Agricultural machine with a soil tillage tool and method for controlling a soil tillage tool

Agricultural machine for arrangement on an agricultural vehicle, wherein during movement of the machine in the travel direction (F) an area of soil at least between plants arranged parallel to the travel direction (F) in row crops can be tilled by the machine, wherein the machine comprises

• a soil tillage tool, which is pivotable back, counter to the travel direction, about an axis of rotation (D) running in a height direction (H) of the machine out of a transverse direction (Q) arranged perpendicular to the travel direction (F) and perpendicular to the height direction (H) and/or is movable towards the machine in the transverse direction (Q),
• an obstacle sensor by which obstacles, in particular plants and planting sticks of the row crop, can be detected,
• as well as a control device,
• wherein when an obstacle is detected the control device can pivot the soil tillage tool back out of the transverse direction (Q) counter to the travel direction (F) and/or move it in the transverse direction (Q) towards the machine,
• wherein the control device comprises a delay device, which delays the pivoting back and/or the moving towards the machine after detection of an obstacle, and a setting device, wherein with the setting device a time delay amount (Δ) of the delay device can be set during a soil tillage run, characterized in that the machine also comprises a position sensor, by which a slope angle (α) in the travel direction (F) is continuously measurable, wherein the time delay amount (Δ) can be set automatically and dynamically by the setting device depending upon the slope angle (α).