Agricultural system, and method for operating an agricultural system

Abstract

The present invention relates to an agricultural system comprising a soil cultivation device (1), a vehicle and a control apparatus (7), wherein the soil cultivation device (1) has tools (3) arranged on a carrier frame (2), and a first sensor apparatus (8) and at least one second sensor apparatus (9), wherein the first sensor apparatus (8) comprises a sensor system (8a, 8b), arranged on the soil cultivation device (1), for estimating the speed of a material volume (16) moved by at least one of the tools (3), - wherein the at least one second sensor apparatus (9) comprises a sensor system (12, 13), arranged on the soil cultivation device (1), for estimating a speed difference between the soil cultivation device (1) and the moved material volume (16), - wherein the control apparatus (7) generates control commands, depending on the evaluation for estimating an actual operating state, in order to visualise an operating state change which deviates from a target operating state and / or to suggest and / or automatically adapt setting parameters, to be changed, of the soil cultivation device (1) and / or of the vehicle.

Description

[0001] Agricultural system and method for operating an agricultural system

[0002] The present invention relates to an agricultural system according to the preamble of claim 1. Furthermore, a method for operating an agricultural system according to claim 14 is the subject of the present invention.

[0003] EP 4 021 160 A1 discloses an agricultural system of the type mentioned above. The agricultural system comprises a soil tillage implement, a vehicle for moving and driving the soil tillage implement, and a control device. The soil tillage implement has tools arranged in rows on a support frame, which can be brought into engagement with the soil to be tilled, as well as a first sensor device and at least one second sensor device.

[0004] The first sensor arrangement monitors at least one tillage tool in a first row, and the second sensor arrangement monitors at least one tillage tool in a subsequent row with respect to the material flow occurring at these tillage tools. Exceeding a threshold value for a difference in material flow between the tillage tool in the first row and the tillage tool in the subsequent row is used by the control device as a criterion to determine whether some of the tillage tools are not positioned in a single plane.

[0005] US 2020 / 0305335 A1 discloses a soil tillage implement with a sensor arranged thereon, which is configured to generate a signal that is an indicator of the occurrence of a blockage. By comparing the signal with a threshold value stored in a control device, the occurrence of a blockage is determined. Based on the aforementioned prior art, the object of the invention is to further develop an agricultural system of the type mentioned above, which is characterized by preventive control of the agricultural system to avoid blockages.

[0006] This object is achieved by an agricultural system having the features of independent patent claim 1. Advantageous embodiments and further developments can be found in the dependent claims.

[0007] According to claim 1, an agricultural system is proposed which comprises a soil tillage implement, a vehicle for moving and driving the soil tillage implement, and a control device, wherein the soil tillage implement has tools arranged on a support frame which can be brought into engagement with a soil to be tilled, as well as a first sensor device and at least one second sensor device. According to the invention, it is provided that the first sensor device comprises a sensor system arranged on the soil tillage implement, in particular an imaging and / or optical sensor system, for estimating the speed of a volume of material moved by at least one of the tools relative to the working width of the soil tillage implement, wherein the at least one second sensor device comprises a sensor system arranged on the soil tillage implement,comprising an actual speed detecting sensor system for estimating a differential speed between the soil tillage implement and the moved material volume, wherein the control device is configured to receive and evaluate the data generated by the first sensor device and the second sensor device to estimate an actual operating state of the soil tillage implement, and that the control device generates control commands depending on the evaluation for estimating the actual operating state in order to visualize a change in the operating state that deviates from the target operating state and / or to suggest and / or automatically adapt setting parameters of the soil tillage implement and / or the vehicle that need to be changed.

[0008] The invention is based on the idea that the use of at least two sensor devices, which are characterized by different measuring principles, enables a differentiated detection of the occurrence of an actual operating state that deviates from a target operating state and is attributable to an impending or existing blockage. The correlation of the data from the first sensor device and the at least one second sensor device is used to infer an impending or existing blockage. This is associated with an automatic reaction by the control device, which consists in visualizing the change in the operating state that deviates from the target operating state and / or suggesting and / or adjusting setting parameters of the soil tillage implement and / or the vehicle.The aim is to detect an impending blockage at an early stage, as this may still make it possible to influence the process by changing the settings on the soil tillage implement or the vehicle in such a way that the occurrence of the critical blockage is avoided. Furthermore, the system according to the invention makes it possible to detect whether the detected actual operating state is based on optimal parameterization of the system. The first sensor device serves to estimate the speed of a volume of material moved by at least one of the tools and / or a material volume distribution relative to the working width of the soil tillage implement. The at least one second sensor device serves to detect a speed of the system or of a part of the system in order to determine a differential speed between the soil tillage implement and the moved volume of material.The differential speed is an essential criterion for estimating the actual operating condition.

