig. 3 shows an example and schematically tines 11 of the soil tillage implement 1 designed as a rotary harrow 2 that are clogged with organic material 31, which leads to these clods of earth 17 pushing ahead and piling up.

[0049] Fig. 4 shows a schematic and exemplary view from above of the rotary harrow 2 according to Fig. 2. Fig. 5 shows a schematic and exemplary view of the rotary harrow 2 according to the operating situation according to Fig. 4. These two illustrations show in simplified form the effects of an inappropriate parameterization. Fig. 4 shows in particular the effect of the soil material flowing past, i.e. the clods of earth 17. Fig. 5 additionally shows the effect occurring in this situation of the soil material flowing over the soil cultivation tools 10 and / or the leveling element 15 and / or the roller unit 14.To detect the soil material flowing over the soil cultivation tools 10 and / or the leveling element 15 and / or the roller unit 14, at least one additional sensor 30 can be provided, which is arranged on and above the soil cultivation tools 10 and / or the leveling element 15 and / or the roller unit 14 and is configured to detect the overflowing soil material. For example, the at least one additional sensor 30 can be designed as a light barrier or a tactile sensor.

[0050] If the tractive force to be applied by the towing vehicle 9 increases to the extent that slippage occurs or is detectable on the roller unit 14, the occurrence of the slippage is assumed to be caused by an excess of material in front of the soil tillage implement 1. The control unit 21 concludes that there is an excess of material in front of the soil tillage implement 1 if the detected slippage exceeds a threshold value stored or adjustable in a memory unit of the control unit 21.

[0051] The same applies when the control unit 21 compares the theoretical and actual driving speeds of the towing vehicle 9. Exceeding a threshold value for this speed difference is interpreted by the control unit 21 as the occurrence of an excess of material in front of the soil tillage implement 1.

[0052] An analogous procedure arises if a value determined for the traction force exceeds a threshold value or the size of an optically detected earth embankment in front of the soil tillage implement 1 reaches a certain size as a threshold value.

[0053] Fig. 6 shows a simplified representation of a control loop 32 for controlling the soil tillage implement 1 based on the data provided by the second sensor arrangement 24. The control unit 21 is configured to compare actual data 37 for the work result provided by the second sensor arrangement 24 with target data 33 stored or capable of being stored in the memory unit of the control unit 21 as a reference variable. Control variables 34 include, among other things, the rotational speed of the soil tillage tools 10, the working depth of the soil tillage tools 10 and / or the leveling element 15 and / or the roller unit 14, as well as the driving speed of the towing vehicle. The working area within the soil tillage implement 1, the working width of the soil tillage implement 1, and the soil B to be tilled form the controlled system 35. A soil roughness 36 to be achieved, which can be specified as the work result, forms the controlled variable of the control loop 32.By means of the second sensor arrangement 24, the surface quality detected almost immediately after processing is fed as actual data 37 to the control unit 21 for comparison with the target data 33 for the desired surface quality.

[0054] For this purpose, target data 33 can be stored or is stored in the memory unit of the control unit 21. Preferably, the control unit 21 can record an initial adjustment and training process in order to generate the target data 33 for the desired work result, which serves as a benchmark for subsequent processing by the soil tillage device 1.

[0055] The initial implementation and recording of a setting and incorporation process is particularly advantageous because, through appropriate evaluation of the work results achieved during the setting and incorporation process, target data 33 can be generated that correspond to the currently prevailing operating conditions on the agricultural area to be worked. The parameterization of the soil tillage implement 1 performed in this process can be linked to the initially determined target data 33 in order to store them in the memory unit. In this way, the determined target data 33 are also available for later processing, in a subsequent processing period, for the same area or an area with comparable soil conditions. Thus, the desired work results can be used in the next processing period.Before machining, the desired surface finish can be selected by selecting the corresponding target data 33.

