WO2015112085A1 - Method of controlling ground contact force in at least one soil working tool in an agricultural implement, and agricultural implement - Google Patents

Method of controlling ground contact force in at least one soil working tool in an agricultural implement, and agricultural implement Download PDF

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Publication number
WO2015112085A1
WO2015112085A1 PCT/SE2015/050073 SE2015050073W WO2015112085A1 WO 2015112085 A1 WO2015112085 A1 WO 2015112085A1 SE 2015050073 W SE2015050073 W SE 2015050073W WO 2015112085 A1 WO2015112085 A1 WO 2015112085A1
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WO
WIPO (PCT)
Prior art keywords
soil
height
wheel
agricultural implement
bearing pressure
Prior art date
Application number
PCT/SE2015/050073
Other languages
French (fr)
Inventor
Nis Lassen
Original Assignee
Väderstad-Verken Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Väderstad-Verken Ab filed Critical Väderstad-Verken Ab
Publication of WO2015112085A1 publication Critical patent/WO2015112085A1/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

Definitions

  • the present document relates to a method for controlling the ground bearing pressure of an agricultural implement, such as a seed drill, a cultivator, a harrow or a combination thereof.
  • Examples of such implements can be so-called "pressure wheels” shown in, for example, WO201 1 1 19095A1 .
  • the pressure exerted by the pressure wheel on the soil can be set on many seed drills in order to be appropriate for the type of soil where the sowing is to be carried out. It is known from e.g. WO201 1 1 19094A1 to provide a seed drill in which the ground bearing pressure of row units can be set individually.
  • An object is therefore to provide an improved method and an agricultural implement which enables control of the ground bearing pressure.
  • a specific object is to provide a method for controlling the ground bearing pressure with high precision and in real time.
  • a method for controlling the ground bearing pressure of at least one soil cultivating tool of an agricultural implement comprises moving the agricultural implement over soil to be cultivated, wherein at least one wheel of the agricultural implement and/or a tractor vehicle is made to roll relative to the soil, detecting a height of a ridge of soil which appears adjacent to the wheel, viewed in a direction of travel, when the wheel is rolling relative to the soil, and controlling the ground bearing pressure based on the detected height.
  • the height may be detected behind at least one levelling implement, viewed in the direction of travel.
  • the height may be measured relative to a basic level, which is defined as a predetermined radial distance from the geometric centre of rotation of the wheel.
  • the method may comprise deriving a distance between a bottom of a wheel track made by the wheel and a topmost part of the ridge of soil, wherein the ground bearing pressure is controlled based on the derived distance.
  • the distance between the bottom of the track and the topmost part of the ridge has been found to be a particularly good measure of how much the implement sinks down into the soil and thus how hard the soil is.
  • the height may be detected at the side of a wheel.
  • the wheel may be a wheel of the agricultural implement or a wheel of the tractor vehicle.
  • the height may be detected between two wheels lying adjacent, transverse to the direction of travel. Lying adjacent means wheels which rotate around substantially the same geometric axis of rotation and which are less than 30 cm from each other, preferably less than 20 cm from each other or less than 10 cm from each other.
  • the method may comprise setting an initial ground bearing pressure and controlling the ground bearing pressure based on a detected change of the height.
  • the method may comprise that the ground bearing pressure is reduced when increasing height is detected and/or the ground bearing pressure is increased when decreasing height is detected.
  • the method may further comprise controlling the ground bearing pressure as a predetermined function of the detected height.
  • the method may comprise that the height is detected using a device comprising at least one of a contact shoe, a measuring wheel, an ultrasound sensor and a radar sensor.
  • the ground bearing pressure may be controlled simultaneously for the complete agricultural implement.
  • the ground bearing pressure may be controlled for one or more row units.
  • the method may further comprise levelling the ridge of soil behind, viewed in the direction of travel, a point where the height of the ridge of soil is detected.
  • the agricultural implement may comprise a seed drill.
  • the method When used in seed drills, the method contributes to ensuring that the correct depth of sowing is achieved.
  • the agricultural implement may comprise a cultivator or a harrow.
  • the method When used in connection with cultivators or harrows, the method contributes to ensuring that the correct depth of cultivation is achieved, which also contributes to optimising energy consumption.
  • an agricultural implement comprising at least one wheel, at least one soil cultivating tool, and at least one device for setting a ground bearing pressure of the cultivating tool.
  • the agricultural implement has a measuring device for measuring the height of, viewed in the direction of travel, a ridge of soil formed adjacent to the wheel.
  • Fig 1 shows a perspective view of a seed drill 1 .
  • Fig 2 shows a side view of wheels and row unit of a seed drill 1 .
  • Fig 3 shows a pair of wheels of a seed drill 1 , viewed in a direction of travel.
  • Fig 4 shows a modified seed drill V.
