Method for operating an agricultural tillage implement

Abstract

The invention relates to a method for operating an agricultural tillage implement (200), in particular an agricultural cultivator, comprising the step of: capturing sensor data relating to a current operating state of an overload protection means (10) for a tillage tool (12) of the agricultural tillage implement (200) by means of at least one sensor-based capturing unit (100).

Description

[0001] Method for operating an agricultural soil tillage device

[0002] Description

[0003] The invention relates to a method according to the preamble of patent claim 1, an overload protection device according to the preamble of patent claim 9 and an agricultural soil tillage device according to the preamble of patent claim 14.

[0004] Agricultural tillage equipment, such as cultivators, comprises tillage tools that engage the soil of an agricultural field during a tillage operation and are subjected to high loads due to the forces exerted by the soil contact. Therefore, tillage tools are often equipped with overload protection devices designed to reduce excessive wear and damage to the tillage tools in the event of excessive loads during the tillage operation.

[0005] However, practical use has shown that the triggering of overload protection devices due to excessive load during a soil tillage operation is often only detected with a delay or even remains undetected for an extended period before follow-up measures are taken due to the triggering of the overload protection device. As a result, the soil tillage operation continues unchanged, at least temporarily, even though at least one soil tillage tool is no longer contributing to soil tillage as intended, at least temporarily, due to the triggering of the overload protection device. Consequently, a consistently high working quality of the soil tillage device cannot always be fully and reliably ensured.

[0006] The object underlying the invention is therefore to provide an overload protection device for a soil cultivation tool which ensures a high working quality of a soil cultivation device.

[0007] The problem is solved by a method of the type mentioned above, wherein the recorded sensor data is evaluated by an electronic data processing device to initiate operating-condition-dependent follow-up measures. By evaluating the recorded sensor data to initiate operating-condition-dependent follow-up measures, comprehensive monitoring of the soil tillage implement is enabled. Consequently, the triggering of an overload protection device can be immediately detected based on abnormal sensor data, allowing prompt follow-up measures to be taken to ensure consistently high work quality.In this way, the agricultural tillage implement becomes more intelligent and digital, preparing it for an autonomous future, enabling reliable operation with high operational safety and work quality, especially with regard to semi-autonomous tillage operations with operator support and / or fully autonomous tillage operations without an operator, but also with regard to manual tillage operations. A more intelligent tillage implement with operator support also facilitates the operation of the tillage implement, thus reducing the operator's workload and allowing safe operation even by less experienced operators.

[0008] The detection unit is preferably arranged on the soil-engaging tool of the soil tillage implement. The agricultural soil tillage implement can be designed as a cultivator, plough, hoe, harrow, or seed drill. The operation of the overload protection device can preferably be monitored automatically by means of the sensory detection device. The soil tillage implement preferably comprises a plurality of soil tillage tools, each with at least one overload protection device. On a cultivator, the soil tillage tools preferably each comprise at least one cultivator tine or the soil tillage tools are designed as cultivator tines. On a plough, the soil tillage tools preferably each comprise at least one plough body or the soil tillage tools are designed as plough bodies. Preferably, at least one sensory detection unit is arranged on each soil tillage tool.Preferably, an electronic data acquisition device configured as a central processing unit is arranged on the agricultural tillage implement. This data acquisition device receives and processes the acquired sensor data from all detection devices to derive the current operating status of the overload protection devices. The data acquisition device can also be part of an operating terminal for the tillage implement and / or for a towing or carrier vehicle of the tillage implement. If the data processing device is arranged externally of the tillage implement, for example, as part of an operating terminal, the detection unit or an intermediate processing unit can be connected to the data processing device via ISOBUS.The electronic data processing device is preferably connected via ISOBUS and / or TIM (Tractor Implement Management) to an electronic control device and / or an operating terminal for the soil tillage implement and / or the towing and / or carrier vehicle of the soil tillage implement and / or to a mobile device, for example a smartphone or tablet, and / or to a PC or server, in particular to a central fleet management system, in a signal-conducting manner. The sensory detection unit is preferably designed as a contactless sensor, in particular as an inductive sensor. By means of the sensory detection unit, a current operating state of the overload protection device can be detected, for example based on changes in the state of the overload protection device, in particular based on movements which may indicate, for example, that the overload protection device has been triggered.The overload protection device can be triggered, for example, to prevent damage to the soil tillage tool when a defined maximum force acts on the soil tillage tool, for example due to obstacles such as stones in the soil. When the overload protection device is triggered, the soil tillage tool preferably pivots out, so that the orientation, in particular the angle of attack of the soil tillage tool, and / or the depth of engagement of the soil tillage tool in the soil changes and consequently the quality of work is significantly reduced, especially if there is no return movement to the original position of the soil tillage tool. In addition, if the soil tillage tool pivots out after the overload protection device has been triggered, the engagement with the soil can be at least temporarily interrupted.

