Device and system for changing the operating state of an autonomously operated agricultural machine

Abstract

Device (14) for changing an operating state of an autonomously operated agricultural machine (12), comprising: - an input interface (26) for receiving a first release signal from an operating element (24) located on the agricultural machine and for wirelessly receiving a second release signal and a start signal from a remote control (16) located in the vicinity of the agricultural machine;and- a control unit (28) for specifying a new operating state (32, 34, 36, 40, 42) of the agricultural machine based on the first release signal and the second release signal, wherein- the control unit is configured to specify, when the agricultural machine is in a safe operating state (32) in which it can only be operated by an operator (22) at the agricultural machine, a remotely controlled operating state (34) in which the agricultural machine can be remotely controlled when the first release signal and then the second release signal are received;and- the control unit is designed, when the agricultural machine is in the remotely controlled operating state, to specify an autonomous operating state (36) in which the agricultural machine operates autonomously when the start signal is received, wherein the autonomous operating state is only attainable if the remotely controlled operating state has been reached beforehand.;

Description

The present invention relates to a device for changing an operating state of an autonomously operable agricultural machine. The present invention further relates to a corresponding method and a system and an autonomously operable agricultural machine.Increasingly modern agricultural machines (soil-working machines, field sprayers, transporters, seeders, tractors, etc.) offer possibilities for autonomous or semi-autonomous operation. Especially because agricultural machines are predominantly used on shredders or outside of areas where traffic is rich and the work to be carried out is often recurrent, autonomous approaches can be implemented with comparatively little effort. In particular, self-driving vehicles with largely or completely autonomously operating tools can be used. A high cost reduction potential results from such automation.One challenge is to ensure safety of surrounding people during operation of autonomously operable agricultural machines. In addition, damage to the agricultural machine and to objects in the environment should be avoided. Because autonomously operable machines often require a human operator to be transferred to a location and autonomous operation is only started at this location, dangerous situations can occur when switching between manual operation and autonomous operation. In particular, accidents may occur when autonomous operation is intended or accidentally started as long as the human operator is still in the vicinity.In this connection, US 2017 / 0355252 A1 relates to a detachable panel on an autonomous work vehicle. An autonomous agricultural vehicle includes an operator within a housing of the autonomous agricultural vehicle configured to control operation of the autonomous agricultural vehicle and / or control a function of the agricultural vehicle. Further, the autonomous agricultural vehicle includes a removable panel at least partially removably disposed over the housing, the removable panel disposed at a location to be accessible by an operator.EP 1219158 B1 relates to a device for optimizing the superimposition of crop material on agricultural vehicles. An apparatus on a vehicle is disclosed. A vehicle status of at least the own vehicle is selected and used. At least one control unit for generating control signals for the travel speed and / or the steering angle of the transport vehicle is provided on the harvesting machine. Furthermore, a transmitting unit is provided for wirelessly transmitting the control signals to the transport vehicle. A receiving unit for receiving the control signals and at least one adjusting device for automatically adjusting the travel speed and / or the steering angle as a function of the control signals are provided on the transport vehicle.DE 10 2008 027282 A1 relates to an agricultural vehicle and an operating method for said agricultural vehicle. The vehicle is switchable between a driver-controlled driving mode in which traveling direction and speed of the vehicle are determined by the driver and a remote-controlled driving mode in which traveling direction and speed of the vehicle are determined by information received from the outside. In the remote-controlled mode, a control device that can be manipulated by the driver is monitored and the vehicle is switched back to the driver-controlled mode if an intervention of a first type of the driver is detected at the control device.US 2015 / 0101519 A1 relates to an autonomous system and an apparatus and a method for carrying out an agricultural operation. In particular, a vehicle is disclosed that includes a self-propelled driving system, tracks or wheels connected to the driving system, a power supply, an attachment for attaching accessories to the vehicle, and a smart controller connected to the driving system, the power supply, and the attachment. The vehicle is configured to be connected to the accessory to perform an agricultural function with the accessory.US 2017 / 0357400 A1 relates to an autonomous agricultural system and a user interface. A control system for an autonomous agricultural vehicle includes a display. The display is configured to output a first signal. The control system includes a controller having a processor and a memory. The controller is connected to the display and configured to receive the first signal and transmit a second signal to the display. The display is configured to transmit a third signal to the controller. The controller is configured to receive the third signal and output a