Method for detecting the state of soil-cultivating tools on a soil-cultivating device

Abstract

The present invention relates to a method for detecting the state of soil-cultivating tools (3) on a soil-cultivating device (1) which is moved and / or driven by a vehicle (14), wherein the soil-cultivating tools (3) are arranged on a carrier frame (2) of the soil-cultivating device (1), wherein, during operation, the soil-cultivating device (1) can be transferred between a first position, in which the soil-cultivating tools (3) are in engagement with soil (B) to be cultivated, and a second position, in which the soil-cultivating tools (3) are raised, wherein by means of an imaging sensor device (9) on the soil-cultivating device (1), the soil-cultivating tools (3) are detected such that image data generated by the sensor device (9) are transmitted to a control device (11) for evaluation by means of a comparison algorithm (15), wherein, in order to detect the state of the soil-cultivating tools (3), the actual state data (23) determined by means of the comparison algorithm (15) are compared with target state data (21) of the soil-cultivating tools (3) stored in the control device (11).

Description

[0001] Method for detecting the condition of soil tillage tools on a soil tillage implement

[0002] The present invention relates to a method for detecting the condition of soil tillage tools on a soil tillage implement according to the preamble of claim 1. Furthermore, the invention relates to a soil tillage implement according to the preamble of claim 17 and to an agricultural system with a soil tillage implement according to claim 19.

[0003] A method for condition detection and a soil tillage implement of the type mentioned above are known from US 2019 / 0246548 A1. This describes a method for detecting a change in a preset working position of soil tillage tools. If such a position change is caused, for example, by a collision with a stone or the like, a control device controls a hydraulically operated actuator to return the soil tillage tool in question to its preset working position. The method known from US 2019 / 0246548 A1 is limited to detecting a change in the position of the soil tillage tool as a change in state.

[0004] Furthermore, it is the responsibility of the operator of the tillage implement or agricultural system to detect and assess the occurrence of a fault in the tillage implement. The determination and subsequent assessment of the condition of the tillage tools is subjective. This has a significant impact, especially with regard to the predictive component.

[0005] Based on the aforementioned prior art, the invention is based on the object of developing a method for detecting the condition of soil tillage tools on a soil tillage implement, as well as a soil tillage implement of the type mentioned above, which are characterized by expanded condition detection, in particular the detection of disturbance variables. From a process engineering perspective, the above object is achieved by a method according to the preamble of claim 1 through its characterizing features. From a device engineering perspective, the object is achieved by a soil tillage implement according to the preamble of claim 17 through its characterizing features. Advantageous further developments and embodiments are the subject of the dependent subclaims.

[0006] According to claim 1, a method is proposed for detecting the condition of soil tillage tools on a soil tillage device which is moved and / or driven by a vehicle, wherein the soil tillage tools are arranged on a support frame of the soil tillage device, wherein the soil tillage device is transferred during operation between a first position in which the soil tillage tools are in engagement with a soil to be tilled and a second position in which the soil tillage tools are raised or raised.According to the invention, an imaging sensor device of the soil tillage device detects the soil tillage tools and generates image data. The image data generated by the sensor device is transmitted to a control device for evaluation using a comparison algorithm. To identify the condition of the soil tillage tools, the actual condition data determined by the comparison algorithm are compared with the target condition data of the soil tillage tools stored in the control device. The condition to be determined is a current wear condition and / or a loss of at least one soil tillage tool as disturbance variables in the soil tillage process.

[0007] The invention is based on the idea that the method continuously checks the condition of the tillage tools. Monitoring the tillage tools ensures essentially trouble-free operation of the tillage implement. Wear and tear on one of the tillage tools and / or loss of a tillage tool can be detected early on, allowing for appropriate action. This allows the tillage implement to perform the tillage process essentially trouble-free. A further advantage is that predictive maintenance is enabled.

[0008] In particular, images of unused tillage tools can be used by the comparison algorithm as target condition data to detect wear and / or loss of a tillage tool as a condition.

[0009] Patterns, drawings, and / or images stored or capable of being stored in the control device, and / or borders or templates derived from them, of unused soil tillage tools can be used as images of unused soil tillage tools. For example, image processing software stored in the control device can generate templates for various unused soil tillage tools from the stored images, which are used as target status data.

