Agricultural sowing machine and method for operating an agricultural sowing machine

Abstract

The invention relates to an agricultural sowing machine (10) having a plurality of row units (16), each of which comprises a seed depositing device (12) for depositing seeds in rows and a fertilizer depositing device (14) for depositing fertilizer in rows, each of the row units (16) being mounted on a support (20) of the sowing machine (10) via a deflecting mechanism (18).

Description

[0001] Description

[0002] Agricultural seed drill and methods for operating an agricultural seed drill

[0003] The invention relates to an agricultural seed drill according to the preamble of claim 1 and to a method for operating an agricultural seed drill according to the preamble of claim 10.

[0004] Agricultural seed drills can have multiple row units, which allow both seed and fertilizer to be deposited on agricultural land during a single pass. These row units are often attached to the seed drill via a deflection mechanism, such as a parallelogram linkage. This deflection mechanism typically allows the row units to move within a defined range relative to the soil surface. This enables adjustments to the seed and / or fertilizer placement depth, the ground pressure of the row units, and / or the ability to follow the soil contours and avoid obstacles, such as damage.

[0005] In practice, it has been found that the deflection of the row units has an impact on the operation of the agricultural seed drill during work processes using the agricultural seed drill on an agricultural area, particularly with regard to the achieved work quality and / or the operational safety of the seed drill.

[0006] The object underlying the invention is therefore to gain insights into the effects of the deflection of the row units on the operation of the agricultural seed drill.

[0007] The task is solved using an agricultural seed drill of the type mentioned above, wherein the agricultural seed drill is a

[0008] P24-032 Deflection detection system for detecting a deflection of the row units, wherein the deflection detection system includes at least one sensor for detecting sensor data relating to a deflection state of the row units.

[0009] By capturing sensor data relating to the deflection state of the row units and the resulting detection of their deflection, monitoring of the row unit deflection via the deflection mechanism is enabled. This allows insights into the operation of the agricultural seed drill during seed and / or fertilizer application on agricultural land to be gained from the captured sensor data concerning the row unit deflection. Knowing the row unit deflection and the resulting insights into the seed drill's operation enables a more precise assessment of the work quality and operational reliability of the seed drill and / or leads to improvements in its operation. Consequently, seed and / or fertilizer placement can be optimized to maximize yield.

[0010] A row unit is preferably a spreading unit for the row-specific application of seed and / or fertilizer on agricultural land, particularly in a predetermined position of the seed and fertilizer relative to each other, especially at a predetermined distance and / or height difference between the deposited seed and fertilizer. Preferably, insights into operation, particularly regarding the work quality and / or operational reliability of the agricultural seed drill, and / or follow-up measures, particularly for maintaining and / or improving the operational reliability and / or work quality of the agricultural machine, can be derived from the sensor data. Preferably, the seed is deposited in portions. Alternatively, the seed can be deposited individually. The fertilizer can, for example, be deposited in portions or as a fertilizer band.

[0011] The fertilizer application device is preferably designed as a fertilizer coulter. The seed placement device is preferably designed as a seed coulter.

[0012] P24-032, in particular as a disc coulter. The deflection detection system is preferably also suitable for use on other agricultural machinery, for example, for use with agricultural hoes and / or agricultural cultivators. The row units are preferably arranged side by side and / or spaced apart from each other transversely to the direction of travel of the seed drill on the seed drill carrier. The deflection mechanism is preferably designed as a parallelogram linkage or as a single-arm swing arm, wherein the fertilizer placement device and the seed placement device are preferably attached to the deflection mechanism, in particular spaced apart from each other in the direction of travel of the seed drill.

[0013] In a preferred embodiment of the agricultural seed drill according to the invention, the deflection detection system comprises several sensors for detecting sensor data relating to a deflection state of the row units, wherein at least one sensor of the several sensors is assigned to a group of units comprising several row units for detecting sensor data relating to the deflection state of one, several or all row units of the respective group of units, and / or wherein at least one sensor of the several sensors is assigned to a row unit for detecting sensor data relating to a deflection state of the respective row unit, wherein the at least one sensor is preferably located on a row unit, in particular on the deflection mechanism of the respective row unit and / or on the carrier of the seed drill for detecting a deflection state of aThe sensor data relating to several or all row units is arranged. Preferably, the sensors are configured to acquire sensor data on a row-specific and / or unit group-specific basis. The seed drill preferably comprises several unit groups, each with several row units, and each unit group can be assigned at least one sensor. A sensor assigned to a respective unit group is preferably configured to acquire sensor data relating to the individual row units of the respective unit group assigned to the sensor, allowing conclusions to be drawn about the,

[0014] P24-032 Allow the deflection state of the individual row units of the respective unit group to be independent of each other.

[0015] Preferably, each row unit of the seed drill is assigned a sensor. Alternatively or additionally, at least one sensor, particularly on the deflection mechanism, can be arranged on each row unit of the seed drill. Alternatively, for example, a sensor can be arranged only on every other row unit. One, several, or all sensors can be designed, for example, as an angle sensor, a camera, a tilt sensor, an acceleration sensor, and / or a Hall sensor, whereby any sensor is conceivable that can acquire sensor data from which a deflection state of one or more row units can be derived.Lateral forces acting on the row units can influence the acquisition of sensor data relating to the deflection state of the row units, in particular an angle measurement on one or more row units, whereby, for example, a Hall sensor cannot distinguish interference signals caused by lateral forces from the intended sensor data.