fourth signal.The removable panel prevents use by unauthorized persons and accidental operation. However, it is necessary for the operator to be located immediately on the vehicle in order to have access to the operating interface and to control the autonomous agricultural vehicle. If intervention is necessary during autonomous operation of the machine, dangerous situations may occur.On the basis of this, the present invention is based on the object of improving the safety when initializing autonomous operation of an autonomously operable agricultural machine. It should be ensured that, when autonomous operation is started, the safety of people in the environment is ensured at any point in time. In addition, possible damage to the agricultural vehicle itself and to objects in the environment of the agricultural vehicle is also to be avoided. In particular, a safe switching between normal operation and autonomous operation is to be made possible.To achieve this object, an aspect of the present invention relates to a device for changing an operating state of an autonomously operable agricultural machine, having:an input interface for receiving a first enable signal from a control located on the agricultural machine and wirelessly receiving a second enable signal and a start signal from a remote control located in a vicinity of the agricultural machine; anda control unit for presetting a new operating state of the agricultural machine based on the first enable signal and the second enable signal, whereinthe control unit is configured to, when the agricultural machine is in a safe operating state in which it is operable only by an operator on the agricultural machine, specify a remote-controlled operating state in which the agricultural machine is remotely controllable when first the first enable signal and then the second enable signal are received; andthe control unit is configured to, when the agricultural machine is in the remote controlled operating state, specify an autonomous operating state in which the agricultural machine operates autonomously when the start signal is received, wherein the autonomous operating state is only reachable if the remote controlled operating state has been reached beforehand.In a further aspect, the present invention relates to an autonomously operable agricultural machine having a device as described above and having an operator control element for operating the agricultural machine by an operator.In a further aspect, the present invention relates to a system for changing an operating state of an autonomously operable agricultural machine, comprising:an autonomously operable agricultural machine as described above or a device as described above; anda remote control for wirelessly transmitting signals to the device.Further aspects of the invention relate to a method corresponding to the device and to a computer program product having program code for carrying out the steps of the method when the program code is executed on a computer, and to a storage medium on which a computer program is stored which, when it is executed on a computer, brings about execution of the method described herein.Preferred embodiments of the invention are described in the dependent claims. It is understood that the features mentioned above and those still to be explained below can be used not only in the respectively specified combination, but also in other combinations or alone, without departing from the scope of the present invention. In particular, the agricultural machine, the method, the system and the computer program product can be embodied according to the embodiments described for the apparatus in the dependent claims.According to the invention, it is provided that first a first enable signal from an operating element on the agricultural machine and then a second enable signal from a wireless remote control in a surrounding environment of the agricultural machine must be received in order to transfer the agricultural machine from a safe state to a remote-controlled state. After starting, the agricultural machine is in a safe state. In this safe state, it can only be controlled by an operator located on the agricultural machine, for example on an externally mounted control element or in a driver's cab. From the remote control state, the machine can then be placed further into an autonomous operating state if a further signal (start signal) is received by the wireless remote control. In the autonomous operating state, it is possible for the agricultural machine to perform a function autonomously. In particular, it is possible for the agricultural machine to drive autonomously and to use a tool, such as a spraying device or a soil working device.According to the invention, the autonomous operating state can therefore only be reached if a remotely controlled operating state is reached beforehand. In this respect, the device according to the invention corresponds to a state machine or implements a state machine in which the autonomous operating state can only be reached after passing through the remotely controlled operating state. This ensures that the autonomous operating state is not activated accidentally before this is desired and the operator is prepared for this purpose. In particular, the autonomous operating state can only be reached if a corresponding start signal is transmitted via a remote control. The remote control is required. In addition, the remote control signal can be received only when the machine is in the remote control operating state. First, the remote control is thus put into operation and the remote-controlled operating state is initialized. Then, a start signal is transmitted from the remote controller to achieve the autonomous operation state.Compared to previous approaches, in which an autonomous operation can be initiated directly, the device according to the invention thus provides improved safety. Damage to the machine or also