WO2022033910A1

WO2022033910A1 - System and method for an agricultural distribution machine, and agricultural distribution machine

Info

Publication number: WO2022033910A1
Application number: PCT/EP2021/071562
Authority: WO
Inventors: Philipp Horsch
Original assignee: Horsch Maschinen Gmbh
Priority date: 2020-08-11
Filing date: 2021-08-02
Publication date: 2022-02-17
Also published as: DE102020121100A1

Abstract

The disclosure relates to a system for an agricultural distribution machine (10), preferably for a seeder, for distributing granular material for distribution (100), such as seed and/or fertilizer, having at least one seed coulter (12), which is configured to deposit material for distribution (100) at a required depositing depth (AT) in a soil surface (50), wherein the seed coulter (12) has at least one frame construction (26), a cutting disc (28), which is configured to produce a seed furrow (60) in the soil surface (50), a depth-guiding roller (30), which is variable in its height position in relation to the cutting disk (28), and a catching device (32), wherein the catching device (32) has a lower contact point (70), which is variable in its height position in relation to the depth-guiding roller (30), and having a first sensor device (80) for sensing a height position of the catching device (32), and having a data processing device (90) for processing the sensor signals (110) of the sensor device (80). The system further comprises the data processing device (90) which is configured to calculate an actual depositing depth (AT) of the seed coulter (12) with reference to a height position of the catching device (32). The disclosure also relates to a method for calculating an actual depositing depth (AT) and to an agricultural distribution machine (10).

Description

description

SYSTEM AND METHOD FOR AN AGRICULTURAL SPREADING MACHINE AND

AGRICULTURAL SPREADING MACHINE

The invention relates to a system for an agricultural distribution machine, preferably for a seed drill, for applying granular distribution material such as seed and/or fertilizer. The invention also relates to a method for calculating a real placement depth for an agricultural spreader. The invention also relates to an agricultural spreader.

Agricultural distribution machines, such as seed drills, are used to deposit granular distribution material, such as seed and/or fertilizer, in a soil surface at a required placement depth. Depending on the material to be spread, the required and uniform placement depth can significantly improve field emergence of the material to be spread and thus positively influence growth.

A method for operating a seed drill in the form of a single grain machine is known from EP 3 165 063 A1. In this case, a sowing coulter is provided, in which a sensor is provided to achieve a uniform placement depth of the distribution material, by means of which relative movements, e.g. vibrational movements of the entire sowing coulter, are monitored, with the relative movements being used to draw conclusions about a placement quality.

However, the actual sowing depth of the spread material, which is decisive for field emergence, is not taken into account and recorded.

It is therefore the object of the invention to provide an agricultural distribution machine by means of which improved compliance with a required placement depth for distribution material is achieved.

These objects of the invention are achieved by a system for an agricultural spreader having the features of independent claim 1, by a method for Calculating a real placement depth with the features of method claim 15, and by an agricultural spreader with the features of claim 19. Advantageous embodiments and developments of the invention are disclosed in the claims and the following description with partial reference to the figures.

The invention relates to a system for an agricultural spreading machine, preferably for a seed drill, for spreading granular spreading material (e.g. agricultural spreading material) such as seed (e.g. corn, grain or the like) and/or fertilizer (e.g. granular fertilizer).

The system or the distribution machine has at least one sowing coulter, which is set up to deposit the material to be distributed at a required placement depth in a floor area, with the sowing coulter having at least one frame structure (e.g. coulter frame), a cutting disc, which is set up to define a seed furrow in the floor area to generate the sowing depth, has a depth control roller whose height can be changed relative to the cutting disk and a catching device, wherein the catching device has a lower contact point whose height can be changed relative to the depth control roller.

It should be noted that the definition of changeable in the context of the invention also includes changing.

The system or distribution machine also includes a first sensor device for detecting an altitude of the catching device, preferably for detecting the altitude of the lower contact point, and a data processing device for processing the signals from the sensor device, that is to say expediently in particular the first sensor device.

In order to provide an agricultural distribution machine, or a system, by means of which improved compliance with a required placement depth for distribution material is achieved, the invention provides that the data processing device is set up to calculate a real placement depth of the seed coulters based on an altitude of the catching device, preferably based on an altitude to calculate the lower contact point.

The invention makes use of the knowledge that the catching device during the distribution process is usually the only component of the sowing coulter that comes into direct contact with the material to be spread in the seed furrow and the material to be spread causes the height of the catching device to change as a result of the contact the elevation of the point of contact causes, for example. Against the seed furrow or the depth guide roller causes. Based on this change in altitude, the data processing device can then be used to calculate the actual placement depth, ie the actual placement depth of the material to be distributed. The altitude is thus expediently defined in particular by a surface of the grains of the material to be distributed.

The real placement depth, i.e. the calculation of the real placement depth, can be carried out in such a way that a numerical value defining the real placement depth is generated by means of the data processing device. Alternatively or additionally, the calculation can also be carried out in such a way that an actuating signal defining the placement depth is generated for, for example, actuating devices, actuators or the like, for example if the actual placement depth is too shallow or too deep. Alternatively or additionally, an actuating signal and/or a display signal for an operating device (e.g. display device) can be generated.

It should also be pointed out that in the context of the invention, an altitude can suitably correspond in particular to a change in a vertical position (e.g. perpendicular to the direction of travel), e.g. can correspond to a changing vertical distance, i.e. is defined, for example, by a vertical distance . It should also be pointed out that in the context of the invention, altitude includes any position (e.g. contact point and/or center point) of the depth control roller or the catching device.

The sowing coulter is set up to deposit the material to be distributed, i.e. grains of the granular material to be distributed, at an appropriately required placement depth (e.g. 2cm or 3cm or 5cm or the like) in a ground area (e.g. agricultural area, in particular arable land).