[0016] Preferably, the movements of a given row unit, in particular the movements of a given fertilizer application device and / or seed placement device, are recorded by acquiring sensor data, for example, using an angle sensor. An angle sensor is preferably arranged on the deflection mechanism, in particular on a joint of the deflection mechanism. The fertilizer application device and / or the seed placement device can be kinematically coupled via the deflection mechanism so that the fertilizer application device and the seed placement device are deflected together. Alternatively, the fertilizer application device and the seed placement device can be kinematically decoupled via the deflection mechanism so that the fertilizer application device and the seed placement device are not deflected together.If the fertilizer application device and the seed placement device are kinematically coupled and perform a common deflection movement, then a...

[0017] One P24-032 sensor per row unit is sufficient. If the fertilizer application device and the seed placement device are kinematically coupled and perform a common deflection movement, the sensor data pertains to the deflection state of both the fertilizer application device and the seed placement device of a given row unit. If the fertilizer application device and the seed placement device are kinematically decoupled from each other and can therefore each have different deflection states, the fertilizer application device and the seed placement device can each have their own sensor to acquire their own sensor data.

[0018] In another preferred embodiment of the agricultural seed drill according to the invention, the sensor data relating to the deflection state of the row units relate to a deflection path and / or a change in deflection path and / or a deflection frequency and / or a change in deflection frequency and / or a deflection angle and / or a change in deflection angle of the row units and / or the deflection mechanism of the row units. Preferably, the sensor data allow conclusions to be drawn about the characteristics of deflection movements of the row units. The deflection angle is preferably an angle of one or more joints of the deflection mechanism. The deflection frequency preferably describes the frequency at which the row units oscillate. The deflection path preferably describes the distance by which the row units are deflected and / or the distance the row units travel during a deflection movement.

[0019] In a further preferred embodiment of the agricultural seed drill according to the invention, the deflection detection system comprises an electronic data processing device which is configured to evaluate the sensor data of the at least one sensor for determining the deflection state of the row units, wherein the data processing device is preferably configured to process the sensor data of several or

[0020] P24-032 to evaluate and / or compare the data from all sensors of the multiple sensors together. The data processing unit can be located on the seed drill. The data processing unit can be part of an operator terminal for the seed drill. Alternatively, the data processing unit can be located externally to the seed drill, for example, on a tractor or carrier vehicle for the seed drill, or it can be designed as an external PC or server for the seed drill. The data processing unit is preferably configured to determine the deflection state of one, several, or all row units from the sensor data, in particular by evaluating the sensor data on a row-by-row basis.Preferably, the data processing device is configured to infer the deflection state of one or more other row units and / or one or more other unit groups, where no sensor data is recorded, by evaluating the sensor data of one or more row units or one or more unit groups; in particular, it is possible to infer the deflection state of neighboring row units and / or neighboring unit groups without available sensor data in this way.

[0021] Furthermore, an agricultural seed drill according to the invention is preferred in which the electronic data processing device is configured to compare the deflection state of one, several, or all row units, determined from the sensor data, with each other and / or with one or more target values. By comparing the deflection state of several or all row units with each other, the data processing device can preferably derive the positional relationship of the row units to each other, in particular a height offset between the row units. Preferably, in order to achieve a desired working quality with the seed drill, the row units are intended to have a desired and / or as uniform a height as possible.The data processing device may be configured to form an average of the deflection state of the row units, in particular the average height of the row units, in order to identify row units with significant deviations from the average formed, for example in.

[0022] P24-032 Dependence on a defined tolerance range can be recognized. One or more setpoint values ​​can, for example, be stored on an electronic data storage device of the data processing unit. Preferably, the setpoint values ​​specify limit values ​​and / or tolerance ranges for the deflection state of the row units, for example, for a maximum tolerable height offset of the row units. Preferably, each row unit and / or each group of units is assigned its own setpoint value, whereby the row units and / or group of units can also be assigned several setpoint values, for example, a maximum and a minimum setpoint value, in order to define a tolerance range for the respective row unit and / or group of units. Alternatively, different setpoint values ​​can also be assigned to the row units and / or group of units.

[0023] It is further advantageous for an agricultural seed drill according to the invention in which the electronic data processing device is configured to check the machine settings of the seed drill and / or to evaluate the work quality resulting from the machine settings of the seed drill, based on the deflection state of one, several, or all row units determined from the sensor data, in particular based on a comparison of the deflection states with each other and / or with one or more setpoint values. Preferably, the data processing device is configured to evaluate the work quality of soil cultivation tools of the seed drill, in particular soil cultivation tools arranged in front of the row units in the direction of travel of the seed drill, based on the sensor data and / or the deflection states derived therefrom.