  • a concept of controlling the ground bearing pressure in an agricultural implement will be described below with reference to a seed drill . It will be appreciated that the concept is also applicable to devices for feeding other types of granules than seed, for example fertilizer and/or pesticides.
  • the method is also applicable to other types of soil cultivating implements, for example ploughs, harrows, cultivators, and to combination implements, for example seed drills with a cultivator function and/or a function for feeding secondary crop, fertilizer and/or pesticides.
  • Fig 1 shows a seed drill 1 , which is drawn by a tractor vehicle 2.
  • the seed drill has a seed box 10, from which seed is fed and transported pneumatically to a distributor head 1 1 and from there via hoses 12 to a respective furrow opener 17.
  • a fan 13 generates an air flow, which carries the seed from a lower portion of the seed box 10 to the distributor head 1 1 in the form of a seed-mixed air flow.
  • the seed-mixed air flow is distributed in the distributor head 1 1 to a plurality of hoses 12.
  • the seed drill 1 has a plurality of pre-cultivating tools 14a, 14b, which are shown here in the form of cultivator discs, a plurality of wheels 15, which partly carry the seed drill 1 , partly contribute to packing the soil, a plurality of furrow openers 17 and a plurality of post-cultivating tools 18.
  • the pre-cultivating tools 14a, 14b may have the function of loosening and/or levelling the soil in order to achieve optimal drilling conditions.
  • the post-cultivating tools 18 may have the function of pressing and/or covering the seed in order to achieve optimal growing conditions.
  • Fig 1 shows a measuring device 16 in the form of a contact shoe for measuring a height of a ridge of soil formed adjacent to the wheel 15. By measuring an angle by which the contact shoe swings or turns relative to the agricultural implement, it is possible to determine the height of the ridge of soil.
  • Fig 2 shows a detail of the seed drill 1 viewed in a cross section along a line parallel to a direction of travel.
  • the seed drill 1 shown in Fig 2 has furrow openers, 17a, 17b, equipped with discs and wheels 15.
  • a normal level N exists.
  • a track Ns is formed below the normal level N due to the weight of the agricultural implement.
  • a ridge Nv is formed, of which the height has shown to be proportional to the hardness of the ground.
  • the measuring device 16' shown in Fig 2 comprises an arm 161 , which can be (but does not have to be) spring-loaded and/or damped and a wheel 162, which contacts the upper part of the ridge and thus follows the height variation of the ridge while the agricultural implement is travelling.
  • Fig 2 also shows an example of a height adjustment device 19, which may comprise a hydraulic cylinder 191 that acts on the position of a wheel frame in relation to the rest of the agricultural implement 1 and thus also acts on how the ground bearing pressure is distributed between the wheels 15, 15a, 15b and the tools 14a, 14b, 17, 17a, 17b, 18.
  • a height adjustment device 19 may comprise a hydraulic cylinder 191 that acts on the position of a wheel frame in relation to the rest of the agricultural implement 1 and thus also acts on how the ground bearing pressure is distributed between the wheels 15, 15a, 15b and the tools 14a, 14b, 17, 17a, 17b, 18.
  • a point on the agricultural implement can be used as a reference value. 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 geometric axis of rotation of the wheel . In practice, what is measured may be the distance Dt between the geometric axis of rotation of the wheel and the top of the ridge Nv. With knowledge of the total radius of the wheel, with tolerances or compensation for deformation of the wheel if necessary, the distance Db to the bottom of the track can be calculated, as well as the difference in height Dd between the bottom of the track and the top of the ridge.
  • Fig 3 shows a dual wheel, comprising two adjacent positioned wheels
  • the dual wheel forms respective side ridges of soil Vs1 , Vs2 and a centre ridge of soil Vm, between the wheels 15a, 15b, viewed in the transverse direction.
  • a measuring device 16 is arranged here to measure the height of the centre ridge of soil Vm.
  • Fig 4 shows a detail from Fig 1 , where the ridge Vs and the measuring device 16 in the form of a contact shoe are shown more clearly and where a ridge smoother 20 has also been arranged to remove the ridge formed by the wheel 15.
  • the ridge smoother may be achieved using one or more levelling tools (e.g. CROSSBOARD® made by the applicant), one or more cultivator discs, one or more cultivator tines or similar.
  • measuring devices that use ultrasound, microwaves or light (e.g. laser triangulation, oblique light or similar) and that measure a distance between a known point (such as the position of the measuring sensor) and the top of the ridge of soil.
  • ultrasound, microwaves or light e.g. laser triangulation, oblique light or similar
  • the measuring device 16, 16' may be connected to a control unit (not shown), which can be, but does not have to be, designed to control other functions of the agricultural implement.
  • the control unit may have the functionality to control the ground pressure of the complete agricultural implement and/or control the ground pressure or the furrow opener pressure of individual row units or tools.
  • Such control may occur by modifying the height position of one or more tools (including row units or furrow openers) in relation to the frame of the agricultural implement. This is in most cases achieved by using hydraulics and/or pneumatics.
  • the frame in turn may have a plurality of wheels 15, 15a, 15b which may carry part of the weight of the agricultural implement.
  • the agricultural implement may be carried fully or partly, in a manner known per se, by the tractor vehicle.