[0009] The system according to the invention makes it possible to distinguish between various actual operating states: an uninterrupted crop flow, a crop flow that is at least partially slowing down, and / or a crop flow that is at least partially interrupted due to a blockage. The term "partial" refers to the occurrence of a malfunction on or in front of at least one tool, based on the working width of the soil tillage implement.

[0010] The control device can be assigned to or arranged on the soil tillage implement or the vehicle.

[0011] In particular, the first sensor device can be arranged in a position above the support frame so that its detection range is directed or alignable towards the ground in order to detect the space between the tools arranged at a distance from one another on the support frame. For example, the first sensor device can be arranged on the vehicle or on or above a three-point hitch on the soil tillage implement. An actuator can be provided to adjust the orientation of the first sensor device. The actuator can be controlled by the control device. The first sensor device can preferably be configured to detect a material volume distribution in the working area of ​​the soil tillage implement.

[0012] The first sensor device can be designed as a radar sensor, a camera, preferably a stereo camera, or a LiDAR sensor. Using the first sensor device, conclusions can be drawn about the speed of the material volume moved by at least one of the tools and / or the material volume distribution relative to the working width of the soil tillage implement. Depending on the design, the first sensor device can comprise at least one sensor.

[0013] When designed as a RADAR sensor, which is directed at the moving material volume, the reflected response signal or measurement noise changes depending on the material flow velocity and the amount of material moving within the working area of ​​the soil tillage implement. If specified thresholds are exceeded, this indicates a malfunction.

[0014] Scanning the elevation profile of the moving material in the work area using a LiDAR sensor can also indicate an anomaly in the material flow and indicate soil buildup. This allows an ideal profile stored in the control device to be compared with the currently determined elevation profile.

[0015] The control device can be configured to take into account boundary conditions resulting, for example, from a set depth of soil penetration of the tools. A greater depth of soil penetration of the tools is accompanied by an increase in the volume of material moved or the material volume distribution, which must be taken into account when estimating the actual operating state.

[0016] Preferably, the control device can be configured to classify the material into different categories by evaluating the data provided by the first sensor device. In particular, the control device can categorize the material into the components soil, plant material, and dust.

[0017] Furthermore, the at least one second sensor device can be configured to determine a rotational speed of at least one component of the soil tillage implement that rotates upon contact with the ground. A component of the soil tillage implement that rotates upon contact with the ground can, in particular, be a passively driven component of the soil tillage implement, for example, a roller unit, a leveling disc, and / or a spur wheel. The at least one second sensor device can comprise at least one sensor.

[0018] In particular, the control device can be configured to determine the volume of material moved by at least one of the tools by determining a differential speed between the material flow speed and the actual speed of the soil cultivation device, the vehicle or the system.

[0019] By comparing the actual speed with a pixel-based or marker-based determination of the speed of a volume of material moved by at least one of the tools within the working area of ​​the tillage implement, any "pushing" or build-up of material within the tillage implement can be detected. Excessively large speed differences between the actual speed and the speed of the moved volume of material indicate a build-up of material and / or soil and thus at least a partial "blockage" of the tillage implement.

[0020] To determine the current travel speed, at least one speed sensor can be arranged on the component of the tillage implement that rotates upon contact with the ground and / or a position sensor can be arranged on the tillage implement. Using a speed sensor on a component of the tillage implement that rotates upon contact with the ground, for example, the roller unit, the leveling disc, and / or the spur wheel, the occurrence of slippage on the rotating component can be detected by comparing it with the actual speed of the tillage implement, the vehicle, or the system. The occurrence of slippage can be an indicator of an impending blockage, which is evaluated in conjunction with the data from the first sensor device.

[0021] Alternatively or additionally, the control device for determining the actual speed of the soil tillage implement can be configured to receive the vehicle's travel speed. The vehicle's travel speed can be determined by a position sensor on the vehicle or by another sensor arranged on the vehicle, for example, a speed sensor on a vehicle wheel or an input shaft of the vehicle's transmission.