[0009] In a preferred embodiment of the method according to the invention, the operating-state-dependent follow-up measures comprise calculating load data relating to forces and / or pressures acting on the overload protection device and / or the soil cultivation tool based on the acquired sensor data. Alternatively or additionally, the operating-state-dependent follow-up measures comprise deriving a load state of the overload protection device and / or the soil cultivation tool and / or the soil cultivation device from the acquired sensor data and / or from the calculated load data.Alternatively or additionally, the operating-state-dependent follow-up measures include transmitting the recorded sensor data and / or the calculated load data and / or the derived load state from the electronic data processing device to an electronic control unit of the soil tillage implement and / or to an electronic control device of a towing and / or carrier vehicle for the soil tillage implement. Alternatively or additionally, the operating-state-dependent follow-up measures include displaying the recorded sensor data and / or the calculated load data and / or the derived load state using an electronic display device.Alternatively or additionally, the operating state-dependent follow-up measures comprise storing the recorded sensor data and / or the calculated load data and / or the derived load state on an electronic data storage device of the data processing device and / or the control unit and / or the control device and / or on an external electronic data storage device. The recorded sensor data and / or the calculated load data and / or the derived load state are preferably transmitted from the electronic data processing device to the electronic control unit of the soil tillage implement and / or to the electronic control device of the towing and / or carrier vehicle for the soil tillage implement via ISOBUS and / or TIM. The control device is preferably part of an operating terminal for the towing and / or carrier vehicle and / or for the soil tillage implement.The operating terminal is preferably arranged in a driver's cab of the towing and / or carrier vehicle. The display device is preferably a component of the operating terminal. The display device can also be a component of an external computing unit, for example a PC or a server, wherein the data to be displayed is then transmitted wirelessly to the display device, in particular via a mobile network, for display by means of the display device. The display device is preferably designed as a display. The sensor data and / or the load data and / or the load state are preferably displayed by the display device in the form of absolute numerical data, for example forces in Newtons, in particular in real time. The sensor data and / or the load data and / or the load state can also be displayed by the display device in the form of relative numerical data, for example in percent, in particular in real time.Relative numerical data can, for example, relate to the deviation of the displayed data from defined threshold values ​​and / or from measured average values. The display device can also comprise one or more signal lights, in particular in the form of a traffic light system, whereby normal operation of the soil tillage implement and / or individual segments of the soil tillage implement and / or individual soil tillage tools can be signaled, for example, with a green signal light, an anomaly in the sensor data with a yellow signal light, and critical sensor data with a red signal light. A display using signal lights, in particular a traffic light system, is easy to read and easily understood even by inexperienced operators of the soil tillage implement.Furthermore, a load profile can be created and displayed from the sensor data and / or the load data and / or the load condition, which in particular shows the load distribution on one and / or several soil tillage tools.

[0010] Soil cultivation tools and / or on the soil cultivation implement. The load profile can indicate the load distribution, in particular visually in the form of a schematic model of the soil cultivation implement and / or one or more soil cultivation tools, using color structures that represent, for example, a force distribution and / or a stress distribution on the soil cultivation tools and / or the soil cultivation implement.

[0011] In another preferred embodiment of the method according to the invention, the operating-state-dependent follow-up measures comprise deriving warnings relating to an operating state and / or load state of the overload protection device and / or the soil cultivation tool based on the acquired sensor data by means of the electronic data processing device. Alternatively or additionally, the operating-state-dependent follow-up measures comprise deriving operating recommendations relating to the operation and / or adjustment of the soil cultivation device and / or the soil cultivation tool based on the acquired sensor data by means of the electronic data processing device.Alternatively or additionally, the operating-state-dependent follow-up measures include transmitting the warnings and / or operating recommendations from the electronic data processing device to an electronic control unit of the soil tillage implement and / or to an electronic control device of a towing and / or carrier vehicle for the soil tillage implement. Alternatively or additionally, the operating-state-dependent follow-up measures include displaying the warnings and / or operating recommendations using an electronic display device.If the sensor data and / or an operating state and / or load condition of the overload protection device and / or the tillage implement indicate that the load on one or more tillage implements and / or one or more segments of the tillage implement is abnormal, this may indicate that, for example, obstacles in the soil or very tightly compacted soil could lead to increased wear or damage to the tillage implements. Furthermore, the sensor data and / or the operating state and / or load condition may indicate suboptimal or incorrect settings of the tillage implement, which could reduce the quality of work.If suboptimal settings or conspicuous loads are detected, the data processing device can issue a warning, which is displayed, for example, to a soil tillage implement operator. This allows the soil tillage implement operator to initiate follow-up measures to avoid damage or inadequate work quality, such as reducing the driving speed or aborting the soil tillage process. Furthermore, the soil tillage implement can be temporarily raised so that the soil contact of the soil tillage tools is briefly interrupted. Furthermore, the data processing device can issue operating recommendations that suggest an operator change the soil tillage implement settings to avoid damage and / or improve work quality.Operating recommendations can preferably be accepted or rejected by an operator, whereby the operating recommendations can also be implemented automatically, especially in the absence of operator interaction. The data processing device is preferably configured to learn from operator interactions, in particular through the use of artificial intelligence, in order to be able to suggest reliable and sensible operating recommendations. Furthermore, the data processing device can derive the wear and / or deterioration of the soil tillage tools from the sensor data and / or the operating state and / or the load state and derive appropriate maintenance instructions from this, for example, an adjusted maintenance interval or a notification that tools need to be replaced.Indications of suboptimal machine settings or abnormal loads on the tillage tools can include, for example, an increased triggering of the overload protection device or deviations in the sensor data and / or the load state and / or the operating state from specified reference states and / or reference values. Furthermore, uneven load conditions across the width of the machine and / or along the direction of travel of the machine can indicate suboptimal machine settings or abnormal loads. If the sensor data shows, for example, that the force distribution on one or more tillage tools varies across the width of the tillage implement, this can indicate incorrect settings, which can impair work quality.The data processing device can then derive warnings and / or operating recommendations from the sensor data, which are transmitted to the display device, whereupon the display device indicates, for example, that the settings of the soil tillage implement must be changed in order to correct the asymmetric power distribution, whereby an operator can subsequently implement or reject the displayed recommendation.

[0012] In a further preferred embodiment of the method according to the invention, the operating-state-dependent follow-up measures comprise deriving control specifications for controlling the soil tillage implement and / or the towing and / or carrier vehicle for the soil tillage implement for a current soil tillage operation and / or for future soil tillage operations on an agricultural area based on the recorded sensor data by means of the electronic data processing device. Alternatively or additionally, the operating-state-dependent follow-up measures comprise transmitting the control specifications from the electronic data processing device to the electronic control unit of the soil tillage implement and / or to the electronic control device of a towing and / or carrier vehicle for the soil tillage implement.Alternatively or additionally, the operating state-dependent follow-up measures comprise storing the control specifications on an electronic data storage device of the data processing device and / or the control unit and / or the control device and / or on an external electronic data storage device. Alternatively or additionally, the operating state-dependent follow-up measures comprise reading the control specifications from the electronic data storage device of the data processing device and / or the control unit and / or the control device and / or from the external electronic data storage device. Alternatively or additionally, the operating state-dependent follow-up measures comprise controlling the soil tillage implement during a soil tillage operation by means of the electronic control unit and / or the towing or carrier vehicle of the soil tillage implement by means of the electronic control device on the basis of the control specifications.The control specifications can, for example, be a driving speed of the towing or carrier vehicle, the cancellation or at least temporary interruption of the soil cultivation process, the making of changes to the settings of the soil cultivation device, for example the.