[0024] Preferably, the sensor data and / or the deflection states derived therefrom provide information on the soil cultivation by the tillage tools, in particular with regard to loosening and / or crumbling of the soil on agricultural land by means of the tillage tools. Preferably, the data processing device is configured to use the sensor data to

[0025] The data processing unit is preferably configured to use the P24-032 sensor and / or the deflection states derived therefrom to determine the placement depth setting of the row units, in particular the seed placement device and / or the fertilizer placement device of one, several, or all row units, to determine the placement depth of the seed and / or fertilizer in the soil of the agricultural area. Preferably, the data processing unit is configured to perform variation monitoring of the height variation between the row units based on the sensor data and / or the deflection states derived therefrom, and / or to evaluate the working quality of the seed drill with regard to seed placement and / or fertilizer placement based on the variation monitoring.The data processing unit can be further configured to perform a plausibility check of the sensor data and / or the derived deflection states, for example, by averaging the determined deflection states and detecting outliers based on the averaging. Furthermore, the data processing unit can be configured to check, based on the sensor data and / or the derived deflection states, whether the row units are correctly mounted on the seed drill and / or whether there are tolerances that reduce the seed drill's working quality, such as play in the joints of the deflection mechanism. Play in the joints of the deflection mechanism can also indicate wear in the deflection mechanism, especially if the play changes negatively over time.

[0026] The data processing unit is preferably configured to monitor folding operations of the row units, in particular folding operations for moving the row units from a transport position to a working position and / or from a working position to a transport position, based on sensor data and / or the deflection states derived therefrom. To monitor folding operations of the row units, the data processing unit can, for example, determine the current position of the row units during a folding operation in order to monitor the progress of the folding operation. The seed drill preferably includes the following for executing folding operations of the row units:

[0027] P24-032 Actuators, in particular hydraulic cylinders, which enable a folding movement of the row units via the deflection mechanism by retracting and / or extending them. The data processing device can also be configured to examine the sensor data for noise in the sensor signals, whereby noise in the sensor signals can indicate increased wear of the deflection mechanism. Preferably, the seed drill includes an electronic display device, in particular a display, which can, for example, be part of an operator terminal for the seed drill. Preferably, the electronic display device is configured to display information relating to monitoring the working quality of the seed drill, in particular regarding the working quality of the tillage tools, the placement depth of the seed and / or fertilizer, the height variation of the row units, wear, and / or the folding operations.

[0028] In a further development of the agricultural seed drill according to the invention, the electronic data processing device is configured to derive, based on the deflection state of one, several or all row units determined from the sensor data, in particular based on the comparison of the deflection states with each other and / or with one or more setpoint values, specifications for the execution of subsequent measures, in particular the machine settings of the seed drill and / or the resulting work quality of the seed drill, wherein the data processing device is preferably configured to derive specifications for the execution of subsequent measures relating to row units not related to sensor data.Non-sensor-data-based row units are preferably row units from which no sensor data is recorded and / or whose sensor data was not considered when deriving the action data. The data processing device can therefore be configured to derive follow-up actions based on sensor data from one or more row units, which affect one or more row units from which the underlying sensor data for the follow-up actions does not originate.

[0029] P24-032 The action specifications relating to follow-up measures can be stored temporarily or permanently on a data storage device of the data processing unit and / or on an external data storage device, for example in a cloud, in order to evaluate the measures subsequently and / or to reuse the action data in future operations and / or on other seed drills. The action data can include control specifications for controlling the seed drill. The data processing unit is preferably configured to take into account, when deriving the action specifications, the influence of the deflection states of the row units on the row units themselves and / or on the overall working quality of the seed drill and / or on other working tools of the seed drill.Preferably, the action data derived from the data processing device are suitable for carrying out and / or supporting fully automated and / or semi-automated work processes of the seed drill on an agricultural area.

[0030] In another preferred embodiment of the agricultural seed drill according to the invention, the action specifications relating to the execution of subsequent measures include the output of warning messages and / or operating instructions, in particular relating to the machine settings of the seed drill and / or the resulting working quality of the seed drill, in particular the output of warning messages relating to the driving speed of the seed drill and / or a towing or carrier vehicle for the seed drill and / or an adjustment of the driving speed of the seed drill and / or the towing or carrier vehicle for the seed drill, and / or operating instructions relating to the height setting of the row units and / or the resulting sowing depth of seed by means of the seed placement devices and / or of fertilizer by means of the fertilizer placement devices, in particular the uniformity of the height setting and / or the sowing depth.Regarding warning messages and / or adjustments to the height setting of the row units and / or the resulting sowing depth of seeds and / or fertilizer, operating instructions,

[0031] P24-032 and / or warning messages relating to the soil penetration depth and / or alignment of one or more tillage tools of the seed drill and / or operating instructions relating to an adjustment of the soil penetration depth and / or alignment of one or more tillage tools of the seed drill.

[0032] Warning messages and / or operating instructions can support the operator of the seed drill during manual and / or semi-autonomous operations, enabling targeted measures to be taken based on the acquired sensor data to ensure high work quality and / or high operational safety of the seed drill. In particular, deflection states involving high-frequency movements of the row units, such as high-frequency angular changes in the deflection mechanism detected by an angle sensor, may necessitate a reduction in the seed drill's operating speed to ensure consistently high work quality.Furthermore, increasing or decreasing the soil penetration depth of the seed drill's tillage tools may be necessary to achieve the desired loosening of the soil on agricultural land, which in turn affects seed placement and / or fertilizer application. The alignment of the tillage tools particularly concerns their angle of attack relative to the soil surface. Warning messages and / or operating instructions are preferably displayed by the electronic display unit, which may also be accompanied by audible and / or visual signals, such as warning lights.

