Soil-cultivating device

Abstract

The invention relates to a soil-cultivating device for cultivating an agricultural area (N), which device can be moved with respect to the agricultural area (N), having a plurality of working tools (3) which are arranged on a tool frame (2), can engage in the agricultural area (N) and are movable with respect to the latter, and having at least one clogging sensor (4) for detecting material accumulations (M) which are carried along by the working tools (3) and hinder soil-cultivation, wherein the clogging sensor (4) is coupled to a sensing element (4.1), arranged in a movable manner with respect to the tool frame (2), for the tactile detection of the material accumulations (M).

Description

[0001] Soil cultivation equipment

[0002] The present invention relates to a soil tillage implement for cultivating agricultural land, which implement is movable relative to the land, comprising a plurality of working tools arranged on a tool frame and engaging the land, and at least one blockage sensor for detecting accumulations of material dragged along by the working tools and impairing soil tillage. The invention further relates to a method for cultivating agricultural land with a soil tillage implement.

[0003] Agricultural land, such as fields, meadows, or even meadows, is often cultivated with various tillage implements during a cultivation cycle. Such tillage implements can be used to loosen, refine, aerate, or otherwise prepare the soil for subsequent agricultural processing steps, such as the sowing of crops. Soil tillage implements designed as direct seeders are also known, which cultivate the soil and sow seeds in a single step. Such tillage implements are also used to incorporate organic materials, such as crop residues, weeds, or even fertilizers, into the cultivated area.

[0004] Such tillage implements typically comprise several working tools arranged on a common tool frame, for example, offset next to and / or behind one another. The working tools generally penetrate the cultivated area to a certain working depth for soil cultivation. To cultivate the respective agricultural land, such tillage implements are often moved across the area by a tractor along essentially parallel paths. In doing so, the working tools engaging the cultivated area typically generate a certain amount of soil movement. For movement relative to the cultivated area, the tillage implements can be attached to or mounted on an agricultural tractor, or alternatively, they can be self-propelled.

[0005] In agricultural practice, depending on the nature of the land and the settings of the respective tillage implement, it can happen that material present on the land, for example organic matter such as plant residues or mounds of earth, is dragged along, collected, and accumulated by the implements during tillage. Such unwanted accumulations of material, which are often difficult for operators to see due to the size of the implement and possible obstructions to visibility caused by dust, etc., can, under unfavorable conditions, clog the implements and impair soil cultivation. In this case, the accumulation of material can, in particular, lead to undesirable unevenness and / or incomplete tillage of the tilled area.

[0006] Furthermore, such tillage equipment increasingly features a high degree of automation or is pulled across the field by autonomous tractors, for example. In this case, there is usually no operator on-site to detect material accumulations or blockages in the working tools, so operator-independent detection of material accumulations is required.

[0007] In order to be able to detect material accumulations in a timely manner before a critical blockage occurs, it is known in the prior art to equip such soil tillage implements with non-contact blockage sensors for detecting material accumulations. For example, DE 10 2004 031 819 A1 describes a soil tillage implement that has several ultrasonic sensors for detecting material accumulations in the area of ​​the working tools. DE 10 2017 112 224 A1 describes a soil tillage implement that uses radar sensors as blockage sensors. In such known soil tillage implements with non-contact blockage sensors, malfunctions and / or failures of the blockage sensors can occur under unfavorable working conditions.Since such sensors generally require an unobstructed line of sight to the working area, obstructions such as dust and / or deposits of dirt and contaminants on the blockage sensors can lead to detection errors. Furthermore, the often adverse environmental conditions of agricultural soil cultivation can lead to failures of such sensitive, non-contact sensors. As a result, blockages may not be detected at all or only by neighboring sensors when they have reached a certain extent.

[0008] Against this background, the invention sets itself the task of specifying a soil cultivation device which enables reliable and at the same time timely detection of accumulations of material which interfere with soil cultivation, even under unfavourable environmental conditions.

[0009] This object is achieved in a soil tillage device of the type mentioned above by the features of patent claim 1. Advantageous further developments are specified in the dependent subclaims.

[0010] The blockage sensor is coupled to a probe element that can be moved relative to the tool frame for tactile detection of material buildup. This design allows for reliable and rapid detection of material buildup through contact with the probe element, even under adverse environmental conditions.

[0011] In a further development of the invention, it is proposed that the sensing element be arranged such that it can move between a normal position and a detection position indicating a material accumulation. Such a configuration allows reliable detection of material accumulations. Furthermore, such a configuration enables a simple design and configuration of the blockage sensor in terms of measurement and control technology. It has proven particularly advantageous if the sensing element is arranged so that it can rotate or pivot between the normal position and the detection position. The sensing element can be rotated or pivoted between the normal position and the detection position, preferably by an angle of approximately 5 to 40 degrees, preferably 10 to 25 degrees, and particularly preferably 10 to 20 degrees, in particular 15 degrees.Such values ​​are advantageous because they mechanically filter out small deflections, for example, those caused by earth movement during soil cultivation. This improves signal and detection quality.

[0012] In this context, it has proven advantageous from a design perspective if the sensing element can be moved into the detection position upon contact with a material accumulation. Such a design enables simple and error-free detection of material accumulations. For example, the sensing element can be arranged and designed such that it is carried or dragged along by the material accumulation. A direct coupling of the material accumulation to be detected with the sensing element allows for its immediate, time-saving detection. Furthermore, such a design can prove particularly easy to warn and repair.

[0013] In this context, it has proven advantageous if the blockage sensor is designed to detect the detection position and / or the normal position of the sensing element. Such a design enables reliable and, at the same time, time-saving detection of material accumulations. With a view to increased reliability of blockage detection, the blockage sensor can be designed, in particular, to detect the normal position of the sensing element. With such a design, any deviation from the normal position can lead to a triggering or a signal from the blockage sensor. In this way, deviations of the sensing element from the normal position that were not triggered by a material accumulation can also be detected. Furthermore, with such a design, defects or errors in the blockage sensor and / or the cabling, such as cable breaks, can also be reliably detected.