to objects in the environment of the machine can be prevented. Dangerous situations with the operator or with other persons in the environment of the agricultural machine are avoided.In a preferred embodiment, the input interface is configured to wirelessly receive a stop signal from the remote control. The control unit is designed to specify the safe operating state when the stop signal is received. The stop signal switches directly back to the safe operating state at all times. In the safe operating state, the agricultural machine can only be operated by an operator on the machine. There is therefore no danger from the agricultural machine. In other words, deactivation is possible at any time via the remote control. This further improves safety.In an advantageous embodiment, the control unit is configured to preset the remotely controlled operating state when the agricultural machine is in the safe operating state, if the second enable signal is received within a predefined time interval after the first enable signal. If the second enable signal is not received within the predefined time interval, the machine falls back into the safe operating state again. This prevents a dangerous situation from occurring due to an carelessness of the operator and an unintentional initiation of the autonomous operating state. Safety is improved.In a preferred embodiment, the input interface is configured to receive an operator signal from an operator on the agricultural machine. The control unit is designed to preset the safe operating state when the operator signal is received. In other words, an operator on the machine is free at all times to put the machine back into the safe state in which only the operator on the machine can control the machine. The autonomous operating state or else the remote-controlled operating state can be terminated accordingly on request from an operator on the agricultural machine. This ensures that the operator has or can maintain the top control on the agricultural machine at any point in time. The safety of the operator is ensured.In one embodiment, the input interface is configured to receive a first ready signal from a tool of the agricultural machine indicating that the tool is operational. The control unit is configured to, when the agricultural machine is in the remote-controlled operating state, specify the autonomous operating state only when the first ready signal is received. A tool can be, in particular, an autonomously operated tool, for example a spraying device or a soil working tool. Only when the tool or the device of the tool signals that it is ready for operation can the autonomous operating state be initiated. This prevents errors from occurring during the start of operation. The safety of the tool and of the operator involved remain ensured.In a further embodiment, the input interface is configured to receive a second ready signal from a self-propelled driving unit of the agricultural machine. The second ready signal indicates that the self-propelled unit is ready to take over control of the agricultural machine. The control unit is configured to, when the agricultural machine is in the remote-controlled operating state, specify the autonomous operating state only if the second ready signal is received. It is ensured that the autonomous operation can only be initiated if there is a confirmation of the self-driving unit that it can take over the control and the control of the agricultural machine. When there is a conflict or there is a fault state in the self-driving unit, the autonomous operating state cannot be initiated. This results in additional safety. The autonomous operating state can only be initiated if the corresponding self-driving unit operates without errors. Safety of the agricultural machine and of the operator is ensured.In an advantageous embodiment, the control unit is configured to, when the agricultural machine is in the remote-controlled operating state, specify the autonomous operating state only if the second ready signal is received within a predefined time interval. If the predefined time interval is exceeded, the agricultural machine falls back into the remote-controlled operating state or remains in the remote-controlled operating state. It is ensured that an accidental initiation of the autonomous operating state is prevented. This ensures reliable operation.In an advantageous embodiment, the input interface is designed to wirelessly receive a control take-over signal from the remote control. The control unit is configured to, when the agricultural machine is in the autonomous operating state, specify the remote-controlled operating state when the control take-over signal is received. In the autonomous operating state, it is possible at any time to change back to a remote-controlled operating state by a corresponding signal from the remote control. In other words, an operator can take over control of the machine at any time by remote control. This makes it possible to react better to unpredictable situations. Safety is improved.In an advantageous embodiment, the control unit is configured to initiate a braking of the agricultural machine when the agricultural machine is in the autonomous operating state and to specify the remote-controlled operating state only when the agricultural machine is in the standstill. It is avoided that the machine, during operation or during movement, moves into a state in which intervention would be required immediately due to the continued movement via the remote control. The autonomous operating state can only be changed over to the remote-controlled operating state if the agricultural machine is not moving. This improves the safety of the material involved and of the persons involved.In an advantageous embodiment, the input interface is designed to receive an error signal from the self-propelled driving unit of the agricultural machine. The error signal indicates that