SE2250841A1 - Row cleaner, agricultural implement and method of operating agricultural implement - Google Patents

Abstract

A row cleaner (4a-4g) for an agricultural implement, comprises a first frame part (33, 41), at least one cleaner wheel (44, 44a, 44b), an actuator (48), configured for applying a ground force to the cleaner wheel (44, 44a, 44b), a sensor (45), configured for providing a value corresponding to a relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b), and a controller (100), configured for controlling the actuator (48). The controller (100) is configured to block the actuator (48) from further movement in a downward direction when a threshold relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) has been attained.An agricultural implement comprises a plurality of such row cleaners.There is also disclosed a method of operating a row cleaner.

Description

Technical field The present document relates to a row cleaner, to an agricultural implement comprising a plurality of such row cleaners and to a method of operating an agricultural implement having such row cleaners.

The document particularly relates to a more controllable row cleaner.

Background Row cleaners are known as such and are typically used in connection with planting of crops in fields where plant residues, pebbles and/or other smaller debris occur to such an extent that planting and/or propagation may be disturbed.

Row cleaners are arranged forward of a respective output unit, such as a row unit, and may comprise a pair of radially toothed cleaner wheels or undulated discs, whose axes of rotation are non-parallel with each other. The cleaner wheels operate so as to move the plant residues, pebbles and/or other smaller debris laterally, out of the way of the output unit, such that a cleaner seed bed is provided.

Various row cleaners are known from e.g. WO202105264A1, EP3732947A1, EP3622792A1, US2018054953AA and WO09149473A2. lt is desirable for a row cleaner to follow the surface of the soil on which it operates. ln particular, it is desirable that the row cleaner does not extend too deep into the soil, which may be a problem if the soil is soft.

There is moreover a general need for improved row cleaners.

Summary lt is an objective of the present disclosure to provide an improved row cleaner, and in particular a row cleaner which is capable of providing a sufficient cleaning effect without being too aggressive.

The invention is defined by the appended independent claims, with embodiments being set forth in the appended dependent claims, in the following description and in the attached drawings.

According to a first aspect, there is provided a row cleaner for an agricultural implement, comprising a first frame part, at least one cleaner wheel, an actuator, configured for applying a ground force to the cleaner wheel, a sensor, configured for providing a value corresponding to a relative vertical distance between the first frame part and the cleaner wheel, and a controller, configured for controlling the actuator. The controller is configured to block the actuator from further movement in a downward direction when a threshold relative vertical distance between the first frame part and the cleaner wheel has been attained.

The first frame part may be a part which carries or supports the row cleaner, such as an implement frame, an output unit frame or a base member.

The sensor may be any type of sensor that is suitable for determining the relative vertical distance. For example, the sensor may directly measure a distance between the first frame part and the cleaner wheel, or it may measure e.g. an angle by which a pivotable arm or link supporting the cleaner wheel extends and based on which the distance may be derived.

The controller may be any type of controller.

By blocking the actuator, the cleaner wheel is prevented from moving too far down, such that its effective working depth is controlled, and it may be prevented from going too deep, in particular in soft soil conditions.

The controller may be configured to receive the value corresponding to the relative vertical distance between the first frame part and the cleaner wheel from the sensor, determine whether the value corresponding to a relative vertical distance between the first frame part and the cleaner wheel exceeds the threshold value for the vertical distance between the first frame part and the cleaner wheel, and if said threshold value is exceeded, controlling the actuator to prevent further exceeding of said threshold value.

The threshold value may be received directly from a user input or from a storage device, wherein the value has been stored on a previous occasion. Alternatively, the value may be derived based on a selection, such as a specific operating mode, planting depth or the like.

The row cleaner may further comprise a second frame part, which is movably connected to the first frame part.

The actuator may be operable to control a relative movement between the first frame part and the second frame part.

The actuator may be controllable to provide a predetermined force between the first frame part and the second frame part.

The row cleaner may comprise a pair of cleaner wheels, which are rotatably supported by the second frame part and which are configured such that their respective axes of rotation meet are non-parallel.

The cleaner wheels may comprise an axially exposed bearing surface and a plurality of teeth which extend radially outwardly of said bearing surface.

The teeth may have a radial extent which is about 30-60 %, preferably about 35-65 % or about 40-50 %, of a maximum radius of said bearing surface.

The actuator may be a hydraulic actuator.

The row cleaner may further comprise a hydraulic valve, configured to control an input flow and/or an output flow to/from the hydraulic actuator.