[0014] It is further proposed that the sensing element be movable between the normal position and the detection position against the force of a tensioning spring. Such a design allows the compensation of shocks or vibrations occurring during soil cultivation via the spring. This results in robust detection of material accumulations regardless of any shocks or vibrations of the soil cultivation device, for example, due to uneven ground. Furthermore, the sensitivity of the sensing element can be adjusted by changing the spring preload. This allows the sensitivity of the blockage detection to be adjusted, with a lower spring force tending to higher sensitivity and vice versa. The triggering force of the sensing element can be adjusted via the spring preload.In addition, a suitably selected spring preload can reduce or even eliminate any material buildup on the probe element. Furthermore, the probe element can also be movable against the force of another return element, such as a hydraulic return element.

[0015] In an advantageous development of the invention, it is proposed that the sensing element be arranged at a distance from the working surface. Such an arrangement allows unhindered soil cultivation while simultaneously detecting excessive accumulations of material and blockages that disrupt soil cultivation. Preferably, the distance between the sensing element and the working surface is adjustable. This makes it possible to adapt the blockage detection to the properties of the working surface or soil cultivation requirements, such as its uniformity and the evenness of the working surface. In particular, by adjusting the distance between the sensing element and the working surface, a balance can be achieved between the requirements for the fastest and most trouble-free soil cultivation possible and the early, reliable detection of critical accumulations of material.

[0016] In this context, it is preferable from a design perspective if the probe element, in the normal position, is arranged at a distance from the tool frame that is at least one-third, preferably approximately half, of the clearance between the tool frame and the working tool. Alternatively, however, the probe element can also be arranged at a distance from the tool frame that is one-third, one-quarter, one-fifth, or another proportion of the clearance between the tool frame and the working tool, if this should prove advantageous in the particular soil cultivation application.

[0017] From a design perspective, it has proven advantageous for the probe element to interact with a stop in the normal position. This results in a defined normal position of the probe element. This allows the normal position to be clearly defined even under shocks or vibrations. In particular, the stop can be designed to be adjustable.

[0018] It is further proposed that the sensing element be operatively connected to an actuator for reducing a detected material accumulation. With such a configuration, a material accumulation can be actively reduced or removed via the sensing element operatively connected to an actuator. In particular, a hydraulic actuating element can be provided as the actuator, via which the sensing element can be moved, in particular pivoted, to reduce a material accumulation. In this case, the sensing element can be moved via the actuator, for example, in a shaking or oscillating manner, so that material accumulations in contact with the sensing element can be reduced or removed.

[0019] From a sensor technology perspective, it is preferred if the blockage sensor is designed as a proximity or tactile sensor. Such a design enables both reliable and maintenance-friendly detection of material accumulations. In particular, the blockage sensor can be adapted to the specific characteristics of the soil tillage implement or the ambient conditions and can be designed, for example, as an inductive or capacitive sensor. Depending on the design and arrangement of the blockage sensor, distance sensors, angle of rotation sensors, inclination sensors, reed switches, or other measuring sensors may prove advantageous. Furthermore, depending on the application, simple switches can also be used as suitable sensor elements for the blockage sensor.

[0020] A further structurally advantageous embodiment provides that the sensing element is designed as a sensing lever pivoted about a rotational axis. A sensing lever arranged in this way can be moved in a kinematically simple manner via a pivoting movement between the normal position and the detection position. In this context, it is preferred if the rotational axis extends transversely to the processing direction. This makes it particularly easy to carry the sensing lever along with a buildup of material. The sensing lever can be designed in particular in the shape of a rod, for example in the form of tines in the manner of a harrow, and can be straight or curved. Round tines in particular have proven advantageous with regard to reducing material adhesion. In order to increase the potential contact area of ​​the sensing lever with a buildup of material, a sensing lever can have two or more tines, in particular arranged parallel to one another.The contact area can be further increased by means of angled tines. As an alternative to a design with rod-shaped tines, feeler levers that are at least partially plate- or paddle-shaped can also be used. With regard to the arrangement of the feeler lever, it is proposed that it be angled relative to the usable area at an angle of attack. The feeler lever preferably extends in the direction of the agricultural area. With such a design, the feeler lever is advantageously arranged on a drag chain in a low-wear manner, which makes it easier to drag or carry the feeler lever along when there is an accumulation of material. It has proven advantageous if an acute angle of attack is formed between the vertical and the feeler lever in its normal position.It is particularly advantageous with regard to adapting the blockage sensor to different environmental and operating conditions if the angle of attack is adjustable.

[0021] A design in which the trigger lever is detachably attached to a pivoting element that can pivot about the rotation axis has proven advantageous in terms of maintenance. Alternatively, the trigger lever and the pivoting element can also be formed as a single piece.

[0022] In a further development of the invention, it is proposed that the blockage sensor and the pivoting element be jointly attached to the tool frame via a frame connection. This results in a design that is easy to assemble and maintain. In particular, with regard to time-saving assembly and / or maintenance, it can be advantageous if the frame connection is designed as a detachable clamping device. In particular, retrofitting machines can also be possible using a detachable frame connection. Alternatively, with regard to a reliable connection, it can be advantageous if the frame connection is designed as a bolted or welded connection.

[0023] It is further proposed that the frame connection be adjustably attached to the tool frame for adjusting the angle of attack of the probe lever, which determines the normal position. Such a design allows for quick and user-friendly adjustment of the angle of attack. For example, the probe lever can be arranged so that it can rotate around a support of the tool frame to adjust the angle of attack.

[0024] It can also be advantageous if the sensing lever can be moved between the normal position and the detection position against the force of a spring extending between the pivoting element and the frame connection. A return element designed as a spring can advantageously apply preload to the sensing lever, thereby preventing unwanted pivoting of the sensing lever, for example, due to shocks or vibrations of the soil tillage implement. Other return elements can also be used as an alternative to a spring.