[0022] According to a further development, the system can additionally comprise a force-measuring sensor device for estimating changes in the force transmitted by the tools to the soil and / or from the vehicle to the tillage implement. This allows the tractive force of the tillage implement and / or the tractive force of each individual tool to be determined. For this purpose, force-measuring sensors of a vehicle's coupling device, for example, on the lower links of a three-point hitch as a coupling device, or strain gauges on a rail shaft of a towing device of the tillage implement, can be provided.

[0023] Additionally or alternatively, to estimate a change in the power transmitted from the vehicle to the tillage implement, a change in one or more vehicle operating parameters can be recorded and evaluated. Vehicle operating parameters to be monitored can be engine characteristics, transmission parameters, or the torque and speed of a PTO shaft if it is coupled to the tillage implement to drive it. Engine characteristics can include, among other things, engine load, fuel consumption, and engine power. Transmission parameters can be pressures, torques, and / or speeds.

[0024] Further preferably, it can be provided that the rotational speed of actively driven components of the soil tillage device is detected by a rotational speed sensor and transmitted to the control device for evaluation.

[0025] In particular, at least one threshold value for a differential speed can be stored in the control device, and when this threshold value is exceeded, the control device detects an impending or existing blockage.

[0026] Preferably, a change in a tensile force transmitted from the soil tillage implement to the soil can be detected by monitoring a hydraulic pressure in a cylinder of a hydraulic overload protection device of the soil tillage implement.

[0027] According to a preferred further development, the vehicle can be operated autonomously.

[0028] The object posed at the outset is further achieved by a method according to the independent claim 14.

[0029] According to the independent claim 14, a method for operating an agricultural system, in particular according to one of claims 1 to 13, is proposed, comprising a soil tillage implement, a vehicle for moving and driving the soil tillage implement, and a control device, wherein the soil tillage implement has tools arranged on a support frame that are brought into engagement with a soil to be tilled. According to the invention, an estimate of a volume of material moved by at least one of the tools relative to the working width of the soil tillage implement is determined by a first, in particular imaging and / or optical, sensor device arranged on the soil tillage implement.

[0030] - that an estimate of a difference in speed between the soil tillage implement and the volume of material moved is determined by at least one second sensor device arranged on the soil tillage implement and detecting an actual speed,

[0031] - that in order to estimate an actual operating state of the soil tillage implement, data generated by the first and second sensor devices are received and evaluated by the control device, and

[0032] - that the control device generates control commands based on the evaluation to visualize a change in the operating state that deviates from the target operating state and / or to specify and / or automatically implement changes to the setting parameters of the soil tillage implement and / or the vehicle. Reference may be made to the advantages of the agricultural system according to the invention.

[0033] The system and method use data from two independent sensor devices to determine the actual operating state in order to improve the plausibility of the evaluation and the resulting generation of control commands.

[0034] In particular, when the system starts a soil tillage process, initial reference data can be determined for the speed of the material volume moved by the tools and the actual speed of the soil tillage implement occurring under the existing conditions, which define the target operating state. For this purpose, an initial setting and incorporation process of the system can be carried out in order to determine reference data for the speed of the material volume moved by the tools and the actual speed of the soil tillage implement. By appropriately evaluating the data generated by the first and at least one second sensor device during the setting and incorporation process, a target operating state can be defined which corresponds to the currently prevailing operating conditions on the agricultural area to be tilled.Preferably, an additional force-measuring sensor device can be used to estimate a change in the force transmitted by the tools to the soil and / or from the vehicle to the soil cultivation implement. In this case, a tensile force of the soil cultivation implement and / or the tensile force of each individual tool of the soil cultivation implement can be determined. Additionally or alternatively, a change in one or more operating parameters of the vehicle can be recorded and evaluated to estimate a change in the force transmitted from the vehicle to the soil cultivation implement.

[0035] The present invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0036] They show:

[0037] Fig. 1 shows a schematic and exemplary representation of a soil tillage implement of an agricultural system for soil tillage;

[0038] Fig. 2 shows a schematic and exemplary representation of tools of the soil tillage device in a plan view in view a) and in view b) the schematic and exemplary representation of the tools according to view a) in a side view;

[0039] Fig. 3 shows a schematic and exemplary representation according to Fig. 2a with disturbed material flow in view a) and in view b) the schematic and exemplary representation of the tools according to view a) in a side view;

[0040] Fig. 4 shows a schematic and exemplary plan view of a working area of ​​the tools of the soil tillage implement; and

[0041] Fig. 5 schematically and exemplarily a simplified representation of a process of data evaluation of the data provided by a first sensor device.