[0033] Furthermore, an agricultural seed drill according to the invention is advantageous in which the action specifications relating to the execution of subsequent measures include control specifications relating to changing the machine state of the seed drill, in particular the machine settings of the seed drill and / or the resulting working quality of the seed drill, wherein the control specifications, in particular changing the driving speed, in particular reducing and / or

[0034] P24-032 relates to increasing the driving speed of the seed drill and / or a towing or carrier vehicle for the seed drill, and / or pivoting one or more tillage tools of the seed drill into a working position and / or into a transport position, and / or adjusting the soil penetration depth and / or the alignment and / or the soil contact pressure of one or more tillage tools, and / or adjusting the coulter pressure of one, several or all row units, in particular by adjusting the hydraulic preload, and / or pivoting one or more clearing tools for conveying mulch material from one or more seed rows into a working position and / or into a transport position, and / or adjusting the alignment of one or more clearing tools.wherein the seed drill and / or a towing or carrier vehicle for the seed drill is preferably controllable on the basis of the control specifications by means of an electronic control device of the seed drill.

[0035] The data processing unit and the control unit are preferably interconnected via signal transmission for the transfer of operational data, in particular the control commands. Preferably, the towing or carrier vehicle for the seed drill is connected to the data processing unit and / or the control unit via ISOBUS for controlling the towing or carrier vehicle based on the control commands. Controlling the seed drill and / or the towing or carrier vehicle preferably enables fully automated operations using the seed drill and / or improves the work quality, reliability, and / or operational safety of fully automated operations using the seed drill. If the sensor data indicates that one or more row units frequently deflect upwards, the hydraulic preload can be increased to increase the pressure of the respective row units on the soil of the field.The term "share pressure" preferably refers to the pressure exerted by the shares on the soil of a cultivated area. The soil cultivation tools can, for example, be designed as cutting discs, by means of which the soil of the cultivated area is prepared for seed placement and / or fertilizer application by removing unevenness and / or by...

[0036] P24-032 The soil can be prepared for breaking up and / or loosening. Using the clearing tools, mulch material located in the seed rows, which could interfere with seed placement and / or fertilizer application, can be removed. The clearing tools are preferably supported by a single-arm swing arm and / or are pivotable and / or adjustable via the respective single-arm swing arm on the seed drill.

[0037] The problem underlying the invention is further solved by a method of the type mentioned at the outset, wherein the deflection of the row units is detected by means of a deflection detection system, wherein the deflection detection system comprises at least one sensor by means of which sensor data relating to a deflection state of the row units are detected.

[0038] Preferably, an agricultural seed drill according to one of the preceding embodiments is operated within the framework of the method. With regard to the advantages and modifications of the method according to the invention, reference is therefore made to the advantages and modifications of the agricultural seed drill according to the invention.

[0039] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show:

[0040] Fig. 1 shows an agricultural seed drill according to the invention with a deflection detection system during a work operation on an agricultural area in a perspective view from behind;

[0041] Fig. 2 several row units of a seed drill according to the invention, each with a sensor of the deflection detection system with the carrier hidden, in a perspective view from the front;

[0042] Fig. 3 shows a seed drill according to the invention with several row units, some of which have a height offset from each other, in a rear view; and

[0043] P24-032 Fig. 4 shows a row unit of a seed drill according to the invention with a sensor of the deflection detection system in a detailed side view.

[0044] Fig. 1 shows an agricultural seed drill 10 according to the invention, which is pulled or carried by a tractor-type towing or carrier vehicle 100 during a work operation on an agricultural area N. In the embodiment of the agricultural seed drill 10 shown in Fig. 1, it is a mounted seed drill, wherein the towing or carrier vehicle 100 is accordingly designed as a carrier vehicle in this embodiment. The seed drill 10 comprises several row units 16 arranged side by side transversely to the direction of travel of the seed drill 10, by means of which agricultural seed and agricultural fertilizer are deposited in a row-related arrangement on the agricultural area N during a work operation.

[0045] Furthermore, the illustrated embodiment of the seed drill 10 comprises soil cultivation tools 32, which are arranged in the direction of travel of the seed drill 10 in front of the row units 16 and are designed to prepare the soil B of the agricultural area N immediately before seed placement and / or fertilizer application, for example, to break up a hard soil surface, remove interfering mulch material from the rows, and / or crumble coarse soil material. The row units 16 are attached side by side and spaced apart from each other transversely to the direction of travel of the seed drill 10 to a support 20 extending transversely to the direction of travel of the seed drill 10, which is preferably designed as a crossbeam.

[0046] Furthermore, the agricultural seed drill 10 comprises at least one sensor 24 and an electronic data processing device 26, wherein the at least one sensor 24 and the electronic data processing device 26 together form a deflection detection system 22 of the seed drill 10. The deflection detection system 22 of the seed drill 10 is configured to detect a deflection state of the row units 16 of the seed drill 10.