[0025] Another preferred embodiment provides that the spring is connected to the frame connection via an adjusting element for adjusting the preload acting on the probe lever. Such a design enables simple and user-friendly adjustment of the preload acting on the probe lever. The adjusting element can enable continuous adjustment of the preload, for example, in the form of an adjusting screw, or stepwise adjustment of the preload, for example, in the form of a link with multiple locking positions.

[0026] It is further proposed that the probe lever be connected to a probe element extension to enlarge the probe surface that comes into contact with material accumulations. Such a probe element extension allows more reliable detection of material accumulations and enables an improvement in the response behavior of the probe lever. The probe element extension can, for example, be designed in the manner of a paddle or a plate. Preferably, the probe element extension can be designed to be replaceable. In an advantageous development of the invention, it is proposed that the actuator be designed to actively pivot the probe lever about the rotation axis. Such a design enables the probe lever to be actively pivoted to reduce or eliminate a material accumulation.The actuator can be designed in particular as a hydraulic or electrical actuator, via which the sensing lever can be designed to be movable in a pivoting or shaking manner, for example.

[0027] With such a configuration, a material accumulation can be actively reduced or removed via the sensing element operatively connected to an actuator. In particular, a hydraulic actuating element can be provided as the actuator, via which the sensing element can be moved to reduce a material accumulation. In this case, the sensing element can be moved, in particular pivoted, via the actuator, for example, by shaking or oscillating, so that material accumulations in contact with the sensing element can be reduced or removed.

[0028] An advantageous development of the invention provides that the blockage sensor is connected to an evaluation unit for evaluating the detection position and / or for monitoring a scanning duration during which the sensing element is in the detection position. This enables a reliable and rapid evaluation of the detection position and / or the scanning duration. The scanning duration can correlate, in particular, with the intensity or extent of a blockage.

[0029] In this context, it is further proposed that the evaluation unit be designed to generate a control signal that can be transmitted to a control unit of the soil tillage implement and / or a tractor connected to the soil tillage implement. Such a design has proven advantageous in terms of control technology and allows adaptation of soil tillage depending on the signals from the blockage sensor. In particular, the evaluation and control units can be designed as a structural unit, which facilitates retrofitting to existing soil tillage implements. Alternatively, the evaluation and control units can also be designed separately. Furthermore, it has proven advantageous if the evaluation unit has a filter for filtering out interference signals that may result, for example, from shocks or vibrations.The evaluation and / or control unit can be part of an autonomous or automatic control system of the soil tillage implement and / or the tractor.

[0030] Advantageously, the mounting position of each sensing element and / or each working tool on the tool frame is stored in the evaluation and / or control unit. This makes it possible to detect the location of a material accumulation and / or blockage. Neighboring working tools can be assigned to each sensing element. The number of sensing elements, in particular neighboring or spatially nearby ones, in the detection position can correlate with the intensity and / or extent of a material accumulation and / or blockage. By detecting an increase in the number of sensing elements, in particular neighboring or spatially nearby ones, in the detection position, an increase in the intensity and / or extent of the material accumulation and / or blockage can be determined.By detecting a decrease in the number of scanning elements, particularly neighboring or spatially close ones, in the detection position, a reduction in the intensity and / or extent of the material accumulation and / or blockage can be determined.

[0031] In this context, it has proven advantageous if the control signal is designed as a warning signal and / or braking signal and / or stop signal and / or lifting signal and / or travel signal, depending on the duty cycle and / or the intensity and / or extent of a material accumulation and / or blockage. The travel signal can comprise a reversing signal, a forward travel signal and / or a steering signal. Suitable measures adapted to the intensity and / or extent of the blockage can be initiated via the various control signals, with which blockages can be avoided, reduced or removed. The control signals can relate to the entire soil tillage implement or to individual or multiple working tools.By controlling individual working tools, particularly taking into account the assignment between the mounting positions of the sensing elements and the working tools, a detected blockage can be treated or reduced in a targeted manner and locally at the point of its origin.

[0032] With a view to particularly accurate control of the soil tillage implement, it has proven advantageous if the blockage sensor is designed to detect one or more intermediate positions of the sensing element between the normal position and the detection position. Such a design allows different degrees of material accumulation to be detected. The detection of intermediate positions of the sensing element can be discrete or continuous. For this purpose, the blockage sensor can be designed, for example, as an inclination sensor, an angle gauge, or, in particular, as a rotary potentiometer.

[0033] By detecting intermediate positions of one or more, particularly adjacent or spatially close, scanning elements in detection position, an increase or reduction in the intensity and / or extent of the material accumulation and / or blockage can be determined.

[0034] In this context, it is advantageous from a control technology perspective if the evaluation unit is designed to generate the control signal depending on the detected intermediate positions of the sensing element. This allows the control signals to be precisely adapted to the respective detected intermediate positions. In a structurally advantageous embodiment of the soil tillage implement, the working tools are pivotably mounted on the tool frame against the working direction to provide overload protection. The overload protection can also be advantageously integrated into the system for processing material accumulations. For example, by means of a hydraulic overload protection device, individual or multiple working tools can be moved depending on the detected material accumulation in order to remove the material accumulation. The movement of the working tools can occur simultaneously or at coordinated times.

[0035] It is also advantageous if the working tools are distributed across the working width of the soil tillage implement. This enables uniform soil tillage across the working width. In particular, the working tools can be arranged at equal intervals across the working width of the soil tillage implement.

[0036] It is further proposed that the working tools be arranged on several frame elements of the tool frame, preferably extending parallel to one another, to form several working rows. This results in an advantageously compact design of the soil tillage implement. Furthermore, applications are conceivable in which the frame elements can extend at an angle to one another.

[0037] In this context, it has proven advantageous if the working tools of adjacent tillage rows are staggered across the working width to engage the uncultivated area. This avoids double tillage of the area. Furthermore, such a design can reduce the risk of blockages due to material accumulation between the working tools. For effective, non-inversion soil cultivation, it has proven advantageous if the working tools are designed as cultivator tines.

