Agricultural machinery

Abstract

The present invention relates to an agricultural machine (1) for agricultural use on an agricultural field (2) which has a field area (13) and a headland area (10). The present invention is based on the general idea that an adjusting device (3) determines at least one headland track (12) depending on a predetermined positioning of the headland area (10) and predetermined dimensions of the headland area (10) and adjusts the agricultural machine (1) based on the determined headland track (12).

Description

[0001] The present invention relates to an agricultural working machine for agricultural use on an agricultural field, which has a field area and a headland area.

[0002] In modern agriculture, several different agricultural fields are worked with several and / or different agricultural machines, whereby the field areas and the headland areas are determined by the farmer before this processing.

[0003] From US 9,974,225 B2 a method for generating a discontinuous curvature end curve path for an agricultural vehicle is known, wherein the discontinuous curvature end curve path comprises a plurality of initial segments which are curved or straight, wherein at least one continuity segment is added between each of the initial segments, wherein the at least one continuity segment is a clothoid segment and the initial segments and the at least one continuity segment are combined to form and indicate a continuous curvature turnaround path at the end of the series.

[0004] According to US 9,974,225 B2, the generation of a discontinuous final curve path for an agricultural vehicle with respect to the headland is made possible locally, i.e. while driving on the agricultural field, but this generation can, for example, lead to field areas and / or headland areas of the agricultural field suddenly being used which do not correspond to the field areas and / or headland areas defined by the farmer before this processing.

[0005] The present invention is based on the object of providing an improved agricultural working machine which supports the farmer in the previously planned processing of the agricultural field, in particular counteracting undesirable and / or inappropriate travel on the agricultural field.

[0006] This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0007] The present invention is based on the general idea that an adjustment device determines at least one headland track depending on a predetermined positioning of the headland area and predetermined dimensions of the headland area and adjusts the agricultural work machine based on the determined headland track.

[0008] The agricultural work machine according to the invention is designed for agricultural use on an agricultural field having at least one field area and at least one headland area. This agricultural work machine has at least one attachment for cultivating the field area of ​​the agricultural field. The agricultural work machine can be designed as a self-propelled combine harvester with an attachment in the form of a front-mounted implement or as a self-propelled forage harvester with an attachment in the form of a front-mounted implement. The agricultural work machine can be designed as a tractor with at least one front-mounted implement and / or with at least one rear-mounted implement.

[0009] An adjustment device is arranged within the agricultural work machine, which is intended and configured to adjust the agricultural work machine based on measured operating parameters and satellite-based positioning information such that the agricultural work machine travels along multiple lanes within the field area, with two of these lanes each being connectable to one another by means of a headland lane to be determined within the headland area. "Configured" can be understood to mean that the adjustment device is designed and / or programmed for this purpose.

[0010] The adjustment device can be designed as a control and / or regulating device that effects an adjustment by controlling and / or regulating the agricultural work machine, in particular components of the agricultural work machine. The adjustment device can have a computing device and a data memory.

[0011] The agricultural work machine may have at least one measuring device for measuring the operating parameters of the agricultural work machine, in particular of components of the agricultural work machine and / or the environment of the agricultural work machine. The measuring device may have a sensor device.

[0012] The agricultural work machine can have a positioning device for satellite-based detection of a position of the agricultural work machine relative to the agricultural field in order to detect the satellite-based position information. The positioning device can be configured and / or programmed for position determination using satellite navigation signals, for example, to provide position data. At least one satellite device can be used to determine the position of the agricultural work machine relative to the agricultural field. The satellite device can comprise one and / or more GNSS satellites. The satellite device can comprise NAVSTAR-GPS, GLO-NASS, Galileo, Beidou, GPS, and / or Galileo satellites.The positioning device can be designed and / or programmed for position determination using the RTK (Real-Time Kinematic) method, which uses a so-called RTK signal from a stationary ground station in addition to the satellite signals to determine the position of the agricultural machine in the agricultural field. The stationary ground station can be located outside the agricultural field.

[0013] At least the following data is stored in the setting device, particularly in the internal data memory: a predefined positioning of the headland area within the agricultural field, predefined dimensions of this headland area, predefined lanes within the field area, and work machine parameters related to the implement. This data and / or information may have been stored in the setting device prior to cultivation of the agricultural field. The relevant data can be stored in conjunction with the satellite-based positioning information and / or operating parameters recorded by measurement technology.