[0010] Preferably, the image data can be evaluated by the comparison algorithm using an image recognition method, in particular semantic segmentation, to detect wear of a soil tillage tool as a condition. While the loss of one or more soil tillage tools can be determined by direct comparison with the target condition data, a more in-depth analysis of the image data generated by the sensor device is required for wear in order to determine significant deviations between the actual condition data and the corresponding target condition data. Another aspect that requires a more in-depth analysis of the image data is the often uneven wear pattern of the soil tillage tools of the soil tillage device.For example, tillage tools on one side or part of the tillage implement may be subject to greater wear than the other tillage tools. This may be due to inappropriate parameter settings for the tillage implement.

[0011] In particular, the sensor device can be controlled by the control device when the soil tillage implement is moved from the first position to the second position in order to generate image data of the soil tillage tools. Thus, the method allows for a continuous check of the condition of the soil tillage tools. In particular, the condition of the soil tillage tools is determined each time a headland is reached or in another situation in which the soil tillage tools are raised or lowered. According to one embodiment, the sensor device can comprise at least one camera, in particular an RGB camera, which generates at least one overall image showing all soil tillage tools upon reaching the second position.For the comparison algorithm using the image recognition method, in particular semantic segmentation, creating a single image is sufficient to analyze the image data.

[0012] It is also conceivable that a series of overall images is generated in order to provide a sufficient amount of image data for evaluation in conditions of limited visibility, for example due to dust, shading or the like, in order to be able to assess the entire working area or all soil cultivation tools.

[0013] Furthermore, the overall image can be divided into at least two, in particular at least three, individual images for evaluation by the control device. The division into at least two, in particular three, individual images simplifies the evaluation and reduces the effort required for this. The division into at least three individual images offers the possibility of analyzing two lateral image regions in addition to a central or middle image region, with the lateral image regions being enlarged using image processing software in a step preceding the image analysis. The size division of the image regions can be uniform or differ from one another. In the latter case, the central image region is larger than the respective lateral image region.

[0014] Furthermore, it can be provided that the individual images are evaluated separately and the result of the evaluation of the individual images is combined to assess the condition of the soil cultivation tools.

[0015] According to a further development, the detected state can be output as information on an output device that is connected or connectable to the control device. The output device can be an operating unit or a terminal on the soil cultivation device or on the vehicle. Alternatively or additionally, the output device can also be arranged remotely, for example on a farmyard. Alternatively or additionally, the output device can be a mobile data processing device, for example a mobile phone or smartphone or a tablet PC. Preferably, the sensor device can additionally comprise a TOF camera (time of flight camera), the image data of which is additionally used for evaluation by the comparison algorithm, or the sensor device can be designed as an RGB-D camera, i.e. as a depth camera.The use of an additional TOF camera has the advantage of generating additional depth images, which improves the accuracy of the analysis using the image recognition method, particularly semantic segmentation. Using an RGB-D camera or depth camera, which provides both the individual images and the associated depth images, instead of an RGB camera has the advantage that the RGB and depth images are registered to each other. Alternatively, the sensor device can also be implemented as a stereo camera or LiDAR sensor.

[0016] In particular, to initialize the condition detection method, at least the type and size of the soil tillage tools to be monitored can be specified by selection and / or specification. This allows for flexible application of the method according to the invention.

[0017] It is advantageous if the condition detection process is initialized when the tillage implement is connected to the vehicle. This allows the condition detection process to be performed as soon as the implement is mounted on the vehicle, after the initialization of the process has been completed. This allows for the detection of wear or loss of a tillage tool that has already occurred, which can then be addressed with appropriate measures before the start of a tillage process.

[0018] According to a further development, a wear level can be specified as a limit value, upon reaching which an information message is generated. The wear level can be based on data stored in the control device that is specific to different soil cultivation tools, or it can be manually preset by an operator.

[0019] The degree of wear can be specified for a single tillage tool or cumulatively for several or all tillage tools.

[0020] Preferably, at least one additional sensor arrangement on the soil tillage implement can detect a change in the traction requirement and / or a change in the material flow in the working area of ​​the soil tillage tools, which is interpreted as an indicator of a change in condition that indicates wear on at least one and / or loss of at least one soil tillage tool. Thus, a reduction in the traction requirement occurring during operation under essentially constant soil conditions can be an indicator of the partial or complete loss of one or more soil tillage tools. A change in the material flow in the working area of ​​the soil tillage tools can also be an indicator of the loss of one or more soil tillage tools.In addition, a change in the material flow in the working area can also be an indicator of increasing wear in the sense of partial loss of soil cultivation tools.