[0038] A further advantageous embodiment provides for several blockage sensors to detect material accumulations distributed across the working width of the soil tillage implement. This allows material accumulations to be reliably detected regardless of their location. Alternatively, the blockage sensors can be arranged at selected locations on the soil tillage implement, preferably at locations that have proven to be prone to the occurrence of material accumulations.

[0039] In this context, it is preferred if the blockage sensors are arranged on the frame elements next to a working tool, preferably between two working tools. This results in a design in which material accumulations can be reliably and quickly detected across the entire working width of the soil tillage device.

[0040] In this context, a design in which the blockage sensors are each connected to the evaluation unit for generating a control signal is advantageous from a control technology perspective. With regard to the precise localization of a material accumulation, it can be advantageous if each blockage sensor is connected separately to the evaluation unit. Alternatively, several blockage sensors can be connected to the evaluation unit in groups. Although this makes the localization of a material accumulation more difficult, it can simplify the evaluation and control. Further simplification of the evaluation and control can be achieved if all blockage sensors are combined for evaluation and / or control purposes.In a further development of the invention, it is proposed that the evaluation unit generates a control signal when one or more blockage sensors detect a detection position of the respective sensing element. Depending on the arrangement and wiring of the blockage sensors, the sensitivity of the blockage detection can be adjusted using such a configuration. In soil cultivation situations in which any blockage should be detected as quickly as possible, the control signal can be generated as soon as the detection position is detected by a sensing element. In soil cultivation cases in which blockages are less critical, it may be sufficient for the evaluation unit to only generate a control signal when several blockage sensors indicate the detection position of the respective sensing element. This also makes it possible to set the extent of material accumulation at which a control signal should be generated.

[0041] To achieve the above-mentioned object, a method for cultivating an agricultural area is further provided, using a soil tillage implement with a plurality of working tools arranged on a tool frame, engaging in the working area and movable relative to it, and at least one blockage sensor for detecting accumulations of material dragged along by the working tools and impairing soil cultivation. The accumulations of material are detected tactilely via a sensing element arranged movable relative to the tool frame and coupled to the blockage sensor. This results in the advantages explained in connection with the soil tillage implement.

[0042] In such a method, it has proven advantageous if the soil tillage device is designed according to one or more of the features explained above.

[0043] It is further proposed that the blockage sensor be connected to an evaluation unit that generates a control signal when the sensing element detects a material accumulation. Such a configuration enables effective and efficient control intervention when the sensing element detects a material accumulation.

[0044] In an advantageous development of the invention, it is proposed that, in order to clear a blockage caused by the accumulation of material, the soil tillage implement and / or the tractor are braked or stopped depending on the control signal and / or that the soil tillage implement and / or the working tools are fully or partially lifted from the usable area and / or that the working tools and / or the sensing elements are actively moved. The measures for clearing a blockage can be adapted in particular to the intensity and / or extent of the blockage. For example, one or more working tools can be moved. The number of working tools moved can depend on the intensity and / or extent of the blockage. The mounting position of the moved working tool(s) can depend on the location of the detected accumulation of material.The intensity and / or deflection of the movement of the moving implement(s) can depend on the intensity and / or extent of the detected material buildup. The movement of the implements can be simultaneous or synchronized, depending on the degree and / or location of the detected material buildup. In the case of a particularly severe, stubborn blockage, it may be advantageous to move the tractor, with the soil tillage implement raised, in the opposite direction of the working direction to the point where the blockage sensor has triggered. This can ensure effective and reliable removal of stubborn blockages.

[0045] Furthermore, it has proven advantageous from a control point of view if the measures for clearing a blockage caused by the accumulation of material are carried out automatically. Such a design has proven particularly advantageous for use with autonomously operating soil cultivation equipment and / or autonomously operating tractors. Further details and advantages of the invention are explained below with the aid of the accompanying drawings of exemplary embodiments. In these drawings:

[0046] Fig. 1 is a side view of a soil tillage implement connected to a tractor;

[0047] Fig. 2a and 2b two side views of the soil tillage device as shown in Fig. 1;

[0048] Fig. 3 and 4 two perspective top views of the soil tillage device according to Fig. 1;

[0049] Fig. 5 a plan view of the soil tillage device according to

[0050] Fig. 1 ;

[0051] Fig. 6 to 7 perspective views of two blockage sensors with different sensing elements;

[0052] Fig. 8a and 8b two perspective views of a blockage sensor with a further sensing element;

[0053] Fig. 9a and 9b two further partial perspective views of two clogging sensors, and

[0054] Fig. 10a to 11b are schematic representations of an exemplary signal from a blockage sensor (Fig. 10a and 11a) over time, as well as the course of the tractive power of the tractor (Fig. 10b and 11b). The illustration in Fig. 1 shows a side view of a soil tillage implement 1 which is connected to a tractor 8 via a working hydraulic system. The tractor 8 is designed to move the soil tillage implement 1 in the working direction R over an agricultural area N. This allows the area N to be worked. The term agricultural area N refers to fields, meadows or pastures for the cultivation of agricultural crops.

[0055] The tractor 8 schematically illustrated in Fig. 1 is a driverless, autonomous tractor 8; however, it may also be a tractor, tractor-trailer, or other tractor 8 operated by a driver. Alternatively, the soil tillage implement 1 may also be self-propelled, for example, autonomously self-propelled.

[0056] The soil tillage implement 1 shown in Fig. 1 is a cultivator for non-inversion cultivation of the soil of a cultivated area N. Alternatively, the soil tillage implement 1 can also be another, in particular agricultural, implement for inversion or non-inversion soil tillage and / or a seed drill.