autonomous control of the agricultural machine is not possible. The control unit is configured to, when the agricultural machine is in the autonomous operating state, preset the remote-controlled operating state when the fault signal is received. If a fault is detected, it is possible to switch from the autonomous state back to the remote-controlled state. As a result, for example, an operator can make a corresponding input in order to avoid an accident or a dangerous situation. Safe operation is maintained.In one configuration of the autonomously operable agricultural machine, the latter comprises a self-driving unit for controlling driving functions of the agricultural machine. Additionally or alternatively, the autonomously operable agricultural machine comprises a tool, in particular a field sprayer, for spraying out a substance. The self-propelled driving unit is a unit that can interact directly with actuators on the agricultural machine in order to carry out driving functions or other functions. The tool can be, in particular, a device for carrying out an agricultural function.An autonomously operable agricultural machine refers herein in particular to a machine that can drive without intervention by a human operator and perform an agricultural function / task. For example, a self-propelled field sprayer that applies a spraying agent or other substance, or a self-propelled sowing machine that applies seed. An operating state is in particular a state of the agricultural machine or a state of the control system of the agricultural machine, wherein the control system comprises all the various control and regulation units of the machine. An operating state can be preset or set in particular by transmitting control signals to corresponding sensors and actuators of the agricultural machine. The sensors and actuators then perform a function or inhibit a function. A remote control refers in particular to a mobile device, i.e. a portable device, which can be used by an operator in a direct environment of the agricultural machine for controlling the agricultural machine. In particular, a remote control allows wireless communication with a corresponding communication interface on the device or on the agricultural machine. In this case, a surrounding area is understood to mean, in particular, an area in which a visual connection exists between the operator or remote control and the agricultural machine.The invention will be described and explained in more detail below with reference to some selected exemplary embodiments in conjunction with the accompanying drawings. The following are shown: FIG. 1 is a schematic illustration of an agricultural machine with a system according to the invention; FIG. 2 shows a schematic illustration of an apparatus according to the invention; FIG. 3 is a schematic illustration of a reduced state machine implemented by the apparatus of the invention; FIG. 4 is a schematic illustration of a complete state machine implemented by the apparatus of the invention; and FIG. 5 shows a schematic illustration of a method according to the invention.FIG. 1 schematically shows a system 10 according to the invention for changing an operating state of an agricultural machine 12, the system comprising a device 14 for changing an operating state of an autonomously operable agricultural machine 12 or an agricultural machine 12 having a device 14, the system further comprising a remote control 16 for wirelessly transmitting signals to the device 14.In the example shown, an autonomous driving field sprayer is depicted as agricultural machine 12. The sprayer is used to spray a liquid substance on larger bakers or fields. For this purpose, the field sprayer comprises a liquid tank 18, into which, for example, a crop protection agent can be introduced, and a tool 20, which is designed as a spraying device. The spray device allows the contents of the liquid tank 18 to be applied to a field or to the plants on the field. In the example shown, the spraying device is designed as a long and fold-out boom which makes it possible to deliver the liquid of the liquid tank 18 over a width of several metres by means of a plurality of nozzles 21 and a pump (not shown).The use of autonomously driving field syringes or other agricultural machines is becoming more prevalent, in which both the driving and the use of the tool are autonomously performed. This makes use of the fact that the use of a machine is usually carried out on fields or shredders, where only few obstacles and usually no other road users have to be taken into account. Despite autonomous operation, for safety reasons at least for the transfer to the location of use, a vehicle driver is usually still required in a driver's cab. At the location of use, a switch to an autonomous operation then takes place. In particular, a corresponding control of the tool 20 and of a self-driving unit 23 takes place, which for example brings about route planning and control of the drive and steering of the agricultural machine 12. A challenge with this application is the initialization of autonomous operation. The operator normally has to make an appropriate adjustment on the machine to initiate autonomous operation. Because the operator is in the vicinity of the agricultural machine, dangerous situations can occur.In order to reduce the risk for the operator, but also for the machine or other objects when changing the operating state, the use of a remote control 16 and an operating element 24 is provided on the machine according to the invention. First, a first release signal is received on the agricultural machine 12 via the operating element 24. For example, the operator 22 may press a button on the agricultural machine 12 as the operator 24. In the next step, the remote control 16 is actuated by the operator 22, as a result of which a second release signal is transmitted to the device 17 of the agricultural machine 12. Only when the