[0056] Furthermore, the control unit 21 can be configured to georeference the target data 33 recorded during the initial setting and training process. Georeferenced storage of the recorded target data 33 has the advantage that, for example, it can be automatically suggested to the operator for selection upon reaching the field to be worked again. In conjunction with the selection, the parameters of the soil tillage implement 1, which were set during the recording of the target data 33, can also be adopted as the default setting.

[0057] The soil tillage implement 1 designed according to the invention with the two sensor assemblies 23, 24 makes it possible to relieve the operator of having to make changes to the parameterization of the soil tillage implement 1 during operation, in order to achieve a substantially consistent work result. The evaluation of the data from the first and second sensor assemblies 23, 24 enables an assessment of the achieved work result and the occurrence of excess material in front of and / or in the soil tillage implement 1, even in limited visibility conditions. For this purpose, the control unit 21 assigned to the soil tillage implement 1 is designed and configured to evaluate the data received from the first sensor assembly 23 and the second sensor assembly 24 and, depending on the evaluation, to generate control signals for adjusting the soil tillage tools 10, the leveling element 15, and / or the roller unit 14.

[0058] A further advantage arises if the soil tillage system is designed and configured for autonomous operation of the soil tillage implement 1. According to the invention, the occurrence of excess material can be detected without operator intervention by means of the first sensor arrangement 23 in order to carry out a suitable parameterization of the soil tillage system through automated adjustment, as well as the automated and, in particular, adaptive adjustment of the parameterization to achieve the desired preset work result using the actual data 37 for the work result provided by the second sensor arrangement 24. By combining the sensor arrangements 23, 24, operating situations that influence the desired work result can be recognized and determined.To prevent this, the data received from the first sensor arrangement 23 and the second sensor arrangement 24 are evaluated by the control unit 21 in order to generate, depending on the evaluation, control signals for adjusting the soil cultivation tools 10, the leveling element 15, and / or the roller unit 14. This prevents blockages of individual soil cultivation tools 10 or the accumulation of soil material, among other things, in front of the soil cultivation device 1, which in turn has a positive effect on the desired work result. List of reference symbols.

[0059] 1 tillage implement 33 target data

[0060] 2 rotary harrow 34 control variable

[0061] 3 three-point tower 35 control system

[0062] 3a Frame 36 Ground roughness

[0063] 4 Articulation point 37 Actual data

[0064] 5 Pivot point

[0065] 6 Top link AR working direction

[0066] 7 Lower link B ground

[0067] 8 Three-point power lift

[0068] 9 Towing vehicle

[0069] 10 Soil cultivation tools

[0070] 11 prongs

[0071] 12 Adjustment device

[0072] 13 Side plate

[0073] 14 roller unit

[0074] 15 Leveling device

[0075] 16 scrapers

[0076] 17 earth clods

[0077] 18 Soil material flow

[0078] 19 area

[0079] 20 Actuators

[0080] 21 Control unit

[0081] 22 Control unit

[0082] 23 First sensor arrangement

[0083] 24 Second sensor arrangement

[0084] 25 sensors

[0085] 26 Sensor

[0086] 27 Sensor

[0087] 28 Sensor unit

[0088] 29 Sensor

[0089] 30 sensors

[0090] 31 Organic material

[0091] 32 control loop

Claims

Patent claims 1. Soil cultivation device (1), in particular a rotary harrow (2), comprising a frame (3a) on which rotatingly driven soil cultivation tools (10) and a roller unit (14) arranged downstream thereof are arranged, wherein a substantially beam-shaped leveling element (15) is arranged in the area between the soil cultivation tools (10) and the roller unit (14), which is height-adjustable by an actuator (12), characterized in that a first sensor arrangement (23) comprising at least one sensor (25, 26, 27, 30) is arranged on the soil cultivation device (1), which is designed and configured to detect an excess material occurring within the working width of the soil cultivation device (1), and a second sensor arrangement (24) comprising at least one sensor (29) is arranged and configured to detect a work result generated by the soil cultivation device (1),wherein a control unit (21) assigned to the soil cultivation device (1) is designed and configured to evaluate the data received from the first sensor arrangement (23) and the second sensor arrangement (24) and, depending on the evaluation, to generate control signals for adjusting the soil cultivation tools (10), the levelling element (15) and / or the roller unit (14).

