SE1450074A1 - Procedure for controlling soil contact strength of at least one tillage tool of an agricultural implement, as well as agricultural implements - Google Patents

Procedure for controlling soil contact strength of at least one tillage tool of an agricultural implement, as well as agricultural implements

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Publication number
SE1450074A1
SE1450074A1 SE1450074A SE1450074A SE1450074A1 SE 1450074 A1 SE1450074 A1 SE 1450074A1 SE 1450074 A SE1450074 A SE 1450074A SE 1450074 A SE1450074 A SE 1450074A SE 1450074 A1 SE1450074 A1 SE 1450074A1
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SE
Sweden
Prior art keywords
wheel
height
detected
agricultural implement
grounding force
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Application number
SE1450074A
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Swedish (sv)
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SE538175C2 (en
Inventor
Nis Lassen
Original Assignee
Väderstad Verken Ab
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Publication date
Application filed by Väderstad Verken Ab filed Critical Väderstad Verken Ab
Priority to SE1450074A priority Critical patent/SE538175C2/en
Priority to PCT/SE2015/050073 priority patent/WO2015112085A1/en
Publication of SE1450074A1 publication Critical patent/SE1450074A1/en
Publication of SE538175C2 publication Critical patent/SE538175C2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A01B63/1115—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a mechanical ground contact sensor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A01C5/066—Devices for covering drills or furrows
    • A01C5/068—Furrow packing devices, e.g. press wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • A01C7/201—Mounting of the seeding tools
    • A01C7/205—Mounting of the seeding tools comprising pressure regulation means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A01B63/1112—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a non-tactile ground distance measurement, e.g. using reflection of waves

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Working Implements (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Sowing (AREA)

Abstract

SAMMANDRAG Detta dokument visar ett forfarande f6r styrning av markanliggningskraft hos atminstone ett jordbearbetande verktyg (14a, 14b, 17a, 17b, 17, 18) 5 hos ett lantbruksredskap (1). Forfarandet innefattar att framfora lantbruksredskapet over jord som skall bearbetas, varvid atminstone ett hjul (15, 15a, 15b) hos lantbruksredskapet (1) och/eller ett dragfordon (2) bringas att rulla relativt jorden, att detektera en hojd (Nv) hos en jordvall som uppstar bredvid hjulet (15, 15a, 15b), sett i en framk6rningsriktning, nar hjulet rullar 10 relativt jorden, och att styra markanliggningskraften baserat pa den detekterade h6jden (Nv). Publiceringsbild: fig 4 SUMMARY This document shows a method for controlling grounding force of at least one tillage tool (14a, 14b, 17a, 17b, 17, 18) of an agricultural implement (1). The method comprises advancing the agricultural implement over soil to be worked, wherein at least one wheel (15, 15a, 15b) of the agricultural implement (1) and / or a towing vehicle (2) is caused to roll relative to the soil, to detect a height (Nv) of a earth embankment arising next to the wheel (15, 15a, 15b), seen in a direction of travel when the wheel rolls relative to the earth, and to control the grounding force based on the detected height (Nv). Publication image: fig 4

Description

AWAPATENT ABVaderstad-Verken AB Kontor/HandlaggareAnsokningsnrVar. referens Linkoping/Ole Bokinge/OPNSE-21067692 1 FORFARANDE FOR STYRNING AV MARKANLIGGNINGSKRAFT HOS ATM INSTONE ETT JORDBEARBETANDE VERKTYG HOS ETT LANTBRUKSREDSKAP, SAMT LANTBRUKSREDSKAP Tekniskt omrade Detta dokument hanfor sig till ett forfarande for styrning av markanliggningskraft hos ett lantbruksredskap, sasom en samaskin, en 5 kultivator, en harv eller en kombination darav. AWAPATENT ABVaderstad-Verken AB Office / Administrator Application No. Where. reference Linkoping / Ole Bokinge / OPNSE-21067692 1 PROCEDURE FOR CONTROLING LAND PLACING POWER AT ATM INSTONE A EARTHWORKING TOOL WITH AN AGRICULTURAL TOOL, AND AGRICULTURAL TOOL Technical area This document relates to a method for controlling the ground force of an agricultural implement, such as a co-machine, a cultivator, a harrow or a combination thereof.