[0014] The setting device is provided and configured to determine at least one headland track depending on the measured operating parameters, the satellite-based position information, the work machine parameter with regard to the attachment, the predetermined tracks, the predetermined positioning and predetermined dimensions of the headland area and to adjust the agricultural work machine based on the determined headland track.

[0015] This supports the farmer in his previously planned cultivation of the agricultural field in such a way that, in particular, undesirable and / or inappropriate travel on the agricultural field is prevented.

[0016] In an advantageous development of the solution according to the invention, it is provided that the work machine parameter relating to the attachment comprises the number of attachments of the agricultural work machine, and / or that the work machine parameter relating to the attachment comprises the type and / or design of the attachment of the agricultural work machine. The type and / or design of the attachment can refer to geometric dimensions of the attachment and / or operating modes of the attachment.

[0017] In an advantageous development of the solution according to the invention, it is provided that the work machine parameter with regard to the attachment indicates whether the attachment is designed as a front-mounted attachment or a rear-mounted attachment, wherein the setting device is provided and configured to ensure that, if the agricultural work machine has at least one rear-mounted attachment according to the work machine parameter, only headland tracks are considered when determining the headland track which exclusively show forward travel of the agricultural work machine and no reversing of the agricultural work machine.

[0018] In an advantageous development of the solution according to the invention, it is provided that the agricultural work machine has a driver's cab for a driver of the agricultural work machine, wherein an internal user interface is designed in the driver's cab such that the driver can set any headland lane, but the setting device is provided and configured to set the internal user interface such that the determined headland lane is presented to the driver for selection. The internal user interface can have a display or screen in order to visually present the determined headland lane to the driver for selection. This enables the driver to operate the agricultural work machine optimally in a simple and intuitive manner.The user interface can detect a touch of the display using sensors to determine a headland lane selection.

[0019] In an advantageous development of the solution according to the invention, the setting device is designed and configured to adjust the internal user interface in such a way that several determined headland lanes are displayed to the driver for selection. This allows the driver to select one of these determined headland lanes.

[0020] In an advantageous development of the solution according to the invention, it is provided that an internal user interface is designed in the driver's cab in such a way that the driver can set any headland area within the agricultural field and any dimensions of this headland area with respect to the agricultural field, but the setting device is provided and configured to set the internal user interface in such a way that the predetermined positioning of the headland area within the agricultural field and the predetermined dimensions of this headland area are displayed to the driver for selection, in particular visually visible by means of the display.

[0021] In an advantageous development of the solution according to the invention, it is provided that the setting device is provided and configured to store the headland lane last used before the agricultural work machine is switched off in data technology and, when the agricultural work machine is switched on, to set the internal user interface in such a way that, in addition to a determined headland lane, the last used headland lane, in particular the last used headland lane with respect to the agricultural field on which the agricultural work machine is located, is displayed to the driver for selection, in particular visually visible by means of the display.

[0022] In an advantageous development of the solution according to the invention, it is provided that the setting device is provided and configured to set the internal user interface in such a way that, in addition to the selection of the plurality of headland lanes, the driver is shown additional information regarding the selectable headland lane, in particular visually visible by means of the display.

[0023] In an advantageous development of the solution according to the invention, the additional information regarding the headland lanes relates to the area of ​​the headland area and / or the length of the headland lanes. This allows the driver to optimally select the headland lane.

[0024] In an advantageous development of the solution according to the invention, it is provided that the agricultural work machine has an external user interface outside the agricultural work machine for a farmer, wherein the setting device is provided and configured to set the external user interface in such a way that a message is displayed to the farmer if a headland lane determined by the setting device is not used and the driver sets a different headland lane.

[0025] The external user interface and the adjustment device can be communicatively connected to one another. A communicative connection can be understood here as a data connection, in particular a bidirectional or unidirectional data connection, between two communicatively connected components, with which electrical signals, in particular control signals and / or regulating signals and / or measurement signals, can be transmitted in analog and / or digital form. This communicative connection, in particular when there are more than two components, can form a bus system. Furthermore, these communicatively connected components can form a wired and / or wireless data connection.