[0057] The soil tillage device 1 has a tool frame 2 on which several working tools 3 are arranged. In the present embodiment, the working tools 3 are designed as cultivator tines or cultivator shares, but depending on the design of the soil tillage device 1, they can also be designed as other soil tillage tools. Alternatively, the working tools 3 can be designed as tine coulters and / or as disc-like tools, such as disc coulters, in particular of a disc harrow, or double disc coulters of a seed drill. The working tools 3 designed as cultivator tines engage the working area N at a certain depth for soil tillage, thereby creating soil movement and allowing the corresponding part of the working area N to be broken up, turned, or loosened.

[0058] In addition to the working tools 3, other devices, tools, or units for soil cultivation can optionally be provided, such as shares, harrows, discs, rollers, or levelers. As shown in Fig. 1, several leveling discs and a roller for reconsolidating the usable area N are arranged behind the share-like working tools 3 in the working direction R.

[0059] When the soil tillage implement 1 is moved along the tillage direction R over the cultivated area N, under unfavorable conditions it can happen that material located on the cultivated area N, such as plant residues or accumulations of earth, is dragged along by the working tools 3. The dragged material can accumulate in front of and / or next to the working tools 3 as an accumulation of material M, see for example Fig. 2a and b. The accumulation of material M can lead to a blockage of the working tools 3, which can impair the overall quality of the soil tillage. In particular, as a result of a blockage of the working tools 3 by an accumulation of material M, the soil tillage result can be uneven, which can also result in undesirable unevenness and / or incomplete tillage of the tilled area N.

[0060] For the timely detection of a material accumulation M carried by the working tools 3, the soil tillage implement 1 has several blockage sensors 4. As shown in Fig. 1, the blockage sensors 4 are arranged vertically above the working tools 3 on the machine frame 2. The blockage sensors 4 are coupled to a sensing element 4.1 for reliable and rapid tactile detection of material accumulations M. The sensing element 4.1 is designed and arranged such that it can be carried along by a material accumulation M.

[0061] The basic structure of the blockage sensors 4 and their arrangement on the soil tillage implement ! are explained below with reference to the illustrations in Figs. 2a and 2b. The sensing elements 4.1 of the blockage sensors 4 are lever-like and arranged to be movable between a normal position PN and a detection position PD. The illustration in Fig. 2a shows the sensing elements 4.1 each in a normal position PN. As long as a sensing element 4.1 is not in contact with an accumulation of material M, it is generally in the normal position PN. In the embodiment according to Fig. 2a, the sensing elements 4.1 are arranged in the normal position PN at an acute angle of attack W to the vertical.

[0062] By contact with an accumulation of material M, the sensing element 4.1 is moved into the detection position PD. The illustration in Fig. 2b shows the corresponding sensing elements 4.1 in a detection position PD. In the present case, the detection position PD differs from the normal position PN by the angle of attack W. The angle of attack W is formed between the sensing element 4.1 and the vertical, see Fig. 2a and b. The above-explained arrangement of the sensing elements 4.1 at an acute angle of attack W to the vertical corresponds to a “towed” arrangement with respect to the machining direction R, i.e. the sensing elements 4.1 are towed in the machining direction R. By contact with an accumulation of material M, the sensing elements 4.1 fold against the machining direction R by a certain angle, so that in the detection position PD they extend approximately perpendicular to the vertical or even beyond, see Fig. 2b.To reach the detection position PD from the normal position PN, the sensing elements 4.1 must be pivoted through an angle of approximately 15°. However, larger or smaller angles can also be provided for reaching the detection position. As can also be seen from the illustration in Fig. 2a and Fig. 2b, the sensing elements 4.1 are arranged at a distance from the usable area N both in the normal position PN and in the detection position PD. This achieves a clear passage height and ensures that the soil cultivation process of the working tools 3 is not influenced by the sensing elements 4.1. A passage height H exists between the working tools 3 and the tool frame 2, see Fig. 2a.

[0063] The vertical distance U between the sensing element 4.1 in its normal position and the tool frame 2 is at least one third of the clearance height H in the exemplary embodiment according to Fig. 2a. The clear clearance height of the soil tillage implement 1 can be set by selecting the distance U, with smaller values ​​of the distance U leading to larger clear clearance heights. At smaller distances U, accumulations of material M can only be detected when they have reached a corresponding extent, in particular a certain height above the usable area N. At larger distances U, even smaller accumulations of material can be detected; however, if the distances U are too large, there is a risk of detection errors due to the detection of regular soil movement or the like. The various sensing elements 4.1 of a soil tillage implement 1 can all be set to the same distance U or to different distances U.

[0064] The structure of a feeler element 4.1 is explained below with reference to the illustration in Fig. 6, as it is mounted on the soil tillage device 1 according to Fig. 2a and b. The feeler element 4.1, which according to the illustration in Fig. 6 is in the normal position PN, is designed as a feeler lever pivoted about a rotation axis A. According to Fig. 6, the feeler lever 4.1 is detachably fastened to a pivot element 4.5 via a screw connection in a manner that is easy to assemble and maintain. The pivot element 4.5 is pivoted about the rotation axis A on a frame connection 5. The rotation axis A extends essentially transversely to the working direction R. In the exemplary embodiment according to the illustration in Fig. 6, the feeler lever 4.1 is designed like an arm in the manner of a double round tine. Such a design, particularly made of smooth round bars, has proven to be advantageous, as it can reduce or completely avoid material adhesion.Alternatively, probe levers 4.1 with a different cross-section, such as a square or rectangular one, can also be used.

[0065] As can also be seen in Fig. 6, the blockage sensor 4 is arranged such that it can detect the normal position PN of the trigger lever 4.1. For this purpose, a sensor surface of the blockage sensor 4 is aligned with a projection of the pivoting element 4.5 in the normal position PN. A stop 9 is provided, against which the pivoting element 4.5 strikes in the normal position PN. This stop 9 ensures a defined position of the pivoting element 4.5 and thus of the trigger lever 4.1 in the normal position PN. In the opposite direction, the pivoting element 4.5 can move freely without a stop, thus implementing a type of overload protection in the event of excessive deflection.