[0042] 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 (not shown) that moves the soil tillage implement 1. The vehicle can also serve to drive the soil tillage implement 1. In particular, the vehicle can be operated autonomously. In the illustrated embodiment, the soil tillage implement 1 is designed as a cultivator, in particular a tine cultivator. The soil tillage implement 1 can also be designed as a harrow, plow, hoe, or the like.

[0043] The soil tillage implement 1 has a support frame 2. Various tools 3 or components 4, 5, 6 can be arranged on the support frame 2. In a front area, shares 3 are arranged as tools that can be brought into engagement with the soil to be tilled. Downstream of the shares 3 on the support frame 2, edge and leveling discs 4 are arranged next to one another in at least one row. Adjacent to the discs 4 is a roller unit 5, which here is designed, for example, as a double roller pair. 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 upon contact with the soil of the soil tillage implement 1 pulled by the vehicle.

[0044] Furthermore, the illustration in Fig. 1 shows a control device 7, which can be assigned to the soil cultivation device 1 or the vehicle. The system comprises a first sensor device 8 and at least one second sensor device 9.

[0045] The first sensor device 8 comprises at least one sensor system 8a, 8b. The first sensor device 8 can comprise a sensor system embodied as a camera 8a, in particular as a stereo camera, which is arranged on the three-point headstock 10 of the soil tillage implement 1. Alternatively or additionally, the first sensor device 8 can have at least one sensor system 8b embodied as a radar sensor or lidar sensor. The first sensor device 8 can also be arranged on a separate holder arranged on the soil tillage implement 1 in order to position it above a plane of the support frame 2.

[0046] The first sensor device 8, or rather the sensor system 8a embodied as a camera, is arranged here and preferably in a position above the support frame 2, so that the detection range of the first sensor device 8 is directed or alignable toward the soil to be worked in order to detect the space between the tools 3 arranged at a distance from one another on the support frame 2, in particular the tools 3 engageable with the soil, here and preferably the shares 3. The first sensor device 8 can be aligned by means of an actuator 11 in order to adjust the detection range of the first sensor device 8. The actuator 11 can be actuated manually or mechanically.

[0047] For this purpose, the at least one optional or additional sensor system 8b of the first sensor device 8 can be arranged above the tools 3 on the support frame 2 or instead of the camera 8a on the three-point turret 10. Several sensor systems 8b can be arranged on the support frame 2 lying on a common horizontal plane.

[0048] The at least one second sensor device 9 is configured to determine a rotational speed of at least one component of the soil tillage implement 1 that rotates upon contact with the ground, here and preferably on at least one of the leveling discs 4 and / or the roller unit 5. The at least one second sensor device 9 for determining the actual speed of the soil tillage implement 1 can comprise at least one sensor system configured as a rotational speed sensor 12, which is arranged on the at least one component of the soil tillage implement 1 that rotates upon contact with the ground, and / or a position-locating sensor 13, which is arranged on the soil tillage implement 1.

[0049] Alternatively or additionally, the control device 7 can be configured to receive the vehicle's travel speed to determine the actual speed of the soil tillage implement 1. The vehicle's travel speed can be determined by a position-locating sensor on the vehicle or by means of another sensor system arranged on the vehicle, which can be part of the second sensor device 9, for example, a speed sensor on a vehicle wheel or an input shaft of the vehicle's transmission.

[0050] The first sensor device 8 and the at least one second sensor device 9 are connected to the control device 7 via a wireless and / or wired communication means for data transmission. The control device 7 comprises a memory unit 14 and a computing unit 15. Evaluation algorithms are stored or can be stored in the memory unit 14, which can be executed by the computing unit 15 to evaluate the data transmitted by the first sensor device 8 and the at least one second sensor device 9.

[0051] Fig. 2 shows, according to view a), a schematic and exemplary representation of tools 3 of the soil tillage implement 1 in a top view, and view b) shows the schematic and exemplary representation of the tools 3 according to view a) in a side view. The representations in Fig. 2 show trouble-free operation of the soil tillage implement 1.