[0026] In an advantageous development of the solution according to the invention, it is provided that the determined headland track forms an Ω-shaped headland track, and / or that the determined headland track forms a U-shaped headland track, and / or that the determined headland track forms a Y-shaped headland track, and / or that the determined headland track forms a K-shaped headland track. In contrast to the Y-shaped and K-shaped headland tracks, the Ω-shaped and U-shaped headland tracks do not involve reversing of the agricultural machine. An Ω-shaped headland track can be referred to as a keyhole turn.

[0027] In an advantageous development of the solution according to the invention, it is provided that the operating parameter recorded by measurement technology relates to crop information, weather information, location information, a further work machine parameter and / or an operating state of the agricultural work machine.

[0028] In an advantageous development of the solution according to the invention, it is provided that the adjusting device is provided and configured to adjust at least one attachment depending on the determined headland track.

[0029] In an advantageous development of the solution according to the invention, it is provided that the adjusting device is provided and configured to adjust at least one front-side attachment and / or one rear-side attachment depending on the determined headland track.

[0030] In an advantageous development of the solution according to the invention, it is provided that the adjustment device is provided and configured to partially, in particular partially asynchronously, adjust at least one attachment depending on the determined headland track, and / or that the adjustment device is provided and configured to adjust at least one front-mounted attachment asynchronously to a rear-mounted attachment depending on the determined headland track. An asynchronous adjustment can be understood as meaning that a first adjustment of a first part of the agricultural work machine takes place at a first point in time and a further adjustment of a further part of the agricultural work machine takes place at a further point in time.

[0031] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0032] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0033] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0034] They show, schematically, Fig. 1 a perspective side view of an agricultural working machine according to the invention during a straight-ahead journey in a field area, and Fig. 2 a plan view of the agricultural working machine according to the invention during straight-ahead travel in the field, and Fig. 3 a top view of several possible headland routes.

[0035] The Fig. 1 shows a perspective side view of an agricultural work machine 1 during agricultural use on an agricultural field 2, which is delimited by field boundaries 6, within which at least one field area 13 and at least one headland area 10 are formed. The field area 13 and the headland area 10 are symbolically shown separated from each other by an intermediate boundary 11.

[0036] The agricultural work machine 1 is embodied, for example, by a tractor 17 comprising a front-mounted attachment 18 and two rear-mounted attachments 19, 20. This agricultural work machine 1 has an internal combustion engine 5 that drives the agricultural work machine 1 straight ahead along a forward travel direction 47 such that the agricultural work machine 1 travels along a track 7 to cultivate the field area 13 of the agricultural field 2, thereby approaching the intermediate boundary 11 and the headland area 10. The front-mounted attachment 18 is positioned in front of the internal combustion engine 5 with respect to the forward travel direction 47, while the rear-mounted attachments 19, 20 are arranged behind the internal combustion engine 5 with respect to the forward travel direction 47. The two rear-mounted attachments 19, 20 can be spaced apart from one another transversely to the forward travel direction 47.Alternatively or additionally, the rear attachment can be designed as a multi-part attachment 19, 20.

[0037] The agricultural work machine 1 has a front linkage 21 for vertically positioning the front attachment 18 relative to the agricultural field 2. This front linkage 21 can be designed as a hydraulic front linkage. Furthermore, the agricultural work machine 1 has a rear coupling 22 for coupling the rear attachments 19, 20 to the tractor 17.

[0038] The agricultural work machine 1 has a driver's cab 4 with a steering device 43 for a driver 23 of the agricultural work machine 1, wherein in this driver's cab 4 an internal user interface 24 is designed such that the driver 23 can set a headland lane 12 which the agricultural work machine 1 follows in the headland area 10 in order to reach another nearest lane 8 of the field area 13.

[0039] The agricultural work machine 1 is provided and designed to determine satellite-based position information regarding the position of the agricultural work machine 1 within the agricultural field 2 by means of at least one satellite 33.

[0040] As in the Fig. 1, an adjusting device 3 is formed and arranged within the agricultural working machine 1, wherein this adjusting device 3 is subsequently described with reference to the Fig. 2 is explained.