[0047] P24-032, wherein the at least one sensor 24 is configured to acquire sensor data relating to the deflection state of the row units 16, and wherein the data processing device 26 is configured to evaluate the sensor data of the at least one sensor 24 for acquiring the deflection state of the row units 16. The at least one sensor 24 can be arranged on the seed drill 10, in particular on the row units 16 and / or on the carrier 20 for the row units 16. The electronic data processing device 26 can also be arranged on the agricultural seed drill 10. Furthermore, the data processing device 26 can, for example, be part of an operating terminal for the seed drill and / or be arranged in a driver's cab of the tractor or carrier vehicle 100 for the seed drill 10.

[0048] Based on the deflection state of the row units 16 derived from the sensor data, conclusions can be drawn about the work quality and / or the operational safety of the agricultural seed drill 10 during a work operation on the agricultural area N, whereby it is particularly intended to ensure the highest possible consistently high work quality, in particular by ensuring the most uniform possible placement of seed and fertilizer in the intended position relative to each other, especially by ensuring the lowest possible height difference V between the individual row units 16 arranged next to each other.By acquiring the sensor data relating to the deflection state of the row units 16 and evaluating the sensor data to derive the deflection state of the row units 16, the data processing device 26 can thus derive whether all row units 16 of the seed drill 10 have a deflection state from which an intended working quality of the seed drill 10 results, or whether one, several or all row units 16 have an unintended deflection state which reduces the working quality of the seed drill 10.

[0049] Furthermore, the electronic data processing unit 26 is configured to generate warnings and / or operating recommendations for a machine operator based on the derived deflection state of the series units 16.

[0050] P24-032 of the seed drill 10, which can be displayed to a machine operator of the seed drill 10 by means of an electronic display device 30, so that the machine operator can take follow-up measures based on the derived warnings and / or operating recommendations, which ensure consistently high work quality and / or operational safety of the seed drill. The electronic display device 30 is preferably designed as a display, for example as a display of an operating terminal for the seed drill 10, and can be arranged, for example, in the driver's cab of the towing or carrier vehicle 100.

[0051] Furthermore, the electronic data processing device 26 is configured to derive control specifications based on the derived deflection state of the row units 16, which relate to changing and / or maintaining machine settings of the seed drill 10 and / or the towing or carrier vehicle 100 for the seed drill 10, so that the seed drill 10 and / or the towing or carrier vehicle 100 can be controlled on the basis of the control specifications by means of an electronic control device 28 in such a way that the work quality and / or the operational safety of the seed drill 10 can be maintained at a high level.The warnings and / or the operating recommendations and / or the control specifications may, for example, relate to a change in the driving speed of the seed drill 10, whereby the driving speed of the seed drill 10 may be reduced, for example, by braking the towing or carrier vehicle 100, if the deflection state of the row units 16 is in an unintended range.

[0052] Furthermore, the warning notices and / or the operating recommendations and / or the control specifications may relate to changing the settings of the soil cultivation tools 32 of the seed drill 10. For example, the deflection state of the row units 16, for example, in the case of a high deflection frequency of one, several or all row units 16, may indicate that the soil B of the agricultural area N in

[0053] P24-032 The area of ​​the rows is not sufficiently prepared for seed and / or fertilizer placement, for example, because the soil surface is too hard and / or the soil crumb is too coarse. This may indicate that the soil cultivation using the tillage tools 32, which are designed, for example, as a leading cultivator, must be adjusted so that the soil B of the cultivation area N is prepared for seed and / or fertilizer placement in such a way that a high working quality of the seed drill 10 can be ensured.The examples mentioned of changes to machine settings and / or further follow-up measures can be carried out either manually by a machine operator based on warnings and / or operating recommendations and / or automatically by means of the control device 28, so that manual and / or semi-autonomous operations using the seed drill 10 can be supported and / or fully automated operations using the seed drill 10 can be improved.

[0054] Fig. 2 shows a detailed front view of the row units 16 of an agricultural seed drill 10 according to the invention, with the carrier 20, to which the row units 16 are attached to the seed drill 10, obscured in Fig. 2. Fig. 2 shows an embodiment in which a sensor 24 for detecting the deflection state of the respective row unit 16 is arranged on each row unit 16 of the seed drill 10. The sensors 24 are each arranged on a deflection mechanism 18 of the row units 16, the row units 16 being attached to the carrier 20 of the seed drill 10 via the deflection mechanism 18.The sensors 24 can, for example, be designed as angle sensors, which detect the angle, in particular the rotation angle at one or more joints of the deflection mechanism 18 of the row units 16, in order to be able to infer the respective deflection state of the respective row unit 16 from the detected angle.