[0021] In particular, the comparison algorithm can evaluate at least two individual images generated while driving through a headland to provide an overall assessment of the condition detection of the tillage tools. Previously performed analyses for the condition detection of the tillage tools during the ongoing tillage process can be taken into account.

[0022] The object stated at the outset is further achieved by a soil tillage device which comprises soil tillage tools arranged on a support frame, wherein the support frame is operable between a first position in which the soil tillage tools are in engagement with a soil to be tilled, and a second position in which the soil tillage tools are raised, wherein an imaging sensor device is arranged on the soil tillage device, which is designed and configured to optically detect soil tillage tools in order to detect their condition and to transmit image data generated by the soil tillage tools to a control device for evaluation by means of a comparison algorithm, wherein the control device is designed and configured toTo detect the condition of the soil tillage tools, the actual condition data determined by the comparison algorithm are compared with the target condition data of the soil tillage tools stored in the control device. Reference should be made to the advantages of the method according to the invention.

[0023] In particular, the soil tillage implement is designed and configured to carry out the method according to one of claims 1 to 16. Furthermore, the object stated above is achieved by an agricultural system according to claim 19. The agricultural system comprises a soil tillage implement according to one of claims 17 or 18 and a vehicle for moving and driving the soil tillage implement, wherein the agricultural system is designed and configured for autonomous operation.

[0024] The present invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0025] They show:

[0026] Fig. 1 shows a schematic and exemplary representation of a soil tillage implement of an agricultural system for soil tillage;

[0027] Fig. 2 shows a schematic and exemplary representation of the agricultural system for soil cultivation;

[0028] Fig. 3a - 3c a schematic and exemplary representation of individual images of soil cultivation tools of the soil cultivation device;

[0029] Fig. 4 shows a flow chart for the condition detection of soil tillage tools;

[0030] Fig. 5 shows a schematic and exemplary visualization of target status data of the soil tillage tools; and

[0031] Fig. 6 shows schematically and exemplarily a processed view of soil tillage tools after a condition detection has been carried out as information for an operator of the soil tillage device.

[0032] Fig. 1 shows a schematic and exemplary representation of a soil tillage implement 1 of an agricultural system for soil tillage. The agricultural system comprises the soil tillage implement 1 and a vehicle 14 (not shown in Fig. 1) that moves the soil tillage implement 1. The vehicle 14 can also serve to drive the soil tillage implement 1.

[0033] In particular, the vehicle 14 can be operated autonomously. In the illustrated embodiment, the soil tillage device 1 is designed as a cultivator, in particular as a tine cultivator.

[0034] The soil tillage implement 1 has a support frame 2. Various soil tillage tools 3 or components 4, 5, 6 can be arranged on the support frame 2. In a front area of ​​the soil tillage implement 1, shares 8 are arranged as soil tillage tools 3 on stalks 7. The shares 8 can be brought into engagement with a soil B to be tilled. The shares 8 are arranged in several rows one behind the other. The shares 8 have an axial offset within a row in the longitudinal direction of the soil tillage implement 1. Edge and leveling discs 4, arranged next to one another in at least one row on the support frame 2, are arranged downstream of the shares 3. A roller unit 5, which here is designed, for example, as a double roller pair, is connected to the discs 4. Harrow tines 6 are attached to the support frame 2 downstream of the roller unit 5.The discs 4 and the roller unit 5 as rotating components of the soil tillage implement 1 are passively driven, i.e. they rotate when they come into contact with the soil of the soil tillage implement 1 pulled by the vehicle 14.

[0035] Furthermore, the illustration in Fig. 1 shows a three-point hitch 10, by means of which the soil tillage implement 1 can be connected to the vehicle 14, as well as a control device 11, which can be assigned to the soil tillage implement 1 or the vehicle 14. The control device 11 comprises a computing unit 12 and a memory unit 13.

[0036] An imaging sensor device 9 is arranged on the soil cultivation implement 1. The imaging sensor device 9 is arranged on the support frame 2, preferably in the area below the three-point headstock 10. The detection range of the sensor device 9 is aligned with the soil cultivation tools 3. The sensor device 9 is connected to the control device 11 via a wireless or wired communication means for data transmission. The imaging sensor device 9 is designed as an RGB camera 9a or as an RGB-D camera 9b, or a depth camera. It is also conceivable for the imaging sensor device 9 designed as an RGB camera 9a to additionally comprise a TOF camera (time of flight camera).

