Means for controlling a driven soil working machine on the basis of information derived from a map

[0002] This Application is a continuation of International Application No. PCT/NL98/00637, filed Nov. 4, 1998.

[0003] The invention relates to a soil working machine with drivable working members, in particular it relates to a rotary harrow provided with soil working members that are drivable about upwardly orientated axes.

[0004] Such soil working machines are known. In case of a rotary harrow, the cultivation carried out by this machine is intended for the preparation of a seed-bed. When a large area of a parcel of land is worked, the composition, the compactness or the condition or a combination thereof of the soil may vary locally. For example, the soil of a certain subarea of a parcel may be more compacted than the remaining part of the parcel, or be composed of another type of soil, for example, more clay-like structure than the rest of the parcel, while another certain subarea may be more humid or more uneven than the remainder of the parcel. As a result thereof an uniform cultivation of the soil may not occur throughout the parcel, which may eventually result in a poor yield for certain areas.

[0005] A major object of the invention is to provide a soil working machine which automatically enables the parcel to be cultivated as uniformly as possible.

[0006] In accordance with the invention this is achieved in that the soil working machine is provided with a control system which is adapted to control automatically the revolutions per minute (rpm) or the working depth of the soil working members or the speed at which the soil working machine moves forwardly during operation based on signals supplied to the control system regarding the condition or the composition of the cultivator or both soil. For example, a signal transmitted to the control system from which signal there can be deduced that the machine is operating in an area where the soil is more compacted than in the rest of the parcel, then the speed at which the soil working machine moves forwards during operation is reduced automatically, so that the soil working members cultivate this subarea more intensively. In such situation the rpm of the soil working member may also be increased, possibly as an alternative, so that the same effect or an augmented effect is obtained. It is also possible to increase the working members working depth so that the soil is loosened to a greater depth.

[0007] According to an inventive feature, the control system comprises an rpm governor for regulating the working members' rpm, a height adjusting means for adjusting the working depth of the soil working members, a speed adjustment means for regulating the soil working machine's forward speeds or a combination of these components. According to an inventive feature, one or more soil working members can be provided with a separate rpm governor or a height adjusting means or both, which provide individual adjustment of the soil working members. In this manner it is also possible to cultivate the soil at different degrees of intensity over the working width of the machine.

[0008] In accordance with again another feature, soil analyses means is provided whereby the condition or the composition or both of the soil can be determined. Therefore the invention also relates to a soil working machine with drivable working members, in particular a rotary harrow with soil working members that are drivable about upwardly orientated shafts, characterized by the provision of soil analyses means for analyzing the condition or composition or both of the soil. In this manner, the condition or the composition or both of the soil can be determined on the spot during operation of the machine. According to the invention one or more torque sensors are also provided by means of which the torque of the working member is measured during operation. Signals from torque sensors can be used as information for the control system to vary the rpm or the working depth or both of the working members and the also relative to the machine's driving speed. If desired each of the soil working members may be provided with a separate torque sensor, or one torque sensor may be used for all the soil working members or for groups of soil working members. According to again another inventive feature, a processing unit is provided by means of which the signals supplied by the soil analyzing means are processed into a map of the surface cultivated by the soil working machine. This map can be recorded in a smart card or a floppy disc or a similar data carrier, which may be taken from the control system by the operator. The information stored therein can be used for working a parcel of land with a further agricultural machine. According to a further inventive feature, the processing unit is adapted to such divide the map into subareas having an approximately equal soil conditions or soil compositions or torque magnitudes, that is, equal resistance which the soil working machine encounters from the soil during operation.

[0009] According to another aspect of the invention, inputting means are provided with the aid of which a previously produced map of the soil to be cultivated by the soil working machine can be inputted into the control system. The inputting means can be disc-drive or a similar inputting device. According to an inventive feature, in this manner the control system can regulate automatically the rpm or the working depth or both of the soil working members and the driving speed of the soil working machine, on the basis of the information supplied by the inputted map.

[0010] In accordance with again another aspect of the invention, means are provided for determining the position the of the soil working machines on the parcel of land during operation. This may comprise a navigation system, such as DGPS, GPS, Lorean, dead reckoning, etc., or a combination of said systems. The actual position of the soil working machine as determined by a navigation system as well as the information from the map regarding the condition of the composition or both of the soil is supplied to the control system which, on the basis thereof, regulates automatically the rpm and the working depth, or either, of the soil working members, as well as the driving speed of the soil working machine. According to again another inventive feature, a visual display unit is provided showing the map during operation and the area in which the soil working machine is active. In the is manner the driver of the vehicle to which the soil working machine is coupled can determine in which subarea the machine is active. According to an aspect of the invention, the visual display unit is adapted to show the condition or the composition or both of the soil. This can be provided by representing various subareas in different colors or hatchings.

[0011] The invention can also be produced and sold separately, without being incorporated in a soil working machine. The invention thus relates to a control system, measuring means, a processing unit, an inputting means, means for determining the position, a visual display unit or any combination thereof that can be used in a soil working machine as described above.

[0012] The invention further comprises a method of regulating the rpm or the working depth or both, of drivable soil working members of a soil working machine, as well as the driving speed during operation of the soil working machine, once the position of the soil working machine on the parcel of land to be cultivated has been determined, on the basis of a previously produced map of the conditions or the compositions or both of the soil of the parcel of land to be cultivated, the rpm or the working depth or both of the soil working members as well as the driving speed of the soil working machine is adjusted automatically, to provide optimal soil cultivation by the soil working machine.

[0013] The invention yet further comprises a method of composing a map of a surface cultivated by a soil working machine with driven soil working members, in which method, once the position of the soil working machine is determined during operation of the soil working machine, signals from measured means regarding the condition or the composition or both of the soil are transmitted to a processing unit which processes these signals together with the actual position of the machine to provide a map of the cultivated surface.

[0014] Although we have described the preferred embodiments of our invention, it is to be understood that it is capable of other adaptations and modifications within the scope of the following claims.