[0013] These include the depth of soil penetration and / or the angle of attack of the tillage tools, the setting of the upper link and / or lower link, and / or the setting of a traction amplifier, particularly in the case of towed tillage implements. If the sensor data indicates, for example, that noticeably high forces are acting on one or more tillage tools, which could lead to damage, the data processing device derives control instructions from the sensor data, which are transmitted to the control device of the towing or carrier vehicle, whereupon the control device slows down or interrupts the tillage process. If the overload protection is designed hydraulically, for example by means of a hydraulic cylinder, the control instructions can cause the hydraulic pressure in the cylinder to be adjusted in order to automatically adapt the hydraulic cylinder to the current conditions.In addition, the control specifications can cause the settings of the tillage implement to change. For example, if the sensor data shows that the force distribution on one or more tillage tools varies across the width of the tillage implement, this may indicate incorrect settings, which can impair work quality. The data processing device can then derive control specifications from the sensor data, which are transmitted to the tillage implement's control unit, whereupon the control unit initiates changes to the tillage implement's settings to correct the asymmetric force distribution.

[0014] In an advantageous development of the method according to the invention, the operating state-dependent follow-up measures comprise detecting a triggering movement of the overload protection device based on the acquired sensor data by means of the electronic data processing device. Alternatively or additionally, the operating state-dependent follow-up measures comprise detecting a failure to reset the device as a result of the triggering movement of the overload protection device based on the acquired sensor data by means of the electronic data processing device.Alternatively or additionally, the operating-state-dependent follow-up measures include slowing down and / or interrupting the soil tillage process by the soil tillage implement depending on a detected triggering movement and / or a detected lack of reset movement of the overload protection device by the control unit of the soil tillage implement and / or the control device of the towing or carrier vehicle. Alternatively or additionally, the operating-state-dependent follow-up measures include raising the soil tillage implement to remove the soil contact of the soil tillage tools and / or reversing and / or advancing the soil tillage implement in the raised state.Preferably, the data processing device can evaluate the sensor data to detect a triggering movement of the overload protection device. Atypical sensor data or sensor data that deviates significantly from other detection devices may indicate an atypical or absent triggering movement, and a soil cultivation tool may be severely damaged, for example, broken. A triggering movement of the overload protection device may indicate that a defined maximum force on the soil cultivation tool has been exceeded, and the overload protection device interrupts the soil penetration of the soil cultivation tool through the triggering movement or changes the penetration depth and / or the angle of attack of the soil cultivation tool to prevent damage.Preferably, a triggering movement is followed at a defined time interval by a return movement of the overload protection device, by which the soil tillage tool is moved back to its original position. A missing or delayed return movement of the overload protection device can indicate that an obstacle and / or a blockage on the soil tillage tool, for example a clod of earth or a stone, is blocking the return movement or that there is damage to the soil tillage tool, so that the work quality is reduced or further damage is possible. The degree of blockage can preferably be determined by means of a blockage detection system. Preferably, a soil tillage process is slowed down or stopped if there is a missing or delayed return movement of the overload protection device and / or if the overload protection device is triggered.In addition, obstacles and / or blockages in the soil tillage tool can be cleared by lifting the soil tillage implement using a lifting device on the towing or carrier vehicle to remove contact with the ground. In the raised state, the restoring force of the overload protection device releases the obstacle and / or blockage. Preferably, the soil tillage implement can be moved forwards and backwards or moved one or more times in the raised state to clear the obstacle and / or blockage. In particular, if the overload protection device is designed as a hydraulic overload protection device, several or all of the overload protection devices can be hydraulically preloaded, preferably in a variable manner, to clear an obstacle and / or blockage. For this purpose, several or all of the overload protection devices can be connected to one another to form an overall system.Alternatively or additionally, the affected overload protection device can be specifically activated to clear blockages.

[0015] Furthermore, a method according to the invention is preferred in which the operating state-dependent follow-up measures comprise the acquisition of position data relating to the geoposition of the soil tillage implement as a function of the acquired sensor data by means of an electronic position detection device and / or the storage of the acquired position data on the electronic data storage device of the data processing device and / or the control unit and / or the control device and / or on the external electronic data storage device. Preferably, the position detection device is designed as a GPS sensor or the position detection device comprises at least one GPS sensor. The position detection device is preferably connected to the data detection device in a signal-conducting manner. The position detection device can be arranged on the soil tillage implement or on the towing or carrier vehicle for the soil tillage implement.The position detection device can also be part of an operating terminal for the tractor or carrier vehicle and / or for the soil tillage implement. Preferably, the geoposition of the soil tillage implement is detected using the position detection device based on the recorded sensor data, and any abnormalities in the sensor data are stored on an electronic data storage device. The geoposition can also be permanently recorded and / or stored. By storing the position data based on the sensor data, it is possible to subsequently determine at which geopositions on the field any abnormalities in the sensor data indicate inadequate work quality after a soil tillage operation on an agricultural area.Using the stored position data with the geo-locations at which anomalies were detected in the sensor data, such as the triggering of the overload protection device or increased force on soil cultivation tools, the quality of work after a soil cultivation operation can be specifically monitored and / or improved. The geo-position can also be recorded continuously and saved at defined intervals and / or when anomalies are detected in the sensor data. Preferably, a digital database is created from the recorded position data, in which the geo-positions can be saved and evaluated for anomalies and / or irregularities in the sensor data, for example, to locate areas on cultivated land where anomalous sensor data is frequently recorded.In such areas of cultivated land, for example, there may be a particularly large number of stones in the soil, which could lead to insufficient work quality or damage to the tillage equipment during future tillage operations. The positions of stones can be saved so that they can be removed before further tillage operations. Preferably, the recorded position data can be used to create an application map of an agricultural area and / or for a farm management system.