[0037] The imaging sensor device 9 generates image data, which is transmitted to the control device 11 for evaluation. At least one comparison algorithm 15 is stored in the memory unit 13, which is executed by the computing unit 12 to analyze the provided image data.

[0038] Fig. 2 shows a schematic and exemplary representation of the agricultural system for soil cultivation. It shows the soil cultivation implement 1 in the raised state, as is the case, for example, when reaching or passing through a headland. The dashed circle is intended to illustrate the position of the imaging sensor device 9. During operation, the soil cultivation implement 1 or its support frame 2 is alternately transferred between a first position in which the soil cultivation tools 3 are engaged with the soil B to be cultivated, and a second position in which the soil cultivation tools 3 are raised.

[0039] At least one overall image generated by the sensor device 9 can be broken down into at least two, preferably at least three, individual images 16, 17, 18 for evaluation. However, it is also conceivable that a series of overall images is initially generated in order to provide a sufficient amount of image data for evaluation in conditions of limited visibility, for example due to dust, shadows, or the like, in order to be able to assess the entire working area or all soil cultivation tools 3.

[0040] Fig. 3a-3c shows a schematic and exemplary representation of three individual images 16, 17, 18 of soil cultivation tools 3 of the soil cultivation device 1. The division into at least three individual images 16, 17, 18 offers the possibility of analyzing, in addition to a central or middle image area according to individual image 17, which is shown in Fig. 3b, two lateral image areas according to individual images 16 and 18, which are shown in Fig. 3a and 3c, wherein the lateral image areas are enlarged using image processing software in a step preceding the image analysis. The size distribution of the image areas can be uniform or differ from one another. In the latter case, the central image area is larger than the respective lateral image area.

[0041] Fig. 4 shows a simple flow chart for the condition detection of soil tillage tools 3.

[0042] In step S1, the state detection method is started. The trigger for the start in step S1 can be the transfer of the soil tillage implement 1 from the first position to the second position, for example, when the agricultural system reaches the headland. The imaging sensor device 9 is controlled by the control device 11 to generate image data of the soil tillage tools 3 according to step S2. In step S3, the at least one overall image can be divided into the three individual images 16, 17, 18. The individual images 16 and 18, which comprise the lateral image areas, are enlarged in step S3 by the image processing software stored in the control device 11.

[0043] In step 4, the individual images 16, 17, 18 are evaluated by the comparison algorithm 15. For this purpose, in step S4, to identify the condition of the soil tillage tools 3, actual condition data 23 determined by the comparison algorithm 15 are compared with target condition data 21 of the soil tillage tools 3 stored in the control device 11. The condition to be determined is a current state of wear and / or a loss of at least one soil tillage tool 3 or its components as disturbance variables in the soil tillage process.

[0044] The comparison algorithm 15 can use images of unused soil tillage tools 3 as target condition data 21 to detect wear and / or loss of a soil tillage tool 3 as a condition. Thus, drawings and / or images stored or capable of being stored in the control device 11 can be used as images of unused soil tillage tools 3. From the stored images, the image processing software can generate templates 22 for various unused soil tillage tools 3, which are used as target condition data 21. The templates 22 represent the outer outline of the unused soil tillage tool 3.

[0045] In particular, the image data can be evaluated by the comparison algorithm 15 using an image recognition method, in particular semantic segmentation, to detect wear of a soil tillage tool 3 as a condition. While complete loss can be easily determined using the detected actual condition data 23 of a soil tillage tool 3, for example a share 8, by comparing it with the corresponding target condition data 21 or the template 22, assessing the degree of wear on a soil tillage tool 3 requires more in-depth analysis of the image data. In step S5, the detected condition is output as information on an output device 20 connected or connectable to the control device 11. For this purpose, the information can be presented as a comparison by visualizing target condition data 21 and actual condition data 23, which will be explained in more detail below.The output device 20 can be an operating unit or a terminal on the soil cultivation device 1 or on the vehicle 14. Alternatively or additionally, the output device 20 can be a mobile data processing device, for example a mobile phone or smartphone or a tablet PC.

[0046] In this case, a degree of wear can be specified as a limit value, upon reaching which information is generated that indicates a deviating condition of the soil tillage tool 3, which is evaluated as a disturbance variable that influences the soil tillage process.

[0047] The process ends in step S6. Upon reaching a headland again, the condition detection procedure is restarted according to step S1.