The sowing coulter comprises at least one cutting disc (e.g. coulter disc), which is set up to create a seed furrow in the soil surface to define, i.e. to specify, the placement depth. The sowing coulter can thus, for example, form a so-called single-disc sowing coulter. However, it could preferably also be provided that the sowing coulter has two cutting discs arranged at an angle to one another and is designed as a so-called double disc coulter. As an alternative or in addition, further components for defining the placement depth would also be denbkar.

To define the depth of the seed furrow, the sowing coulter also includes at least one depth control roller whose height can be changed relative to the cutting disc, which means that the depth of the seed furrow can be changed based on the difference in the height of the cutting disc compared to the depth control roller. The depth guide roller for this in particular along a bottom surface of the bottom surface is guided, that is, rolls along a bottom surface and thus the coulter is supported on the depth control roller. It should be pointed out that the definition of a depth control roller whose height position can be changed in relation to the cutting disc also includes a cutting disc whose height position can be changed in relation to the depth control roller.

In addition, the sowing coulter includes a catching device, with the catching device having a lower contact point whose elevation can be changed in relation to the depth control roller. In this case, the contact point could be formed, for example, by a lower vertex or by a surface. The catching device is expediently used in particular to embed the grains of the distribution material in the soil surface, or to prevent the grains from rolling in the seed furrow.

The at least one depth control roller is arranged in particular next to the cutting disc, and the catching device is arranged in particular next to and/or behind the cutting disc, or arranged between two cutting discs.

According to one embodiment, an exact placement depth can be calculated in that the first sensor device is set up to detect a difference in the height of the catching device relative to the depth control roller (e.g. contact point of the depth control roller), preferably to detect a difference in the height of the lower contact point compared to the depth control roller . It can also be provided that the data processing device is set up to include (e.g. include) this difference in the calculation of the placement depth. Thus, for example, the depth control roller can serve as a reference and the real placement depth can be calculated based on a change in the height of the catching device compared to the depth control roller.

In the context of the invention, recording also includes determining and/or calculating and/or detecting and/or evaluating the like.

It is possible for the first sensor device to be set up to directly detect a vertical position of the catching device, preferably to directly detect a vertical position of the lower contact point, in particular to detect the depth control roller. Alternatively or additionally, it is possible for the first sensor device to be set up to indirectly detect an altitude of the catching device, preferably indirectly to detect an altitude of the lower contact point, in particular to detect in relation to the depth control roller. The data processing device is set up to calculate a height of the lower contact point on the basis of the indirectly recorded height of the catching device, in particular to calculate it in relation to the depth control roller.

It should be noted that the lower contact point is used to determine the height of the grains in the seed furrow, whereby in the context of the invention the contact point does not necessarily have to be determined, but the position of the lower contact point can also be inferred in some other way, e.g. using the Geometry of the seed coulter. If the point of contact is discussed in the present case, this also includes all options from which conclusions can be drawn about the height of the grains in the seed furrow and/or the height of the point of contact.

Indirect detection of the altitude of the capture device can be characterized, for example, by detection of the altitude of the capture device relative to a reference plane.

Indirect detection of the height of the catching device can be characterized, for example, by detecting a changing position of a component that is operatively connected to the catching device with the first sensor device, with the data processing device and/or the first sensor device being set up for this based on the changing position and for example, to calculate an altitude of the arresting device based on the geometry of the components and/or the arresting device.

Direct detection of the altitude of the catching device can, for example, include detection of the altitude, in particular detection of a distance (e.g. vertical distance or direct distance) between the catching device and the depth control roller, in particular without the use of additional components or without additional calculation parameters.

The reference plane can be formed by a plane running parallel to the direction of travel, which touches tangentially, for example, the lower contact point of the depth control roller and/or touches the lower contact point of the cutting disc tangentially and/or can be formed by a reference component, which is preferably assigned to the frame construction can in turn define the height based on the difference in the distances between the components. The reference plane can, for example, also be defined by a floor surface. The reference plane can also be formed by a reference point.

It is therefore expediently possible for detection of the height of the depth control roller to include direct or indirect detection of the lower contact point of the depth control roller, in particular in relation to the reference plane, and/or for detection of the height of the catching device to include direct or indirect detection of the lower contact point of the catching device, in particular with respect to the reference plane, the data processing device being set up to calculate a placement depth of the seed coulter based on a difference between the altitude of the lower contact point of the depth control roller and an altitude of the lower contact point of the catching device.

The detection of the altitude can be improved by storing and/or storing geometric variables (e.g. lever lengths, diameters, joint spacings and/or similar geometric relationships) that define the geometry of the coulter and/or the depth control roller and/or the catching device in the data processing device (e.g. readable, inputtable, retrievable) and that the data processing device is set up to calculate a real placement depth taking into account the geometry variables. This means that, based on the sensor signals of the first sensor device and based on the geometry variables, a height of the catching device and, from this, a real placement depth can be calculated by means of the data processing device. This corresponds in particular to an indirect detection of the altitude of the capture device.

A change in the altitude of the catching device is caused in particular by granular material to be distributed. In order to detect this change, according to a further embodiment variant of the invention, it can be provided that the first sensor device is set up to detect the height of the catching device, preferably to detect the height of the lower contact point, taking into account a change in the height of the catching device caused by granular material to be distributed and/or the lower contact point at high frequency (e.g. high repetition rates at high driving speeds and large application quantities of the spread material - e.g. at 15km/h and 20cm grain spacing, approx. 20 repetitions or measurements per second must be recorded). This means that the first sensor device is designed in such a way that it is set up even by small grains of the distribution material, which, for example, are only a few millimeters (e.g. 2 mm or 3 mm or 5mm) are large to record changes in the altitude of the arresting device or the contact point.