[0016] A method according to the invention is also preferred in which the operating-state-dependent follow-up measures comprise determining a maintenance interval for the soil tillage implement based on the recorded sensor data and / or adjusting a maintenance interval for the soil tillage implement based on the recorded sensor data. The maintenance interval preferably indicates the time intervals, in particular after which number of operating hours, at which the soil tillage implement must be serviced. The recorded sensor data can provide information on, for example, the degree of stress on the soil tillage tools. If the sensor data indicate frequent and / or high stress, the wear on the soil tillage tools may be higher than usual, which may impair the quality of work.Preferably, the electronic data processing device calculates, based on the sensor data, the time and / or the number of operating hours after which the next maintenance of the soil tillage implement is due. Furthermore, an already defined maintenance interval can be subsequently adjusted based on the sensor data. If, for example, the load on the soil tillage implement is higher than expected, the maintenance interval may need to be shortened. In a further preferred embodiment of the method according to the invention, the operating state-dependent follow-up measures comprise correcting the recorded sensor data by means of the electronic data processing device. The correction preferably comprises digital filtering of the recorded sensor data, in particular by means of a suitable calculation algorithm.For example, minor and irrelevant movements of the overload protection device and / or the tillage tool can be filtered and / or calculated from the recorded sensor data so that follow-up measures are not initiated undesirably. Correcting the sensor data can include defining a tolerance range for the sensor signals. Minor movements of the overload protection device and / or the tillage tool also typically occur during normal operation of the tillage implement due to slight unevenness in the ground and / or changing soil conditions, so these should not trigger follow-up measures.

[0017] The object underlying the invention is further achieved by an overload protection device of the type mentioned above, wherein the overload protection device comprises at least one sensory detection unit for sensory detection of a current operating state of the overload protection device. Preferably, the soil cultivation tool and the overload protection device are connected to one another by means of a support element and / or together form a soil cultivation assembly. Preferably, the overload protection device is designed as a mechanical overload protection device. Preferably, the overload protection device comprises at least one coil spring, in particular a spring assembly. The spring assembly of the overload protection device can specify a preload and / or a defined triggering force for triggering the overload protection device through defined spring characteristics. In addition, the spring assembly is preferably designed to cushion the soil cultivation tool.The overload protection device can alternatively be designed as a hydraulic overload protection device, wherein the sensory detection device is preferably designed to detect the current operating state of a hydraulic overload protection device.

[0018] In a preferred embodiment of the overload protection device according to the invention, the current operating state and / or a change in the operating state of the overload protection device can be detected by detecting a current triggering movement and / or a triggering path of the overload protection device and / or by detecting an angle change of the overload protection device and / or by detecting a force currently acting on the overload protection device and / or a force change of the force acting on the overload protection device by means of the at least one sensory detection device.By detecting triggering movements and / or angle changes and / or force changes of the overload protection device, loads on the tillage tools that, although below the detection threshold of the overload protection device, increase wear on the tillage tools over a longer period of time, can cause damage, and reduce the working quality of the tillage implement, can be detected before the overload protection device is triggered. The sensory detection device can be designed to detect the triggering movement and / or the triggering path as a displacement sensor and / or length change sensor, for example, as a displacement sensor using a sliding contact. The sensory detection device can also be designed as a potentiometer, a force sensor, or a pressure sensor.

[0019] In another preferred embodiment of the overload protection device according to the invention, the overload protection device comprises at least one operating state indicator, wherein the current operating state can be detected by a change in the state of the operating state indicator using the sensor detection unit. A change in the state of the operating state indicator is preferably a change in the position and / or location and / or presence and / or orientation of the operating state indicator and / or a deviation of the operating state indicator from a reference state.

[0020] In a further preferred embodiment of the overload protection device according to the invention, the operating status indicator is designed as an indicator body, wherein the indicator body is preferably designed as a stop disk of the overload protection device or is a component of the stop disk of the overload protection device or is connected to the stop disk of the overload protection device. The stop disk is preferably designed as a circular, oval or rectangular disk which is arranged in alignment with the spring assembly of the overload protection device in the axial direction of the spring assembly. In its reference state, the stop disk preferably contacts the support element of the soil tillage assembly, wherein the stop disk preloads the spring assembly through contact with the support element. When the overload protection device is triggered, the stop disk preferably leaves its reference position along the axial direction of the overload protection device.When the overload protection device is triggered, the contact between the stop disc and the support element is preferably eliminated.

[0021] In an advantageous development of the overload protection device according to the invention, the position and / or the location and / or the presence and / or the orientation of the indicator body and / or a distance of the indicator body from a reference position can be detected by means of the sensory detection unit, wherein the operating state of the overload protection device and / or a change in the operating state can preferably be derived from the detected position and / or location and / or the presence and / or orientation and / or from the detected distance of the indicator body from a reference position by means of an electronic data processing device. The detection device is preferably configured to detect a distance of the indicator body from the detection device and / or a distance of the indicator body from its reference position.Furthermore, the detection unit can be configured to detect as soon as the indicator body leaves a defined detection range of the detection device. The detection device is preferably positioned such that the detection device is directed towards the indicator body. When the overload protection device is triggered, the indicator preferably moves from its reference position out of the detection range of the detection device and moves away from its reference position and / or from the detection device. The operating state of the overload protection device is preferably derived by comparing a currently detected position and / or location and / or the presence and / or orientation of the indicator body with a previously detected position and / or location and / or presence and / or orientation.In addition, the operating state of the overload protection device can be derived from a deviation in the position and / or location and / or the presence and / or alignment of defined reference data, wherein a tolerance range is preferably defined in which deviations are not considered a change in state. A tolerance range can be established, for example, by mechanical calibration, wherein a defined distance between the detection device and the indicator body can be set for mechanical calibration. An operating state of the overload protection device can be, for example, a load state, in particular an overload or a distance from a maximum value of an acting force or a detected distance from a reference position of the indicator body, wherein an acting force can preferably be derived from the sensor data. An operating state of the overload protection device can also be an unloaded state of the overload protection device.