[0055] The deflection mechanism 18 is in the embodiment shown as

[0056] A parallelogram is formed, over which the series units 16 are attached to the

[0057] The carrier 20 of the seed drill 10 is articulated such that the row units 16 can each be pivoted independently of one another with respect to the carrier 20, in particular for moving the row units 16 into a transport position without ground contact and into a working position with ground contact. Furthermore, the deflection mechanism 24 allows for adjustment of the coulter pressure D of the row units 16 and / or a change in the height setting H of the row units 16. In addition, each row unit 16 of the seed drill includes a seed placement device 12 for the row-specific placement of seed on the agricultural area N and a fertilizer placement device 14 for the row-specific placement of fertilizer on the agricultural area N.The seed placement device 12 and the fertilizer placement device 14 of the row units 16 are arranged relative to each other via the deflection mechanism 18 in such a way that the seed and the fertilizer are placed in an intended position relative to each other and in an intended position relative to the soil B of the agricultural area N.

[0058] By arranging a sensor 24 on each row unit 16, it is possible to acquire sensor data relating to each row unit 16 of the seed drill 10. Based on this data, the respective deflection state of each row unit 16 can be derived by the data processing unit 26. In this way, the deflection state of each individual row unit 16 can be monitored, allowing undesired changes in the deflection state of one, several, or all row units 16 to be detected. Appropriate follow-up measures, in particular warnings, operating recommendations, and / or control instructions relating to the deflection state, can then be derived by the data processing unit 26. Undesired conditions relating to the deflection state of the row units 16 can include, for example, high-frequency deflection frequencies, i.e., oscillation of one, several, or all row units 16.A oscillation of the row units 16 may, for example, indicate unfavorable soil conditions, which may point to insufficient preparation of the soil B of the agricultural area N by means of the soil cultivation tools 32 of the seed drill 10.

[0059] P24-032 Furthermore, undesirable deflection states of the row units 16 can be detected from the sensor data of the sensors 24, which may indicate a height offset V between at least two row units 16, whereby undesirable differences between the row units 16 with regard to seed and / or fertilizer placement result from a height offset V of the row units 16, which means that a uniform working quality of the seed drill 10 cannot be ensured.To ensure consistent working quality of the seed drill 10 across as many row units 16 as possible, the data processing unit 26 is specifically designed to compare and / or calculate the sensor data from the individual sensors 24 of the respective row units 16 and / or the deflection states of the respective row units 16 derived from the sensor data in such a way that irregularities in the deflection states of the row units 16, for example, different deflection frequencies and / or a height offset V between one or more row units 16, are detected by the data processing unit 26. For this purpose, the data processing unit 26 can, as already mentioned, compare the sensor data from the sensors 24 and / or the deflection states of the row units 16 derived from them.

[0060] Alternatively or additionally, the data processing unit 26 can also be configured to compare the sensor data from the sensors 24 and / or the derived deflection states of the row units 16 with deflection state setpoints in order to detect, if defined limit values ​​for the deflection states of the row units 16 are exceeded or fallen below, that the working quality of the seed drill 10 may be reduced. Setpoint values ​​and / or limit values ​​for the deflection state of the row units 16 can, for example, be stored in a data memory of the data processing unit 26, so that the data processing unit 26 can compare the derived deflection states of the row units 16 with the respective setpoint values ​​and / or limit values ​​and, based on this, derive follow-up measures to maintain the operational reliability and / or working quality of the seed drill 10 at a high level.

[0061] P24-032 Fig. 3 shows several row units 16 of an agricultural seed drill 10 according to the invention during a working operation on an agricultural area N in a rear view. In the situation shown, it can be seen that the row units 16 do not have a uniform height and thus a height offset V to one another. The height offset V of the row units 16 results from different deflection states of the row units 16, which result from different deflections of the row units 16 by means of the deflection mechanism 18.By capturing sensor data relating to the deflection state of the row units 16 using one or more sensors 24, it is possible to detect the uneven deflection states of the row units 16 and to detect a resulting height offset V between the row units 16, so that the data processing device 26 can derive subsequent measures based on this, which ensure a uniform working quality of the seed drill 10 through uniform seed and fertilizer placement.

[0062] For example, the data processing unit 16 can derive operating recommendations for a machine operator concerning a change in the height setting H of the row units 16. In this way, a machine operator can manually correct the height offset V between the row units 16 by changing the height setting H of the row units 16. Furthermore, the data processing unit 16 can derive control specifications for a control unit 28, so that the height setting H is automatically corrected by the control unit 28 to compensate for the height offset V between the row units 16. This ensures that the seed and fertilizer are placed in all rows by all row units 16 at a uniform placement depth T and in the intended orientation relative to each other on the working area N.

[0063] Fig. 4 shows a detailed side view of a row unit 16 of a seed drill 10 according to the invention. The row unit 16 shown comprises a seed placement device 12, which includes a seed coulter for depositing seed.

