• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device for soil preparation comprising a first sensor (1) for detecting the soil condition and a controllable soil working tool (2), wherein the first sensor (1) is designed such that the nature of the soil (3) prior to processing by the Soil cultivation tool (2) can be determined. Furthermore, the invention relates to an agricultural work machine comprising the device according to the invention and a method for tillage.
    公开号:AT520903A1
    申请号:T50135/2018
    申请日:2018-02-14
    公开日:2019-08-15
    发明作者:
    申请人:Geoprospectors Gmbh；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a device for tillage comprising a first sensor (1) for detecting the condition of the soil and a controllable tillage tool (2), the first sensor (1) being designed in such a way that the condition of the soil (3) is processed by the
    Soil cultivation tool (2) can be determined. The invention further relates to an agricultural working machine comprising the device according to the invention and a method for tillage.
    Fig. 1/23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    Soil cultivation apparatus and method
    The invention relates to a device for tillage, comprising a first sensor for the detection of the soil condition and a controllable tillage tool, the first sensor being designed such that the condition of the soil can be determined by the tillage tool by the tillage tool.
    Various devices and methods for variable tillage are known in the prior art. The processing depth of the respective tillage tools, for example a cultivator, a subsoiler, a plow, or other tools, is set on the basis of external information. This external information is preferably such information that is made available by a sensor. This information is used to determine soil parameters that are relevant to the tillage carried out. In the meantime, it is now possible using sensors from the prior art to record that ground information in real time or to access information about the ground that is present, for example, in the form of maps.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    Based on this information about the condition of the soil, the tillage tool can be controlled and thus, for example, the desired tillage depth or other tillage parameters can be controlled by transmitting a manipulated variable to the tillage tool, for example the control of a hydraulic cylinder to control the penetration depth of a ploughshare.
    In the devices and methods for soil cultivation known in the prior art, however, the actual work success achieved is not determined, so that the manipulated variable must be readjusted continuously depending on the soil conditions.
    It is the object of the invention to overcome the disadvantages of the prior art and to provide a device for tillage in which the manipulated variable of the tillage tool is regulated as a function of the success of the work achieved.
    The object of the invention is achieved by the characterizing features of the independent claim.
    According to the invention, it is provided that a second sensor is provided for the detection of the soil condition, the second sensor being designed in such a way that the soil condition can be determined by the soil cultivation tool after cultivation and that a closed control loop is formed with a control loop control unit which is used for this purpose is designed to determine a control variable for controlling the tillage tool in real time as a function of the soil condition detected by the first sensor and the second sensor.
    By determining the condition of the soil with the second sensor after tillage, the tillage success caused by the tillage tool can be determined.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    The data of the first sensor and the second sensor are fed to a control loop control unit, whereby a closed control loop is formed. It is thus possible to define a control variable which is subsequently used for controlling the tillage tool and determining the manipulated variable.
    If necessary, it can be provided that the first sensor is designed for preferably non-contact measurement or determination of soil parameters such as, for example, the electrical conductivity, radioactivity, compaction, texture and / or relative humidity of the soil, and in particular an inductive sensor with a transmitter coil and a receiver coil, a magnetic one Sensor and / or a radiation detector is.
    The contactless measurement of the soil parameters ensures that the first sensor is subjected to as little mechanical stress as possible. Different types of sensors can be used depending on the soil parameters to be measured.
    If appropriate, it can be provided that the second sensor is designed for preferably contactless measurement or determination of a processing parameter, in particular the surface roughness of the floor, and in particular is a radar sensor, preferably a microwave radar sensor.
    A radar sensor, preferably a microwave radar sensor, can optionally be used to determine the surface roughness of the floor. Radar-based methods are preferable to other distance measurement methods or imaging methods, since the radar measurement is largely unaffected by external influences such as dust.
    If necessary, it can be provided that the control loop control unit is designed to determine a setpoint value of a processing parameter, for example a setpoint value of the surface roughness, from the floor parameters detected by the first sensor, preferably taking model parameters into account.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    Using the data from the first sensor, the control circuit control unit can optionally determine a target value of a processing parameter. This is preferably done taking model parameters into account, which can be read out from a database, for example.