Bakgrund Vid skid av en groda nned hjalp av sannaskin, utnyttjas ibland redskap som trycker till jorden omedelbart efter det att ett fro placerats ut. Background When skiing a frog with the help of a true machine, tools that press to the ground immediately after a seed has been placed are sometimes used.

Exennpel pa sadana redskap kan vara s.k. "tryckhjul", vilka visas i exempelvis W02011119095A1. Examples of such tools can be so-called "pressure wheels", which are shown in for example WO2011119095A1.

Det tryck som tryckhjulet utovar pa jorden kan pa manga samaskiner stallas in for att passa till den jordtyp dar sadden skall utforas. Det är kant fran exempelvis W02011119094A1 att astadkomma en samaskin, vars rad15 enheters marktryck kan stallas in individuellt. The pressure that the pressure wheel exerts on the soil can be set on many joint machines to suit the type of soil where the seed is to be carried out. It's edge from for example WO2011119094A1 to provide a co-machine, the ground pressure of a row of 15 units can be set individually.

Ett problem uppstar emellertid om jordtypen varierar over ett och samma falt. Pa den lattaste (losaste) jorden kan sadjupet da ofta bli for stort, till -160 av att jorden inte orkar bara upp trycket fran tryckhjulet, samtidigt som sadjupet kan bli for litet pa partier med hardare jord. However, a problem arises if the soil type varies over one and the same field. On the lightest (loosest) soil, the seed depth can then often be too great, to -160 because the soil can not only withstand the pressure from the pressure wheel, at the same time as the seed depth can be too small on parts with harder soil.

Det finns saledes ett behov av att astadkomma ett satt att under pagaende framkorning avkanna jordens hardhet, sa att lantbruksredskapet kan styras for astadkommande av optimalt marktryck och darav resulterande sadj up. There is thus a need to achieve a set that under pagaende framkorning afskunda the soil hardness, so that the agricultural tool can be controlled to achieve optimal ground pressure and the resulting sadj up.

Sammanfattning Ett andarnal är saledes att astadkomma ett forbattrat forfarande och lantbruksredskap som gOr det mojligt att styra markanliggningskraft. Ett 2 specifikt andamal är att astadkomma ett satt att med hog precision styra markanliggningskraft i realtid. Summary A breath of fresh air is thus to achieve an improved procedure and agricultural tools that make it possible to control land-based power. One 2 specifically andamal is to achieve a way to control ground-laying force in real time with high precision.

Uppfinningen definieras av de bifogade sjalvstandiga patentkraven. Utforingsformer framgar av de osjalvstandiga patentkraven, av den foljande 5 beskrivningen samt av ritningarna. The invention is defined by the appended independent claims. Embodiments appear from the dependent claims, from the following description and from the drawings.

Enligt en forsta aspekt astadkoms ett forfarande for styrning av markanliggningskraft hos atminstone ett jordbearbetande verktyg hos ett lantbruksredskap. Forfarandet omfattar att framfora lantbruksredskapet Over jord som skall bearbetas, varvid atminstone ett hjul hos lantbruksredskapet och/eller ett dragfordon bringas att rulla relativt jorden, att detektera en hojd hos en jordvall som uppstar bredvid hjulet, sett i en framkorningsriktning, nar hjulet rullar relativt jorden, och att styra markanliggningskraften baserat pa den detekterade h6jden. According to a first aspect, a method of controlling grounding force is provided in at least one tillage tool of an agricultural implement. The procedure comprises advancing the agricultural implement over soil to be worked, with at least one wheel of the agricultural implement and / or a towing vehicle is caused to roll relative to the ground, to detect a height of an earth embankment arising next to the wheel, seen in a forward direction when the wheel rolls relative to the ground, and to control the grounding force based on the detected height.

Genom att detektera en jordvall som bildas nar jord pressas undan av hjulen är det mOjligt att i realtid bestamma hur mjuk jorden är, vilket gor det mojligt att kontinuerligt reglera markanliggningskraften hos ett eller flera jordbearbetande redskap och/eller sabillar. By detecting an earth wall that is formed when soil is pushed away by the wheels, it is possible to determine in real time how soft the earth is, which makes it possible to continuously regulate the grounding force of one or more tillage implements and / or sabers.