The hydraulic valve may be a one-way valve. ln particular, the hydraulic valve may be controllable between a first state, wherein the valve allows a flow in two opposite directions and a second state, wherein the valve allows a flow in one if said directions, but prevents a flow in the second one of said directions.

The controller may be configured to receive a value corresponding to a desired operating depth for the cleaner wheel and to determine the threshold value based on said desired operating depth.

Such a value may be provided by a user or may be calculated based on an operating depth for an output unit.

The sensor may be an angle sensor configured for detecting an angle between a pair of frame parts, which are pivotably connected to each other.

The frame parts may be the first frame part and a link member, connecting the first frame part to the second frame part.

Alternatively, the frame parts may be the second frame part and a link member.

As yet another alternative, the frame parts may be a first frame part and an arm supporting the cleaner wheel.

The first frame part may be mountable to a frame of the agricultural implement.

The first frame part may form part of a unit frame of an output unit.

According to a second aspect, there is provided an agricultural implement comprising a plurality of row cleaners as described above, wherein at least some of the row cleaners are aligned along a working direction with at least one output unit.

According to a third aspect, there is provided a method of operating a row cleaner, the row cleaner comprising a first frame part, a cleaner wheel, and an actuator configured for applying a ground force to the cleaner wheel. The method comprises monitoring a relative vertical position of the cleaner wheel and the first frame part, and blocking the actuator from further movement in a downward direction when a threshold relative vertical distance between the first frame part and the cleaner wheel has been attained.

A force provided by the actuator causes a vertical distance between the first frame part and the cleaner wheel to increase if a counterforce is reduced, e.g. due to softer soil conditions or an air pocket, and to decrease if the counterforce is increased.

The vertical distance is thus allowed to increase up until the threshold value and then further increase ofthe vertical distance is prevented, while a decrease of the vertical distance is allowed, should a counterforce be provided.

The method may further comprise receiving the value corresponding to the relative vertical distance between the first frame part and the cleaner wheel from a sensor, determining whether the value corresponding to the relative vertical distance between the first frame part and the cleaner wheel exceeds the threshold value for the vertical distance between the first frame part and the cleaner wheel, and if said threshold value is exceeded, controlling the actuator to prevent further exceeding of said threshold value.

Said monitoring may comprise monitoring an angle of an arm or link, which directly or indirectly supports the cleaner wheel.

For example, the cleaner wheel may be rotatably supported at a distal portion of an arm that is pivotably connected to the first part, or the cleaner wheel may be rotatably supported at a frame part that is connected through a link arrangement, such as a parallel linkage.

The value indicating the actual relative vertical position may be determined by means of a sensor and wherein said blocking is achieved by a controller. The blocking may comprise blocking a flow in a hydraulic channel to and/or from the actuator.

Drawings Fig. 1 schematically illustrates an agricultural implement and a traction vehicle as seen from above.

Fig. 2 schematically illustrates a first design concept for a row cleaner.

Fig. 3 schematically illustrates a second concept for a row cleaner.

Figs 4a-4h schematically illustrate an embodiment of a row cleaner in accordance with the first design concept.

Detailed description Fig. 1 schematically illustrates an agricultural implement 1 connected to a traction vehicle 2 and configured to move in a working direction Dw.

The inventive concept is illustrated with reference to a planter, but it is understood that row cleaners may be used in other applications, such as in volumetrically fed seeders, or the like.

The agricultural implement comprises a frame, which may comprise one or more transverse members 11 and a towbar 12 for connection with the traction vehicle 2.

A plurality of output units 3a-3g may be arranged along a transverse member 11. The output units 3a-3g may be substantially identical and configured to distribute a product to ground over which the agricultural implement travels. The product may be a liquid or solid product. Liquid products may be fertilizer and/or pesticide. Solid products may be fertilizer, pesticide or seeds.

A plurality of row cleaners 4a-4g may be provided along a transverse member 11, each of the row cleaners 4a-4g being positioned in front of and aligned in the working direction Dw with a respective output unit 3a-3g.

Output units 3a-3g and row cleaners 4a-4g may be provided on the same transverse member 11, as illustrated, or on different transverse members.

Fig. 2 schematically illustrates a first design concept, wherein each row cleaner 4a-4g is movably attached to an output unit frame 33.

The output unit 3a may be movably attached to a base member 31 by means of a parallel linkage 32. The base member 31 may be attached to the transverse member 11. As non-limiting examples, the base member 31 may be releasably attached to the transverse member 11 by a clamping arrangement (not shown), or in any other manner.