    If necessary, it can be provided that the control loop control unit is designed to compare the setpoint value of the cultivation parameter with the actual value of the cultivation parameter detected by the second sensor and to use this to determine the control variable for controlling the tillage tool.
    In addition, it can optionally be provided that the control loop control unit can also process the data originating from the second sensor. A control variable that is dependent on the actual processing success is determined by comparing the actual value with the target value.
    If appropriate, it can be provided that an implement control unit is provided, which is designed to determine a manipulated variable for controlling the tillage tool from the control variable supplied by the control loop control unit.
    This manipulated variable, for example the deflection of a hydraulic cylinder or an electric stepping motor, can differ from the actual condition, for example the actual penetration depth, of the tillage tool due to the actual soil and environmental conditions. For this purpose, it can be provided that the actual penetration depth is determined, for example, by measuring the actual deflection of the actuators of the tillage tool, for example the hydraulic cylinders or stepper motors, in a measuring device on the tillage tool. A closed control loop between the desired penetration depth and the actual penetration depth of these actuators can take place on the tillage tool, the difference between the two values being kept as small as possible and preferably giving the value zero. If the soil or environmental parameters change, the manipulated variable of the tillage tool is adjusted accordingly.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    The implement control unit is used to control the tillage tool. If necessary, individual modules of the tillage tool, for example different hydraulic cylinders, can be controlled with different manipulated variables.
    If appropriate, it can be provided that the tillage tool is a hydraulically controllable tillage tool with at least one hydraulic cylinder.
    If the tillage tool has at least one hydraulic cylinder, the actual penetration depth of the tillage tool can be determined in particular by the deflection of the hydraulic cylinder. If necessary, this actual penetration depth of the tillage tool can also flow back into the control loop and be used for the control.
    If necessary, it can be provided that a measuring device is provided for measuring the lengths of the hydraulic cylinder.
    If necessary, it can be provided that the tillage tool is designed as a cultivator, subsoiler, plow or the like.
    If necessary, it can be provided that several second sensors are provided, which are arranged in particular in the form of a sensor array, preferably in the form of a fan array. The sensor array can in particular be arranged in a direction transverse to the direction of travel.
    If several second sensors are provided, an average of the results obtained by the sensors can be used, for example, to determine the actual value of the processing parameter. In this way, a location-dependent fluctuation in the measured values can be reduced. If necessary, however, it can also be provided to process the data of the plurality of second sensors in a different way.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    It can be provided, for example, that different hydraulic cylinders are assigned different manipulated variables depending on data from different second sensors.
    The invention also relates to an agricultural working machine, comprising a device according to the invention, whereby according to the invention it is provided that, when the agricultural working machine is operated as intended, the first sensor is arranged in the front area of the agricultural working machine with respect to the direction of travel and the tillage tool with respect to the direction of travel in the rear area or behind the agricultural machine.
    The invention also relates to a method for controlling the processing of a soil in real time, comprising the steps:
    Detection of soil parameters of the soil with a first sensor before the soil is worked with a soil cultivation tool,
    Determining a target value of a tillage parameter on the basis of the soil parameters obtained in the first step, preferably taking into account model parameters,
    Detection of an actual value of a tillage parameter with a second sensor after tillage with a tillage tool,
    Returning the actual value of the cultivation parameter detected by the second sensor to a control loop control unit, comparing it with the target value of the cultivation parameter and determining a control variable for controlling the tillage tool,
    - Determining a manipulated variable from the control variable in an implement control unit for controlling the tillage tool and
    - Controlling the tillage tool with the manipulated variable and possibly measuring the properties of the tillage tool with a measuring device.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    If appropriate, it can be provided that the surface roughness of the floor is determined with the second sensor and that a parameter value is determined as a function of the surface roughness.
    If necessary, the surface roughness can be used as a measure of the quality of a loosening process. For example, a lower surface roughness can be used to indicate good machining success.
    If necessary, it can be provided that the processing quality of the soil is classified using the data from the second sensor.