[0041] The adjustment device 3 is provided and configured to adjust the agricultural working machine 1 as a function of measured operating parameters and satellite-based position information in such a way that the agricultural working machine 1 travels along several lanes 7, 8, 9 within the field area 13, wherein two of these lanes 7, 8, 9 can each be connected to one another by means of a headland lane 12 to be determined within the headland area 10.

[0042] One or more operating parameters recorded by measurement can be stored in the form of a data set 46 in the internal data memory 26 and / or a further external data memory 37 and can relate to crop information 27, weather information 28, location information 29, a further work machine parameter 31 and / or an operating state 32 of the agricultural work machine 1.

[0043] In the setting device 3, a predetermined positioning of the headland area 10 within the agricultural field 2, predetermined dimensions of this headland area 10, predetermined lanes 7, 8, 9 within the field area 13 and work machine parameters relating to the attachment 18, 19, 20 are stored in data technology, e.g. in the internal data memory 26 within the agricultural work machine 1.

[0044] The setting device 3 is provided and configured to determine at least one headland track 12 as a function of the measured operating parameters, the satellite-based position information, the work machine parameter with regard to the attachment 18, 19, 20, the predetermined tracks 7, 8, 9, the predetermined positioning and predetermined dimensions of the headland area 10 and to adjust, in particular to control and / or regulate, the agricultural work machine 1 based on the determined headland track 12.

[0045] The work machine parameter can relate to the number of attachments 18, 19, 20 and / or the type and / or design of the attachment 18, 19, 20. By means of the work machine parameters relating to the attachment 18, 19, 20, it can be detected whether the attachment 18, 19, 20 is a front-mounted attachment 18 or a rear-mounted attachment 19, 20. The setting device 3 is provided and configured so that, if the agricultural work machine 1 has at least one rear-mounted attachment 19, 20 according to the work machine parameter, only headland tracks 12 are considered when determining the headland track 12 that exclusively involve forward travel of the agricultural work machine 1. This can be, for example, an Ω-shaped headland track (12) and / or a U-shaped headland track.

[0046] The setting device 3 can be provided and configured to set the internal user interface 24, which has an internal display 25, in such a way that at least one or more determined headland lanes 12 are displayed to the driver 23 for selection.

[0047] The user interface 24 internal to the driver's cab 4 can be additionally configured such that the driver 23 can set any desired headland area 10 within the agricultural field 2 and any desired dimensions of this headland area 10 with respect to the agricultural field 2, wherein the setting device 3 is provided and configured to set the internal user interface 24 such that the predetermined positioning of the headland area 10 within the agricultural field 2 and the predetermined dimensions of this headland area 10 are displayed to the driver 23 for selection.

[0048] The setting device 3 can be provided and configured to store the headland lane 12 last used before the agricultural work machine 1 is switched off in data technology and, when the agricultural work machine 1 is switched on, to set the internal user interface 24 in such a way that the driver 23 is shown the last used headland lane 12 for selection in addition to a determined headland lane 12.

[0049] The agricultural work machine 1 has an external user interface 34, which is designed outside the agricultural work machine 1 for a farmer 42 and has an external display 35 and an external data memory 36. The setting device 3 is provided and configured to set this external user interface 34 such that a message is displayed to the farmer 42 if a headland lane 12 determined by the setting device 3 is not used and the driver 23 sets a different headland lane 12. For this purpose, the external user interface 34 and the setting device 3 can be communicatively connected to one another by means of at least one wireless data connection.

[0050] In the Fig. 3 shows a comparison of several different headland situations 38, 39, 40, 41. A longitudinal axis 44 and a transverse axis 45 are arranged perpendicularly and / or orthogonally to each other, with the longitudinal axis 44 being aligned parallel to each lane 7, while the transverse axis 45 is aligned parallel to the field boundary 6.

[0051] The first headland situation 38 relates to an agricultural machine 1 having a front-mounted implement 18 and two rear-mounted implements 19, 20 for agriculturally cultivating parts 14 and 15 of field area 13 while traveling along lane 7 and the other, nearest lane 8. In this case, the adjustment device 3 has determined an optimal Ω-shaped headland lane 12.

[0052] The second headland situation 39 concerns an agricultural machine 1 having a front-mounted implement 18 and two rear-mounted implements 19, 20 for agriculturally cultivating parts 14 and 16 of field area 13 while traveling along lane 7 and the other, not closest, lane 9. In this case, the adjustment device 3 has determined an optimal U-shaped headland lane 12.