[0052] The tools 3 of the soil tillage implement 1, designed as shares, are moved by the vehicle in the direction of travel FR. Reference numeral 16 denotes a volume of material moved by the tools 3. The volume of material 16 moved in the working area of ​​the soil tillage implement 1 includes soil material, plant material, and dust. Fig. 2b shows the tools 3 engaging with a soil 17 to be tilled. As can also be seen from the illustration in Figs. 2a and 2b, the moved volume of material 16 is detected by the first sensor device 8. In addition, the first sensor device 8 is configured to detect a material volume distribution 18 within the working width of the soil tillage implement 1. In particular, the first sensor device 8 is configured to detect one-sided accumulations or irregularities in the material volume distribution 18.

[0053] Fig. 3 shows, in view a), a schematic and exemplary representation according to Fig. 2a with a disrupted material flow of the material volume 16, and in view b), the schematic and exemplary representation of the tools 3 according to view a) in a side view. Reference numeral 19 denotes an impending or existing blockage by soil material and / or plant material, which leads to an impairment of the material flow of the material volume 16 within the soil tillage device 1 and thus to an influence on the tillage process.

[0054] The illustration in Fig. 4 shows a schematic and exemplary top view of a working area of ​​the tools 3 of the soil cultivation device 1. By means of the sensor device 8 arranged on the three-point headstock 10, segments 20 forming between the tools 3 are detected in order to determine a locally moved material volume 16 or a local material volume distribution 18. In addition, the material is categorized into the components soil, plant material, and dust by the control device 7.

[0055] The control device 7 is configured to receive and evaluate the data generated by the first sensor device 8 and the at least one second sensor device 9 to estimate an actual operating state of the soil tillage implement 1. To prevent the occurrence of an impending blockage 19, the control device 7 generates control commands depending on the evaluation for estimating the actual operating state in order to visualize a change in the operating state that deviates from the target operating state and / or to suggest and / or automatically adapt setting parameters of the soil tillage implement 1 and / or the vehicle that need to be changed.The output for visualizing a change in the operating state that deviates from the target operating state and / or the display of setting parameters of the soil tillage implement 1 and / or the vehicle that need to be changed can be provided on a control unit of the agricultural system, in particular a control unit of the vehicle. Furthermore, the control unit can be configured for the input and / or selection of setting parameters of the soil tillage implement 1 and / or the vehicle that need to be changed by a system operator.

[0056] The system according to the invention makes it possible to distinguish between various actual operating states: an uninterrupted crop flow, a crop flow that is at least partially slowing down, and / or a crop flow that is at least partially interrupted by a blockage. The term "partial" refers to the occurrence of a malfunction on or in front of at least one tool 3, based on the working width of the soil tillage implement 1.

[0057] By means of the rotational speed detected by the at least one rotational speed sensor 12 on a component of the soil tillage implement 1 that rotates upon contact with the ground, for example the roller unit 5, the leveling disc 4, and / or a spur wheel, the occurrence of slippage on the rotating component can be detected by comparing it with the actual speed of the soil tillage implement 1, the vehicle, or the system. The occurrence of slippage can be an indicator of an impending blockage. In particular, this can be an indicator of the location in the soil tillage implement 1 where the blockage is incipient or occurring: either on the leveling discs 4 or on the roller unit 5. In the case of a roller unit 5 with two rollers, the occurrence of slippage can be localized to one of the two rollers, and thus the incipient or occurrence of the blockage in the roller unit 5.

[0058] According to a further development, the system can additionally comprise a force-measuring sensor device for estimating changes in a force transmitted by the tools 3 to the soil 17 and / or from the vehicle to the soil tillage implement 1. This allows the tractive force of the soil tillage implement 1 and / or the tractive force of each individual tool 3 to be determined. For this purpose, force-measuring sensors of a coupling device of the vehicle, for example, on the lower links of a three-point hitch as a coupling device, or strain gauges on a rail shaft of a hitch of the soil tillage implement, can be provided.

[0059] Additionally or alternatively, in order to estimate a change in the force transmitted from the vehicle to the soil tillage implement 1, a change in one or more operating parameters of the vehicle can be recorded and evaluated.

[0060] Fig. 5 shows a schematic and exemplary simplified representation of a data evaluation process for the data provided by the first sensor device 8.