It is possible for a sensor signal detected by the first sensor device to be a signal-to-noise ratio with signal peaks caused in particular by granular distribution material, with the data processing device and/or the first sensor device being set up for this purpose based on the signal-to-noise ratio -Ratio to generate a useful signal, in particular to generate a useful signal that defines the placement depth.

The data processing device is expediently set up, in particular, to calculate a real drilling depth on the basis of the useful signal.

According to the invention, a signal-to-noise ratio is detected by means of the first sensor device, with this so-called sensor noise also being referred to as "SNR - signal-noise ratio". This SNR is permanently present and the grains of the distribution material are affected by a change in altitude cause a so-called signal peak in the capturing device, i.e. cause an interference signal. The data processing device and/or the sensor device is/are expediently designed according to the invention in particular in order to generate a useful signal (e.g. mean value of the signal-to-noise ratio and the signal peaks) from the sensor noise and the interference signal. to form, i.e. to generate, for example, in particular also taking into account a distance covered and a time.The useful signal can be formed, for example, by filtering, a low-pass filter, by averaging, by averaging, by tunneling, a moving average and/or the like follow.

The first sensor device can in particular be set up to use the useful signal to determine a tendency as to whether, for example, a distance or a real placement depth is tending to become smaller or tend to become larger, and this can also be done taking into account a distance covered over time.

According to an alternative embodiment variant of the invention, it is possible for the first sensor device and/or the data processing device to be set up based on a difference in the height of the safety device and/or the lower contact point compared to a definable and/or specifiable zero position of the safety device and/or the lower one to calculate a real placement depth at the contact point. The zero position can in particular be freely definable and/or can be defined by a position in the example Depth control roller and the catching device have no or only a defined distance (e.g. vertical distance or direct distance) from one another. The zero position could also be a floor surface, for example.

In order to achieve an exact depth setting of the sowing coulter, it is possible according to a development of the invention that a second sensor device is provided for detecting a height of the depth control roller, preferably provided for detecting a height of the depth control roller relative to the frame construction, the data processing device being set up to to calculate a real placement depth based on an altitude of the depth control roller and an altitude of the catching device, preferably to calculate based on a difference in the altitude of the catching device compared to the height of the depth control roller. It should be noted here that in this context the term “frame construction” can also include the cutting disk and/or a reference component and/or the like. It can also apply that the greater the difference, the greater the placement depth.

The data processing device can include a control and/or regulating circuit that is set up to operate the distributor and/or the sowing coulter in an automatic mode. It is thus possible for the calculated real placement depth to be used as an actuating signal in the open-loop and/or closed-loop control circuit. This means that it is thus possible for control and/or regulation signals (e.g. actuating signals) for an actuating device and/or an actuating drive to be automatically generated on the basis of a real placement depth.

In order to achieve a sowing coulter that can be used as flexibly as possible (or a distribution machine that can be used flexibly), it can be provided according to a further development that the frame construction is height-adjustable (e.g. by means of a four-bar arrangement) and by means of an actuator with variable prestressing force and/or adjustable by means of the data processing device. or variable height level is mounted on a support structure, wherein a third sensor device can be provided for detecting a prestressing force and/or a height level and wherein the data processing device can be operated in an automatic mode and is set up to determine a prestressing force and/or a height level based on a real placement depth to control and/or regulate, that is to say to generate corresponding control and/or regulation signals. This means that if, for example, the actual planting depth is too deep, the pre-tensioning force can be reduced. The pretensioning force and/or the height level can be controlled and/or regulated, in particular, by means of a known volume flow regulation and/or pressure regulation and/or the like of the actuator.

According to a development of the invention, it can also be provided that a height of the depth control roller and/or the catching device can be controlled and/or regulated, in particular by means of an actuating device that can be and/or is signal-connected to the data processing device, wherein the Data processing device can be operated in an automatic mode and is set up to generate control and/or regulating signals for the actuating device based on a real placement depth.

Control and/or regulation can in particular be carried out in such a way as to keep the real placement depth within a tolerance range and in which case the prestressing force and/or the height level can also be controlled and/or regulated, which are each coordinated with one another.

Controlling and/or regulating the actuating device and/or the actuating drive in automatic mode can, for example, take place in such a way that movements of these are coordinated with one another, so that the actuating device is controlled and/or regulated accordingly, for example depending on a prestressing force generated by the actuating drive is, it also being possible for the actuating device and the actuating drive to be operated within a range of movement of the latter. I.e. controlled and/or regulated in particular in such a way that they do not reach their respective end positions.

Alternatively or additionally, it is possible for the data processing device to be signal-connected and/or signal-connectable to an operating device (e.g. terminal, mobile end device), which operating device is set up to specify (e.g. input, read in) a required placement depth, with the data processing device being set up in an automatic mode is to generate such control and/or regulation signals for the actuating device and/or the actuating drive that an at least extensive adjustment of a real placement depth to a required placement depth takes place. This can also be done within a defined (eg freely definable) tolerance range. It is thus possible, for example, to change the depth of the seed furrow (e.g. by adjusting the depth control roller) and/or the height level (e.g. by adjusting the actuator). This can also be done taking into account soil conditions (eg soil moisture), ie depending on the soil conditions, the prestressing force can in turn be increased, for example, in order to achieve a required placement depth. Alternatively or in addition, this can also take into account the driving behavior (e.g. driving speed) of the distribution machine or a tractor pulling the distribution machine, e.g. based on a driving speed, i.e. depending on the driving speed, the pretensioning force can be increased or reduced, for example, in order to make it expedient to influence the vibration behavior of the seed coulter.

In an automatic mode, the sensor signals of the first sensor device and/or the second sensor device and/or the third sensor device can be fused by the data processing device to control and/or regulating signals for the actuating device and/or the actuating drive.