[0053] The third headland situation 40 concerns an agricultural machine 1 that has a front-mounted attachment 18 but no rear-mounted attachment for agriculturally cultivating parts 14 and 15 of the field area 13 while traveling along lane 7 and the other, nearest lane 8. In this case, the adjustment device 3 has determined an optimal Y-shaped headland lane 12.

[0054] The fourth headland situation 41 concerns an agricultural machine 1 that has a front-mounted attachment 18 but no rear-mounted attachment for agriculturally cultivating parts 14 and 15 of field area 13 while traveling along lane 7 and the other, nearest lane 8. In this case, the adjustment device 3 has determined an optimal K-shaped headland lane 12.

[0055] It is in the Fig. 3 clearly shows that the headland lane 12 and the area of ​​the headland area 10 between the field boundary 6 and the intermediate boundary 11 are completely different in the headland situations 38, 38, and 40. Although the headland situations 40 and 41 have an identically sized headland area 10, the type and length of the headland lanes 12 are different.

[0056] The adjustment device 3 can be provided and configured to adjust the internal user interface 24 such that, in addition to the selection option of the multiple headland lanes 12, the driver 23 is presented with additional information regarding each of these selectable headland lanes 12. This additional information can relate to the area of ​​the headland area 10 and / or the length of the headland lanes 12 in order to assist the driver 23 in selecting the optimal headland lane 12. List of reference symbols 1 agricultural work machine 2 agricultural field 3 Adjustment device 4 Driver's cab 5 combustion engine 6 Field boundary 7 lanes 8 further nearest lane 9 additional lanes 10 Headland area 11 Intermediate limit 12 headland lane 13 Field area 14 Part of the field area 15 further nearest part of the field area 16 further part of the field area 17 tractors 18 front attachment 19 Rear attachment 20 additional rear attachments 21 Front linkage 22 Rear coupling 23 drivers 24 internal user interface 25 internal display 26 internal data storage 27 Crop information 28 weather information 29 Location information 30 field information 31 Working machine parameters 32 operating states 33 Satellite 34 external user interface 35 external display 36 external data storage 37 additional external data storage 38 First headland situation 39 Second headland situation 40 Third headland situation 41 Fourth headland situation 42 farmer 43 Steering device 44 Longitudinal axis 45 Transverse axis 46 data sets 47 Forward direction QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 9,974,225 B2 [0003, 0004]