[0064] P24-032 in the soil B of the agricultural area N. The row unit 16 also includes a fertilizer placement device 14, which comprises a fertilizer coulter for depositing fertilizer into the soil B of the agricultural area N. The row unit 16 can be attached to a carrier 20 of an agricultural seed drill 10 via a mounting section 36. The seed placement device 12 and the fertilizer placement device 14 are attached to the carrier 20 via the mounting section 36 by means of a deflection mechanism 18 designed as a parallelogram linkage, wherein the row unit 16, in particular the seed placement device 12 and the fertilizer placement device 14, are adjustable via the deflection mechanism 18 by means of an actuator 34.The actuator 34 is arranged on the deflection mechanism 18 of the row unit 16 and is designed as a hydraulic cylinder, wherein the deflection mechanism 18 can be deflected via the actuator 34, in particular by extending and retracting the actuator 34 designed as a hydraulic cylinder, such that the row unit 16, in particular the seed placement device 12 and the fertilizer placement device 14, can be deflected with respect to the support 20 and with respect to the ground B of the usable area N, such that the row unit 16 can be pivoted by changing a height setting H of the row unit 16 relative to the ground B and relative to the support 20, wherein by changing the height setting H of the row unit 16 a placement depth T and a coulter pressure D of the fertilizer placement device 14 and / or the seed placement device 12 can be adjusted.If the row unit 16 is pivoted downwards towards the ground B via the deflection mechanism 18 by adjusting the actuator 34 by changing the height setting H, the placement depth T, which specifies the depth at which fertilizer and / or seed is placed in the ground B of the cultivation area N, and / or the coulter pressure D, which specifies the pressure with which the fertilizer placement device 14 and / or the seed placement device 12 press onto the ground B of the cultivation area, can be adjusted so that a desired working quality is achieved by means of the seed drill 10.

[0065] Furthermore, a sensor 24 is arranged on the deflection mechanism 18 of the series unit 16, which can, for example, be designed as an angle sensor.

[0066] P24-032 and is arranged on a joint of the deflection mechanism 18, so that changes in angle at the joint of the deflection mechanism 18 can be detected by the sensor 24 to acquire sensor data relating to the deflection state of the row unit 16. The deflection state of the row unit 16 allows conclusions to be drawn as to whether the height setting H and / or the resulting seeding depth T and / or the coulter pressure D are correctly set, particularly in comparison to other row units 16 of the seed drill 10, so that the seed drill 10 achieves a consistently high working quality across all row units 16.If an evaluation of the sensor data from sensor 24 using an electronic data processing device 26 shows that the deflection state of the respective row unit 16 indicates that the row unit 16, particularly in comparison with other, for example adjacent, row units 16, exhibits a deflection that does not lead to the intended working quality, the data processing device 26 can, for example, derive subsequent measures affecting one, several or all row units 16, in particular operating recommendations, warnings and / or control specifications for a control device 28 for changing the height setting H, so that as many row units 16 as possible are set in such a way that uniform seed and / or fertilizer placement by means of the row units 16 of the seed drill 10 can be ensured.

[0067] In the illustrated embodiment of the row unit 16, the seed placement device 12 and the fertilizer placement device 14 can be attached to a carrier 20 of a seed drill 10 by means of the deflection mechanism 18 such that the seed placement device 12 and the fertilizer placement device 14 are kinematically coupled to each other via the deflection mechanism 18, so that the seed placement device 12 and the fertilizer placement device 14 are deflected together via the deflection mechanism 18. With such a linkage of the row unit 16, one sensor 24 per row unit 16 is therefore sufficient to measure the deflection of the seed placement device 12 and the fertilizer placement device 14 together.

[0068] P24-032. In other embodiments of row units 16 with other deflection mechanisms 18, it is also conceivable that the seed placement device 12 and the fertilizer placement device 14 are kinematically decoupled from each other via the deflection mechanism 18 in such a way that the seed placement device 12 and the fertilizer placement device 14 can have different deflection states, so that in such a case several sensors 24 per row unit 16 may be necessary to separately acquire sensor data from the seed placement device 12 and the fertilizer placement device 14.

[0069] P24-032 Reference mark

[0070] 10 Seed drill

[0071] 12 Seed placement device

[0072] 14 Fertilizer placement device

[0073] 16 row units

[0074] 18 Deflection Mechanics

[0075] 20 T beam

[0076] 22 Deflection detection system

[0077] 24 Sensor

[0078] 26 Data processing facility

[0079] 28 Control unit

[0080] 30 Display device

[0081] 32 soil cultivation tools

[0082] 34 Actuator

[0083] 36 Fastening section

[0084] 100 towing or carrier vehicle

[0085] B Floor

[0086] D sharp pressure

[0087] H Height adjustment

[0088] N Usable area

[0089] T Storage depth

[0090] V Height offset

Claims

Claims 1. Agricultural seed drill (10), comprising several row units (16) each comprising a seed placement device (12) for row-related placement of seed and a fertilizer placement device (14) for row-related placement of fertilizer, wherein the row units (16) are each arranged on a carrier (20) of the seed drill (10) via a deflection mechanism (18), characterized by a deflection detection system (22) for detecting a deflection of the row units (16), wherein the deflection detection system (22) comprises at least one sensor (24) for detecting sensor data relating to a deflection state of the row units (16).