I forfarandet kan hojden detekteras bakom, sett i framkorningsriktningen, minst ett utjamnande redskap. In the method, the height can be detected behind, seen in the direction of the grain, at least one leveling tool.

Hojden kan matas relativt en basniva, vilken definieras som ett forutbestamt radiellt avstand -Iran hjulets geometriska rotationscentrum. Forfarandet kan innefatta att harleda ett avstand mellan en botten av ett av hjulet bildat hjulspar och ett hogsta parti av jordvallen, varvid markanliggningskraften styrs baserat pa det harledda avstandet. The height can be fed relative to a base level, which is defined as one predetermined radial distance -Iran wheel geometric center of rotation. The method may comprise guiding a distance between a bottom of a pair of wheels formed by the wheel and a highest portion of the earth embankment, the grounding force being controlled based on the guided distance.

Avstandet mellan sparbotten och valltoppen har visat sig utgora ett sarskilt bra matt pa hur mycket redskapet sjunker ner i jorden och darmed hur hard jorden är. The distance between the saving bottom and the top of the wall has turned out to be one particularly good measure of how much the tool sinks into the soil and thus how hard the soil is.

Hojden kan detekteras vid sidan av ett hjul. Hjulet kan vara ett hjul has lantbruksredskapet eller ett hjul hos ett dragfordon. The height can be detected next to a wheel. The wheel can be a wheel of the agricultural implement or a wheel of a towing vehicle.

Alternativ, eller som komplement, kan hojden detekteras mellan tva, tvars framkorningsriktningen, intilliggande hjul. Alternatively, or as a complement, the height can be detected between two, transverse grain direction, adjacent wheels.

Med intilliggande avses hjul som roterar kring vasentligen samma geometriska rotationsaxel sannt befinner sig mindre an 30 cm fran varandra, 3 foretradesvis nnindre an 20 cm Than varandra eller mindre an 10 cm fran varandra. Adjacent means wheels which rotate about essentially the same geometric axis of rotation are indeed less than 30 cm apart, 3 preferably less than 20 cm apart or less than 10 cm apart.

Forfarandet kan innefatta att stalla in en initial markanliggningskraft samt att styra markanliggningskraften baserat pa en detekterad forandring av 5 h6jden. The method may comprise setting an initial grounding force and controlling the grounding force based on a detected change in height.

F6rfarandet kan innefatta att markanliggningskraften reduceras nar okande hojd detekteras och/eller varvid markanliggningskraften okas nar nninskande h6jd detekteras. The procedure may involve reducing the ground force when increasing height is detected and / or whereby the ground force is increased when decreasing height is detected.

Forfarandet kan vidare innefatta att styra markanliggningskraften som 10 en forutbestannd funktion av den detekterade 'Aden. The method may further comprise controlling the grounding force as a predetermined function of the detected 'Aden.

Forfarandet kan innefatta att hojden detekteras med hjalp av en anordning innefattande minst en av en slapsko, ett mathjul, en ultraljudsensor och en radarsensor. The method may comprise detecting the height by means of a device comprising at least one of a slack shoe, a food wheel, an ultrasonic sensor and a radar sensor.

I forfarandet kan markanliggningskraft styras sinnultant for hela lantbruksredskapet. In the procedure, grounding force can be controlled indiscriminately for the whole agricultural tool.

Alternativt kan markanliggningskraft styras fOr en eller flera radenheter. Forfarandet kan vidare innefatta att avjamna jordvallen bakom, sett i framkorningsriktningen, en punkt dar detekteringen av jordvallens hOjd sker. Lantbruksredskapet kan omfatta en samaskin. Alternatively, grounding force can be controlled for one or more row units. The procedure may further comprise leveling the earth embankment behind, seen in the direction of grain, a point where the height of the earth wall is detected. The agricultural implement may include a co-machine.

Vid anvandning i samaskiner, bidrar forfarandet till att sakerstalla att ratt sadjup astadkoms. When used in co-machines, the procedure helps to ensure that ratt sadjup astadkoms.