Claims

[1] Agricultural work machine (1) for agricultural use on an agricultural field (2), which has a field area (13) and a headland area (10), - with at least one attachment (18, 19, 20) for cultivating the field area (13) of the agricultural field (2), - with an adjustment device (3) arranged within the agricultural working machine (1), which is provided and designed to adjust the agricultural working machine (1) as a function of measured operating parameters and satellite-based position information in such a way that the agricultural working machine (1) travels several lanes (7, 8, 9) within the field area (13), two of these lanes (7, 8, 9) being connectable to one another by means of a headland lane (12) to be determined within the headland area (10), characterized by , - that a predetermined positioning of the headland area (10) within the agricultural field (2), predetermined dimensions of this headland area (10), predetermined lanes (7, 8, 9) within the field area (13) and working machine parameters relating to the attachment (18, 19, 20) are stored in the setting device (3), - wherein the setting device (3) is provided and configured to determine at least one headland track (12) as a function of the operating parameters recorded by measurement, the satellite-based position information, the work machine parameter with regard to the attachment (18, 19, 20), the predetermined tracks (7, 8, 9), the predetermined positioning and predetermined dimensions of the headland area (10) and to adjust the agricultural work machine (1) based on the determined headland track (12). [2] Agricultural working machine (1) according to claim 1, characterized by , - that the work machine parameter relating to the attachment (18, 19, 20) comprises the number of attachments (18, 19, 20) of the agricultural work machine (1), and / or - that the work machine parameter with respect to the attachment (18, 19, 20) comprises the type and / or design of the attachment (18, 19, 20) of the agricultural work machine (1). [3] Agricultural working machine (1) according to claim 1 or 2, characterized by , - that the working machine parameter with respect to the attachment (18, 19, 20) indicates whether the attachment (18, 19, 20) is a front-side attachment (18) or a rear-side attachment (19, 20), - wherein the setting device (3) is provided and configured, if the agricultural working machine (1) has at least one rear-mounted attachment (19, 20) according to the working machine parameter, that when determining the headland track (12), only headland tracks (12) are considered which exclusively show forward travel of the agricultural working machine (1). [4] Agricultural working machine (1) according to one of the preceding claims, characterized by , - that the agricultural working machine (1) has a driver's cab (4) for a driver (23) of the agricultural working machine (1), - wherein an internal user interface (24) is designed in the driver's cab (4) such that the driver (23) can set any headland track (12), - wherein the setting device (3) is provided and configured to set the internal user interface (24) such that the determined headland lane (12) is displayed to the driver (23) for selection. [5] Agricultural working machine (1) according to one of the preceding claims, characterized by that the setting device (3) is provided and configured to set the internal user interface (24) in such a way that several determined headland tracks (12) are displayed to the driver (23) for selection. [6] Agricultural working machine (1) according to claim 4 or 5, characterized by , - that the user interface (24) internal to the driver's cab (4) is designed such that the driver (23) can set any headland area (10) within the agricultural field (2) and any dimensions of this headland area (10) with respect to the agricultural field (2), - wherein the setting device (3) is provided and configured to set the internal user interface (24) such that the predetermined positioning of the headland area (10) within the agricultural field (2) and the predetermined dimensions of this headland area (10) are presented to the driver (23) for selection. [7] Agricultural working machine (1) according to one of claims 4 to 6, characterized by that the setting device (3) is provided and set up to store the headland lane (12) last used before the agricultural work machine (1) is switched off in data technology and to set the internal user interface (24) when the agricultural work machine (1) is switched on in such a way that the driver (23) is shown the last used headland lane (12) for selection in addition to a determined headland lane (12). [8] Agricultural working machine (1) according to one of claims 4 to 7, characterized by in that the setting device (3) is provided and configured to set the internal user interface (24) in such a way that, in addition to the selection of the plurality of headland lanes (12), the driver (23) is shown additional information relating to the selectable headland lane (12). [9] Agricultural working machine (1) according to claim 8, characterized by that the additional information regarding the headland lanes (12) concerns the area size of the headland area (10) and / or the length of the headland lanes (12). [10] Agricultural working machine (1) according to one of the preceding claims, characterized by , - that the agricultural working machine (1) has an external user interface (34) outside the agricultural working machine (1) for a farmer (42), - wherein the setting device (3) is provided and configured to set the external user interface (34) in such a way that a message is displayed to the farmer (42) if a headland lane (12) determined by the setting device (3) is not used and the driver (23) sets a different headland lane (12). [11] Agricultural working machine (1) according to one of the preceding claims, characterized by , - that the determined headland track (12) forms an Ω-shaped headland track (12), and / or - that the determined headland lane (12) forms a U-shaped headland lane (12), and / or - that the determined headland lane (12) forms a Y-shaped headland lane (12), and / or - that the determined headland track (12) forms a K-shaped headland track (12). [12] Agricultural working machine (1) according to one of the preceding claims, characterized by that the operating parameter recorded by measurement technology relates to crop information (27), weather information (28), location information (29), a further work machine parameter (31) and / or an operating state (32) of the agricultural work machine (1). [13] Agricultural working machine (1) according to one of the preceding claims, characterized by that the adjusting device (3) is provided and arranged to adjust at least one attachment (18, 19, 20) depending on the determined headland track (12). [14] Agricultural working machine (1) according to one of the preceding claims, characterized bythat the adjusting device (3) is provided and designed to adjust at least one front-side attachment (18) and / or one rear-side attachment (19, 20) depending on the determined headland track (12). [15] Agricultural working machine (1) according to one of the preceding claims, characterized by , - that the adjusting device (3) is provided and set up to partially, in particular partially asynchronously, adjust at least one attachment (18, 19, 20) depending on the determined headland track (12), and / or - that the adjusting device (3) is provided and designed to adjust at least one front-mounted implement (18) asynchronously to a rear-mounted implement (19, 20) as a function of the determined headland track (12).

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