[0022] In another preferred embodiment of the overload protection device according to the invention, the overload protection device comprises an adjustment device, in particular a mechanical one, for adjusting the position and / or orientation of the sensory detection device and / or the indicator body. The adjustment device can be designed as an adjustment rail, in particular a mechanical one, by means of which the detection device and / or the indicator body can be moved relative to one another and / or relative to the overload protection device and can be fastened thereto, in particular screwed and / or clamped. The adjustment device preferably predetermines a defined adjustment path, wherein the detection device and / or the indicator body can be moved along the adjustment path. By means of the adjustment device, the detection device and / or the indicator body can preferably be calibrated mechanically.Calibration using the adjustment device can be performed automatically and / or manually. In particular, by adjusting the position of the detection device and / or the indicator body, a tolerance range for acquiring the sensor data can be specified in order to adjust the sensitivity of the detection of the operating state of the overload protection device through mechanical filtering.

[0023] Furthermore, an overload protection device according to the invention is particularly preferred in which the sensory detection unit is designed as a contactless sensory detection unit, wherein the contactless sensory detection device preferably comprises at least one proximity sensor, in particular an inductive or capacitive proximity sensor and / or at least one Hall sensor. Alternatively or additionally, the sensory detection unit is designed as a contact-based sensory detection unit, wherein the contact-based sensory detection unit preferably comprises at least one acceleration sensor and / or at least one inclination sensor and / or at least one, in particular mechanical, button and / or at least one knock sensor and / or at least one protractor, for example a potentiometer. The detection unit can also comprise a force sensor, in particular a spring force sensor.In a hydraulic overload protection device, the detection device can comprise a pressure sensor for detecting the hydraulic pressure in a hydraulic cylinder and / or in a hydraulic line and / or in a hydraulic pump. Furthermore, the detection device can comprise at least one camera for optically detecting the sensor data. Preferably, the data processing device is configured to evaluate sensor data optically detected by a camera. The detection device can be arranged on the indicator body of the overload protection device or at a distance from the indicator body.

[0024] The object underlying the invention is further achieved by an agricultural soil tillage implement of the type mentioned above, wherein the overload protection device is designed according to one of the above-mentioned embodiments. With regard to the advantages and modifications of the agricultural soil tillage implement according to the invention, reference is therefore made to the advantages and modifications of the overload protection device according to the invention.

[0025] In a preferred embodiment of the agricultural soil tillage implement according to the invention, several or all of the sensory detection units of the overload protection devices are connected in a signal-conducting manner to a common electronic data processing device for evaluating the detected sensor data, wherein preferably several of the sensory detection units are interconnected in pairs and / or groups. The evaluation preferably comprises comparing the sensor data of several overload protection devices. The detection units can be connected to the data processing device wirelessly via radio and / or cable. The detection devices, together with the data acquisition device, form a sensor system for the soil tillage implement. The sensor system is preferably designed such that it can be retrofitted to soil tillage implements without an existing sensor system.Particularly in the case of tillage implements with a large working width and / or with a large number of tillage tools, only some of the tillage tools can be equipped with a detection device, for example every second one, so that fewer inputs are required at the.

[0026] Data processing equipment is necessary for signal transmission and / or costs can be saved.

[0027] For soil tillage implements with a large working width, all overload protection devices must be equipped with a detection device, whereby several detection devices, for example adjacent detection devices of each segment of the soil tillage implement, can be grouped and connected to an input of the data processing device. For foldable soil tillage implements, for example, one detection device can be arranged per segment, in particular one detection unit each on the left segment, on the right segment, and on the middle segment. Furthermore, several detection devices, in particular detection devices arranged close to one another and / or adjacent to one another, can be interconnected in groups and jointly connected to an input of the data processing device for signal transmission.

[0028] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings.

[0029] Fig. 1 shows an agricultural soil tillage implement with overload protection devices according to the invention in a side view;

[0030] Fig. 2 shows a soil tillage assembly with an overload protection device according to the invention in a non-triggered state in a side view; Fig. 3 shows the soil tillage assembly from Fig. 2 in a non-triggered state in a plan view; and

[0031] Fig. 4 shows the soil tillage assembly from Fig. 2 in the triggered state in a side view.

[0032] Fig. 1 shows an agricultural soil tillage implement 200, which is pulled by a tractor 204 and is designed as an agricultural cultivator. The soil tillage implement 200 comprises a plurality of soil tillage assemblies 22, each soil tillage assembly 22 comprising a soil tillage tool 12 designed as a cultivator tine, and an overload protection device 10. A support element 14 connects the soil tillage tool 12 to the overload protection device 10. Furthermore, the soil tillage assemblies 22 are fastened to a support frame 202 of the soil tillage implement 200 via the support elements 14. During a soil tillage operation on an agricultural land N, the soil tillage tools 12 engage the soil of the land N at a defined engagement depth and a defined angle of attack, so that the soil is worked with the intended working quality.

[0033] Due to the soil engagement of the tillage tools 12, the tillage tools 12 are exposed to mechanical stress during a tillage operation on the usable area N due to forces acting on the tillage tools 12 and caused by the soil engagement. The overload protection devices 10 ensure that damage and / or excessive wear of the tillage tools 12 are avoided by triggering the overload protection devices 10 at a defined maximum load.If the defined maximum load on one or more soil tillage tools 12 is reached and / or exceeded, for example due to obstacles in the ground, in particular stones, and / or due to heavily compacted soil, the engagement depth and / or the angle of attack of the affected soil tillage tools 12 are at least temporarily adjusted by a triggering movement AB of the respective overload protection device 10 in order to reduce the load, wherein the engagement depth is temporarily reduced, for example, in order to reduce the forces on the soil tillage tools caused by the engagement in the ground and / or the obstacles.