[0066] The blockage sensor 4 is designed in particular as a proximity sensor, for example, as an inductive or capacitive proximity sensor. Furthermore, distance sensors or push-button switches can also be used as blockage sensors 4 if this should prove advantageous for the respective soil tillage device 1.

[0067] In a further embodiment, the blockage sensor 4 can be designed as a rotation angle sensor, in particular as a rotary potentiometer. In such a configuration, the blockage sensor 4 can detect not only the normal position PN and / or the detection position PD, but also intermediate positions Pz between these two positions. The corresponding intermediate positions can represent different degrees or extents of material accumulation. As soon as the sensing lever 4.1 moves from the normal position PN as a result of contact with a material accumulation M, the shoulder of the pivoting element 4.5 opposite the blockage sensor 4 also moves. The shoulder moves out of the sensor range of the blockage sensor 4, whereupon a signal is generated which indicates a blockage. Alternatively, a somewhat inverse arrangement is also conceivable, in which the shoulder of the pivoting element 4.5 is arranged in the normal position PN outside the sensor range of the blockage sensor 5 and when pivoted into the detection position PD enters the sensor range of the blockage sensor 4.

[0068] The sensing element 4.1, designed as a trigger lever, can be moved between the normal position PN and the detection position PD against the force of a tensioning spring 4.2, see Fig. 6. The trigger lever 4.1 can be pretensioned via the spring 4.2 so that minor shocks or vibrations do not cause the trigger lever 4.1 to pivot into the detection position PD. The spring 4.2 thus serves as a mechanical filter for vibrations and shocks.

[0069] The spring 4.2 is designed as a helical spring and extends between an end of the pivoting element 4.5 opposite the sensor lever 4.1 and one end of the frame connection 5. At the end of the spring 4.2 on the frame connection side, an adjusting element 4.4 is provided, via which the preload force of the spring 4.2 can be adjusted. The adjusting element 4.4 is designed as an adjusting screw. With a low preload, the sensor lever 4.1 can be pivoted from the normal position PN to the detection position PD CLOSED with comparatively little effort. With a high preload, the force required to pivot the sensor lever 4.1 from the normal position PN to the detection position PD increases. Thus, the sensitivity of the sensor lever 4.1 and thus of the blockage sensor 4 can be adjusted via the preload of the spring 4.2. The preload also allows active movement of the push button lever 4.1, which can be used, for example, to reduce or eliminate material accumulations M or blockages.

[0070] Instead of a spring 4.2, in particular a mechanical one, another return element for applying a preload to the feeler lever 4.1 can also be provided, for example a hydraulic actuating element 4.6, see also Fig. 9b. The hydraulic actuating element 4.6 can fulfill the functions of a spring and / or an actuator, so that the feeler lever 4.1 can be actively moved via the actuator 4.6. In the event of a blockage, this allows material accumulations M to be reduced or removed. In this context, it is particularly preferred if the actuator 4.6 is designed to shake or oscillate the feeler lever 4.1 in both directions of rotation about the axis of rotation A. For actuation, the actuator 4.6 can be operatively connected to the hydraulic system of the soil tillage device 1 or the tractor 8.

[0071] The illustration in Fig. 6 also shows that the frame connection 5 is designed in the manner of a clamping device. The blockage sensor 4 and the pivoting element 4.5, including the sensing element 4.1 attached thereto, can be attached to the tool frame 2, in particular to the frame elements 2.1, via the frame connection 5. The frame connection 5 is designed with a clamping element enclosing the frame connection, corresponding to the respective attachment area of ​​the respective frame element 2.1 (see Fig. 3).

[0072] The frame connection 5 can be attached to the tool frame 2 in different rotational positions. This allows the angle of attack W of the probe element 4.1 to be changed and / or preset. Furthermore, the distance U between the tool frame 2 and the probe element 4.1 can be adjusted by different rotational positions of the frame connection 5. Alternatively or additionally, the distance U can also be adjusted via the length of the probe element 4.1 and / or via the stop 9. Furthermore, the frame connection 5 can be moved along the frame elements 2.1 and attached in different positions.

[0073] In the following, two further embodiments of probe elements 4.1 are explained with reference to the illustrations in Fig. 7, 8a and 8b. The illustration in Fig. 7 essentially shows the double-prong-like probe element 4.1 already known from Fig. 6. However, the two prongs each have a developed section at their end facing away from the pivoting element 4.5, which leads to a widening of the probe element 4.1 in this area. By means of such a probe element widening, the contact surface of the probe lever 4.1, with which it can come into contact with accumulations of material M, can be enlarged. This results in an improved response behavior of the blockage sensor 4. The probe element widening 4.3 is designed as a bent part in this embodiment.

[0074] An alternative probe element extension 4.3 is shown in Fig. 8a and 8b. Starting with the probe element 4.1 as shown in Fig. 6, a paddle-shaped element is provided here as the probe element extension 4.3. The paddle-shaped probe element extension 4.3 has a substantially triangular basic shape. The probe element extension 4.3 is attached to the probe element 4.1 such that its wider side is oriented in the direction of the usable area N. The probe element extension 4.3 is removably attached to the end of the double-prong probe element 4.1 opposite the pivoting element 4.5 via a screw connection, see in particular Fig. 8b. In this way, the paddle-like probe element extension 4.3 can be disassembled in a simple and user-friendly manner, for example in the event of wear or damage. The response behavior of the blockage sensor 4 can be improved using the probe element extension 4.3.

[0075] As an alternative to triangular, paddle-shaped probe element extensions 4.3, other plate- or shield-like elements, such as rectangular, round or trapezoidal sheet metal elements, can also be used for this purpose.