    If appropriate, it can be provided that the method is carried out during a work trip of an agricultural working machine, the surface of the ground being scanned with the first sensor and the second sensor in the direction of travel of the agricultural working machine.
    Further features of the invention result from the patent claims, the exemplary embodiments, and the figures.
    The present invention is explained in more detail below on the basis of a specific exemplary embodiment.
    Show it:
    Fig. 1: A schematic representation of an agricultural machine that is equipped with the device according to the invention;
    2 shows a schematic illustration of a control loop used in the device according to the invention;
    3: a schematic representation of a control loop control device used in the control loop.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    1 shows a schematic view of an agricultural working machine 6, on which a device according to the invention is arranged. The device comprises a first sensor 1, a control circuit control unit 7, an implement control unit 8, a tillage tool 2 equipped with hydraulic cylinders 5, and a second sensor 4. The tillage tool is used for working the soil 3.
    The agricultural working machine 6, illustrated in this exemplary embodiment as a tractor, moves in a direction of travel 9 over the ground 3 of an area to be worked. The first sensor 1, in this exemplary embodiment an inductive sensor with an electromagnetic transmitter coil and an electromagnetic receiver coil, is used to determine the soil parameters in an unprocessed part of the soil 3. For example, the electrical conductivity of the floor can be determined by the inductive sensor. In an exemplary embodiment not described, the first sensor 1 can also comprise a radioactivity sensor, for example. The combination of several sensor types is also possible. Soil parameters determined by the first sensor 1 can optionally include: density, moisture, surface roughness, but these are not restricted to the soil parameters mentioned here.
    The soil parameters determined by means of the first sensor 1 are transmitted to the control loop control unit 7 and a control variable is determined, possibly using stored model parameters. In this exemplary embodiment, this control variable is transmitted to the implement control unit 8 via an external cable connection. In another exemplary embodiment, the transmission can also take place via an already existing data bus of the agricultural working machine 6.
    The implement control unit 8 determines a manipulated variable from the control variable and forwards it as a target value to the tillage tool 2. Since in this exemplary embodiment it is a soil cultivation tool with hydraulic cylinders 5, the manipulated variable is essentially to be understood as the pressure with which the hydraulic cylinders 5 are acted upon.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    In this exemplary embodiment, the same control variable is transmitted to all hydraulic cylinders 5. In other exemplary embodiments, however, it can be provided that the implement control unit 8 assigns each hydraulic cylinder 5 its own and possibly different control variable.
    According to the control variable transmitted by the implement control unit 8, the extensions 10 arranged on the hydraulic cylinders 5 of the tillage tool 2 penetrate into the floor 3. If necessary, however, the hydraulic cylinders cannot be deflected to the desired depth under the predetermined pressure, since the base 3 has an excessive resistance, for example. Then the desired penetration depth differs from the actual penetration depth. In this exemplary embodiment, the actual penetration depth is determined via a measuring device arranged on the hydraulic cylinders 5, for example a displacement measuring system. This displacement measuring system determines the deflection of the hydraulic cylinders 5 and thus deduces the penetration depth of the extensions 10. In an embodiment not described, it can be provided that the actual penetration depth of the extensions 10 flows back into the control loop. It can also be provided that the actual deflection or penetration depth of the extensions is controlled by a separate, second control loop on the tillage tool or on the implement control unit, in order to ensure that the actual penetration depth corresponds to the value of the control variable.
    By working the soil 3 by means of the tillage tool 2, a worked area of the soil 3 is left behind behind the tillage tool 2 in the direction of travel 9 of the agricultural working machine 6. The second sensor 4 is arranged on the tillage tool 2 in such a way that the area of the soil 3 that lies directly behind the tillage tool 2 can be analyzed. In this exemplary embodiment, the second sensor 4 is a microwave radar device. Since, in particular in very dry soils, tillage can cause strong dust development, a radar-based sensor is used in this exemplary embodiment. In contrast to optical sensors, for example, this is not influenced by possible dust generation.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    In this exemplary embodiment, the second sensor 4 is designed in such a way that the surface roughness can be measured. This is done in particular by determining the distance between the second sensor 4 and the surface of the floor 3 and creating a topography profile from the data obtained. The actual value of the tillage determined via the surface roughness, also referred to as processing success, is transmitted to the control loop control unit 7 in the control loop according to the invention. A new control variable is determined in the control loop control unit 7 by comparing the target value with the actual value, which in turn is transmitted to the implement control unit 8.
