AGRICULTURAL MACHINE WITH A SOIL TILLAGE TOOL AND METHOD FOR CONTROLLING A SOIL TILLAGE TOOL

Abstract

An agricultural machine for arrangement on a vehicle, wherein during movement of the machine in the travel direction an area of soil at least between plants arranged parallel to the travel direction in row crops can be tilled by the machine, wherein the machine comprises a soil tillage tool, which is pivotable back, counter to the travel direction, about an axis of rotation running in a height direction of the machine out of a transverse direction arranged perpendicular to the travel direction and perpendicular to the height direction and/or is movable towards the machine in the transverse direction, an obstacle sensor by which obstacles can be detected, and comprises a control device, wherein when an obstacle is detected the control device can pivot the soil tillage tool back out of the transverse direction counter to the travel direction and/or move it in the transverse direction towards the machine.

Claims

1. Agricultural machine for arrangement on an agricultural vehicle, wherein during movement of the machine in the travel direction (F) an area of soil at least between plants arranged parallel to the travel direction (F) in row crops can be tilled by the machine, wherein the machine comprises a soil tillage tool, which is pivotable back, counter to the travel direction, about an axis of rotation (D) running in a height direction (H) of the machine out of a transverse direction (Q) arranged perpendicular to the travel direction (F) and perpendicular to the height direction (H) and/or is movable towards the machine in the transverse direction (Q), an obstacle sensor by which obstacles, in particular plants and planting sticks of the row crop, can be detected, as well as a control device, wherein when an obstacle is detected the control device can pivot the soil tillage tool back out of the transverse direction (Q) counter to the travel direction (F) and/or move it in the transverse direction (Q) towards the machine, characterized in that the control device comprises a delay device, which delays the pivoting back and/or the moving towards the machine after detection of an obstacle, and a setting device, wherein with the setting device a time delay amount (Δ) of the delay device can be set during a soil tillage run.

2. Agricultural machine according to claim 1, characterized in that the delay device is designed as an electronic control system.

3. Agricultural machine according to claim 1, characterized in that in addition to the signals of the obstacle sensor also the current speed of travel of the vehicle, the time and the current position of the soil tillage tool are detected in the control device and furthermore a distance value is stored.

4. Agricultural machine according to claim 1, characterized in that the control device comprises a pivoting device, by which the soil tillage tool is pivotable, or as a linear shifting unit, by which the soil tillage tool is movable, and comprises a controllable signal generator by which the pivoting device is controllable, wherein the signal generator is merely connected indirectly by means of the delay device to the obstacle sensor.

5. Agricultural machine according to claim 1, characterized in that the time delay amount (Δ) can be set continuously within a time period by the setting device.

6. Agricultural machine according to claim 1, characterized in that the setting device is controllable by a regulator which can be actuated manually during the soil tillage run.

7. Agricultural machine according to claim 1, characterized in that the machine also comprises a position sensor, by which a slope angle (α) in the travel direction (F) is continuously measurable, wherein the time delay amount (Δ) can be set automatically and dynamically by the setting device depending upon the slope angle (α).

8. Agricultural machine according to claim 7, characterized in that the position sensor is arranged on the pivoting device or linear shifting unit of the soil tillage tool.

9. Agricultural machine according to claim 1, characterized in that the obstacle sensor is designed as a mechanical feeler, wherein detection of an obstacle takes place when a minimum actuation of the feeler is exceeded.

10. Agricultural machine according to claim 9, characterized in that the feeler is designed as a rod which is rotatable from the travel direction (F) into the transverse direction (Q) and parallel to the ground, wherein the minimum actuation corresponds to a minimum angle of rotation.

11. Agricultural machine according to claim 1, characterized in that the obstacle sensor is designed as a contactless sensor.