2. Soil cultivation device (1) according to claim 1, characterized in that the first sensor arrangement is designed to detect an excess of material in front of the soil cultivation device (1) and / or within the area that can be actively worked by the soil cultivation tools of the soil cultivation device.

3. Soil cultivation device (1) according to claim 1 or 2, characterized in that the first sensor arrangement (23) comprises a speed sensor (27) assigned to the roller unit (14).

4. Soil cultivation device (1) according to claims 1 to 3, characterized in that the first sensor arrangement (23) comprises force measuring sensors which are arranged at articulation points (4, 5) of a three-point tower (3) or an attachment device of the soil cultivation device (1).

5. Soil cultivation device (1) according to claims 1 to 4, characterized in that the first sensor arrangement (23) comprises at least one optical sensor (25) which is arranged upstream of the soil cultivation tools (10) on the frame (3a), wherein the detection range of the at least one optical sensor (25) lies upstream of the soil cultivation tools (10).

6. Soil cultivation device (1) according to claim 5, characterized in that the at least one optical sensor (25) of the first sensor arrangement is a LiDAR sensor, a radar sensor or an imaging sensor.

7. Soil cultivation device (1) according to one of the preceding claims, characterized in that the first sensor arrangement (23) is designed for section-by-section detection of edge regions adjacent to the working area of ​​the soil cultivation device (1) on both sides.

8. Soil cultivation device (1) according to one of the preceding claims, characterized in that the second sensor arrangement (24) for detecting the work result generated by the soil cultivation device (1) comprises an imaging sensor system.

9. Soil cultivation device (1) according to one of the preceding claims, characterized in that the control unit (21) is designed to compare actual data (37) for the work result provided by the second sensor arrangement (24) with target data (33) stored or capable of being stored in a memory unit of the control unit (21).

10. Soil cultivation device (1) according to one of the preceding claims, characterized in that the control unit (21) records an initial setting and training process to be carried out in order to generate therefrom target data (33) for the work result, which serve as a comparison standard for the subsequent processing by the soil cultivation device (1).

11. Soil cultivation device (1) according to claim 10, characterized in that the control unit (21) is designed to store the target data (33) recorded during the initial setting and incorporation process in a georeferenced manner.

12. Soil cultivation device (1) according to one of claims 8 to 11, characterized in that the control unit (21) comprises a static or adaptive fuzzy logic control system and / or an artificial neural network.

13. Soil cultivation system, comprising a soil cultivation device (1) and a towing vehicle (9) for carrying and driving the soil cultivation device (1), characterized in that the soil cultivation system is designed and configured for autonomous operation of the soil cultivation device (1) designed according to one of claims 1 to 12.

14. A method for operating a soil tillage implement (1), in particular a rotary harrow (2), comprising a frame (3a) on which rotatingly driven soil tillage tools (10) and a roller unit (14) arranged downstream thereof are arranged, wherein in the area between the soil tillage tools (10) and the roller unit (14) a substantially beam-shaped levelling element (15) is arranged, which is height-adjustable by an actuator (12), characterized in that a first sensor arrangement (23) is arranged on the soil tillage implement (1), by which an excess material occurring within the working width of the soil tillage implement (1) is detected, and a second sensor arrangement (24) by which a work result generated by the soil tillage implement (1) is detected,wherein the data received from the first sensor arrangement (23) and the second sensor arrangement (24) are evaluated by a control unit (21) assigned to the soil cultivation device (1) and, depending on the evaluation, control signals for adjusting the soil cultivation tools (10), the levelling element (15) and / or the roller unit (14) are generated.

15. Method according to claim 14, characterized in that the soil tillage implement (1) is carried and driven by a, in particular autonomous, towing vehicle (9).

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