[0048] By means of the method according to the invention, the condition of the soil tillage tools 3 can be continuously checked. In particular, each time a headland is reached or another situation in which the soil tillage tools 3 are raised or lowered, the condition of the soil tillage tools 3 is determined, the result of which can be communicated to the operator.

[0049] According to a further aspect, the condition detection method can be initialized when connecting the soil tillage implement 1 to the vehicle 14. Thus, condition detection can be performed immediately before commissioning. This enables predictive maintenance through the exchange or replacement of individual soil tillage tools 3 or their components.

[0050] To initialize the condition detection method, particularly when carried out for the first time, at least the type and size of the soil tillage tools 3 to be monitored can be specified by selection and / or specification. For this purpose, the operator can make the necessary inputs using the output device 20. Fig. 5 shows a schematic and exemplary visualization of target condition data 21 of the soil tillage tools 3. The visualization of the target condition data 21 can correspond to what is displayed to the operator as information using the output device 20. For example, the target condition data 21 of the soil tillage tool 3 is shown hatched within the template 22. In addition, each soil tillage tool 3 can be assigned a unique identifier 24, here and preferably a numbering.In addition, this identifier 24 can be color-coded depending on the detected state or the actual state data 23, for example analogous to a traffic light, which is shown in Fig. 6.

[0051] Fig. 6 shows a schematic and exemplary processed view of soil tillage tools 3 after a condition detection has been carried out as visualized information for an operator of the soil tillage device 1. The soil tillage tools 3 designated with the numbers "0", "1", or "5" as identifiers 24 are characterized by actual condition data 23 that indicate only slight wear. In contrast, the share 8 of the soil tillage tool 3 designated with the number "2" as identifier 24 shows significant wear according to the actual condition data 23 shown. For example, the share tips 19 of the soil tillage tools 3 designated with the numbers "2" and "3" as identifiers 24 are heavily worn, which is illustrated by the partial absence of the hatching representing the target condition data 21.The tillage tool 3 identified by the number "4" as identifier 24 is characterized by the complete absence of the share 8 of the tillage tool 3. Depending on the condition resulting from the deviation of the actual condition data 23 from the target condition data 21 of a respective tillage tool 3, the identifiers 24 of the tillage tools 3 with the numbers "0", "1", or "5" would be displayed, for example, in green, the number "2", "3" as identifier 24 in yellow, and the number "4" as identifier 24 in red.

[0052] A further advantageous aspect arises from the use of the RGB-D camera 9b as a sensor device 9 when, as in the illustrated embodiment, the shares 8 are designed as duckfoot shares. The sections of the duckfoot shares offset rearward in the direction of travel can be better identified by the comparison algorithm 15 in order to distinguish them from the share tip. The shares 8 can also be designed, for example, as wing shares or narrow shares. It is further conceivable that at least one additional sensor arrangement on the soil tillage device 1 detects a change in a traction force requirement and / or a change in a material flow in the working area of ​​the soil tillage tools 3, which is interpreted as an indicator of a change in condition that indicates wear on at least one and / or the loss of at least one soil tillage tool 3.

[0053] List of reference symbols

[0054] 1 tillage implement

[0055] 2 support frames

[0056] 3 Soil cultivation tools

[0057] 4 Edge and leveling disc

[0058] 5 roller unit

[0059] 6 harrow tines

[0060] 7 stalks

[0061] 8 flock

[0062] 9 Sensor device

[0063] 9a RGB camera

[0064] 9b RGB-D camera

[0065] 10 three-point tower

[0066] 11 Control device

[0067] 12 computing unit

[0068] 13 Storage unit

[0069] 14 vehicles

[0070] 15 Comparison algorithm

[0071] 16 Side view

[0072] 17 Mittler's single image

[0073] 18 Side view

[0074] 19 Scharspitze

[0075] 20 dispensing device

[0076] 21 Target state data

[0077] 22 Stencil

[0078] 23 Actual status data

[0079] 24 Identifier

[0080] B Floor

Claims

Patent claims 1. A method for detecting the condition of soil tillage tools (3) on a soil tillage device (1) which is moved and / or driven by a vehicle (14), wherein the soil tillage tools (3) are arranged on a support frame (2) of the soil tillage device (1), wherein the soil tillage device (1) is transferred during operation between a first position in which the soil tillage tools (3) are engaged with a soil (B) to be tilled, and a second position in which the soil tillage tools (3) are raised, characterized in that the soil tillage tools (3) are detected by an imaging sensor device (9) on the soil tillage device (1) and image data are generated, that the image data generated by the sensor device (9) are transmitted to a control device (11) for evaluation by means of a comparison algorithm (15),wherein, for the purpose of detecting the condition of the soil tillage tools (3), the actual condition data (23) determined by means of the comparison algorithm (15) are compared with the target condition data (21) of the soil tillage tools (3) stored in the control device (11).