12. Method for controlling a soil tillage tool of an agricultural machine according to claim 1, comprising the following steps: a. setting the time delay amount (Δ) between the detection of an obstacle and the pivoting back and/or moving on of the soil tillage tool with the aid of the setting device during a soil tillage run; b. detecting an obstacle by the obstacle sensor; c. time-delaying the pivoting back and/or moving on of the soil tillage tool with the aid of the delay device by the previously set time delay amount (Δ); d. pivoting back and/or moving on of the soil tillage tool with the aid of the control device.

13. Method according to claim 12, characterized in that the setting of the time delay amount (Δ) on the setting device during the soil tillage run takes place depending upon a control value set manually by an operator of the agricultural machine.

14. Method according to claim 12, characterized in that the agricultural machine comprises a position sensor, by which a slope angle (α) in the travel direction (F) is continuously measured and the time delay amount (Δ) is continuously automatically set by the setting device depending upon the slope angle (α).

15. Method according to claim 12, by comparison with the set time delay amount (Δ) during travel on level ground and at a constant speed of travel, in the case of travel uphill the time delay amount (Δ) is decreased with the aid of the setting device and in the case of travel downhill the time delay amount (Δ) is increased with the aid of the setting device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Preferred and alternative examples of the present invention are described in detail below with reference to the following drawings:

[0043] FIG. 1 is an overview representation of the agricultural machine 1 arranged on an agricultural vehicle 2 during soil tillage in a row crop 5 in a side view;

[0044] FIG. 2 is a representation of the agricultural machine 1 on an agricultural vehicle 2 during soil tillage in a row crop 5 in a plan view;

[0045] FIGS. 3a-3c are schematic representations of the soil tillage tool 6 and the obstacle sensor 7 at three different ground slope angles;

[0046] FIG. 4 is a schematic organization chart of the control device 8 with the obstacle sensor 7, the position sensor 9 and the soil tillage tool 6.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0047] FIG. 1 shows the agricultural machine 1 which is arranged on an agricultural vehicle 2 in the travel direction F during the soil tillage. The agricultural vehicle is preferably any agricultural towing vehicle, particularly preferably an equipment carrier, for example but not definitively a tractor, in particular a hauler, a narrow-track tractor, a high-clearance tractor, a crawler, a unimog or an autonomous equipment carrier. The agricultural machine 1 is moved over the soil 3 by the agricultural vehicle 2. In this case a soil area 3 is tilled by the machine 1 with the aid of the soil tillage tool 6. This area of soil 3a is arranged at least partially between plants 4a of a row crop 5.

[0048] In the illustrated embodiment the agricultural vehicle 2 pulls the soil tillage tool agricultural machine 1 over the soil 3. However, it is also conceivable that the agricultural machine 1 is arranged in front of or to the side of the agricultural vehicle 2. Thus the agricultural machine can be arranged at the front, at the rear and/or between the axles of the vehicle. FIG. 1 shows a row crop 5 which is located on a slope. In this illustration the agricultural vehicle 2 with the agricultural machine 1 travels up the slope. In this respect there is a positive slope angle α in the travel direction F.

[0049] The plants 4a do not grow for instance perpendicular to the soil 3, but in fact perpendicularly upwards with respect to a vertical direction V which runs to the centre of the earth. The plants 4a of a row crop 5 frequently have further aids which serve for cultivation of the plants 4a in rows. Such aids can be in particular planting sticks 4b or also other aids such as supporting posts or wires (not shown here).

[0050] FIG. 2 shows the same embodiment of the agricultural machine 1 with the agricultural vehicle 2 in a plan view. In this plan view illustration it can be seen that the soil tillage tool 6 is arranged as a lateral arm on the agricultural machine 1. As a result soil tillage by the soil tillage tool 6 is possible alongside the route of the agricultural vehicle 2. In particular it is possible that as the agricultural vehicle 2 travels along a row crop 5 an area of soil 3a between the plants 4a can be tilled by the soil tillage tool 6. However, in order not to damage the plants 4a it is necessary to pivot the soil tillage tool 6 back before a collision with a plant 4a or any other obstacle 4.