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

Abstract

The present document discloses a method for controlling the ground bearing pressure of at least one soil cultivating tool (14a, 14b, 17a, 17b, 17, 18) of an agricultural implement (1). The method comprises moving the agricultural implement over soil to be cultivated, wherein at least one wheel (15, 15a, 1 5b) of the agricultural implement (1) and/or a tractor vehicle (2 ) is made to roll relative to the soil, detecting a height of a ridge (Nv) of soil which appears adjacent to the wheel (15, 15a, 15b), viewed in a direction of travel, when the wheel is rolling relative to the soil, and controlling the ground bearing pressure based on the detected height.

Description

METHOD OF CONTROLLING GROUND CONTACT FORCE IN AT LEAST
ONE SOIL WORKING TOOL IN AN AGRICULTURAL IMPLEMENT, AND
AGRICULTURAL IMPLEMENT
Technical field
The present document relates to a method for controlling the ground bearing pressure of an agricultural implement, such as a seed drill, a cultivator, a harrow or a combination thereof.
Background
When sowing a crop using a seed drill, an implement is sometimes used to press down the soil immediately after the seed has been put in.
Examples of such implements can be so-called "pressure wheels" shown in, for example, WO201 1 1 19095A1 .
The pressure exerted by the pressure wheel on the soil can be set on many seed drills in order to be appropriate for the type of soil where the sowing is to be carried out. It is known from e.g. WO201 1 1 19094A1 to provide a seed drill in which the ground bearing pressure of row units can be set individually.
However, a problem arises if the type of soil varies over one and the same field. The seed depth may then be too great on the lightest (loosest) soil, as a result of the soil not being able to support the pressure from the pressure wheel, while at the same time, the seed depth may not be deep enough in areas of harder soil.
Consequently, there is a need to provide a method for registering the hardness of the soil during travel, so that the agricultural implement may be controlled to achieve the optimal ground bearing pressure and thus the resulting seed depth.
Summary
An object is therefore to provide an improved method and an agricultural implement which enables control of the ground bearing pressure. A specific object is to provide a method for controlling the ground bearing pressure with high precision and in real time.
The invention is defined by the attached independent patent claims. Embodiments emerge from the independent patent claims, the description below and the drawings.
According to a first aspect, a method for controlling the ground bearing pressure of at least one soil cultivating tool of an agricultural implement is provided. The method comprises moving the agricultural implement over soil to be cultivated, wherein at least one wheel of the agricultural implement and/or a tractor vehicle is made to roll relative to the soil, detecting a height of a ridge of soil which appears adjacent to the wheel, viewed in a direction of travel, when the wheel is rolling relative to the soil, and controlling the ground bearing pressure based on the detected height.
By detecting a ridge of soil formed when soil is pressed aside by the wheels, it is possible to determine in real time how soft the soil is, which makes it possible to continuously control the ground bearing pressure of one or more soil cultivating implements and/or furrow openers.
In the method, the height may be detected behind at least one levelling implement, viewed in the direction of travel.
The height may be measured relative to a basic level, which is defined as a predetermined radial distance from the geometric centre of rotation of the wheel.
The method may comprise deriving a distance between a bottom of a wheel track made by the wheel and a topmost part of the ridge of soil, wherein the ground bearing pressure is controlled based on the derived distance.
The distance between the bottom of the track and the topmost part of the ridge has been found to be a particularly good measure of how much the implement sinks down into the soil and thus how hard the soil is.
The height may be detected at the side of a wheel. The wheel may be a wheel of the agricultural implement or a wheel of the tractor vehicle.