[0061] For this purpose, images of the working area of ​​the soil tillage implement 1 to be monitored are continuously recorded in the visible wavelength range using the first sensor device 8, which is preferably embodied here as a stereo camera 8a, to create a depth estimate. Such an image is shown as an example in Fig. 4. The depth estimate is intended to determine the material volume distribution 18 on the surface of the soil 17 to be tilled in the individual segments 20 between the tools 3 of the soil tillage implement 1.

[0062] The control device 7 evaluates the image data through a 3D transformation between the plane of the support frame 2 and the plane of the stereo camera 8a using a plane fitting algorithm stored in the storage unit 14. This transformation step results in a point cloud 21 that is essentially reduced to the sensor-monitored work area, as shown on the left side of Fig. 5. Visible in the point cloud 21 are the support frame 2 and the tools 3 arranged thereon, as well as the local material volume distribution 18 in the segments 20 and in the edge area outside the work area of ​​the soil tillage implement 1.

[0063] In a further method step, the part of the point cloud 21 which represents the support frame 2 is filtered out, resulting in a representation of a point cloud 22 reduced to the local material volume distribution 18, as shown on the right-hand side in Fig. 5. The point cloud 22 reduced to the local material volume distribution 18 enables the detection of accumulating material, the determination of the working depth and the derivation of the type of accumulating material. Through the continuous detection and evaluation of the image data, conclusions are drawn about the speed of the material volume 16 moved by at least one of the tools 3 in order to use this data in conjunction with the data provided by the at least one second sensor device 9 on the actual speed of the at least one second sensor device 9 to estimate the actual operating state.

[0064] At least one threshold value for a differential speed, which results from the speed of the material volume 16 moved by at least one of the tools 3 and the actual speed, is stored in the control device 7, and when this threshold value is exceeded, the control device 7 detects an impending or existing blockage.

[0065] In particular, when a soil tillage process is initiated by the system, initial reference data for the speed of the material volume 16 moved by the tools 3 and the actual speed of the soil tillage implement 1 occurring under the existing conditions can be determined, which define the target operating state. For this purpose, an initial setting and incorporation process of the system can be carried out in order to determine reference data for the speed of the material volume 16 moved by the tools 3 and the actual speed of the soil tillage implement 1. By appropriately evaluating the data generated by the first sensor device 8 and the at least one second sensor device 9 during the setting and incorporation process, a target operating state can be defined which corresponds to the currently prevailing operating conditions on the agricultural area to be tilled.

[0066] List of reference symbols

[0067] 1 tillage implement

[0068] 2 support frames

[0069] 3 tools

[0070] 4 leveling disc

[0071] 5 roller unit

[0072] 6 harrow tines

[0073] 7 Control device

[0074] 8 First sensor device

[0075] 8a Camera / Stereo Camera

[0076] 8b Sensor

[0077] 9 Second sensor device

[0078] 10 three-point tower

[0079] 11 Actuators

[0080] 12 Speed ​​sensor

[0081] 13 Position tracking sensor

[0082] 14 storage unit

[0083] 15 computing unit

[0084] 16 material volumes

[0085] 17 Floor

[0086] 18 Material volume distribution

[0087] 19 Constipation

[0088] 20 segments

[0089] 21 point cloud

[0090] 22 point cloud

[0091] FR direction of travel

Claims

Patent claims 1. Agricultural system, comprising a soil tillage implement (1), a vehicle for moving and driving the soil tillage implement (1) and a control device (7), wherein the soil tillage implement (1) has tools (3) arranged on a support frame (2) which can be brought into engagement with a soil (17) to be tilled, as well as a first sensor device (8) and at least one second sensor device (9), characterized in that - the first sensor device (8) comprises a sensor system (8a, 8b) arranged on the soil cultivation device (1), in particular an imaging and / or optical sensor system for estimating the speed of a volume of material (16) moved by at least one of the tools (3) in relation to the working width of the soil cultivation device (1), - the at least one second sensor device (9) comprises a sensor system (12, 13) arranged on the soil cultivation device (1) and detecting an actual speed for estimating a differential speed between the soil cultivation device (1) and the moved material volume (16), - the control device (7) is designed to receive and evaluate the data generated by the first sensor device (8) and the second sensor device (9) in order to estimate an actual operating state of the soil tillage device (1), and - the control device (7) generates control commands depending on the evaluation for estimating the actual operating state in order to visualize a change in the operating state that deviates from the target operating state and / or to suggest and / or automatically adapt setting parameters of the soil tillage implement (1) and / or the vehicle that are to be changed.