[0051] The pivoting back of the soil tillage tool 6, which is arranged projecting laterally out of the agricultural machine 1 as a lateral arm in a transverse direction Q, takes place by rotation thereof about the axis of rotation D out of the transverse direction Q towards the rear in a direction which is counter to the travel direction F. In this case the axis of rotation D is arranged parallel to a height direction H. The height direction H is perpendicular to the soil 3, and thus constitutes the soil normal, and is directed upwards from the soil 3.

[0052] In order to ensure that the soil tillage tool 6 pivots back in good time before the contact with an obstacle 4, an obstacle sensor 7 is arranged in front of the soil tillage tool 6 in the travel direction. The obstacle sensor 7 is designed either as a mechanical feeler 7a or as a contactless sensor (not shown here). In the embodiment illustrated here the axis of rotation D of the soil tillage tool 6 coincides with the axis of rotation D of the mechanical feeler 7a. However, it is also conceivable that there are separate axes of rotation. In this case the two axes of rotation are preferably parallel to one another.

[0053] By the arrangement of the obstacle sensor 7 in front of the soil tillage tool 6 in the travel direction the obstacle sensor 7 is capable of recognising an obstacle 4 before the soil tillage tool 6 comes into contact with the obstacle 4. Thus the soil tillage tool 6 can be pivoted back towards the rear in good time before contact with the obstacle 4. The agricultural machine 1 then passes the obstacle 4 with a soil tillage tool 6 in the pivoted-back state. After the agricultural machine 1 with the soil tillage tool 6 has passed the obstacle 4, the soil tillage tool 6 pivots again automatically into its starting position as a lateral arm of the agricultural machine 1. Thus the area of soil 3a in front of and behind the obstacle 4 is tilled, wherein a certain area around the obstacle 4 remains untilled.

[0054] FIGS. 3a to 3c illustrate the problem which arises when a slope angle is 0° the travel direction. FIG. 3a shows a soil tillage tool 6 and an obstacle sensor 7 when travelling in the travel direction F on the level on ground 3. FIG. 3a shows the soil tillage tool 6 as it reaches an obstacle 4 at the moment immediately before the soil tillage tool 6 pivots back out of the starting position. The obstacle sensor 7, which here is designed by way of example as a mechanical feeler 7a, at this moment rests on the obstacle 4 on and in this state generates a sensor signal which then leads to pivoting back of the soil tillage tool 6.

[0055] Between the obstacle sensor 7 and the soil tillage tool 6, due to the arrangement of the obstacle sensor 7 in the travel direction in front of the soil tillage tool 6, a distance A is produced between the soil tillage tool 6 and the obstacle sensor 7. In the case of travel on level ground this distance A is approximately equal to the distance B between the soil tillage tool 6 and the obstacle 4. However, differences between the distances A and B result from the diameter of the obstacle sensor 7 designed as a mechanical feeler 7a.

[0056] After a certain distance x.sub.1 the soil tillage tool 6 pivots out of the pivoted-back position back into its starting position again. The setting of the distance A between the obstacle sensor 7 and the soil tillage tool 6 is set so that, when the soil tillage tool 6 pivots back out of its pivoted-back position into the normal operating position (starting position) after travelling the distance x.sub.1 in the turned-back state, the obstacle 4 has already been passed.

[0057] This means that behind the obstacle 4 in the travel direction there is a distance C in which the soil tillage tool 6 is still located in the turned-back state. In this the case the obstacle 4 has been successfully circumvented without causing a collision with the soil tillage tool 6.

[0058] Problems ensue, however, at a slope angle α in the travel direction F. The case of uphill travel is illustrated in FIG. 3b. Because the agricultural machine 1 with the agricultural vehicle 2 is still moving on the soil 3, the plants 4a which represent obstacles 4 grow in a direction parallel to a vertical direction V, which runs to the centre of the hill, an obstacle 4 in the form of a plant 4a appears to be tilted away forwards from the soil tillage tool 6 in the travel direction F.