Alternativt, eller som komplement kan lantbruksredskapet omfatta en kultivator eller en harv Vid anvandning i samband med kultivatorer och harvar bidrar forfarandet till att sakerstalla att ratt bearbetningsdjup astadkoms, vilket aven bidrar till att optimera energiforbrukningen. Alternatively, or as a complement, the agricultural implement may comprise a cultivator or a harrow When used in conjunction with cultivators and harrows contributes the process of ensuring that the steering wheel depth is achieved, which also helps to optimize energy consumption.

Enligt en andra aspekt astadkoms ett lantbruksredskap, innefattande minst ett hjul, minst ett jordbearbetande verktyg, och minst en anordning for installning av en markanliggningskraft hos det jordbearbetande verktyget Lantbruksredskapet har en matanordning for matning av hojd hos en, sett i en framkorningsriktning, bredvid hjulet bildad jordvall. 4 Kort beskrivninq av ritninqarna Fig 1 visar en perspektivvy av en samaskin 1. According to a second aspect, an agricultural implement is provided, comprising at least one wheel, at least one tillage tool, and at least one device for installation of a grounding force on the tillage tool The agricultural implement has a feeding device for feeding the height of an earth embankment formed next to the wheel, seen in a forward grain direction. 4 Brief description of the drawings Fig. 1 shows a perspective view of a co-machine 1.

Fig 2 visar en sidovy av hjul och radenhet hos en samaskin 1. Fig 3 visar ett hjulpar hos en samaskin 1, sett i en fardriktning. Fig. 2 shows a side view of wheels and row unit of a co-machine 1. Fig. 3 shows a pair of wheels of a co-machine 1, seen in a direction of travel.

Fig 4 visar en mod ifierad samaskin 1'. Fig. 4 shows a modified co-machine 1 '.

Detaljerad beskrivninq I det foljande kommer ett koncept for styrning av markanliggningskraft i ett lantbruksredskap att beskrivas med hanvisning till en samaskin. Det inses att konceptet är likaledes tillampbart pa anordningar for matning av andra typer av granuler an utsade, sasom exempelvis godning och/eller bekampningsmedel. FOrfarandet är ocksa tillampbart pa andra typer av jordbearbetande lantbruksredskap, sasom plogar, harvar, kultivatorer samt pa kombinationsredskap, sasom sannaskiner med kultivatorfunktion och/eller funktion for utmatning av sekundar groda, g6dning och/eller bekampningsmedel. Detailed description In the following, a concept for controlling ground force in an agricultural implement will be described with reference to a co-machine. It is realized that the concept is likewise applicable to devices for feeding other types of granules to the exposed, such as, for example, fertilizers and / or pesticides. The method is also applicable to other types of tillage implements, such as plows, harrows, cultivators and to combination implements, such as cultivators with cultivator function and / or function for discharging secondary frog, fertilizer and / or pesticide.

Fig 1 visar en samaskin 1, vil ken dras av ett dragfordon 2. Samaskinen har en salada 10, fran vilken utsade matas och transporteras pneumatiskt till ett fordelarhuvud 11 samt darifran vidare via slangar 12 till en respektive satin 13. En flakt 13 alstrar ett luftflode, vilket for utsadet Than ett nedre parti av saladan 10 till fordelarhuvudet 11 i form av ett utsadesblandat luftflode. I fordelarhuvudet 11 fordelas det utsadesblandade luftflodet till ett flertal slangar 12. Samaskinen 1 har ett flertal forbearbetande verktyg 14a, 14b, vilka har visas i form av kultivatortallrikar, ett flertal hjul 15, vilka dels bar upp samaskinen 1, dels bidrar till att packa jorden, ett flertal sabillar 17 samt ett flertal efterbearbetande verktyg 18. Fig. 1 shows a joint machine 1, which is pulled by a towing vehicle 2. The joint machine has a salad 10, from which the seedlings are fed and transported pneumatically to a distributor head 11 and from there onwards via hoses 12 to a respective one satin 13. A flake 13 generates an air flow, which for the seeded Than a lower portion of the salad 10 to the distributor head 11 in the form of a seeded mixed air flow. In the distributor head 11, the seed-mixed air flow is distributed to a plurality of hoses 12. The co-machine 1 has a plurality of pre-processing tools 14a, 14b, which have been shown in the form of cultivator plates, a plurality of wheels 15, which were partly supported the co-machine 1, partly contributes to packing the soil, a plurality of sabers 17 and a plurality of post-processing tools 18.