Alternatively, or as a complement, the height may be detected between two wheels lying adjacent, transverse to the direction of travel. Lying adjacent means wheels which rotate around substantially the same geometric axis of rotation and which are less than 30 cm from each other, preferably less than 20 cm from each other or less than 10 cm from each other.
The method may comprise setting an initial ground bearing pressure and controlling the ground bearing pressure based on a detected change of the height.
The method may comprise that the ground bearing pressure is reduced when increasing height is detected and/or the ground bearing pressure is increased when decreasing height is detected.
The method may further comprise controlling the ground bearing pressure as a predetermined function of the detected height.
The method may comprise that the height is detected using a device comprising at least one of a contact shoe, a measuring wheel, an ultrasound sensor and a radar sensor.
In the method, the ground bearing pressure may be controlled simultaneously for the complete agricultural implement.
Alternatively, the ground bearing pressure may be controlled for one or more row units.
The method may further comprise levelling the ridge of soil behind, viewed in the direction of travel, a point where the height of the ridge of soil is detected.
The agricultural implement may comprise a seed drill.
When used in seed drills, the method contributes to ensuring that the correct depth of sowing is achieved.
Alternatively, or as a complement, the agricultural implement may comprise a cultivator or a harrow.
When used in connection with cultivators or harrows, the method contributes to ensuring that the correct depth of cultivation is achieved, which also contributes to optimising energy consumption.
According to a second aspect, an agricultural implement comprising at least one wheel, at least one soil cultivating tool, and at least one device for setting a ground bearing pressure of the cultivating tool is provided. The agricultural implement has a measuring device for measuring the height of, viewed in the direction of travel, a ridge of soil formed adjacent to the wheel.
Brief description of the drawings
Fig 1 shows a perspective view of a seed drill 1 .
Fig 2 shows a side view of wheels and row unit of a seed drill 1 .
Fig 3 shows a pair of wheels of a seed drill 1 , viewed in a direction of travel.
Fig 4 shows a modified seed drill V.
Detailed description
A concept of controlling the ground bearing pressure in an agricultural implement will be described below with reference to a seed drill . It will be appreciated that the concept is also applicable to devices for feeding other types of granules than seed, for example fertilizer and/or pesticides. The method is also applicable to other types of soil cultivating implements, for example ploughs, harrows, cultivators, and to combination implements, for example seed drills with a cultivator function and/or a function for feeding secondary crop, fertilizer and/or pesticides.
Fig 1 shows a seed drill 1 , which is drawn by a tractor vehicle 2. The seed drill has a seed box 10, from which seed is fed and transported pneumatically to a distributor head 1 1 and from there via hoses 12 to a respective furrow opener 17. A fan 13 generates an air flow, which carries the seed from a lower portion of the seed box 10 to the distributor head 1 1 in the form of a seed-mixed air flow. The seed-mixed air flow is distributed in the distributor head 1 1 to a plurality of hoses 12. The seed drill 1 has a plurality of pre-cultivating tools 14a, 14b, which are shown here in the form of cultivator discs, a plurality of wheels 15, which partly carry the seed drill 1 , partly contribute to packing the soil, a plurality of furrow openers 17 and a plurality of post-cultivating tools 18.
The pre-cultivating tools 14a, 14b may have the function of loosening and/or levelling the soil in order to achieve optimal drilling conditions. The post-cultivating tools 18 may have the function of pressing and/or covering the seed in order to achieve optimal growing conditions.