It is possible that the height of the catching device can be changed by means of a pretensioning device in relation to the depth control roller, the pretensioning device (e.g. catching device formed by a rubber roller, spring, cylinder, etc.) preferably being set up to exert a pressing force (e.g. in relation to the seed furrow or the ground surface) to create.

It is possible that the catching device is formed by a conditionally dimensionally stable catching roller that rolls along a floor surface or by a conditionally dimensionally stable catching skid that slides along a floor skid. In this context, conditionally means that the catching device is designed to be dimensionally stable, at least in sections or as a whole, e.g. that the catching device is designed as a catching roller, which has a dimensionally stable outer ring and a deformable fig leaf or deformable webs or the like. The capture device can be designed, for example, as described in DE 10 2016 102 673 A1.

The first sensor device and/or the second sensor device can include at least one or more angle sensors, distance sensors, displacement sensors and/or acceleration sensors and/or the like.

The third sensor device can alternatively or additionally include one or more pressure sensors and/or force sensors.

The sensor signals detected by the sensor device can expediently be any type of variable-defining signals. The data processing device has, e.g. the control and/or regulating circuit being expediently designed for hydraulic and/or pneumatic and/or electrical signal and/or command transmission. Which signals and/or commands can also be transmitted wirelessly (e.g. via WLAN).

In the context of the invention, the term data processing device includes, in particular, all of the components for signal and/or command transmission. Accordingly, computer units, CPUs and/or the like are also included. Correspondingly, data processing devices integrated in the respective sensors or sensor devices are also included.

The data processing device can include an operating device (e.g. mobile terminal device and/or output device) and/or be signal-connected and/or signal-connectable to an operating device. The operating device can also be set up to carry out a graphic, visual and/or haptic output.

In the context of the invention, calculation also includes detecting, determining, generating, evaluating and/or the like.

The data processing device can include an evaluation program for calculating the actual placement depth. The data processing device can have a computer unit for this purpose and the evaluation program can be stored in a memory of the computer unit. In the context of the invention, the evaluation program can also be retrievable from a database, for example, in particular can be retrievable from the database by means of the computer unit and/or the operating device.

It should also be pointed out that the terms "control" and "regulate" or "control device" can refer to electronic and/or pneumatic and/or hydraulic controls or regulations which, depending on the training, can take on control tasks and/or regulation tasks. Even if the term “control” is used here, it can also expediently include “rules”. Similarly, when the term “rules” is used, “control” can also be included. To avoid repetition, features disclosed in connection with the system should also apply and be claimable according to the method and disclosed for an agricultural spreading machine. The aforementioned aspects and features and embodiment variants according to the invention, in particular with regard to the system, therefore also apply to the method and to the distribution machine and can be freely combined with one another in any way. The same applies in reverse, so that all aspects, features and design variants according to the invention that are disclosed in connection with the method or the distribution machine are also disclosed for the system and can be claimed accordingly.

In order to achieve the objects, the invention also includes a method for calculating a real placement depth for an agricultural distribution machine, preferably for a seed drill, for applying granular distribution material such as seed and/or fertilizer.

The method includes providing at least one sowing coulter, which sowing coulter is set up to deposit material to be distributed at a required placement depth in a soil area and which sowing coulter has at least one frame structure, a cutting disc, which is set up to produce a seed furrow in the soil area to define the placement depth, has a depth control roller whose height position can be changed relative to the cutting disc and a catching device, wherein the catching device has a lower contact point whose height position can be changed in relation to the depth control roller.

The method also includes providing a first sensor device for detecting an altitude of the catching device, preferably for detecting an altitude of the lower contact point.

The method also includes providing a data processing device which is set up to process sensor signals from the first sensor device and to calculate a real placement depth of the seed coulters based on an altitude of the catching device, preferably based on an altitude of the lower contact point.

According to one development, the method can provide that a height of the depth control roller and/or the catching device can be controlled and/or regulated, in particular by means of an actuating device that can be and/or is signal-connected to the data processing device, wherein the Data processing device can be operated in an automatic mode and is set up to generate control and/or regulating signals for the actuating device based on a real placement depth.

Alternatively or additionally, the method can provide for the frame construction to be height-adjustable and mounted on a carrier construction by means of an actuator that can be controlled and/or regulated by means of the data processing device and has a variable prestressing force and/or variable height level, with a third sensor device for detecting a prestressing force and/or or a height level can be provided and wherein the data processing device can be operated in an automatic mode and is set up to control and/or regulate a prestressing force and/or a height level based on a real placement depth, i.e. to generate corresponding control and/or regulation signals.

According to a further embodiment variant, the method can also provide that the data processing device is and/or can be signal-connected to an operating device, which operating device is set up to specify a required placement depth, the data processing device being set up in an automatic mode, such control and/or regulation signals for to generate the actuating device and/or the actuating drive so that an at least extensive adjustment of a real placement depth to a required placement depth takes place.

In order to achieve the objects, the invention also includes an agricultural distribution machine, preferably a seed drill (e.g. precision seed drill, seed drill or the like).

According to the invention it is provided that the distributor has at least two coulters with a system as described herein, in particular according to one of claims 1 to 14 and/or is signal-connected and/or can be signal-connected to such a system. Alternatively or additionally, it can be provided according to the invention that the distribution machine is set up to carry out a method as described herein, in particular according to one of claims 15 to 18.

The distribution machine is used in particular for spreading (eg distributing) granular material to be distributed and has a large working width of, for example, 3 meters, 6 meters, 9 meters or more. The distributing machine, preferably the seed drill, can be designed as a self-propelled distributing machine or as a distributing machine towed by a towing vehicle (eg tractor) or attached to a towing vehicle (eg by means of a three-point hitch). The at least two seed coulters can be operated in an automatic mode by means of the data processing device, in particular can be operated in an automatic mode independently of one another.