first enable signal and the second enable signal have been received is the agricultural machine 12 put into a remote-controlled operation. In remote-controlled operation, control of the agricultural machine 12 is possible with the remote control 16. In particular, it is possible for the agricultural machine 12 to be placed in the autonomous operating state, in which the agricultural machine 12 can operate autonomously, by a corresponding start signal starting from the remote control 16.FIG. 2 schematically illustrates a device 14 according to the invention. The device comprises an input interface 26 and a control unit 28. The device 14 can be integrated, for example, in a vehicle control unit of the agricultural machine 12 or can also be implemented as a separate module. It is possible for the device 14 according to the invention to be partially or completely implemented in soft and / or hardware. The control unit 28 and the input interface 26 as well as other units of the device 14 can be configured individually or in combination as a processor, processor module or software for a processor.Via the input interface 26, on the one hand, the first enable signal is received by the operating element on the agricultural machine. On the other hand, the wireless communication with the remote controller is also performed. In particular, the second enable signal and the start signal are received by the remote control. For communicating with the operating element on the agricultural machine, the input interface 26 can be connected, for example, to a CAN bus or another bus system of the agricultural machine. For wireless communication with the remote control, the input interface 26 can be connected to a corresponding communication module, for example. In particular, a low-energy short-range communication standard such as Bluetooth, ZigBee or even a proprietary protocol can be used.The control unit 28 is designed to specify a new operating state of the agricultural machine on the basis of the first enable signal and the second enable signal. In particular, the control unit 28 can likewise be connected to the bus system of the agricultural machine 12 for this purpose. The operation state is usually specified by setting corresponding parameters in one control device or in a plurality of control devices of the agricultural machine and thus making settings which characterize an operation state of the agricultural machine. For example, a brake can be actuated, a motor and a steering system can be actuated, or a closure of a cabin door can also be opened.FIG. 3 schematically illustrates a reduced state machine 30 which characterizes the behavior of the system according to the invention. The reduced state machine 30 comprises a safe operating state 32, a remote controlled operating state 34 and an autonomous operating state 36. Remote control is not possible. In the remote-controlled operating state 34, the machine can be controlled via a remote control. In this case, both driving functions and functions in connection with the tool of the agricultural machine can preferably be remote controlled. A remote control is understood to mean an operator's operation on a remote control in the immediate vicinity of the agricultural machine. However, it is also possible for remote control to be effected by an operator at a spatially separate control station, for example via the Internet. In the autonomous operating state 36, the agricultural machine is ready for autonomous application. In particular, autonomous operation may be directly initiated and a function of the agricultural machine may be autonomously fulfilled. For example, an autonomous field sprayer can apply crop protection agents to all plants in a field.When the agricultural machine is ignited, the agricultural machine first enters into the safe operating state or a central control device of the agricultural machine. In this safe operating state, it does not pose a risk for objects or people in their environment due to autonomous operation. Only after a key press on the operating element (first release signal) can a second release signal be transmitted from the remote control to the agricultural machine or to the device of the agricultural machine. If this confirmation is present by the remote control or by the operator at the remote control, the agricultural machine enters the remote-controlled operating state 34. In the remote-controlled operating state 34, a start signal can be transmitted via the remote control, by means of which start signal the autonomous operating state 36. In this respect, there is no direct path from the safe operating state 32 into the autonomous operating state 36.FIG. 4 schematically shows a complete state machine 38 which characterizes the behavior of the system according to the invention in a more detailed illustration. The complete automatic state machine 38 comprises the safe operating state 32, the remote-controlled operating state 34 and the autonomous operating state 36. In addition, between the safe operating state 32 and the remote-controlled operating state 34 there is a first intermediate state 40 and between the remote-controlled operating state 34 and the autonomous operating state 38 there is a second intermediate state 42. The second intermediate state 42 is assumed when the remote-controlled operating state 34 and the autonomous operating state 36 transition, and corresponds to an intermediate state in which the agricultural machine checks all conditions in order to be able to ensure an autonomous application.First, the agricultural machine is ignited and enters the safe operating state 32. This safe operating state can be visualized, for example, by a green LED on the machine and / or on the remote control. After pressing a corresponding button on the agricultural machine (operating element), the first intermediate state 40 is assumed. The conditions are checked to ensure remote control. If no