The output unit 3a may comprise an output unit frame 33 supporting a ground opener 34, which may be provided in the form of a seed knife or one or more seed discs. The output unit 3a may optionally comprise a gauge wheel 35 configured to control a working depth of the ground opener 34. The output unit 3a may further comprise a metering device 36, which may be connected to a product supply 39 on the output unit 3a and/or to a central product supply (not shown). An output from the metering device 36 may be connected to a tube 37 for guiding the product to the ground. The tube 37 may be integrated with the ground opener 34.

A ground force device 38, such as an actuator, in particular a hydraulic actuator or a biasing device, such as a spring, may be provided in order to control a ground force applied by the output unit 3a.

The ground force device 38 may be controllable individually, or as part of a group comprising two or more output units.

The row cleaner 4a may comprise a row cleaner frame 43, a parallel linkage 42 and at least one, typically two, row cleaner wheel(s) 44.

As can be seen in fig. 2, the row cleaner 4a is supported by the output unit frame 33.

A sensor 45 may be provided to determine a relative position between the row cleaner 4a and the output unit frame 33.

A relative position between the row cleaner parallel linkage 42 and the output unit frame 33 may be controlled by an actuator 48, in particular a hydraulic actuator.

Hence, the relative position between the row cleaner 4a and the output unit frame 33 can be controlled based on a signal from the sensor 45, such that the row cleaner 4a can be controlled to operate at a predetermined depth in relation to the output unit 3a.

Fig. 3 schematically illustrates a second design concept, wherein each row cleaner 4a-4g is movably attached to a transverse member 11 ofthe frame ofthe agricultural implement 1.

As is illustrated in fig. 3, the row cleaner 4a may comprise, in addition to the row cleaner frame 43, the row cleaner wheel 44, the parallel linkage 42, the actuator 48 and the sensor 45, also a base member 41, to which the parallel linkage 42 is connected. The actuator 48 may be operable between the base member 41 and the parallel linkage 42 or the row cleaner frame 43 and the sensor 42 may be arranged on the base member 41 to determine the relative position between the row cleaner 4a and the base member 41. lt is understood that the parallel linkage 42 and the row cleaner frame 43 may be replaced by a row cleaner arm (not shown), which, at a distal portion thereof, may support the row cleaner wheel 44 and which may be pivotably connected to the row unit frame 33 or to the base member 41. ln either case, the sensor 45 may be provided as an angle sensor, which may operate between the row unit frame 43, or the base member 41, as the case may be, and the parallel linkage 42, or the arm, as the case may be.

Hence, the angle detected by the angle sensor may be translated into a depth relative to the output unit 3a or the frame 11. lt may be desirable to limit the movement of the row cleaner in a downward direction, so as to prevent the row cleaner from plunging too deep into soft soil or into a recess. To this end, it is possible to cut off supply and/or return of fluid to/ the actuator 48. Such cutting off may be provided in one direction only, such that the row cleaner 4a is prevented from moving further downwardly, but not from being pushed upwardly should the row cleaner 4a strike an obstacle.

A hydraulic fluid supply to or from the actuator 48 may be routed through a valve that is controllable based on a signal from the sensor.

Figs 4a-4h schematically illustrate a design of a row cleaner 4a that is supported by the output unit frame 33, generally in accordance with the concept illustrated in fig. 2.

Figs 4a-4b schematically illustrate an agricultural implement comprising a transverse member 11 and a hitch connector 120 and carrying four output units 3a- 3d, each supporting a respective row cleaner 4a-4d. The output units 3a-3d may be identically designed and spaced along the transverse member 11. ln the illustrated embodiment, the output units 3a-3d are designed as row units for a precision planter, each row unit having a respective seedbox 39 for holding seeds that are to be planted, or other material that is to be distributed.

As is further illustrated in figs 4a-4b, each output unit 3a-3d supports a respective row cleaner 4a-4d, which is aligned with the output unit 3a-3d, such that the cleaner wheels 44a, 44b operate on an area where the seed disc(s) 34 are to operate.

Figs 4c-4d schematically illustrate the output unit 3a carrying a row cleaner 4a. The output unit 3a has a base member 31 configured for being attached to the transverse member 11, a parallel linkage system 32 comprising an upper link 321 and a lower link 322, which connect the output unit frame 33 to the base member 31. An actuator 38 is operable between the base member 31 and one ofthe link members 321, 322 to control a relative vertical position between the output unit 3a and the transverse member 11 and to control ground force for the output unit 3a.