De forbearbetande verktygen 14a, 14b kan ha till funktion att luckra upp och/eller jamna till jorden for att astadkomma optimala saddforhallanden. De efterbearbetande verktygen 18 kan ha till funktion att trycka till och/eller 30 tacka Over utsadet f6r att astadkomma optimala vaxtforhallanden. The pre-processing tools 14a, 14b may have the function of loosening and / or leveling to the ground in order to achieve optimal seed conditions. The post-processing tools 18 may have the function of pressing and / or tacking over the seed to achieve optimal growth conditions.

I fig 1 visas en matanordning 16 i form av en slapsko for matning av en hojd hos en vid sidan av hjulet 15 bildad jordvall. Genom att mata en vinkel med vilken slapskon bojer av eller vrids relativt lantbruksredskapet är det mojligt att bestamma hojclen hos jordvallen. Fig. 1 shows a feeding device 16 in the form of a slack shoe for feeding a height of an earth embankment formed next to the wheel 15. By feeding an angle with which the slack shoe bends off or is rotated relative to the agricultural implement, it is possible to determine the hojclen of the earth embankment.

I fig 2 visas en detalj av samaskinen 1 sedd i genomskarning langs en linje parallell med en framkorningsriktning. Den i fig 2 visade samaskinen 1 har tallriksforsedda sabillar 17a, 17b samt hjul 15. Som illustreras i fig 2, foreligger en normalniva N. Nar hjulet rullar over jorden kommer, pa grund av lantbruksredskapets tyngd, ett spar Ns neat fran normalnivan N att bildas. Vid sidan av sparet, och alltsa vid sidan av hjulet, bildas en vall Nv, vars hojd har visat sig vara proportionell mot markens hardhet. Fig. 2 shows a detail of the co-machine 1 seen in section along a line parallel to a forward grain direction. The co-machine 1 shown in Fig. 2 has plate-provided sabers 17a, 17b and wheels 15. As illustrated in Fig. 2, there is a normal level N. When the wheel rolls over the ground, due to the weight of the agricultural implement, a gap Ns neat from the normal level N will be formed. Next to the ravine, and thus next to the wheel, a dike Nv is formed, the height of which has been shown to be proportional to the hardness of the ground.

Den i fig 2 visade matanordningen 16' omfattar en arm 161, vilken kan (men inte maste) vara fjaderbelastad och/eller dampad samt ett hjul 162, vilket ligger an mot vallens ovre parti och damned fOljer vallens hojdvariation under det att lantbruksredskapet framf6rs. The feeding device 16 'shown in Fig. 2 comprises an arm 161, which can (but not must) be spring-loaded and / or steamed and a wheel 162, which bears against the upper part of the dike and the dam, follows the height variation of the dike while the agricultural implement is being driven.

Genom att mata en vinkel hos arnnen 161, exempelvis ett rotationslage 15 kring hjulets 15 rotationsaxel, ärdet mojligt att bestamma hojden hos jordvallen. By feeding an angle of the hearth 161, for example a rotation layer 15 about the axis of rotation of the wheel 15, it is possible to determine the height of the earth embankment.

I fig 2 visas aven ett exempel pa en hojdinstallningsanordning 19, vilken kan omfatta en hydraulcylinder 191, som paverkar en hjulrams lage i forhallande till ovriga lantbruksredskapet 1 och armed aven paverkar hur markanliggningskraften fordelas mellan hjulen 15, 15a, 15b och verktygen 14a, 14b, 17, 17a, 17b, 18. Fig. 2 also shows an example of a height installation device 19, which may comprise a hydraulic cylinder 191, which affects the bearing of a wheel frame in relation to the other agricultural implements 1 and the arm also affects how the ground force is distributed between the wheels 15, 15a, 15b and the tools 14a, 14b, 17, 17a, 17b, 18.