[0034] However, by at least temporarily adjusting the engagement depth and / or the angle of attack of the soil tillage tools 12 by triggering the overload protection devices 10, the work result of the soil tillage is significantly influenced at the same time, so that the intended work quality is not achieved on the usable area N, at least temporarily and / or in sections, in particular until a reset movement RB of the overload protection device 10 moves the soil tillage tool 12 back to its original position. It is therefore intended to detect the triggering of the overload protection devices 10 at an early stage and to take follow-up measures to prevent damage and / or increased wear and, at the same time, a reduced work quality.

[0035] To monitor the load on the soil cultivation tools 12, sensory detection units 100 record sensor data relating to the current operating state of the overload protection devices 10. A detection unit 100 is arranged on each overload protection device 10 to record the operating state of the respective overload protection device 10. The load on the respective soil cultivation tools 12 can be derived from the sensor data relating to the operating state of the overload protection devices 10, so that a triggering of the overload protection device 10, for example due to obstacles in the ground, can be reliably, quickly, and early detected, so that follow-up measures can be taken to avoid damage and / or increased wear and / or reduced work quality.

[0036] To evaluate the sensor data acquired by the acquisition units 100, the sensor data is transmitted to an electronic data processing device 102. To transmit the sensor data, the acquisition units are connected to the data processing device 102 in a signal-conducting manner, for example via cable or wirelessly. The data processing device can be arranged on the soil cultivation device 200 and functions as a central processing unit in which the sensor data from all acquisition units 100 are consolidated and evaluated. The data processing device 102 evaluates the acquired and transmitted sensor data from the acquisition units 100 and derives follow-up measures from the acquired sensor data. For example, the data processing device 102 calculates the load on the soil cultivation tools 12 and / or the forces acting on the soil cultivation tools 12 based on the sensor data.The data processing device 102 can, for example, decide by comparing the calculated load and / or forces with reference data whether the applied load and / or the applied forces exhibit any abnormalities which could indicate that, for example, obstacles increase the load and the quality of work is possibly reduced or could soon be reduced and / or whether damage and / or increased wear could already occur.

[0037] To prevent damage and / or increased wear and / or triggering of the overload protection devices 100, the data processing device 102 subsequently initiates further measures. For example, the data processing device 102 can transmit the calculated data to an electronic display device 106, which can be arranged in a driver's cab of the towing vehicle 204 or on a mobile device or on an external PC and displays the calculated load of the soil cultivation tools 102 so that an operator of the towing vehicle 204 can read and monitor it during a soil cultivation process. The display device 106 is part of a control device 104, wherein the control device 106 is designed as an operating terminal for the soil cultivation device 200 and / or the towing vehicle 204 and can be arranged in the driver's cab of the towing vehicle 204.The display device 106 can be embodied as a display of the operating terminal. Furthermore, the display device 106 can include signal lamps that indicate the load, for example, in the form of a traffic light system, with a green lamp lighting up for inconspicuous load and a red lamp lighting up for conspicuous load. The calculated data can also be displayed on a display as absolute numerical values, for example, the force in Newtons, and / or as relative numerical values, for example, as a percentage depending on a reference value.In addition, the data processing device 102 can derive targeted operating instructions and / or warnings for an operator from the loads and / or forces calculated based on the sensor data and transmit them to the display device 106, so that the operator can subsequently adjust the settings of the soil tillage implement and / or abort the soil tillage process to avoid damage and / or increased wear and / or reduced work quality. Operating instructions and / or warnings can be displayed to assist the operator, particularly during manual and / or semi-autonomous soil tillage processes.

[0038] Particularly in fully autonomous soil cultivation processes, the data processing device 102 can also derive control specifications and transmit them to the control device 104 and / or to a control unit 108. The control unit 108 can be arranged on the soil cultivation implement 200 and be connected in a signal-conducting manner to the data processing device and / or to the control device 104. The control device 104 can control the towing vehicle 204 based on the control specifications, in particular automatically. The control unit 108 can control the soil cultivation implement 200 based on the control specifications, in particular automatically.For example, the control specifications can relate to changing the settings of the soil cultivation device 200, so that the control unit 108, for example, adjusts the position of the soil cultivation tools 12, in particular to ensure consistently high work quality and the lowest possible loads. Furthermore, in the case of particularly critical sensor data, the control device 104 can, based on the control specifications, interrupt the soil cultivation process by at least temporarily stopping the device.

[0039] towing vehicle 204 at least temporarily, especially if there is a risk of damage or if damage already exists that would significantly impact the quality of work. In particular, if the triggering of one of the overload protection devices 10 is detected, it may be expedient to abort the soil tillage process by stopping the towing vehicle 204. The recorded sensor data and / or load data and / or force data calculated therefrom and / or derived control specifications and / or operating and / or warning instructions can also be stored on a data storage device, which can, for example, be a component of the data processing device 102, the control unit 108 or the control device 104, in order to use the stored data for future soil tillage processes or to be able to further evaluate and / or check them externally following the current soil tillage process.

[0040] In addition, a position detection device, in particular a GPS sensor, can detect the geoposition of the soil tillage implement 200 and save it, particularly in the event of any anomalies in the detected sensor data. The geopositions, together with the detected sensor data, can be used, in particular, to subsequently monitor the quality of work on the usable area N following a soil tillage operation and to correct it if necessary. Furthermore, the geopositions can be used to create a map and / or for a farm management system to document detected obstacles in the soil, such as stone fields, and to take them into account in future soil tillage operations.

[0041] Figs. 2 to 4 show the structure of a single soil tillage assembly 22 for a soil tillage implement 200, comprising an overload safety device 10, a soil tillage tool 12, and a support element 14, in detail. Figs. 2 and 3 each show the soil tillage assembly 22 in a state with the overload safety device 10 not triggered, in a side view and a top view. Fig. 4 shows a side view of a state in which the overload safety device 10 is triggered.