[0076] The following explains, using the example of Fig. 10a and 10b, how the signals from the blockage sensor 4 can be evaluated and used to control the soil tillage implement 1. The blockage sensor 4 is connected to an evaluation unit 7 by cable or wirelessly, see also Fig. 3. The evaluation unit 7 is used to evaluate the blockage sensor 4. In particular, the evaluation unit 7 can evaluate whether the sensing element 4.1 is in the normal position PN or in the detection position PD. If the blockage sensor 4 is designed as a rotation angle sensor, intermediate positions of the sensing element 4.1 can also be evaluated via the evaluation unit 7. Furthermore, a scanning duration D can be evaluated for which the sensing element 4.1 is in the detection position PD, the normal position PN or an intermediate position Pz.

[0077] The evaluation unit 7 is designed to generate control signals S, which can be transmitted to a control unit 6 of the soil tillage implement 1 and / or to a control system of the tractor 8. Preferably, the evaluation unit 7 and the control unit 6 are designed as a single structural unit and / or arranged, for example, in a common housing, see Fig. 3.

[0078] Depending on the position of the probe element 4.1 and in particular depending on the scanning duration D, different control signals S can be generated by the evaluation unit 7. The different control signals S are adapted to different degrees or extents of material accumulation M or blockages.

[0079] The control signals S that can be generated can be, in particular, warning signals, braking signals, stop signals, lifting signals, or lifting signals, but other control signals S are also conceivable. The corresponding control signals S can be autonomously converted by the control unit 6 of the soil tillage device 1 into corresponding actions of the soil tillage device 1.

[0080] Alternatively or additionally, the control signals S can be converted by a, in particular autonomous, tractor 8 into corresponding actions of the tractor 8. In the case of a tractor 8 manned by operating personnel, the control signals S can alternatively or additionally be transmitted to the operating personnel as instructions or messages, so that the operating personnel can independently take suitable measures or are informed about corresponding actions of the soil tillage implement 1 and / or tractor 8, select from several suggested actions and / or confirm and / or prevent execution.

[0081] The following examples explain the situations in which different control signals S are generated. In addition to the examples mentioned, various other scenarios are conceivable in which suitable control signals S can also be used.

[0082] If only one of several blockage sensors 4 detects a position of the corresponding sensing element 4.1 that deviates from the normal position PN, it is likely that only a comparatively small accumulation of material M with a limited spatial extent is present. In this case, it may be sufficient to clear the blockage if the driving speed of the tractor 8 is reduced for a limited period of time. Once the blockage has been removed and the sensing element 4.1 has returned to the normal position PN, the driving speed can be increased again.

[0083] If several adjacent blockage sensors 4 detect positions of the corresponding sensing element 4.1 that deviate from the normal position PN (e.g., detection positions PD), or if an individual sensing element 4.1 does not return to the normal position PN despite braking, a more persistent or larger-volume blockage is generally present. In this case, a stop signal can be generated so that the tractor 8 and / or the soil tillage implement 1 is stopped. Alternatively or additionally, the soil tillage implement 1 can be lifted from the work area N via a lifting signal in order to clear the blockage. Furthermore, the working tools 3 can also be lifted individually or in groups, thereby enabling targeted action to combat the blockage.

[0084] If particularly large-scale or long-lasting blockages are detected, a travel signal, in particular a reversing signal, can also be generated, so that the raised soil tillage implement 1 and / or the tractor 8 is moved back against the working direction R to the location at which the first detection of a blockage occurred by a blockage sensor 4. Large-scale or long-lasting blockages are detected, for example, when several blockage sensors 4 are in detection position PD and / or when one or more sensors are in detection position PD for a specified period of time.

[0085] Additionally or alternatively, warning signals can also be generated, which can be directed in particular at the operating personnel so that they can independently initiate suitable countermeasures.

[0086] In addition, active countermeasures can also be controlled at the level of the sensing elements 4.1. If a sensing element 4.1 is operatively connected to an actuator 4.6, it can be shaken or pivoted via the actuator 4.6, for example, which can reduce some blockages. Similarly, in some embodiments the work tools 3 can also be actively controlled individually or in groups and pivoted, for example, against the processing direction R in order to loosen or remove blockages. The illustrations in Fig. 10a and Fig. 11a show, by way of example, a curve of the control signal S of a blockage sensor 4 over time. If the graph assumes the value 1, a control signal S is present, i.e. the corresponding blockage sensor 4 detects a material accumulation M. If the graph has the value 0, no material accumulation M or blockage is detected.

[0087] In the diagrams according to Fig. 10b and Fig. 11b, a schematic curve of the tractive power Z of the tractor 8 can be seen, synchronized in time with the representations according to Fig. 10a and Fig. 11a. As can be seen from a comparison of the respective diagram parts a and b, a blockage or an accumulation of material M is detected by the blockage sensor 4 and a corresponding control signal S is output before the tractive power Z of the tractor 8 increases significantly as a result of the accumulating material. In this way, an early detection of a blockage or an accumulation of material M is possible compared to an evaluation of the tractive power Z of the tractor 8. The required tractive power Z can increase, for example, due to changes in the soil condition without a blockage or an accumulation of material M being present. Therefore, according to the invention, a reliable detection of a blockage or an accumulation of material M is achieved and false detection is avoided.The detection of a blockage or an accumulation of material M is independent of the soil condition.

[0088] A comparison of the diagrams in Fig. 11a and Fig. 11b shows that a control signal S detects a blockage or a buildup of material M a time interval t1 before the tractive power Z of the tractor 8 begins to increase. This makes it possible to react early and, for example, to counteract the blockage or the buildup of material M. Even a large-scale or long-lasting blockage or buildup of material M can be detected before a significant increase in the tractive power Z in the case of a longer scanning duration D. Early, reliable detection is possible that is independent of the soil conditions. An evaluation of the tractive power Z would only provide sufficient information for an appropriate reaction after a significantly longer time period t2. During this time, when using a blockage sensor 4, suitable countermeasures to reduce the buildup of material M can already be taken.The quality of soil cultivation can thus be significantly improved with a soil cultivation implement 1 with a blockage sensor 4. Furthermore, mechanical loads on the soil cultivation implement 1 and / or the tractor 8 can be reduced with the help of blockage sensors 4.

