Agricultural working device

1. An agricultural working device for processing biomass, including any of a mulching device, a mulching-mowing device or a milling device, the agricultural working device comprising:

a drive shaft;

a working rotor, which is driven by the drive shaft, the working rotor comprising a rotor shaft;

a cutting rail with a cutting edge, said cutting edge being directed towards the working rotor;

sensors for acquiring parameters of the working rotor or parameters of the cutting rail, the sensors comprising rotational speed sensors for determining a rotational speed of the drive shaft and determining a rotational speed of the rotor shaft of the working rotor;

at least one actuator element to set the position of the cutting edge; and

an electronic control apparatus configured to:

compare the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor with one another; and

change the position of the cutting rail when the ratio of the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor differs beyond a predefined threshold.

2. An agricultural working device according to claim 1 , wherein the sensors further comprise a position sensor for determining a position of the cutting rail or determining a position of the cutting edge or determining a position of the cutting rail and a position of the cutting edge.

3. An agricultural working device according to claim 1 , wherein:

the sensors further comprise a torque sensor for determining torque acting on the drive shaft or the rotor shaft or the drive shaft and the rotor shaft; and

the electronic control apparatus is further configured to set the position of the cutting edge in order to avoid a torque overload.

4. An agricultural working device according to claim 1 , wherein:

the sensors further comprise a force sensor between supporting parts of drive shaft and rotor, which supporting parts are connected to one another in an articulated fashion, for determining a power demand of the agricultural working device in conjunction with a signal of one of the rotational speed sensors; and

the control apparatus is further configured to set the position of the cutting edge in order to avoid a power demand overload.

5. An agricultural working device according to claim 1 , wherein:

the at least one actuator element is associated with a cylinder with a piston which moves the cutting rail;

the sensors further comprise sensors for measuring pressure in the cylinder, on both sides of a piston face of the piston; and

signal lines connecting the pressure sensors to the control apparatus.

6. An agricultural working device according to claim 5 , wherein:

the actuator element comprises a four-three-way valve, by which the electronic control apparatus is actuated; and

the actuator element is configured to act on the cylinder to set the position of the cutting rail.

7. An agricultural working device according to claim 1 , further comprising an operator control unit connected bidirectionally to the control apparatus, the operator control unit being configured to operate the control apparatus and to display parameters which are controlled thereby.

8. An agricultural working device according to claim 1 , further comprising a green sensor for determining a degree of greening or a mass of the biomass to be mulched or a degree of greening and a mass of the biomass to be mulched, wherein the control apparatus is configured to set the position of the cutting edge as a function of the degree of greening of the biomass.

9. A method for setting a position of a cutting rail of an agricultural working device relative to a working rotor of the working device, the method comprising:

providing an agricultural working device comprising a drive shaft, a working rotor, a cutting rail with a cutting edge, sensors for acquiring parameters of the working rotor or parameters of the cutting rail, at least one actuator element to set the position of the cutting edge and an electronic control apparatus, the working rotor being driven by the drive shaft, the working rotor comprising a rotor shaft, the cutting edge being directed towards the working rotor, the sensors comprising rotational speed sensors;

measuring a rotational speed of a drive shaft and the rotational speed of a rotor shaft of the working rotor via the rotational sensors;

comparing the measured rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor with one another via the electronic control apparatus; and

changing the position of the cutting rail via at least the electronic control apparatus when the ratio of the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor differs beyond a predefined threshold.

10. A method according to claim 9 , wherein when the ratio of the rotational speed of the working rotor with respect to the rotational speed of the drive shaft is undershot with respect to the predefined value, a cutting gap is increased by a predefined value.

11. A method according to claim 9 , wherein when the ratio of the speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor is exceeded beyond a predefined value a cutting gap is reduced by a predefined value.

12. A method according to claim 9 , wherein a checking of a cutting gap is performed quasi-continuously, and at each checking phase the step is carried out by:

increasing the cutting gap by a predefined value when the ratio of the rotational speed of the working rotor with respect to the rotational speed of the drive shaft is undershot with respect to the predefined value; or

reducing the cutting gap by a predefined value when the ratio of the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor is exceeded beyond the predefined value.

13. A method according to claim 9 , wherein:

torque at at least one of the rotor shaft of the working rotor and the drive shaft is measured; and

the position of the cutting edge is set to limit the torque or to avoid a torque overload or to limit the torque and to avoid a torque overload.

14. A method according to claim 9 , wherein the drive shaft and the rotor shaft of the working rotor are mounted movably with respect to one another by means of a gear mechanism connection, and the position of the cutting edge is controlled to avoid an overload in conjunction with the measurement of the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor.

15. A method according to claim 9 , wherein a degree of greening of biomass to be mulched is measured, and the position of the cutting edge is set on the basis of this measurement.

16. An agricultural system for processing biomass, such as parts of plants, the agricultural system comprising:

a drive; and

an agricultural working device connected to the drive for being moved thereby, the agricultural working device comprising a drive shaft, a working rotor, which is driven by the drive shaft, the working rotor comprising a rotor shaft, a cutting rail with a cutting edge directed towards the working rotor, sensors for acquiring parameters of the working rotor or parameters of the cutting rail or parameters of the working rotor or parameters of the cutting rail, the sensors comprising rotational speed sensors for determining a rotational speed of the drive shaft and determining a rotational speed of the rotor shaft of the working rotor, at least one actuator element to set the position of the cutting edge and an electronic control apparatus, wherein the system has a common control apparatus, the electronic control being configured to:

compare the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor with one another; and

change the position of the cutting rail when the ratio of the rotational speed of the drive shaft and the rotational speed of the rotor shaft of the working rotor differs beyond a predefined threshold.

17. An agricultural system according to claim 16 , wherein the sensors further comprise a position sensor for determining a position of the cutting rail or determining a position of the cutting edge or determining a position of the cutting rail and a position of the cutting edge.

18. An agricultural system according to claim 16 , wherein:

the sensors further comprise a torque sensor for determining torque acting on the drive shaft or the rotor shaft or the drive shaft and the rotor shaft; and

the electronic control apparatus is further configured to set the position of the cutting edge in order to avoid a torque overload.

19. An agricultural system according to claim 16 , wherein:

the sensors further comprise a force sensor between supporting parts of drive shaft and rotor, which supporting parts are connected to one another in an articulated fashion, for determining a power demand of the agricultural working device in conjunction with a signal of one of the rotational speed sensors; and

the control apparatus is further configured to set the position of the cutting edge in order to avoid a power demand overload.

20. An agricultural system according to claim 16 , further comprising an operator control unit connected bidirectionally to the control apparatus, the operator control unit being configured to operate the control apparatus and to display parameters which are controlled thereby.