Sonn referensniva kan en punkt hos lantbruksredskapet utnyttjas. Detta kan vara en punkt pa lantbruksredskapets huvud ram eller en punkt som är rorlig relativt huvudramen, sasom hjulramen 192, eller specifikt hjulets geometriska rotationsaxel. I praktiken kan darmed det som mats vara avstandet Dt mellan hjulets geometriska rotationsaxel och toppen av vallen Nv. Med kannedom om hjulets totala radie, eventuellt med toleranser eller kompensation for deformation hos hjulet, kan avstandet Db till sparets botten beraknas, liksom hojdskillnaden Dd mellan sparets botten och och toppen av vallen. At the reference level, a point in the agricultural implement can be used. This may be a point on the main frame of the agricultural implement or a point which is movable relative to the main frame, such as the wheel frame 192, or specifically the wheel frame geometric axis of rotation. In practice, therefore, what is fed can be the distance Dt between the geometric axis of rotation of the wheel and the top of the embankment Nv. With knowledge of the total radius of the wheel, possibly with tolerances or compensation for deformation of the wheel, the distance Db to the bottom of the spare can be calculated, as well as the height difference Dd between the bottom of the spare and the top of vallen.

I fig 3 visas ett dubbelhjul, omfattande tva intill varandra liggande hjul 15a, 15b. Dubbelhjulet bildar respektive sidojordvallar Vs1, Vs2 samt en mittjordvall Vm, mellan hjulen 15a, 15b, sett i tvarriktningen. 6 En nnatanordning 16 är har anordnad att mata hojden hos nnittjordvallen Vm. Fig. 3 shows a double wheel, comprising two adjacent wheels 15a, 15b. The double wheel forms the respective side earth embankments Vs1, Vs2 and a central earth embankment Vm, between the wheels 15a, 15b, seen in the transverse direction. 6 A nnate device 16 is arranged to feed the height of the nnite earth embankment Vm.

I fig 4 visas en detalj Than fig 1, dar vallen Vs och matanordningen 16 i form av en slapsko visas tydligare samt dar aven en vallavjamnare anordnats for att ta bort den av hjulet 15 bildade vallen. Vallavjamnaren kan astadkommas med hjalp av ett eller flera utjamnarverktyg (sasom sokandens CROSSBOARDO), en eller flera kultivatortallrikar, en eller flera kultivatorpinnar eller liknande. Fig. 4 shows a detail Than Fig. 1, where the embankment Vs and the feeding device 16 in the form of a slack shoe are shown more clearly, and where also an embankment leveler arranged to remove the embankment formed by the wheel 15. The baler can be provided with the aid of one or more leveling tools (such as the applicant's CROSSBOARDO), one or more cultivator discs, one or more cultivator sticks or the like.

Utover ovan visade matanordningar som baseras pa att vallens hojd kanns av mekaniskt, är det mojligt att utnyttja matanordningar som arbetar med ultraljud, mikrovagor eller ljus (exempelvis lasertriangulering, slapljus eller liknande) och som mater ett avstand mellan en kand punkt (sasom matsensorns placering) och jordvallens topp. In addition to the above, feeding devices based on the height of the embankment are shown mechanically, it is possible to use feeding devices that work with ultrasound, microwaves or light (eg laser triangulation, low beam or the like) and that feed a distance between a clear point (such as the location of the food sensor) and the top of the earth wall.

Matanordningen 16, 16' kan kopplas till en styrenhet (ej visad), som kan, men inte maste, vara utformad att styra ovriga funktioner hos lantbrukredskapet. Exempelvis kan styrenheten ha funktionalitet for att styra hela lantbruksredskapets marktryck och/eller att styra enskilda radenheters eller verktygs marktryck eller billtryck. Sadan styrning kan ske genom att ett eller flera verktygs (inklusive radenheter eller sabillar) hojdlage i forhallande till lantbruksredskapets ram modifieras. Detta astadkoms oftast med hjalp av hydraulik och/eller pneumatik. The feed device 16, 16 'can be connected to a control unit (not shown), which may, but must not, be designed to control other functions of the agricultural implement. For example, the control unit may have functionality for controlling the ground pressure of the entire agricultural implement and / or for controlling the ground pressure or billing pressure of individual row units or tools. Such control can be done by raising one or more tools (including row units or sabers) in relation to the framework of agricultural implements is modified. This is usually achieved with the help of hydraulics and / or pneumatics.