    In other exemplary embodiments that are not described, a plurality of second sensors 4 in the form of a fan array are used. In particular, in this exemplary embodiment, the second sensors 4 can be arranged in an orientation transverse to, in particular normal, the direction of travel 9 and in a plane running essentially parallel to the floor 3. As a result, the reliability and the accuracy of the determination of the surface roughness can be increased. An independent control of a plurality of hydraulic cylinders 5 is also possible using the data of a plurality of second sensors 4.
    The control loop described above is continuously run through while the agricultural working machine 6 is moving, as a result of which the parameters can be adjusted in real time.
    2 shows a flow chart of an exemplary embodiment of a control loop used in the device according to the invention. As described above, at least one soil parameter, for example electrical conductivity or moisture, is determined by a first sensor 1 and transmitted to the control loop control unit 7. The control loop control unit 7 determines a control variable from the ground parameter with the aid of model parameters, which is passed on to the implement control unit 8. Using the control variable transmitted by the control loop control unit 7, manipulated variables are determined which are forwarded to the tillage tool 2.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    Soil cultivation, for example, leads to a change in the roughness of the soil 3, which is monitored with the aid of the second sensor 4. The actual value determined in this way, in this exemplary embodiment the surface roughness of the floor 3, is transmitted to the control loop control unit and, together with the target value, is used to determine an updated control variable.
    3 shows a flowchart of an exemplary embodiment of a control loop control unit 7 in detail. The soil parameters are converted into a target value in a CPU using model parameters. The setpoint is compared with the actual value and the information is passed on to the implement control unit as a control variable. The controller itself can be designed, for example, as a proportional controller, integral controller, differential controller, or a combination of these controller types.
    / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    LIST OF REFERENCE NUMBERS
    First sensor
    Tillage tool
    ground
    Second sensor
    hydraulic cylinders
    Agricultural work machine
    -Loop control unit
    Implement control unit
    Direction of travel
    Continuation / 23
    - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    权利要求:
    Claims (19)
    [1]
    1. Soil cultivation device comprising a first sensor (1) for the detection of the soil condition and a controllable soil tillage tool (2), the first sensor (1) being designed in such a way that the condition of the soil (3) before the soil tillage tool ( 2) can be determined, characterized in that a second sensor (4) is provided for the detection of the soil condition, the second sensor (4) being designed in such a way that the soil condition can be determined after cultivation by the tillage tool (2), and a closed control loop is formed with a control loop control unit (7), which is designed to determine a control variable for controlling the tillage tool (2) in real time as a function of the soil condition detected by the first sensor (1) and second sensor (4) ,
    [2]
    2.2

    [3]
    3. Device according to claim 1 or 2, characterized in that the second sensor (4) for preferably non-contact measurement or determination of a processing parameter, for example the surface roughness of the floor, is executed and in particular a radar sensor, preferably a microwave radar sensor ,
    [4]
    4. Device according to one of claims 1 to 3, characterized in that the control loop control unit (7) is designed to, from the floor parameters detected by the first sensor (1), preferably taking model parameters into account, a setpoint value of a processing parameter, for example one To determine the nominal value of the surface roughness.
    [5]
    5. The device according to claim 4, characterized in that the control loop control unit (7) is designed to compare the setpoint value of the cultivation parameter with the actual value of the cultivation parameter detected by the second sensor (4) and to use this to control the control quantity for controlling the tillage tool (2) determine.
    [6]
    6. Device according to one of claims 1 to 5, characterized in that an implement control unit (8) is provided, which is designed to use the control variable supplied by the control loop control unit (7) to produce a manipulated variable for controlling the tillage tool (2 ) to determine.