2. Agricultural system according to claim 1, characterized in that the first sensor device (8) is arranged in a position above the support frame (2) so that its detection area is directed or can be directed towards the ground (17) in order to detect the space between the tools (3) arranged at a distance from one another on the support frame (2).

3. Agricultural system according to claim 1 or 2, characterized in that the first sensor device (8) for detecting a material volume distribution (18) in Working area of the soil tillage implement (1) is set up.

4. Agricultural system according to one of claims 1 to 3, characterized in that the control device (7) is designed to classify the material into different categories by evaluating the data provided by the first sensor device (8).

5. Agricultural system according to one of the preceding claims, characterized in that the control device (7) is designed to determine the volume of material (16) moved by at least one of the tools (3) by determining a differential speed between the material flow speed and the actual speed of the soil tillage device (1), the vehicle or the system.

6. Agricultural system according to one of the preceding claims, characterized in that the at least one second sensor device (9) is designed to determine a rotational speed of at least one component (4, 5) of the soil tillage implement (1) which rotates upon contact with the ground.

7. Agricultural system according to claim 6, characterized in that for determining the actual speed of the soil tillage implement (1) at least one speed sensor (12) is arranged on the at least one component (4, 5) of the soil tillage implement (1) which rotates upon contact with the ground and / or a position locating sensor (13) is arranged on the soil tillage implement (1).

8. Agricultural system according to claim 6 or 7, characterized in that the control device (7) for determining the actual speed of the soil tillage implement (1) is arranged to receive the driving speed of the vehicle.

9. Agricultural system according to one of the preceding claims, characterized in that the system additionally comprises a force-measuring sensor device for estimating changes in a force transmitted by the tools (3) to the soil (17) and / or from the vehicle to the soil cultivation device (1).

10. Agricultural system according to one of the preceding claims, characterized in that at least one threshold value for a differential speed is stored in the control device (7), upon exceeding which the control device (7) detects an impending or existing blockage.

11. Agricultural system according to one of the preceding claims, characterized in that a change in a tensile force transmitted from the soil tillage implement (1) to the soil (17) can be detected by monitoring a hydraulic pressure in a cylinder of a hydraulic overload protection device of the soil tillage implement (1).

12. Agricultural system according to one of the preceding claims, characterized in that a change in a tensile force transmitted from the soil tillage implement (1) to the soil (17) can be detected by force-measuring sensors arranged on the tools (3) which can be brought into engagement in the soil (17).

13. Agricultural system according to one of the preceding claims, characterized in that the vehicle can be operated autonomously.

14. A method for operating an agricultural system, in particular according to one of claims 1 to 13, comprising a soil tillage implement (1), a vehicle for moving and driving the soil tillage implement (1) and a control device (7) with which the soil tillage implement (1) is controlled, wherein the soil tillage implement (1) has tools (3) arranged on a support frame (2) which are brought into engagement with a soil (17) to be tilled, characterized in that - that an estimate of a volume of material (16) moved by at least one of the tools (3) is determined in relation to the working width of the soil tillage implement (1) by a first, in particular imaging and / or optical, sensor device (8) arranged on the soil tillage implement (1), - that an estimate of a difference in speed between the soil tillage implement (1) and the moved volume of material (16) is determined by at least one second sensor device (9) arranged on the soil tillage implement (1) and detecting an actual speed, - that in order to estimate the actual operating condition of the soil tillage implement (1) data generated by the first and second sensor devices (8, 9) are received and evaluated by the control device (7), and - that control commands are generated by the control device (7) depending on the evaluation in order to visualize a change in the operating state that deviates from the target operating state and / or to specify and / or automatically carry out changes to the setting parameters of the soil tillage implement (1) and / or the vehicle.

15. The method according to claim 14, characterized in that, when a soil cultivation process is initiated by the system, initial reference data for the speed of the volume of material (16) moved by the tools (3) and the actual speed of the soil cultivation device (1) are determined, which define a target operating state.

16. The method according to claim 14 or 15, characterized in that, by means of an additional force-measuring sensor device, changes in a force transmitted by the tools (3) to the soil and / or from the vehicle to the soil cultivation device (1) are estimated.

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