Figs 4e-4h schematically illustrate the row cleaner 4a.

The row cleaner 4a comprises a parallel linkage 42, which comprises an upper link 421 and a lower link 422. The linkage 42 attaches, at a proximal end thereof, to the output unit frame 33 (or to the base member 41, as the case may be). At a distal end of the links 421, 422, they attach to the row cleaner frame 43, which rotatably supports the cleaner wheels 44a, 44b.

Each cleaner wheel 44a, 44b may be configured with a hub portion 441, a radially exposed tread 442 providing a bearing surface and a plurality of teeth 443, which extend radially outwardly from the tread 442. The teeth may teeth have a radial extent which is about 30-60 %, preferably about 35-65 % or about 40-50 %, of a maximum radius of said bearing surface.

As the cleaner wheels 44a, 44b are mounted with their axes of rotation being non-parallel with each other, and in particular presenting an obtuse angle, the tread 442 may be generally conical and may be non-smooth, e.g. by presenting a radially undulating surface.

The teeth 443 may extend from an axial end of the tread 442 and may have an axial extent which is smaller than that of the tread 442. For example, an axial extent of the teeth 443 may be on the order of 5-15 % of an axial extent of the tread 442, preferably about 5-10 %.

While the actuator 48 that controls the relative position of the row cleaner frame 43 and the output unit frame 33 (or the base member 41, as the case may be), is best visible in fig. 4f, a valve 481 which controls the flow to the actuator is illustrated in fig. 4e. The valve 481 may be controlled by a valve actuator 482, which, in turn, may be electrically controlled by a controller 100.

The controller 100 may be a local controller for the row cleaner 4a, a local controller for the output unit 3a, an implement controller, controlling multiple functions ofthe agricultural implement 1, or a central controller, which may be housed in the traction vehicle 2 and configured to control at least parts of the traction vehicle and all or part ofthe agricultural implement. lt may also be possible to provide the controller 100 as a remote controller, for controlling one or more agricultural equipment, each ofwhich may comprise a traction vehicle and an implement, or a self-propelled implement. ln fig. 4f, an embodiment of the sensor 45 is illustrated. Here, the sensor 45 has the form of an angle sensor comprising a sensor body 451 and a sensor arm 452, which is configured to follow a motion of one ofthe links 421, 422. The sensor 45 may communicate with the controller 100 via a wire or wirelessly. lt is understood that while the present disclosure provides for a simple and robust sensing mechanism, other types of sensors may be used, such as distance sensor, which may measure a distance between e.g. the row cleaner frame 43 and a part of the output unit 3a or ofthe implement frame, such as the transverse member 11.

The row cleaner 4a-4g may be operated as follows.

The row cleaner 4a-4g may be force controlled, in the sense that a predetermined ground force is applied to it by operation of the actuator 48. The force that is applied may be controlled individually for each row cleaner 4a-4g. Alternatively, the force that is applied may be controlled for a subset of the row cleaners 4a-4g. as yet another alternative, the force that is applied may be controlled for all of the row cleaners 4a-4g.

A maximum working depth may be determined and provided to the controller 100. lt is possible to determine the maximum working depth in relation to a working depth of the output unit 3a-3g. it is also possible to determine the maximum working depth in relation to a maximum operation amplitude (maximum stroke) of the row cleaner 4a-4g. The maximum working depth may be translated into a threshold value for the data provided by the sensor 45.

When the row cleaner 4a-4g and associated output unit 3a-3g is lowered, the ground force is applied by the actuator 48. As the agricultural implement moves in the working direction Dw, the row cleaner 4a-4g will move upwardly and downwardly as the soil surface G varies while exerting the predetermined ground force onto the soil surface. ln the event the row unit encounters a depression, an air pocket or a portion of softer soil, the row cleaner 4a-4g will move downwardly in order to follow the soil surface G while exerting the predetermined ground force. When the controller 100 detects that the sensor data indicates a working depth that exceeds the threshold value, the controller 100 will control the valve 481 so as to prevent further downward movement of the row cleaner 4a-4g by blocking supply and/or return of hydraulic fluid. Such blocking may be a one-way blocking, such that the row cleaner 4a-4g would still be able to move upwardly should it encounter an incline.

Once it has been detected that the threshold value is no longer exceeded, the valve 481 may be controlled so as to again allow flow in both directions.