    [7]
    7. Device according to one of claims 1 to 6, characterized in that the tillage tool (2) is a hydraulically controllable tillage tool (2) with at least one hydraulic cylinder (5).
    [8]
    8. The device according to claim 7, characterized in that a measuring device for measuring the length of the hydraulic cylinder (5) is provided.
    [9]
    9. Device according to one of claims 1 to 8, characterized in that the tillage tool (2) is designed as a cultivator, subsoiler, plow or the like.
    [10]
    10. Device according to one of claims 1 to 9, characterized in that a plurality of second sensors (4) are provided, which are arranged in particular in the form of a sensor array, preferably in the form of a fan array.
    [11]
    11. Agricultural work machine (6) comprising a device according to one of claims 1 to 10, characterized in that in the intended operation of the agricultural work machine (6), the first sensor (1) in the front region of the agricultural work machine with respect to the direction of travel (6) is arranged and the tillage tool (2) is arranged in the rear area in relation to the direction of travel or behind the agricultural working machine (6).
    [12]
    12. A method for controlling the processing of a soil (3) in real time, comprising the steps:
    a. Detection of soil parameters of the soil with a first sensor (1) before the soil is worked with a soil cultivation tool (2),
    b. Determining a target value of a processing parameter on the basis of the soil parameters obtained in step a), preferably taking model parameters into account,
    c. Detection of an actual value of a processing parameter of a soil (3) with a second sensor (4) after the soil has been processed with a soil cultivation tool (2),
    d. Returning the actual value of the cultivation parameter detected by the second sensor (2) to a control circuit control unit (7), comparing it with the target value of the cultivation parameter and determining a control variable for controlling the tillage tool (2),
    e. Determining a manipulated variable from the control variable in an implement control unit (8) for controlling the tillage tool (2),
    f. Controlling the tillage tool (2) with the manipulated variable and, if necessary, measuring the properties of the tillage tool (2) with a measuring device.
    [13]
    13. The method according to claim 12, characterized in that the surface roughness of the floor (3) is determined with the second sensor (4) and that a parameter value is determined as a function of the surface roughness.
    [14]
    14. The method according to any one of claims 12 or 13, characterized in that the processing quality of the soil is classified using the data from the second sensor (4).
    14 - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    14/23
    [15]
    15. The method according to any one of claims 12 to 14, characterized in that the method is carried out while driving an agricultural machine, the surface of the soil (3) with the first sensor (1) and the second sensor (4) in the direction of travel the agricultural machine is scanned.
    15 - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    15/23
    [16]
    16 - 57196 / AG / MB
    Geoprospectors GmbH, Wienersdorfer Strasse 20-24, Obj.N54, 2514 Traiskirchen (AT)
    16/23
    [17]
    17/23

    [18]
    18/23

    [19]
    19/23 austrian patent office
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2944171B1|2019-01-30|Agricultural working machine
    EP3135086B1|2018-10-03|Soil cultivation device and method for creating a soil map with such a soil cultivation device
    DE112010002047B4|2016-01-07|Object detecting device
    AT520903B1|2019-11-15|Apparatus and method for soil cultivation
    DE19501642B4|2008-01-17|Method for contactless distance measurement
    DE102015218330A1|2017-03-30|Apparatus and method for controlling the operation of a hydraulically operated towed vehicle on a vehicle
    EP3384323B1|2020-02-26|Ground sensor
    DE4004247A1|1991-08-14|Servo controlled tractor plough with plant sensing - allows position adjustment for working between rows of plants
    EP3329853B1|2019-10-30|Method for automatically positioning a patient, medical device, computer program and computer readable storage medium