2. Agricultural seed drill (10) according to claim 1, characterized in that the deflection detection system (22) comprises several sensors (24) for detecting sensor data relating to a deflection state of the row units (16), wherein at least one sensor (24) of the several sensors (24) is assigned to a group of units comprising several row units (16) for detecting sensor data relating to the deflection state of one, several or all row units (16) of the respective group of units, and / or is assigned to a row unit (16) for detecting sensor data relating to a deflection state of the respective row unit (16), wherein the at least one sensor (24) is preferably located on a row unit (16), in particular on the deflection mechanism (18) of the respective row unit (16), and / or on the carrier (20) of the seed drill (10) for detecting a deflection state of ais arranged for sensor data relating to several or all of the series units (16). P24-032 3. Agricultural seed drill (10) according to claim 1 or 2, characterized in that the sensor data relating to the deflection state of the row units (16) relate to a deflection path and / or a deflection path change, and / or a deflection frequency and / or a deflection frequency change, and / or a deflection angle and / or a deflection angle change, of the row units (16) and / or the deflection mechanism (18) of the row units (16).

4. Agricultural seed drill (10) according to one of the preceding claims, characterized in that the deflection detection system (22) comprises an electronic data processing device (26) which is configured to evaluate the sensor data of the at least one sensor (24) to determine the deflection state of the row units (16), wherein the data processing device (26) is preferably configured to jointly evaluate and / or compare the sensor data of several or all sensors (24) of the multiple sensors (24) when determining the deflection state of the row units (26).

5. Agricultural seed drill (10) according to claim 4, characterized in that the electronic data processing device (26) is configured to compare the deflection state determined from the sensor data of one, several or all row units (16) with each other and / or with one or more setpoint values.

6. Agricultural seed drill (10) according to claim 4 or 5, characterized in that the electronic data processing device (26) is configured to determine, on the basis of the deflection state determined from the sensor data, one or more P24-032 or all row units (16), in particular on the basis of comparing the deflection states with each other and / or with one or more setpoint values, to check the machine settings of the seed drill (10) and / or to evaluate a work quality resulting from the machine settings of the seed drill (10).

7. Agricultural seed drill (10) according to claims 4 to 6, characterized in that the electronic data processing device (26) is configured to derive, on the basis of the deflection state of one, several or all row units (16) determined from the sensor data, in particular on the basis of the comparison of the deflection states with each other and / or with one or more setpoint values, specifications for the execution of subsequent measures, in particular the machine settings of the seed drill (10) and / or subsequent measures relating to the resulting work quality of the seed drill (10), wherein the data processing device (26) is preferably configured to derive specifications for the execution of subsequent measures relating to row units (16) that are not based on sensor data.

8. Agricultural seed drill (10) according to claims 4 to 7, characterized in that the action specifications relating to the execution of subsequent measures relate to the output of warning messages and / or operating instructions, in particular relating to the machine settings of the seed drill (10) and / or the resulting working quality of the seed drill (10), in particular the output of warning messages relating to the driving speed of the seed drill (10) and / or a towing or carrier vehicle (100) for the seed drill (10), and / or P24-032 an adjustment of the driving speed of the seed drill (10) and / or the towing or carrier vehicle (100) for the seed drill (10), and / or the height setting (H) of the row units (16) and / or the resulting seed placement depth (T) by means of the seed placement devices (12) and / or fertilizer by means of the fertilizer placement devices (14), in particular warning messages concerning the uniformity of the height setting (H) and / or the placement depth (T), and / or operating instructions concerning an adjustment of the height setting (H) of the row units (16) and / or the resulting seed placement depth (T) of seed and / or fertilizer, and / or warning messages concerning the soil penetration depth and / or alignment of one or more tillage tools (32) of the seed drill (10),and / or an adjustment of the soil penetration depth and / or alignment of one or more soil cultivation tools (32) of the seed drill operating instructions.

9. Agricultural seed drill (10) according to claims 4 to 8, characterized in that the action specifications relating to the execution of subsequent measures include control specifications relating to changing the machine state of the seed drill (10), in particular influencing the machine settings of the seed drill (10) and / or the resulting working quality of the seed drill (10), wherein the control specifications in particular change the driving speed, in particular decreasing and / or increasing the driving speed, of the seed drill (10) and / or of a towing or carrier vehicle (100) for the seed drill (10), and / or P24-032 the pivoting of one or more tillage tools (32) of the seed drill (10) into a working position and / or into a transport position, and / or the adjustment of the soil penetration depth and / or the orientation and / or the soil contact pressure of one or more tillage tools (32), and / or the adjustment of the coulter pressure (D) of one, several or all row units (16), in particular by adjusting the hydraulic preload, and / or the pivoting of one or more clearing tools for conveying mulch material from one or more seed rows into a working position and / or into a transport position, and / or the adjustment of the orientation of one or more clearing tools, wherein the seed drill (10) and / or a towing or carrier vehicle (100) for the seed drill (10) preferably on the basis of the control specifications by means of an electronic The control device (28) of the seed drill (10) can be controlled.

10. Method for operating an agricultural seed drill (10), in particular an agricultural seed drill (10) according to one of the preceding claims, with several row units (16) each comprising a seed placement device (12) for row-related placement of seed and each comprising a fertilizer delivery device (14) for row-related placement of fertilizer, wherein the row units (16) are each arranged on a carrier (20) of the seed drill (10) via a deflection mechanism (18), characterized in that the deflection of the row units (16) is detected by means of a deflection detection system (22), wherein the deflection detection system (22) comprises at least one sensor (24) by means of which sensor data relating to a deflection state of the row units (16) are detected. P24-032

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