[0059] If the agricultural machine 1 now encounters an obstacle 4, the situation as illustrated in FIG. 3b ensues. The distance A between the obstacle sensor 7 and the soil tillage tool 6 is set and does not change due to the slope angle α. When the obstacle sensor 7 strikes the obstacle 4, due to the slope angle α the distance B is measured directly on the ground 3, but is significantly shorter than the distance A between the soil tillage tool 6 and the obstacle sensor 7. In the extreme case this can lead to a situation where the obstacle sensor 7 has not yet reached the obstacle 4 whilst the soil tillage tool 6 on the ground already collides with the obstacle 4 or with a root ball located below it. This can lead to damage to the soil tillage tool 6 and/or the plant 4a or the aids 4b for cultivation of the plants 4a in rows.

[0060] FIG. 3c shows a downhill run of the agricultural machine 1 in the travel direction F on ground 3. This results in a poor situation comparable to that of uphill travel which has been described previously. Again, the distance A between the soil tillage tool 6 and the obstacle sensor 7 is constant. However, due to the slope angle α which is now negative in downhill travel a situation arises in which the obstacle 4 appears to be tilted towards the soil tillage tool. In this case the distance B between the soil tillage tool 6 and the obstacle 4 measured near the ground 3 is significantly greater than the distance A between the soil tillage tool 6 and the obstacle sensor 7 when the obstacle sensor 7 reaches the obstacle 4. This leads to a premature pivoting back of the soil tillage tool 6 which has not yet moved near enough to the obstacle 4.

[0061] Since the soil tillage tool 6 always returns again to its starting position after a specific time or preferably a specific distance, in the extreme case during downhill travel it is even possible that the soil tillage tool 6 is already turned forward again into its original position before passing the obstacle 4, so that it collides with the obstacle 4.

[0062] A time delay amount Δ can now be set with the delay device 10 according to the invention and the setting device 11. After detection of the obstacle 4 by the obstacle sensor 7, the soil tillage tool 6 is now turned back by the time amount Δ. Depending upon whether travel is on level ground or uphill or downhill, the time delay amount Δ can be set accordingly. Preferably for travel on level ground a moderate time delay amount Δ can be set, for uphill travel a small time delay amount Δ can be set, and for downhill travel a great time delay amount Δ can be set in the delay device 10, based on the constant speed of travel.

[0063] Due to the time delay Δ, the distance x at which the soil tillage tool 6 is located in a turned-back position, is shifted. In FIGS. 3a-3c the reference x.sub.1 marks the distance along which the soil tillage tool without the time delay device 10 is in the turned-back state, and the reference x.sub.2 marks the path travelled, along which the soil tillage tool 6 with the time delay device 10 is located in the turned-back state. Due to the correspondingly set time delay amount Δ, the travelled distance x.sub.2 in which the soil tillage tool 6 is located in the turned-back state is always optimally placed around the obstacle. Thus due to the delay device 10 there is no collision of the soil tillage tool 6 with the obstacle 4.

[0064] The time delay amount Δ can preferably be continuously set in a time period. The calculation of the optimal time delay amount Δ preferably takes place by the control device 8 according to the signals of the obstacle sensor 7, the current speed of travel of the vehicle 2 and the current position of the soil tillage tool. The time delay amount Δ is calculated according to these parameters so that the pivoting back takes place at a distance from the obstacle 4 which corresponds to the stored distance value.

[0065] For detecting whether it is travelling uphill, downhill or on level ground, the operator of the machine preferably sets a control value manually for this during the soil tillage run. A design as a switch or detent with three different positions is particularly preferred here, wherein a central position is assigned to travel on level ground and the two outer positions are assigned respectively to uphill travel and travel downhill. According to the selected detent position a corresponding time delay amount Δ is then calculated and set in the delay device 10.

[0066] Alternatively it is also conceivable that the machine operator sets a control value which represents the incline. This can be done by a manual regulator.