Genonn att sanka verktyget i forhallande till rannen astadkonns storre markanliggningskraft och bearbetningsdjup. Ramen kan i sin fur ha ett flertal hjul 15, 15a, 15b som kan bara en del av lantbruksredskapets vikt. Alternativt eller som komplement kan lantbruksredskapet helt eller delvis baras upp, pa i sig kant satt, av dragfordonet. Through collecting the tool in relation to the runn astadkon's greater ground contact force and processing depth. The frame can in its fur have a number of wheels 15, 15a, 15b which can only be a part of the weight of the agricultural implement. Alternatively or as a complement, the agricultural implement can be fully or partially supported, on its own edge, by the towing vehicle.

Claims (16)

7 PATENTKRAV7 PATENT REQUIREMENTS 1. Forfarande f6r styrning av markanliggningskraft hos atminstone ett jordbearbetande verktyg (14a, 14b, 17a, 17b, 17, 18) hos ett lantbruksredskap (1), omfattande: att framfora lantbruksredskapet (1) over jord som skall bearbetas, varvid atminstone ett hjul (15, 15a, 15b) hos lantbruksredskapet och/eller ett dragfordon (2) bringas att rulla relativt jorden, att detektera en hojd (Nv) hos en jordvall som uppstar bredvid hjulet 10 (15, 15a, 15b), sett i en framkorningsriktning, nar hjulet rullar relativt jorden, och att styra markanliggningskraften baserat pa den detekterade hOjden (Nv).A method of controlling the grounding force of at least one tillage tool (14a, 14b, 17a, 17b, 17, 18) of an agricultural implement (1), comprising: advancing the agricultural implement (1) over soil to be tilled, wherein at least one wheel (15, 15a, 15b) of the agricultural implement and / or a towing vehicle (2) are caused to roll relative to the ground, to detect a height (Nv) of a ground embankment arising next to the wheel 10 (15, 15a, 15b), seen in a forward grain direction , when the wheel rolls relative to the ground, and to control the ground contact force based on the detected height (Nv). 2. Forfarande enligt krav 1, varvid h6jden detekteras bakom, sett i framkorningsriktningen, minst ett utjamnande redskap (14a, 14b).A method according to claim 1, wherein the height is detected behind, seen in the forward grain direction, at least one leveling tool (14a, 14b). 3. Forfarande enligt krav 1 eller 2, varvid hojden mats relativt en basniva, vilken definieras som ett forutbestamt radiellt avstand Than hjulets 20 (15, 15a, 15b) geometriska rotationscentrum.A method according to claim 1 or 2, wherein the height is fed relative to a base level, which is defined as a predetermined radial distance Than the geometric center of rotation of the wheel 20 (15, 15a, 15b). 4. Forfarande enligt nagot av foregaende krav, vidare innefattand att harleda ett avstand (Dd) nnellan en botten av ett av hjulet (15, 15a, 15b) bildat hjulspar och ett hogsta parti av jordvallen, varvid markanliggnings25 kraften styrs baserat pa avstandet (Dd).A method according to any one of the preceding claims, further comprising guiding a distance (Dd) between a bottom of a pair of wheels formed by the wheel (15, 15a, 15b) and a highest portion of the earth embankment, the grounding force being controlled based on the distance (Dd ). 5. Forfarande enligt nagot av foregaende krav, varvid hojclen detekteras vid sidan av ett hjul (15, 15a, 15b).A method according to any one of the preceding claims, wherein the bicycle is detected next to a wheel (15, 15a, 15b). 6. Forfarande enligt nagot av foregaende krav, varvid hojden detekteras mellan tva, tvars framk6rningsriktningen, intilliggande hjul (15a, 15b). 8A method according to any one of the preceding claims, wherein the height is detected between two, transverse driving direction, adjacent wheels (15a, 15b). 8 7. Forfarande enligt nagot av foregaende krav, vidare innefattande att stalla in en initial markanliggningskraft samt att styra markanliggningskraften baserat pa en detekterad forandring av h6jden (Nv).A method according to any one of the preceding claims, further comprising setting an initial grounding force and controlling the grounding force based on a detected change in altitude (Nv). 