Alternatively or additionally, it can be provided that the distribution machine has a plurality of coulters and that at least two coulters are combined to form a section, ie form a section, with at least two sections of coulters preferably being attached to the distribution machine. According to the invention it can also be provided that the at least two sections or the coulters of the at least two sections can be operated in an automatic mode, preferably such that the at least two sections can be operated independently of one another in an automatic mode.

The preferred embodiments, features and aspects of the invention described above can be freely and freely combined with one another.

Further details and advantages of the invention are described below with reference to the accompanying drawings. The proportions of the individual elements to one another in the figures do not always correspond to the real proportions, since some forms are shown in simplified form and other forms are shown enlarged in relation to other elements for better illustration. Show it:

Figure 1 is a perspective view of a variant embodiment of an agricultural

Distribution machine, in the form of a seed drill, with a plurality of coulters,

Figure 2A is a side view of an embodiment of a coulter with a flat

drilling depth,

FIG. 2B shows a side view according to FIG. 2B with a lower one compared to FIG. 2A

drilling depth,

FIG. 3 schematic detailed views of different altitudes of capture devices and the respective associated sensor signals detected by the sensor device,

Figure 4 is a schematic block diagram of an embodiment of a

Data processing device, or a control and / or control circuit. The embodiments shown in FIGS. 1 to 4 correspond at least in part, so that similar or identical parts are provided with the same reference symbols and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition. The illustrated embodiments only represent examples of how the system according to the invention, the method according to the invention and the distribution machine according to the invention can be designed and implemented and do not represent any final limitation.

Figure 1 shows an embodiment of an agricultural distribution machine 10, in the form of a seeder, for spreading granular Verteilgut 100 such as seed and / or fertilizer.

The distributor machine 10 comprises a plurality of seed coulters 12 with a system as described herein and/or is signal-connected and/or can be signal-connected to such a system (e.g. by means of a data interface it is signal-connected and/or signal-connectable), in particular with a system according to one of Claims 1 to 14. Alternatively or additionally, the distribution machine 10 is set up to carry out a method as described herein, in particular to carry out a method according to one of claims 15 to 18.

The distribution machine 10 is used in particular for discharging granular distribution material 100 and has a large working width of 6 meters, but other working widths would also be conceivable. The distribution machine 10, that is to say the seed drill, is designed as a machine pulled by a towing vehicle (e.g. tractor, not shown here). However, it would also be conceivable that this is designed as a self-propelled machine (e.g. also autonomous) or as a machine attached to a towing vehicle.

The distribution machine 10 comprises a machine frame 14, with a chassis 18 supporting itself on a floor surface and comprising two wheels 16. The machine frame also comprises a connecting device 20 in the form of a towing eye, arranged on its front side, for expediently connecting the distribution machine 10 to a towing vehicle (here not shown).

The distribution machine includes for carrying and providing the respective granular distribution material 100

10 a reservoir 22 (according to FIG. 1, however, two reservoirs 22). At the rear end of the machine frame 14 is associated with a transversely to the direction of travel FR extending support structure 24, on which a plurality (eg 8) of coulters 12 are arranged at regular intervals.

In turn, separate reservoirs 22 for carrying along and providing distribution material 100 are assigned to the seed coulters 12 . It should be pointed out that it is not absolutely necessary for the distributor machine 10 to have storage containers 22 assigned to the machine frame 14 and the seed coulters 12; it would also be conceivable for only the machine frame 14 and/or only the seed coulters 12 to have storage containers 22 assigned to them are.

The at least two seed coulters 12 can be operated in an automatic mode by means of the data processing device 90, in particular independently of one another in an automatic mode.

Alternatively or additionally, it can be provided that the distributor machine 10 has a plurality of coulters 12 and that at least two coulters 12 are combined to form a section, i.e. form a section, with at least two sections of coulters 12 preferably being attached to the distributor machine 10 . It is possible that the at least two sections, or the coulters 12 of the at least two sections, can be operated in an automatic mode, preferably in such a way that the at least two sections can be operated independently of one another in an automatic mode.

Provision is also made for each section to be assigned, for example, only a first sensor device 80, i.e. for example only one sowing coulter 12 of each section is assigned a first sensor device 80 and/or a second sensor device 82 and/or a third sensor device 84.

FIGS. 2 and 3 show different views of a coulter or partial sections thereof according to an embodiment of the invention which will be described with reference to FIGS. 2 and 3 together.

2A and 2B each show a side view of design variants of seed coulters 12 with different placement depths AT, and thus with different heights of the catching devices 32, e.g. in the form of different vertical distances relative to the frame structure 26 or relative to the direction of travel FR. It should be noted that the catching device 32 is not shown in its maximum deflection, e.g. in relation to the depth guide roller 30, to illustrate the different heights, in order to thus illustrate the change in height caused by the material to be distributed 100.

The sowing coulter 12 is set up to deposit material to be distributed 100, ie grains of the material to be distributed 100, in a soil surface 50 at a required placement depth AT. According to the exemplary embodiments, the sowing coulter 12 has a storage container 22 for carrying and preparing the material to be distributed.

The sowing coulter 12 has a frame construction 26, a cutting disc 28, which is set up to produce a seed furrow 60 in the soil surface 50 to define the placement depth AT, a depth control roller 30 whose height can be changed relative to the cutting disc 28, and a catching device 32 in the form of a catching roller .

The catching device 32 has a lower contact point 70 whose height relative to the depth control roller can be changed, that is to say which changes.