further input takes place, for example during a predetermined time interval, the safe operating state 32 is assumed again. Likewise, the safe operating state 32 is assumed again if a stop signal is transmitted from the remote control to the control unit.If, in the first intermediate state 40, a confirmation is made at the remote control within the predetermined time interval, a second enable signal is transmitted to the device. A transition to the remote-controlled operating state 34 takes place.If, in the remote-controlled operating state 34, a driver intervention occurs on the agricultural machine, a button or a flap or another operating element on the agricultural machine is operated, or a stop signal is also received from the remote control, the safe operating state 32 is assumed again.Furthermore, in the remote-controlled operating state 34, a start signal for starting the autonomous operation can be received by the remote control. In addition, if a tool notifies the agricultural machine that it is operational (receipt of a first ready signal), the remote controlled operating state 34 is exited and the second intermediate state 42 is entered.In the second intermediate state 42 as well, a return to the safe operating state 32 can be brought about by a stop signal. Likewise, by a signal of a self-driving unit, which indicates that control of the agricultural machine cannot be taken over, or by a timer running, the agricultural machine can fall back into the remote-controlled operating state 34.If a signal is received in the second intermediate state 42 indicating that autonomous operation is possible (second ready signal), the autonomous operating mode 36 is assumed.In the autonomous operating mode 36, it can be established that autonomous operation is to be aborted by pressing a corresponding button on the remote control and transmitting a stop signal from the remote control to the device or else by an operating element on the self-driving machine (flap on the vehicle, button on the vehicle or driver intervention in the cabin of the vehicle). The autonomous operating state 36 is then exited and the safe operating state 32 is taken again. It is also possible that in the autonomous operating state 36 a signal is received from the remote control (control take-over signal). The autonomous operating state 36 is then exited and the remote-controlled operating state 34 is entered again. For safety reasons, for this purpose, the speed of the agricultural machine is first reduced to a standstill before the autonomous operating state 36 is left.FIG. 5 schematically illustrates a method according to the invention for changing an operating state of an autonomously operable agricultural machine. The method comprises steps of receiving S 10 a first enable signal, wirelessly receiving S 12 a second enable signal and a start signal, and presetting S 16 a new operating state. The method can be implemented, for example, as software which is executed on a vehicle control device of the agricultural machine. It is likewise possible for the method according to the invention to be implemented as software for a mobile device (smartphone app). The method can be implemented fully or partially on a cloud basis.The invention has been fully described and explained with reference to the drawings and the specification. The description and explanation are to be taken by way of example and not limitation. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention, as well as upon a detailed analysis of the drawings, disclosure and appended claims.In the claims, the words "comprise" and "with" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the presence of a plurality. A single element or unit may perform the functions of several of the units recited in the claims. An element, a unit, an interface, a device and a system can be partially or completely implemented in hardware and / or in software. The mere naming of some measures in several different dependent claims is not to be understood as meaning that a combination of these measures cannot likewise be used advantageously. A computer program can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a solid state drive (SSD). A computer program can be distributed together with hardware and / or as part of hardware, for example by means of the Internet or by means of wired or wireless communication systems. Reference signs in the patent claims should be understood to be non-limiting.Reference numerals denote reference numerals10 System 12 Agricultural machine 14 Device 16 Remote control 18 Liquid tank 20 Tool 21 Nozzle 22 Operator 23 Self-driving unit 24 Operating element 26 Input interface 28 Control unit 30 Reduced state machine 32 Safe operating state 34 Remote controlled operating state 36 Autonomous operating state 38 Complete state machine 40 First intermediate state 42 Second intermediate state

Claims

An apparatus (14) for changing an operating state of an autonomously operable agricultural machine (12), comprising: an input interface (26) for receiving a first enable signal from an operating element (24) located on the agricultural machine and for wirelessly receiving a second enable signal and a start signal from a remote control (16) located in a vicinity of the agricultural machine; and - a control unit (28) for presetting a new operating state (32, 34, 36, 40, 42) of the agricultural machine based on the first enable signal and the second enable signal, wherein - the control unit is configured, when the agricultural machine is in a safe operating state (32) in which it is operable only by an operator (22) on the agricultural machine, to preset a remote-controlled operating state (34) in which the agricultural machine is remotely controllable when first the first enable signal and then the second enable signal are received; and - the control unit is configured, when the agricultural machine is in the remote-controlled operating state, to