[0067] The machine preferably comprises a fully automatic setting device 11. In a fully automatic setting device 11 the agricultural machine 1 preferably comprises a position sensor 9. A slope angle α in the travel direction F is determined by the position sensor 9. The detected slope angle α is then passed on from the position sensor 9 to the control device 8. A corresponding control device 8 is shown schematically in FIG. 4. The control device 8 comprises the delay device 10 with the setting device 11, as well as a signal generator 13 and a pivoting device 12. The soil tillage tool 6 can be pivoted rearwards by the pivoting device 12 out of the tillage position into a rest position.

[0068] The pivoting device 12 is preferably a single- or double-acting hydraulic cylinder. The pivoting device 12 is controlled by the signal generator 13. Alternatively the pivoting device 12 can be designed as a shifting unit 12. If the signal generator 13 passes a signal to the pivoting device 12 the soil tillage tool 6 is turned rearwards into the rest position. The signal generator 13 is preferably an electromagnetic valve. In this embodiment the obstacle sensor 7 is merely indirectly connected by means of the delay device 10 to the signal generator 13. This means that a sensor signal of the obstacle sensor 7 is not passed on directly to the signal generator 13 (which would trigger a direct pivoting back of the soil tillage tool 6) but the sensor signal of the obstacle sensor 7 is first delayed in the delay device 10 before being passed on to the signal generator 13.

[0069] The delay device 10 passes on the sensor signal of the obstacle sensor 7 to the signal generator with a delay by the time delay amount Δ which can be set by the setting device 11. The slope angle α in the travel direction F is determined by the position sensor. The determined slope angle α is then passed on to the control device 8 where, depending upon the determined slope angle α, the current speed of travel of the vehicle and the current position of the soil tillage tool a time delay amount Δ is determined which ensures a pivoting back of the soil tillage tool at a distance from the obstacle which corresponds to the set distance value.

[0070] Preferably, on the basis of a constant speed of travel, when a slope angle α which corresponds to uphill travel is detected, a decreased time delay amount is set by means of the setting device 11, and when a slope angle α which corresponds to downhill travel is detected, an increased time delay amount Δ is set by means of the setting device 11. The setting of the time delay amount Δ depending upon the slope angle α preferably takes place not only qualitatively, that is to say differentiated according to uphill travel or downhill travel. In fact, the time delay amount Δ is preferably increased or decreased by a mathematical function with the detected slope angle α as variable, particularly preferably proportionally to the detected slope angle α. The detection of the slope angle α by the position sensor 9 preferably takes place continuously, so that at any time the optimal time delay amount Δ for the current slope angle α is set by the setting device 11 in the delay device 10 and the pivoting back always takes place at the correct distance from the obstacle 4.

[0071] The applicant reserves the right to claim all the features disclosed in the application documents as essential to the invention in so far as they are individually or in combination novel over the prior art. Furthermore it is pointed out that features which may be advantageous per se have also been described in the individual drawings. The person skilled in the art recognises immediately that a specific feature described in a drawing may also be advantageous without the incorporation of further features from this drawing. Furthermore the person skilled in the art recognises that advantages may also result from a combination of several features shown in individual drawings or in different drawings.

LIST OF REFERENCES

[0072] 1 agricultural machine [0073] 2 agricultural vehicle [0074] 3 ground [0075] 3a area of soil [0076] 4 obstacles [0077] 4a plants [0078] 4b plant stick [0079] 5 row crop [0080] 6 soil tillage tool [0081] 7 obstacle sensor [0082] 7a mechanical feeler [0083] 7b contactless sensor [0084] 8 control device [0085] 9 position sensor [0086] 10 delay device [0087] 11 setting device [0088] 11a regulator [0089] 12 pivoting device/shifting unit [0090] 13 signal generator [0091] A distance from feeler to soil tillage tool [0092] B distance from obstacle to soil tillage tool [0093] C distance to the pivoting back after the obstacle [0094] D axis of rotation [0095] F direction of travel [0096] H height direction [0097] Q transverse direction [0098] V vertical direction [0099] α slope angle [0100] Δ time delay amount

[0101] While the preferred embodiment of the invention has been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiment. Instead, the invention should be determined entirely by reference to the claims that follow.