The sowing coulter 12 also includes a dosing device 34, shown schematically according to the exemplary embodiments, by means of which distribution material 100 is transported in a dosed manner (e.g. single grain dosing, volumetric dosing or the like) by means of a seed tube 36 (e.g. line) in the direction of the seed furrow 60. The catching device 32 is arranged downstream of the outlet of the seed tube 36 .

The metering device 34 can be supplied by means of reservoirs 22 assigned to the seed coulters 12 . As an alternative or in addition, however, so-called pneumatic conveying systems would also be conceivable, which are operatively connected to a storage container 14 assigned to the machine frame 14 .

The distributor machine 10 or the sowing coulter 12 also has a first sensor device 80 for detecting an altitude of the catching device 32, preferably for detecting an altitude of the lower contact point 70. The first sensor device 80 according to the figures can be arranged in a wide variety of positions, for example, and can thus detect the altitude in a wide variety of ways. The distributor machine 10, or the sowing coulter 12, also has a data processing device 90 for processing the sensor signals 110 of the first sensor device 80, see Figure 4. The data processing device 90 is set up according to the invention to determine a real placement depth AT of the sowing coulters 12 based on an altitude of the Calculate capture device 32, preferably based on an altitude of the contact point 70 to calculate.

The placement depth AT can be different and can be, for example, 2 cm or 3 cm or 5 cm or the like. To define the depth of the seed furrow 60 and thus to define the placement depth AT, the seed coulter 12 comprises a depth guide roller 30, the height of which can be changed relative to the cutting disc 28, i.e. the depth of the seed furrow 60 based on the difference in the height of the cutting disc 28 compared to the depth guide roller 30 can be changed. The depth guide roller 30 is moved along the ground surface 52 for this purpose.

The catching device 32 has a lower contact point 70 whose height can be changed in relation to the depth guide roller 30 . The point of contact 70 is formed by a lower apex, but the point of contact could also be formed by a surface.

One or two or more pressure rollers are arranged downstream of the catching device 32 and are designed to close the seed furrow 60 .

Depending in particular on the arrangement of the first sensor device 80 on the sowing coulter 12 or on the distributor machine 10, it is possible for the first sensor device 80 to be set up to directly detect a height of the catching device 32, preferably directly the height of the lower contact point 70 detect, in particular to detect relative to the depth control roller 30. For this purpose, the first sensor device 80 can be mounted directly on the capture device 32, for example.

Alternatively or additionally, it is possible for the first sensor device 80 to be set up to indirectly detect a height of the catching device 32, preferably indirectly to detect a height of the lower contact point 70, in particular to detect the depth control roller 30. The data processing device 90 is set up here to calculate a height of the lower contact point 70 based on the indirectly detected height of the catching device 32, in particular to calculate the depth control roller 30, for example to calculate based on geometric relationships. For this purpose, the first sensor device 80 can be mounted, for example, on a holder 38 of the catching device 32 . In order to achieve improved detection of the height of the catching device 32, in particular taking into account the geometry of the sowing coulter 12, it is possible for the geometry of the sowing coulter 12 and/or the depth control roller and/or the catching device 32 to be stored in the data processing device 90 and/or or can be stored and that data processing device 90 is set up to calculate a real placement depth AT based on the geometric variables (e.g. geometric relationships), and thus to calculate a real placement depth AT, in particular based on changing sensor signals 110 of first sensor device 80 and the geometric variables.

Different heights of capture devices 32 and the associated sensor signals 110 detected by sensor device 80 are shown in FIG.

A sensor signal 110 detected by means of the first sensor device 80 is in particular a signal peak 112 caused by granular material to be distributed 100, a so-called signal-to-noise ratio. Data processing device 90 and/or the first sensor device 80 is expediently set up to generate a useful signal based on the signal-to-noise ratio, in particular to generate a useful signal that defines the placement depth AT and then, based on the useful signal, to calculate a real placement depth AT of distribution material 100 to calculate.

The first sensor device 80 can also be set up to detect a difference in the height of the catching device 32 and/or the contact point 70 compared to a definable and/or specifiable zero position (e.g. reference position). The zero position can be defined by a floor surface 52, for example.

In order to achieve a sowing coulter 12 in which the placement depth can be variably changed, it is provided according to the exemplary embodiments that the depth control roller 30 is arranged to be adjustable in terms of its height relative to the frame construction 26, e.g. by means of an actuating device 40 (e.g. one or more actuators (e.g. single-acting or double-acting cylinder), plug-in system, or the like.) Is arranged adjustable. A second sensor device 82 is also provided for detecting the height of depth guidance roller 30, and data processing device 80 is set up to calculate a real placement depth AT based on a height of depth guidance roller 30 and a height of catching device 32, preferably based on a difference in the height of the To calculate catching device 32 compared to the altitude of the depth control roller 30. In order to achieve a sowing coulter 12 that can be used even more flexibly, it can also be provided that the frame construction 26 is adjustable in height and by means of an actuator 42 that can be controlled and/or regulated by means of the data processing device 90 (e.g. one or more actuators (e.g. single-acting or double-acting cylinder), and /or the like) with a variable preload force and/or variable height level on a support structure 24 (e.g. according to the exemplary embodiments by means of a four-bar arrangement in the form of a parallelogram), with a third sensor device 84 being provided for detecting a preload force and/or a height level and with the data processing device 90 can be operated in an automatic mode and is set up to control and/or regulate a prestressing force and/or a height level based on a real placement depth AT. This means generating corresponding control and/or regulation signals.

According to one development of the invention, it can also be provided that a height of the depth control roller 30 and/or the catching device 32 can be controlled and/or regulated, in particular by means of an actuating device 40 that can be and/or is signal-connected to the data processing device 90 is, wherein the data processing device 90 can be operated in an automatic mode and is set up to generate control and/or regulation signals for the actuating device 40 based on a real drilling depth AT.