8. Forfarande enligt krav 7, varvid markanliggningskraften reduceras nar okande hojd (Nv) detekteras och/eller varvid markanliggningskraften 6kas nar minskande h6jd (Nv) detekteras.A method according to claim 7, wherein the grounding force is reduced when increasing height (Nv) is detected and / or wherein the grounding force is reduced when decreasing height (Nv) is detected. 9. Forfarande enligt nagot av foregaende krav, vidare innefattande 10 att under framkorning styra markanliggningskraften som en forutbestamd funktion av den detekterade h6jden (Nv).A method according to any one of the preceding claims, further comprising controlling the grounding force during pre-crunching as a predetermined function of the detected height (Nv). 10. FOrfarande enligt nagot av foregbende krav, varvid h6jden detekteras med hjalp av en anordning (16, 16') innefattande minst en av en 15 slapsko, ett mathjul, en ultraljudsensor och en radarsensor.A method according to any one of the preceding claims, wherein the height is detected by means of a device (16, 16 ') comprising at least one of a slack shoe, a food wheel, an ultrasonic sensor and a radar sensor. 11. Forfarande enligt nagot av foregaende krav, varvid markanliggningskraften styrs simultant fOr hela lantbruksredskapet (1).A method according to any one of the preceding claims, wherein the grounding force is controlled simultaneously for the entire agricultural implement (1). 12. Forfarande enligt nagot av krav 1-10, varvid markanliggningskraften styrs for en eller flera radenheter.A method according to any one of claims 1-10, wherein the ground contact force is controlled for one or more row units. 13. Forfarande enligt nagot av foregaende krav, varvid lantbruksredskapet (1) omfattar en samaskin.A method according to any one of the preceding claims, wherein the agricultural implement (1) comprises a co-machine. 14. F6rfarande enligt nagot av foregaende krav, varvid lantbruksredskapet (1) omfattar en kultivator eller en harv.A method according to any one of the preceding claims, wherein the agricultural implement (1) comprises a cultivator or a harrow. 15. Forfarande enligt nagot av foregaende krav, vidare innefattande 30 att avjamna jordvallen bakom, sett i framkorningsriktningen, en punkt dar detekteringen av jordvallens hojd sker.A method according to any one of the preceding claims, further comprising leveling the earth embankment behind, seen in the forward grain direction, a point where the detection of the earth embankment height takes place. 16. Lantbruksredskap (1), innefattande minst ett hjul (15, 15a, 15b), 9 minst ett jordbearbetande verktyg (14a, 14b, 17a, 17b, 17, 18), och minst en anordning (19) for installning av en markanliggningskraft hos det jordbearbetande verktyget (14a, 14b, 17a, 17b, 17, 18), kannetecknat av en matanordning (16, 16') f6r matning av h6jd (Nv) hos en, sett i en framkorningsriktning, bredvid hjulet bildad jordvall.Agricultural implements (1), comprising at least one wheel (15, 15a, 15b), 9 at least one tillage tool (14a, 14b, 17a, 17b, 17, 18), and at least one device (19) for installing a grounding force of the soil cultivating tool (14a, 14b, 17a, 17b, 17, 18), can be drawn by a feeding device (16, 16 ') for feeding height (Nv) of a soil wall formed next to the wheel, seen in a forward grain direction.
SE1450074A 2014-01-27 2014-01-27 Procedure for controlling soil contact strength of at least one tillage tool of an agricultural implement, as well as agricultural implements SE538175C2 (en)

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US5479992A (en) * 1993-07-27 1996-01-02 Dawn Equipment Company Agricultural implement controller to compensate for soil hardness variation
US5709271A (en) * 1993-06-08 1998-01-20 Dawn Equipment Company Agricultural planter
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