[0089] The structure of the soil tillage implement 1, and in particular the arrangement of the working tools 3 on the soil tillage implement 1, is explained below with reference to the illustrations in Fig. 3, Fig. 4 and Fig. 5. As can be seen particularly from the plan view in Fig. 5, the working tools 3 are distributed across the working width B of the soil tillage implement 1. The working tools 3 form three working rows Xi, X2, X3, which are arranged one behind the other in the working direction R. The working tools 3 of adjacent working rows Xi, X2, X3 are each arranged offset across the working width B for engaging the unworked area N. The working tools 3 are each arranged on a frame element 2.1 of the tool frame 2. In the present exemplary embodiment, the three frame elements 2.1 extend parallel to one another, see Fig. 5.The arrangement of the working tools 3 and the blockage sensors 4 is asymmetrical to a device longitudinal axis L, but can alternatively also be symmetrical.

[0090] The working tools 3 are each connected to the tool frame 2 via an overload protection device. The overload protection device allows the working tools 3 to pivot against the working direction R in the event of overloads occurring on the working tools 3, for example, due to stones on the working surface N or in its soil. It is conceivable that the overload protection device can be used as an active means for removing or reducing material accumulations M.

[0091] A blockage sensor 4 is arranged on the frame elements 2.1 between the working tools 3, see Fig. 5. The blockage sensors 4 can be coupled to the evaluation unit 7 either individually, in groups or all together.

[0092] The soil tillage implement 1 described above and the method for tilling an agricultural area N are characterized in that, even under adverse environmental conditions, a reliable and rapid detection of material accumulations M is possible by contact with the sensing element 4.1.

[0093] Reference symbol

[0094] 1 tillage implement

[0095] 2 tool frames

[0096] 2.1 Frame element

[0097] 3 Work tools

[0098] 4 Clogging sensor

[0099] 4.1 Push button / push button

[0100] 4.2 Spring

[0101] 4.3 Probe element widening

[0102] 4.4 Control element

[0103] 4.5 Swivel element

[0104] 4.6 Actuator

[0105] 5 Frame connection

[0106] 6 Control unit

[0107] 7 Evaluation unit

[0108] 8 tractor

[0109] 9 stop

[0110] A axis of rotation

[0111] B Working width

[0112] D Duty cycle

[0113] H Passage height

[0114] L Device longitudinal axis

[0115] M Material accumulation

[0116] N Usable area

[0117] PD detection position

[0118] PN normal position

[0119] Pz intermediate position

[0120] R machining direction

[0121] S control signal

[0122] U distance

[0123] W Angle of attack X Machining series

[0124] Z traction power

Claims

Patent claims 1. Soil cultivation device for cultivating an agricultural area (N), which is movable relative to the area (N), with a plurality of working tools (3) arranged on a tool frame (2) and engaging in the area (N), and with at least one blockage sensor (4) for detecting accumulations of material (M) carried along by the working tools (3) and impairing soil cultivation, characterized in that the blockage sensor (4) is coupled to a probe element (4.1) arranged such that it can move relative to the tool frame (2) for the tactile detection of the accumulations of material (M).

2. Soil cultivation device according to claim 1, characterized in that the sensing element (4.1) is arranged to be movable between a normal position (PN) and a detection position (PD) indicating an accumulation of material (M).

3. Soil cultivation device according to claim 2, characterized in that the sensing element (4.1) can be moved into the detection position (PD) by contact with an accumulation of material (M).

4. Soil cultivation device according to one of claims 2 or 3, characterized in that the blockage sensor (4) is designed to detect the detection position (PD) and / or the normal position (PN) of the sensing element (4.1).

5. Soil cultivation device according to one of the preceding claims, characterized in that the sensing element (4.1) is operatively connected to an actuator (4.6) for reducing a detected accumulation of material (M).

6. Soil cultivation device according to one of the preceding claims, characterized in that the sensing element (4.1) is designed as a sensing lever pivotably mounted about a rotation axis (A).

7. Soil cultivation device according to one of claims 5 or 6, characterized in that the actuator (4.6) is designed to actively pivot the probe element (4.1) about the axis of rotation (D).

8. Soil cultivation device according to one of claims 2 to 7, characterized in that the blockage sensor (4) is connected to an evaluation unit (7) for evaluating the detection position (PD) and / or for monitoring the scanning duration (D) within which the scanning element (4.1) is in the detection position (PD).

9. Soil cultivation device according to claim 8, characterized in that the evaluation unit (7) is designed to generate a control signal (S) that can be transmitted to a control unit (6) of the soil cultivation device (1) and / or a tractor (8) connected to the soil cultivation device (1).

10. Soil cultivation device according to claim 9, characterized in that the control signal (S) is designed as a warning signal and / or braking signal and / or stop signal and / or lifting signal and / or travel signal depending on the duty cycle (D).

11. Soil cultivation device according to one of the preceding claims, characterized in that the working tools (3) are arranged pivotably on the tool frame (2) against the working direction (R) for overload protection.

12. Soil cultivation device according to one of the preceding claims, characterized in that several blockage sensors (4) for detecting material accumulations (M) are arranged distributed over the working width (B) of the soil cultivation device (1).

13. Soil cultivation device according to claim 12, characterized in that the blockage sensors (4) are arranged on frame elements (2.1) of the tool frame (2) next to a working tool (3), preferably between two working tools (3).

14. Method for cultivating an agricultural area (N) with a soil cultivation device (1) with a plurality of working tools (3) arranged on a tool frame (2), engaging in the usable area (N) and movable relative thereto, and at least one blockage sensor (4) for detecting accumulations of material (M) dragged along by the working tools (3) and impairing soil cultivation, characterized in that the accumulations of material (M) are detected tactilely via a probe element (4.1) which is arranged movable relative to the tool frame (2) and coupled to the blockage sensor (4).

15. Method according to claim 14, characterized in that the soil tillage device (1) is designed according to one of claims 1 to 13.

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