2. Method according to claim 1, characterized in that images of unused soil cultivation tools (3) are used by the comparison algorithm (15) as target state data (21) in order to detect wear and / or loss of a soil cultivation tool (3) as a state.

3. Method according to claim 2, characterized in that patterns, drawings and / or images stored or capable of being stored in the control device (11) and / or borders or templates derived therefrom are used as images of unused soil cultivation tools (3).

4. Method according to one of claims 1 to 3, characterized in that the image data are evaluated by means of an image recognition method, in particular semantic segmentation, by the comparison algorithm (15) in order to detect wear of a soil cultivation tool (3) as a condition.

5. Method according to one of the preceding claims, characterized in that the sensor device (9) is controlled by the control device (11) when the soil tillage implement (1) is transferred from the first position to the second position in order to generate image data of the soil tillage tools (3).

6. Method according to one of the preceding claims, characterized in that the sensor device (9) comprises at least one camera, in particular an RGB camera (9a), by means of which at least one overall image is generated when the second position is reached, which image shows all the soil cultivation tools (3).

7. Method according to claim 6, characterized in that the overall image is divided into at least two, in particular at least three, individual images (16, 17, 18) for evaluation.

8. Method according to claim 7, characterized in that the individual images (16, 17, 18) are evaluated separately and the result of the evaluation of the individual images (16, 17, 18) is combined to evaluate the condition of the soil cultivation tools (3).

9. Method according to one of the preceding claims, characterized in that the detected state is output as information on an output device (20) connected or connectable to the control device (11).

10. Method according to one of the preceding claims, characterized in that the sensor device (9) additionally comprises a TOF camera (time of flight camera), the image data of which are additionally used for evaluation by the comparison algorithm (15), or that the sensor device (9) is designed as an RGB-D camera (9b), as a stereo camera or LiDAR sensor.

11. Method according to one of the preceding claims, characterized in that for initializing the condition detection method at least the type and size of the soil tillage tools (3) to be monitored are specified by selection and / or specification.

12. Method according to one of the preceding claims, characterized in that an initialization of the method of state recognition when connecting the Soil tillage implement (1) is carried out with the vehicle (14).

13. Method according to one of the preceding claims, characterized in that a degree of wear is specified as a limit value, upon reaching which information is generated.

14. Method according to claim 13, characterized in that the degree of wear is specified for an individual soil cultivation tool (3) or cumulatively for several or all soil cultivation tools (3).

15. Method according to one of the preceding claims, characterized in that a change in a traction force requirement and / or a change in a material flow in the working area of ​​the soil tillage tools (3) is detected by at least one additional sensor arrangement on the soil tillage device (1), which is evaluated as an indicator of a change in condition which indicates wear on at least one and / or loss of at least one soil tillage tool (3).

16. Method according to one of the preceding claims, characterized in that at least two individual images generated during the passage of a headland are evaluated by the comparison algorithm (16) in order to provide an overall assessment of the condition detection of the soil tillage tools (3).

17. Soil cultivation device (1) comprising soil cultivation tools (3) arranged on a support frame (2), wherein the support frame (2) is operable between a first position in which the soil cultivation tools (3) are in engagement with a soil (B) to be cultivated, and a second position in which the soil cultivation tools (3) are raised, characterized in that an imaging sensor device (9) is arranged on the soil cultivation device (1), which is designed and configured to optically detect soil cultivation tools (3) in order to detect their condition and to transmit image data generated by the soil cultivation tools (3) to a control device (11) for evaluation by means of a comparison algorithm (15), wherein the control device (11) is designed and configured tofor detecting the condition of the soil tillage tools (3), the actual condition data (23) determined by means of the comparison algorithm (15) are compared with the target condition data (21) stored in the control device (11), Compare tillage tools (3).

18. Soil cultivation device (1) according to claim 17, characterized in that the soil cultivation device (1) is designed and configured to carry out the method according to one of claims 1 to 14.

19. Agricultural system comprising a soil tillage implement (1) according to one of claims 17 or 18 and a vehicle (14) for moving and driving the soil tillage implement (1), characterized in that the agricultural system is designed and configured for autonomous operation.

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