Fig 1 shows a measuring device 16 in the form of a contact shoe for measuring a height of a ridge of soil formed adjacent to the wheel 15. By measuring an angle by which the contact shoe swings or turns relative to the agricultural implement, it is possible to determine the height of the ridge of soil.
Fig 2 shows a detail of the seed drill 1 viewed in a cross section along a line parallel to a direction of travel. The seed drill 1 shown in Fig 2 has furrow openers, 17a, 17b, equipped with discs and wheels 15. As illustrated in Fig 2, a normal level N exists. When the wheel rolls on top of the soil, a track Ns is formed below the normal level N due to the weight of the agricultural implement. At the side of the track, i.e. at the side of the wheel, a ridge Nv is formed, of which the height has shown to be proportional to the hardness of the ground.
The measuring device 16' shown in Fig 2 comprises an arm 161 , which can be (but does not have to be) spring-loaded and/or damped and a wheel 162, which contacts the upper part of the ridge and thus follows the height variation of the ridge while the agricultural implement is travelling.
By measuring an angle of the arm 161 , for example a position of rotation around the axis of rotation of the wheel 15, it is possible to determine the height of the ridge of soil.
Fig 2 also shows an example of a height adjustment device 19, which may comprise a hydraulic cylinder 191 that acts on the position of a wheel frame in relation to the rest of the agricultural implement 1 and thus also acts on how the ground bearing pressure is distributed between the wheels 15, 15a, 15b and the tools 14a, 14b, 17, 17a, 17b, 18.
A point on the agricultural implement can be used as a reference value. 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 geometric axis of rotation of the wheel . In practice, what is measured may be the distance Dt between the geometric axis of rotation of the wheel and the top of the ridge Nv. With knowledge of the total radius of the wheel, with tolerances or compensation for deformation of the wheel if necessary, the distance Db to the bottom of the track can be calculated, as well as the difference in height Dd between the bottom of the track and the top of the ridge.
Fig 3 shows a dual wheel, comprising two adjacent positioned wheels
15a, 15b. The dual wheel forms respective side ridges of soil Vs1 , Vs2 and a centre ridge of soil Vm, between the wheels 15a, 15b, viewed in the transverse direction.
A measuring device 16 is arranged here to measure the height of the centre ridge of soil Vm.
Fig 4 shows a detail from Fig 1 , where the ridge Vs and the measuring device 16 in the form of a contact shoe are shown more clearly and where a ridge smoother 20 has also been arranged to remove the ridge formed by the wheel 15. The ridge smoother may be achieved using one or more levelling tools (e.g. CROSSBOARD® made by the applicant), one or more cultivator discs, one or more cultivator tines or similar.
In addition to the above measuring devices based on mechanically detecting the height of the ridge, it is possible to use measuring devices that use ultrasound, microwaves or light (e.g. laser triangulation, oblique light or similar) and that measure a distance between a known point (such as the position of the measuring sensor) and the top of the ridge of soil.
The measuring device 16, 16' may be connected to a control unit (not shown), which can be, but does not have to be, designed to control other functions of the agricultural implement. For example, the control unit may have the functionality to control the ground pressure of the complete agricultural implement and/or control the ground pressure or the furrow opener pressure of individual row units or tools. Such control may occur by modifying the height position of one or more tools (including row units or furrow openers) in relation to the frame of the agricultural implement. This is in most cases achieved by using hydraulics and/or pneumatics.
By lowering the tool in relation to the frame, a greater ground bearing pressure and cultivation depth is achieved. The frame in turn may have a plurality of wheels 15, 15a, 15b which may carry part of the weight of the agricultural implement. Alternatively, or as a complement, the agricultural implement may be carried fully or partly, in a manner known per se, by the tractor vehicle.