It is possible for the catching device 32 to be variable in its height relative to the depth guide roller 30 by means of a pretensioning device 44, with the pretensioning device 44 (e.g. catching device formed by a rubber roller, spring, cylinder, etc.) being set up to generate a contact pressure.

Further details of an embodiment variant of a data processing device 90, or of a control and/or regulating circuit formed by the data processing device 90, can be seen from the block diagram in FIG. The data processing device 90 is set up to process the sensor signals 110 of the first sensor device 80 or of the second sensor device 82 and the third sensor device 84 . In particular, the data processing device 90 is set up to calculate a real placement depth AT of the coulters 12 based on a height of the catching device 32 , preferably based on a height of the lower contact point 70 . First, a seed coulter 12 and a sensor signal 110 detected by a first sensor device 80, which in particular corresponds to an altitude of a catching device 32 or defines the altitude, are shown.

The data processing device 90 has a computer unit 120 and also includes a control and/or regulating circuit, which is shown schematically by arrows and which is particularly expediently designed for hydraulic and/or pneumatic and/or electrical signal and/or command transmission. Which signal and/or command transmission can also take place wirelessly (e.g. via WLAN).

The data processing device 90 includes a control and/or regulating circuit that is set up to operate the distributor machine 10 and/or the sowing coulter 12 in an automatic mode. It is thus possible for the calculated real drilling depth AT to be used as a control and/or regulation signal (e.g. actuating signal) in the control and/or regulation circuit. This means that it is thus possible for automatic control and/or regulation signals for an actuating device 40 and/or an actuating drive 42 of the seed coulter 12 to be generated based on a real placement depth AT, in particular by means of the data processing device 90 .

The data processing device 90 includes an operating device 46 (e.g. a mobile terminal device) for outputting and/or displaying a real placement depth AT and/or for specifying a required placement depth AT. The data processing device 90 can also be signal-connected and/or can be signal-connected to a data cloud 48 in order thus, for example, to receive target specifications for the placement depth AT or to transmit real placement depths to the data cloud 48 . The data cloud 48 can be any type of database, storage medium or the like.

Although the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents substituted without departing from the scope of the invention. In addition, many modifications can be made without leaving the associated area. Accordingly, the invention should not be limited to the disclosed embodiments, but should include all embodiments falling within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to. Reference list:

Distribution machine 48 data cloud

coulter

Machine frame 50 floor space

wheels 52 ground surface

Chassis 60 seed furrow

Connection device 70 point of contact

Reservoir 80 first sensor device

Support structure 82 second sensor device

Frame construction 84 third sensor device

Cutting disc 90 data processing device

Depth control roller 100 distribution material

Capture device 110 sensor signal

Dosing device 112 signal peak

Seed tube 120 computing unit

holder

Adjusting device AT placement depth

Actuator FR travel direction

pretensioning device

operating device

* * * * *

Claims

Expectations

1. System for an agricultural distribution machine (10), preferably for a seed drill, for spreading granular distribution material (100) such as seed and/or fertilizer, with at least one coulter (12) which is set up to distribute material (100) in a required placement depth (AT) in a soil surface (50), wherein the seed coulter (12) has at least one frame structure (26), a cutting disc (28) which is set up a seed furrow (60) in the soil surface (50) to define the placement depth ( AT), a depth control roller (30) whose height position can be changed relative to the cutting disk (28) and a catching device (32), the catching device (32) having a lower contact point ( 70), a first sensor device (80) for detecting an altitude of the catching device (32), preferably for detecting the altitude of the lower contact point (70), and data Processing device (90) for processing the sensor signals (110) of the sensor device (80), characterized in that the data processing device (90) is set up to determine a real placement depth (AT) of the seed coulters (12) based on a height of the catching device (32). Calculate, preferably based on an altitude of the lower contact point (70).

2. System according to claim 1, characterized in that the first sensor device (80) is set up to detect a difference in the height of the catching device (32) relative to the depth guide roller (39), preferably a difference in the height of the lower contact point (70) relative to the depth guide roller (30), and that the data processing device (90) is set up to include this difference in the calculation of the placement depth (AT).

3. System according to any one of the preceding claims, characterized in that the first sensor device (80) is set up to directly detect an altitude of the catching device (32), preferably directly an altitude of the lower

23 to detect the contact point (70), in particular to detect it in relation to the depth control roller (30) and/or that the first sensor device (80) is set up to indirectly detect a height position of the catching device (32), preferably indirectly a height position of the lower contact point (70 ), in particular in relation to the depth control roller (30), and the data processing device (90) is set up to use the indirectly recorded height of the catching device (32) to calculate a height of the lower contact point (70), in particular in relation to the depth control roller (30 ) to calculate.

4. System according to one of the preceding claims, characterized in that the geometry of the seed coulter (12) and/or the depth control roller (30) and/or the catching device (32) is stored and/or can be stored in the data processing device (90). and that the data processing device (90) is set up to calculate a real placement depth (AT) taking into account the geometric variables.

5. System according to one of the preceding claims, characterized in that the first sensor device (80) is set up to detect the height of the catching device (32), preferably a detection of the height of the lower contact point (70), taking into account a granular material to be distributed (100) caused change in the altitude of the catching device (32) and / or the lower contact point (70) to perform high frequency.

6. System according to one of the preceding claims, characterized in that a sensor signal (110) detected by means of the first sensor device (80) is a signal-to-noise ratio having signal peaks (112) caused in particular by granular distribution material (100). , wherein the data processing device (90) and/or the first sensor device (80) is set up to generate a useful signal based on the signal-to-noise ratio, in particular to generate a useful signal defining the placement depth (AT).