    DE102004048759B4|2010-06-10|Method and device for controlling the sowing depth of seeds
    EP3395136A1|2018-10-31|Method for adjusting the working depth of an agricultural soil processing device
    DE102017127401A1|2019-05-23|Non-contact deformation measurement
    DE19900737C2|2001-05-23|Method for correcting the measurement results of a coordinate measuring machine and coordinate measuring machine
    DE102014103137A1|2015-09-10|Method for determining and correcting surface data for dimensional measurement with a computer tomography sensor
    DE69814351T2|2004-03-25|DEVICE FOR DETERMINING THE PROPERTIES OF AN ELECTRICALLY CONDUCTIVE OBJECT
    DE102018124208B4|2021-08-12|Method and device for monitoring a laser machining process on a workpiece and the associated laser machining system
    DE102018203238A1|2019-09-05|Method for calibrating and operating an electronic-hydraulic hoist of an agricultural machine
    EP3663800A1|2020-06-10|Method for detecting objects using a 3d camera
    EP3403051A1|2018-11-21|Method and device for specifying specification data for a measurement of a workpiece to be measured by means of a coordinate measuring device and/or for an analysis of measurement results of a measurement of a measured workpiece by means of a coordinate measuring device
    DE102018003881A1|2019-11-21|Measuring system and method for measuring the distance of a vehicle part from the ground and / or from a plant surface
    DE102016107224A1|2017-10-19|sensor device
    WO2018133890A1|2018-07-26|Method and device for producing a 3-d thermogram
    DE102018216395A1|2020-03-26|Method and device for monitoring an arrangement of at least one stationary or variably arranged calibration marker using at least one stationary or variably arranged vehicle-external reference sensor for the calibration of environment sensors of a vehicle
    DE102020211507A1|2022-03-17|Procedure for evaluating a camera calibration
    DE102020211502A1|2022-03-17|Procedure for evaluating a camera calibration
    同族专利:
    公开号 | 公开日
    DE112019000799A5|2020-11-12|
    WO2019158454A1|2019-08-22|
    AT520903B1|2019-11-15|
    US20210092892A1|2021-04-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP3167698A1|2015-10-23|2017-05-17|Deere & Company|System for residue detection and implement control and method for such|
    EP3189719A1|2016-01-05|2017-07-12|Deere & Company|Control system for residue management and method|
    WO2017158006A2|2016-03-18|2017-09-21|Cnh Industrial Italia S.P.A.|Ultrasonic sensors for field roughness measurement|
    AT518415B1|2016-09-13|2017-10-15|Geoprospectors Gmbh|Device for detecting the condition of a substrate|
    DE102006004451A1|2006-01-31|2007-08-16|Alois Pöttinger Maschinenfabrik Gmbh|agricultural machinery|
    SE535699C2|2011-01-26|2012-11-13|Vaederstad Verken Ab|Agricultural implements and method of tillage|
    US9516802B2|2014-04-25|2016-12-13|Cnh Industrial America Llc|System and method for controlling an agricultural system based on soil analysis|
    DE102014106775A1|2014-05-14|2015-11-19|Amazonen-Werke H. Dreyer Gmbh & Co. Kg|Agricultural working machine|
    AU2016278130B2|2015-06-15|2020-08-27|Precision Planting Llc|Systems, methods, and apparatus for agricultural liquid application|
    EP3349561A4|2015-09-18|2019-06-05|Precision Planting LLC|Apparatus, system and method for monitoring soil criteria during tillage operations and control of tillage tools|
    AT518034B1|2015-12-02|2018-02-15|Geoprospectors Gmbh|Agricultural working machine with a soil sensor|EP3729939A1|2019-04-25|2020-10-28|CNH Industrial Sweden AB|Method for adjusting the working depth of an agricultural implement and an agricultural plough|
    CN112880745A|2021-01-28|2021-06-01|安徽理工大学|Device and method for cultivating and detecting soil|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT501352018A|AT520903B1|2018-02-14|2018-02-14|Apparatus and method for soil cultivation|AT501352018A| AT520903B1|2018-02-14|2018-02-14|Apparatus and method for soil cultivation|
    US16/966,135| US20210092892A1|2018-02-14|2019-02-11|Apparatus And Method For Soil Cultivation|
    DE112019000799.8T| DE112019000799A5|2018-02-14|2019-02-11|DEVICE AND METHOD FOR TILLING THE SOIL|
    PCT/EP2019/053233| WO2019158454A1|2018-02-14|2019-02-11|Apparatus and method for soil cultivation|
    [返回顶部]