[0042] The overload protection device 10 comprises a spring assembly 16 which has coil springs with defined spring characteristics. When forces act on the soil tillage tool 12, the spring assembly 16 is subjected to compression, whereby the spring assembly 16 compresses when the soil tillage tool 12 is loaded. When a defined maximum force is exceeded, the compression initiates a triggering movement AB, so that the overload protection device 10 changes from the non-triggered state shown in Figs. 2 and 3 to the triggered state shown in Fig. 4. The triggering movement AB reduces the forces acting on the soil tillage tool 12 by reducing the depth of engagement in the soil and / or by changing the angle of attack of the soil tillage tool 12.

[0043] In order to detect a current operating state of the overload protection device 10, in particular the compression of the spring assembly 16 and / or a triggering movement AB, the overload protection device 10 is equipped with a sensory detection unit 100, which is designed as a contactless sensor, in particular as an inductive sensor.

[0044] Furthermore, the overload protection device 10 comprises an operating state indicator 18, which is designed as a circular stop disc of the overload protection device 10 and via which a current operating state of the overload protection device 10 can be detected. When the overload protection device 10 is not triggered and / or without significant forces acting on the soil cultivation tool 12, the operating state indicator 18 contacts the support element 14 and also ensures a defined preload of the spring assembly 16. This position of the operating state indicator 18 indicates the normal state of the overload protection device 10 and can be defined as a reference state and / or stored in the data processing device 102.

[0045] If forces act on the soil tillage tool 12 during a soil tillage operation, the spring assembly 16 absorbs the forces and consequently springs in, wherein a spring compression of the spring assembly 16 as a result of the forces acting on the soil tillage tool 12 causes a linear movement of the operating status indicator 18 along the longitudinal direction of the spring assembly 16, so that the operating status indicator 18 is spaced apart from the spring assembly 16 and the contact with the carrier element 14 is canceled.

[0046] Due to the linear movement of the operating status indicator 18 as a result of the forces acting on the soil tillage tool 12, a distance A is established between the detection unit 100 and the operating status indicator 18, which distance depends on the acting forces. The detection unit 100 detects as soon as the operating status indicator 18 moves out of its reference position. In particular, the distance A established between the operating status indicator 18 and the detection device 100 can be detected by the detection device 100. Due to the detected linear movement of the operating status indicator 18 and / or the detected distance A, the force acting on the soil tillage tool 12 can be calculated by the data processing device 102, in particular taking into account the geometry of the soil tillage assembly 22 and / or the spring characteristics of the spring assembly 16.In addition, a triggering movement AB can be detected in this way, which indicates an overload of the soil cultivation tool 12 and thus a triggering of the overload protection device 10. Furthermore, a lack of return movement RB after triggering of the overload protection device 10 can be detected by means of the detection device 100, wherein a lack of return movement RB back to the reference state can indicate, for example, damage to the soil cultivation tool 12.

[0047] The sensory detection unit 100 is attached to an adjustment device 20. The adjustment device 20 is designed as an adjustment rail for the sensory detection unit 100, via which the positioning of the sensory detection unit 100, the adjustment device 20, relative to the operating state indicator 18 can be adjusted, for example, to mechanically change the sensitivity of the detection device 100 and / or to mechanically calibrate the detection device 100. Furthermore, the detection device 100 is attached to the support element 14 by means of the adjustment device 20.

[0048] Reference symbol

[0049] 10 Overload protection

[0050] 12 Soil cultivation tools

[0051] 14 support element

[0052] 16 spring pack

[0053] 18 Operating status indicator

[0054] 20 Adjustment device

[0055] 22 Soil tillage assembly

[0056] 100 recording units

[0057] 102 Data processing facility

[0058] 104 Control device

[0059] 106 Display device

[0060] 108 Control unit

[0061] 200 tillage equipment

[0062] 202 support frames

[0063] 204 towing vehicle

[0064] A distance

[0065] AB release movement

[0066] RB return movement

[0067] N Usable area

Claims

Claims 1. A method for operating an agricultural soil cultivation device (200), in particular an agricultural cultivator, comprising the step: Detecting sensor data relating to a current operating state of an overload protection device (10) for a soil cultivation tool (12) of the agricultural soil cultivation device (200) by means of at least one sensory detection unit (100); characterized by the step: Evaluating the recorded sensor data to initiate operating state-dependent follow-up measures by means of an electronic data processing device (102).

2. Method according to claim 1, characterized in that the operating state-dependent follow-up measures comprise calculating load data relating to forces and / or pressures acting on the overload protection device (10) and / or the soil tillage tool (12) on the basis of the recorded sensor data; and / or deriving a load state of the overload protection device (10) and / or the soil tillage tool (12) and / or the soil tillage device (200) from the recorded sensor data and / or from the calculated load data; and / or transmitting the recorded sensor data and / or the calculated load data and / or the derived load state from the electronic data processing device (102) to an electronic control unit (108) of the soil tillage device (200) and / or to an electronic control device (104) of a towing and / or carrier vehicle for the soil tillage device (200);and / or displaying the recorded sensor data and / or the calculated load data and / or the derived load state by means of an electronic display device (106); storing the recorded sensor data and / or the calculated load data and / or the derived load state on an electronic data storage device of the Data processing device (102) and / or the control unit (108) and / or the control device (104) and / or on an external electronic data storage device; 3. Method according to claim 1 or 2, characterized in that the operating state-dependent follow-up measures comprise deriving warnings relating to an operating state and / or load state of the overload protection device (10) and / or the soil cultivation tool (12) on the basis of the recorded sensor data by means of the electronic data processing device (102); and / or deriving warnings relating to the operation and / or setting of the soil cultivation device (200) and / or the soil cultivation tool (12). Operating recommendations based on the recorded sensor data by means of the electronic data processing device (102); and / or transmitting the warnings and / or the operating recommendations from the electronic data processing device (102) to an electronic control unit (108) of the soil tillage device (200) and / or to an electronic control device (104) of a towing and / or carrier vehicle for the soil tillage device (200); and / or displaying the warnings and / or the operating recommendations by means of an electronic display device (106).