preset an autonomous operating state (36) in which the agricultural machine operates autonomously when the start signal is received, wherein the autonomous operating state is only reachable when the remote-controlled operating state has been reached previously.The device (14) according to claim 1, wherein - the input interface (26) is configured to wirelessly receive a stop signal from the remote control (16); and - the control unit (28) is configured to preset the safe operating state (32) when the stop signal is received.The device (14) according to any one of the preceding claims, wherein the control unit (28) is configured to, when the agricultural machine (12) is in the safe operating state (32), preset the remote controlled operating state (34) when the second enable signal is received within a predefined time interval after the first enable signal.The device (14) according to any one of the preceding claims, wherein - the input interface (26) is configured to receive an operator signal from an operator (22) on the agricultural machine (12); and - the control unit (28) is configured to preset the safe operating state (32) when the operator signal is received.The apparatus (14) according to any of the preceding claims, wherein - the input interface (26) is configured to receive a first ready signal from a tool (20) of the agricultural machine (12) indicating that the tool is operational; and - the control unit (28) is configured to, when the agricultural machine is in the remote controlled operating state (34), specify the autonomous operating state (36) only when the first ready signal is received.The device (14) according to any of the preceding claims, wherein - the input interface (26) is configured to receive a second ready signal from a self-driving unit (23) of the agricultural machine (12), indicating that the self-driving unit (23) is ready to take over the control of the agricultural machine; and - the control unit (28) is configured to, when the agricultural machine is in the remote controlled operating state (34), specify the autonomous operating state (36) only when the second ready signal is received.The device (14) according to claim 6, wherein the control unit is configured to, when the agricultural machine (12) is in the remote controlled operating state (34), preset the autonomous operating state (36) only if the second ready signal is received within a predefined time interval.The device (14) according to any one of the preceding claims, wherein - the input interface (26) is configured to wirelessly receive a control take-over signal from the remote control (16); and - the control unit is configured to, when the agricultural machine (12) is in the autonomous operating state (36), preset the remote controlled operating state (34) when the control take-over signal is received.Device (14) according to one of the preceding claims, wherein the control unit (28) is designed, when the agricultural machine (12) is in the autonomous operating state (36), to initiate braking of the agricultural machine and to specify the remote-controlled operating state (34) only when the agricultural machine is in the standstill.The device (14) according to any of the preceding claims, wherein - the input interface (26) is configured to receive an error signal from the self-driving unit (23) of the agricultural machine (12) indicating that autonomous control of the agricultural machine is not possible; and - the control unit (28) is configured to, when the agricultural machine is in the autonomous operating state (36), preset the remote controlled operating state (34) when the error signal is received.Autonomously operable agricultural machine (12), comprising: - a device (14) according to one of the preceding claims; - an operating element (24) for operating the agricultural machine by an operator (22).Autonomously operable agricultural machine (12) according to claim 11, comprising: - a self-propelled driving unit (23) for controlling driving functions of the agricultural machine; and / or - a tool (20), in particular a field sprayer, for spraying out a substance.A system (10) for changing an operating state of an autonomously operable agricultural machine (12), comprising: - an autonomously operable agricultural machine (12) according to any one of claims 11 and 12 or a device (14) according to any one of claims 1 to 10; and - a remote control (16) for wirelessly transmitting signals to the device.Method for changing an operating state of an autonomously operable agricultural machine (12), wherein the agricultural machine is formed according to claim 11 or 12, comprising the steps of: - receiving (S10) a first enable signal from an operating element (24) located on the agricultural machine; - wirelessly receiving (S12) a second enable signal and a start signal from a remote control (16) located in a surrounding area of the agricultural machine; A setting (S14) of a new operating state (32, 34, 36, 40, 42) of the agricultural machine based on the first enable signal and the second enable signal, wherein - when the agricultural machine is in a safe operating state (32) in which it is operable only by an operator (22) on the agricultural machine, a remote controlled operating state (34) is set in which the agricultural machine is remotely controllable when first the first enable signal and then the second enable signal are received; and - when the agricultural machine is in the remote controlled operating state, an autonomous operating state (36) is set in which the agricultural machine operates autonomously when the start signal is received, wherein the autonomous operating state is only reachable when the remote controlled operating state has been reached previously.A computer program product having program code for performing the steps of the method of claim 14, when the program code is executed on a computer.

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