Claims

PATENT CLAIMS
1 . A method for controlling the ground bearing pressure of at least one soil cultivating tool (14a, 14b, 17a, 17b, 17, 18) of an agricultural implement (1 ), comprising:
moving the agricultural implement (1 ) over soil to be cultivated, at least one wheel (15, 15a, 15b) of the agricultural implement and/or a tractor vehicle (2) being made to roll relative to the soil,
detecting a height (Nv) of a ridge of soil which appears adjacent to the wheel (15, 15a, 15b), viewed in a direction of travel, when the wheel is rolling relative to the soil, and
controlling the ground bearing pressure based on the detected height
(Nv).
2. The method according to claim 1 , wherein the height is detected behind at least one levelling implement (14a, 14b), viewed in the direction of travel.
3. The method according to claim 1 or 2, wherein the height is measured relative to a basic level, which is defined as a predetermined radial distance from the geometric centre of rotation of the wheel (15, 15a, 15b).
4. The method according to any one of the preceding claims, further comprising deriving a distance (Dd) between a bottom of a wheel track formed by the wheel (15, 15a, 15b) and a topmost part of the ridge of soil, wherein the ground bearing pressure is controlled based on the distance (Dd).
5. The method according to any one of the preceding claims, wherein the height is detected at the side of a wheel (15, 15a, 15b).
6. The method according to any one of the preceding claims, wherein the height is detected between two lying adjacent wheels (15a, 15b), transverse to the direction of travel.
7. The method according to any one of the preceding claims, further comprising setting an initial ground bearing pressure and controlling the ground bearing pressure based on a detected change of the height (Nv).
8. The method according to claim 7, wherein the ground bearing pressure is reduced when increasing height (Nv) is detected and/or wherein the ground bearing pressure is increased when decreasing height (Nv) is detected.
9. The method according to any one of the preceding claims, further comprising controlling the ground bearing pressure as a
predetermined function of the detected height (Nv) during travel.
10. The method according to any one of the preceding claims, wherein the height is detected using a device (16, 16') comprising at least one of a contact shoe, a measuring wheel, an ultrasound sensor and a radar sensor.
1 1 . The method according to any one of the preceding claims, wherein the ground bearing pressure is controlled simultaneously for the complete agricultural implement (1 ).
12. The method according to any one of claims 1 -10, wherein the ground bearing pressure is controlled for one or more row units.
13. The method according to any one of the preceding claims, wherein the agricultural implement (1 ) comprises a seed drill.
14. The method according to any one of the preceding claims, wherein the agricultural implement (1 ) comprises a cultivator or a harrow.
15. The method according to any one of the preceding claims, further comprising smoothing the ridge of soil behind, viewed in the direction of travel, a point where the height of the ridge of soil is detected.
16. An agricultural implement (1 ), comprising
at least one wheel (15, 15a, 15b),
at least one soil cultivating tool (14a, 14b, 17a, 17b, 17, 18), and at least one device (19) for setting a ground bearing pressure of the soil cultivating tool (14a, 14b, 17a, 17b, 17, 18),
characterized by
a measuring device (16, 16') for measuring the height (Nv) of, viewed in the direction of travel, a ridge of soil formed adjacent to the wheel.
PCT/SE2015/050073 2014-01-27 2015-01-26 Method of controlling ground contact force in at least one soil working tool in an agricultural implement, and agricultural implement WO2015112085A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1450074A SE538175C2 (en) 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
SE1450074-8 2014-01-27

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Publication Number Publication Date
WO2015112085A1 true WO2015112085A1 (en) 2015-07-30

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WO2021041400A1 (en) * 2019-08-27 2021-03-04 Cnh Industrial America Llc System and method for detecting levelness of tools of a tillage implement based on material flow
EP4368000A1 (en) * 2022-11-09 2024-05-15 Amazonen-Werke H. Dreyer SE & Co. KG Agricultural machine, in particular sowing and soil working machine

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US11793098B2 (en) 2019-08-27 2023-10-24 Cnh Industrial America Llc System and method for detecting levelness of tools of a tillage implement based on material flow
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