7. System according to one of the preceding claims, characterized in that the first sensor device (80) and/or the data processing device (90) is set up based on a difference in the height of the catching device (32) and/or the lower contact point (70). to calculate a real placement depth (AT) from a definable and/or specifiable zero position of the catching device (32) and/or the lower contact point (70).

8. System according to one of the preceding claims, characterized in that a second sensor device (82) is provided for detecting a height of the depth control roller (30), preferably for detecting a height of the depth control roller (30) relative to the frame structure (26), wherein the data processing device (90) is set up to calculate a real placement depth (AT) based on a height of the depth guide roller (30) and a height of the catching device (32), preferably based on a difference in the height of the catching device (32) compared to the height of the Calculate depth guide roller (30).

9. System according to one of the preceding claims, characterized in that the frame construction (26) is adjustable in height and by means of an actuator (42) which can be controlled and/or regulated by means of the data processing device (90) and has a variable prestressing force and/or variable height level on a support structure (24), wherein a third sensor device (84) is provided for detecting a prestressing force and/or a height level and wherein the data processing device (90) can be operated in an automatic mode and is set up to determine a prestressing force and/or a height level using a to control and/or regulate the actual placement depth (AT).

10. System according to one of the preceding claims, characterized in that a height position of the depth guide roller (30) and/or the catching device (32) can be controlled and/or regulated, in particular by means of a signal which can be and/or is signal-connected to the data processing device (90). The adjusting device (40) can be controlled and/or regulated, the data processing device (90) being operable in an automatic mode and being set up to generate control and/or regulating signals for the adjusting device (40) based on a real placement depth (AT).

11. System according to at least one of Claims 9 or 10, characterized in that the data processing device (90) is and/or can be signal-connected to an operating device (46), which operating device (46) is set up to specify a required placement depth (AT), wherein the data processing device (90) is set up in an automatic mode to generate such control and/or regulation signals for the actuating device (40) and/or the actuating drive (42) that an at least extensive adjustment of a real placement depth (AT) to a required Planting depth (AT) takes place.

12. System according to one of the preceding claims, characterized in that the height of the catching device (32) relative to the depth guide roller (30) can be changed by means of a pretensioning device (44), the pretensioning device (44) preferably being set up to apply a contact pressure respectively.

13. System according to one of the preceding claims, characterized in that the catching device (32) is formed by a conditionally dimensionally stable, along a bottom surface (50) rolling catching roller or by a conditionally dimensionally stable, sliding along a bottom skid.

14. System according to any one of the preceding claims, characterized in that the first sensor device (80) and/or the second sensor device (82) comprises at least one angle sensor, a distance sensor, a displacement sensor and/or an acceleration sensor and/or that the third sensor device ( 84) comprises a pressure sensor and/or force sensor.

15. A method for calculating a real placement depth (AT) for an agricultural distribution machine (10), preferably for a seed drill, for spreading granular distribution material (100) such as seed and/or fertilizer, characterized by a

Providing at least one sowing coulter (12), which sowing coulter (12) is set up to deposit material (100) to be distributed at a required placement depth (AT) in a floor area (50) and which sowing coulter (12) has at least one frame structure (26), a Cutting disc (28), which is set up to produce a seed furrow (60) in the soil surface (50) to define the placement depth (AT), a depth guide roller (30) whose height position can be changed relative to the cutting disc (28), and a catching device (32) has, wherein the catching device (32) has a lower contact point (70) whose height position can be changed in relation to the depth guide roller (30),

Providing a first sensor device (80) for detecting an altitude of the catching device (32), preferably for detecting an altitude of the lower contact point (70),

Providing a data processing device (90), which is set up to process sensor signals (110) of the first sensor device (80) and a real placement depth (AT) of

26 To calculate seed coulters (12) based on an altitude of the catching device (32), preferably based on an altitude of the lower contact point (70).

16. The method according to claim 15, characterized in that a height position of the depth guide roller (30) and/or the catching device (32) can be controlled and/or regulated, in particular by means of an actuating device ( 40) can be controlled and/or regulated, the data processing device (90) being operable in an automatic mode and being set up to generate control and/or regulating signals for the adjusting device (40) based on a real placement depth (AT).

17. The method according to claim 15 or 16, characterized in that the frame construction (26) is adjustable in height and by means of an actuator (42) that can be controlled and/or regulated by means of the data processing device (90) and has a variable prestressing force and/or variable height level a support structure (24), wherein a third sensor device (84) is provided for detecting a prestressing force and/or a height level and wherein the data processing device (90) can be operated in an automatic mode and is set up to detect a prestressing force and/or a height level to control and/or regulate based on a real placement depth (AT).

18. The method according to any one of claims 15 to 17, characterized in that the data processing device (90) is signal-connected and/or can be signal-connected to an operating device (46), which operating device (46) is set up to specify a required placement depth (AT), wherein the data processing device (90) is set up in an automatic mode to generate such control and/or regulation signals for the actuating device (40) and/or the actuating drive (42) that at least extensive adjustment of a real placement depth (AT) to a required placement depth (AT) takes place.

19. Agricultural distribution machine (10), preferably a seed drill, for spreading distribution material (100) such as seed and/or fertilizer, characterized in that it has at least two seed coulters (12) with a system according to one of claims 1 to 14 and/or is signal-connected and/or signal-connectable to such a device and/or that it is set up to carry out a method according to at least one of Claims 15 to 18.

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20. Spreading machine according to claim 19, characterized in that it has at least two coulters (12) which can be operated in an automatic mode by means of the data processing device (90), in particular independently of one another in an automatic mode.

21. Spreading machine according to Claim 19 or 20, characterized in that it has a plurality of coulters (12) and that at least two coulters (12) form a section, with at least two sections of coulters (12 ) are attached, the at least two sections being operable in an automatic mode, preferably such that the at least two sections are operable independently of one another in an automatic mode.

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