4. Method according to one of the preceding claims, characterized in that the operating state-dependent follow-up measures deriving control specifications for controlling the soil tillage implement (200) and / or the towing and / or carrier vehicle for the soil tillage implement (200) for a current soil tillage operation and / or for future soil tillage operations on an agricultural area (N) on the basis of the recorded sensor data by means of the electronic data processing device (102); and / or transmitting the control specifications from the electronic data processing device (102) to the electronic control unit (108) of the soil tillage implement (200) and / or to the electronic control device (104) of a towing and / or carrier vehicle for the soil tillage implement (200); and / or storing the control specifications on an electronic data memory of the data processing device (102) and / or the control unit (108) and / or the control device (104) and / or on an external electronic data memory;and / or reading out the control specifications from the electronic data memory of the data processing device (102) and / or the control unit (108) and / or the control device (104) and / or from the external electronic data memory; and / or controlling the soil tillage device (200) during a soil tillage operation by means of the electronic control unit (108) and / or the towing or carrier vehicle of the soil tillage device by means of the electronic control device (104) on the basis of the control specifications; include; 5. Method according to one of the preceding claims, characterized in that the operating state-dependent follow-up measures include the detection of a triggering movement (AB) of the overload protection device (10) on the basis of the recorded sensor data by means of the electronic data processing device (102); and / or the detection of a missing return movement (RB) as a result of the triggering movement (AB) of the overload protection device (10) on Based on the recorded sensor data by means of the electronic data processing device (102); and / or slowing down and / or interrupting the soil cultivation process by means of the soil cultivation device (200) as a function of a detected triggering movement (AB) and / or a detected lack of return movement (RB) of the overload protection device (10) by the control unit (108) of the soil cultivation device (200) and / or the control device (104) of the towing or carrier vehicle; and / or raising the soil cultivation device to remove the soil contact of the soil cultivation tools and / or moving back and / or forward of the soil cultivation device in the raised state.

6. Method according to one of the preceding claims, characterized in that the operating state-dependent follow-up measures comprise the acquisition of position data relating to the geo-position of the soil tillage device (200) as a function of the acquired sensor data by means of an electronic Position detection device; and / or storing the detected position data on the electronic data memory of the data processing device (102) and / or the control unit (108) and / or the control device (104) and / or on the external electronic data memory; include.

7. Method according to one of the preceding claims, characterized in that the operating state-dependent follow-up measures include determining a maintenance interval for the soil cultivation device (200) on the basis of the recorded sensor data; and / or adjusting a maintenance interval for the soil tillage implement (200) based on the acquired sensor data; 8. Method according to one of the preceding claims, characterized in that the operating state-dependent follow-up measures comprise correcting the acquired sensor data by means of the electronic data processing device (102).

9. Overload protection device (10) for a soil cultivation tool (12) of an agricultural soil cultivation device (200), in particular an agricultural cultivator, characterized by at least one sensory detection unit (100) for sensory detection of a current operating state of the overload protection device (10).

10. Overload protection device (10) according to claim 9, characterized in that the current operating state and / or a change in the operating state of the overload protection device (10) can be detected by means of the at least one sensory detection device (100) by detecting a current triggering movement and / or a triggering path of the overload protection device (10); and / or a change in the angle of the overload protection device (10); and / or a force currently acting on the overload protection device (10) and / or a change in the force acting on the overload protection device (10).

11. Overload protection device (10) according to claim 9 or 10, characterized in that the overload protection device (10) comprises at least one operating state indicator (18), wherein the current operating state can be detected by a change in the state of the operating state indicator (18) by means of the sensory detection unit (100).

12. Overload protection device (10) according to claim 11, characterized in that the operating state indicator (18) is designed as an indicator body, wherein the indicator body is preferably designed as a stop disc of the overload protection device (10) or is a component of the stop disc of the overload protection device (10) or is connected to the stop disc of the overload protection device (10).

13. Overload protection device (10) according to claim 12, characterized in that the position and / or the location and / or the presence and / or the orientation of the indicator body and / or a distance (A) of the indicator body to a reference position can be detected by means of the sensory detection unit (100), wherein the operating state of the overload protection device (10) can preferably be derived from the detected position and / or location and / or the presence and / or orientation and / or from the detected distance (A) of the indicator body to a reference position by means of an electronic data processing device (102).

14. Overload protection device (10) according to claim 12 or 13, characterized in that the overload protection device (10) comprises an, in particular mechanical, adjusting device (20) for adjusting the position and / or the orientation of the sensory detection device (100) and / or the indicator body.

15. Overload protection device (10) according to one of claims 9 to 14, characterized in that the sensory detection unit (100) is designed as a contactless sensory detection unit (100), wherein the contactless sensory detection device (100) preferably comprises at least one proximity sensor, in particular an inductive or capacitive proximity sensor and / or at least one Hall sensor; and / or contact-based sensory detection unit (100), wherein the contact-based sensory detection unit (100) preferably comprises at least one acceleration sensor and / or at least one inclination sensor and / or at least one, in particular mechanical, button and / or at least one knock sensor and / or at least one potentiometer.

16. Agricultural soil cultivation device (200), in particular an agricultural cultivator, with a plurality of soil cultivation tools (12), each of which comprises an overload protection device (10), wherein the overload protection devices (10) each comprise at least one sensory detection unit (100) for the sensory detection of sensor data relating to a current operating state of the respective overload protection device (10), characterized in that the overload protection devices (10) are designed according to one of claims 9 to 15.

17. Agricultural soil tillage implement (200) according to claim 16, characterized in that several or all of the sensory detection units (100) of the overload protection devices (10) are connected in a signal-conducting manner to a common electronic data processing device (102) for evaluating the detected sensor data.

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