Claims (21)

1. A row cleaner (4a-4g) for an agricultural implement, comprising: a first frame part (33, 41), at least one cleaner wheel (44, 44a, 44b), an actuator (48), configured for applying a ground force to the cleaner wheel (44, 44a, 44b), a sensor (45), configured for providing a value corresponding to a relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b), and a controller (100), configured for controlling the actuator (48), characterized in that the controller (100) is configured to block the actuator (48) from further movement in a downward direction when a threshold relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) has been attained.

2. The row cleaner as claimed in claim 1, wherein the controller (100) is configured to: receive the value corresponding to the relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) from the sensor (45), determine whether the value corresponding to a relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) exceeds the threshold value for the vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b), and if said threshold value is exceeded, controlling the actuator (48) to prevent further exceeding of said threshold value.

3. The row cleaner as claimed in claim 1, further comprising a second frame part (43), which is movably connected to the first frame part (33, 41).

4. The row cleaner as claimed in claim 3, wherein the actuator (48) is operable to control a relative movement between the first frame part (33, 41) and the second frame part (43).

5. The row cleaner as claimed in claim 3 or 4, wherein the actuator (48) is controllable to provide a predetermined force between the first frame part (33, 41) and the second frame part (43) .

6. The row cleaner as claimed in any one of claims 3-5, wherein the row cleaner (4a-4g) comprises a pair of cleaner wheels (44, 44a, 44b), which are rotatably supported by the second frame part (43) and which are configured such that their respective axes of rotation meet are non-parallel.

7. The row cleaner as claimed in claim 6, wherein the cleaner wheels (44, 44a, 44b) comprise an axially exposed bearing surface (442) and a plurality of teeth (443) which extend radially outwardly of said bearing surface (442).

8. The row cleaner as claimed in claim 7, wherein said teeth (443) have a radial extent which is about 30-60 %, preferably about 35-65 % or about 40-50 %, of a maximum radius of said bearing surface (442).

9. The row cleaner as claimed in any one of the preceding claims, wherein the actuator (48) is a hydraulic actuator.

10. The row cleaner as claimed in claim 9, further comprising a hydraulic valve (481), configured to control an input flow and/or an output flow to/from the hydraulic actuator (48).

11. The row cleaner as claimed in claim 10, wherein the hydraulic valve (481) is a one-way valve.

12. The row cleaner as claimed in any one of the preceding claims, wherein the controller (100) is configured to receive a value corresponding to adesired Operating depth for the cleaner wheel (44, 44a, 44b) and to determine the threshold value based on said desired operating depth.

13. The row cleaner as claimed in any one of the preceding claims, wherein the sensor (45) is an angle sensor configured for detecting an angle between a pair of frame parts (33, 41; 421, 422), which are pivotably connected to each other.

14. The row cleaner as claimed in any one of the preceding claims, wherein the first frame part (41) is mountable to a frame of the agricultural implement (1).

15. The row cleaner as claimed in any one of claims 1-13, wherein the first frame part (33) forms part of a unit frame of an output unit (3a-3g).

16. An agricultural implement comprising a plurality of row cleaners (4a- 4g) as claimed in any one ofthe preceding claims, wherein at least some of the row cleaners (4a-4g) are aligned along a working direction (Dw) with at least one output unit (3a-3g).

17. A method of operating a row cleaner (4a-4g), the row cleaner comprising: a first frame part (33, 41), a cleaner wheel (44, 44a, 44b), and an actuator (48) configured for applying a ground force to the cleaner wheel (44, 44a, 44b), wherein the method comprises: monitoring a relative vertical position of the cleaner wheel (44, 44a, 44b) and the first frame part (33, 41), and blocking the actuator (48) from further movement in a downward direction when a threshold relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) has been attained.

18. The method as claimed in claim 17, further comprising: receiving the value corresponding to the relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) from a sensor (45), determining whether the value corresponding to the relative vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b) exceeds the threshold value for the vertical distance between the first frame part (33, 41) and the cleaner wheel (44, 44a, 44b), and if said threshold value is exceeded, controlling the actuator (48) to prevent further exceeding of said threshold value.

19. The method as claimed in claim 17 or 18, wherein said monitoring comprises monitoring an angle of an arm or link (421, 422), which directly or indirectly supports the cleaner wheel (44, 44a, 44b).

20. The method as claimed in any one of claims 17-19, wherein said value indicating the actual relative vertical position is determined by means of a sensor (45) and wherein said blocking is achieved by a controller (100).

21. The method as claimed in any one of claims 17-20, wherein said blocking comprises blocking a flow in a hydraulic channel to and/or from the actuator (48).