Agricultural machinery

Abstract

The present invention relates to an agricultural machine (1) with a chassis (3) and a cabin (8) arranged on the chassis (3). The agricultural machine (1) includes a control unit (12) which is designed and configured to operate the agricultural machine (1) in an autonomous operating mode (B A ) to operate. The agricultural machine (1) comprises at least two sensor systems (13) for detecting objects in the environment (U) of the agricultural machine (1), each with at least one sensor (14, 14.1, 14.2, 14.3), wherein the sensor systems (13) are each connected to the control unit (12) for transmitting sensor data. The agricultural machine (1) is characterized in that the control unit (12) is designed and configured to operate the agricultural machine (1) in autonomous operating mode (B). A) based on sensor data provided by at least one of the sensor systems (13), wherein the sensor systems (13) are based on different sensor technologies.

Description

[0001] The present invention relates to an agricultural working machine, in particular a tractor, according to the preamble of independent patent claim 1.

[0002] In modern agriculture, there are always efforts to increase the productivity and efficiency of work processes. As a result of these efforts, the topic of "autonomy" has increasingly become a focus of attention in agriculture in recent years. There is a desire to be able to use agricultural machines that can carry out a work task on the farm and / or in a field autonomously, i.e., without an operator having to intervene in the control of the agricultural machine. Some concepts for such agricultural machines, which can be operated in an autonomous mode, do not include a cab mounted on the chassis of the machine, so the machine always operates unmanned.Other concepts, however, still provide for a cabin, which makes it possible to implement not only an autonomous operating mode but also a manual operating mode in which an operator in the cabin intervenes in the control of the agricultural machine at least temporarily.

[0003] A key aspect of operating an agricultural machine in autonomous mode is monitoring the machine's surroundings. Safety-critical operating situations can arise, particularly in the machine's surroundings, in which the agricultural machine must react immediately and independently in autonomous mode. To monitor the machine's surroundings, suitable sensors must be provided on the machine. An agricultural machine with such sensors is known, for example, from EP 3 871 481 A1.

[0004] EP 3 871 481 A1 specifically relates to an agricultural vehicle with a front LIDAR sensor that scans a field area ahead, i.e., an area in front of the vehicle toward which the vehicle is moving, and a rear LIDAR sensor that scans a field area behind the vehicle, i.e., a rear area in which the vehicle has previously moved. The vehicle has a GPS system that provides a position and coordinates of the scanned field area in front of and behind the vehicle. A computing unit compares the sensor data of the field areas in front of and behind the vehicle to provide autonomous guidance to the vehicle and / or to automate the agricultural work performed by the vehicle.

[0005] Particularly important in the context of avoiding safety-critical operating situations and thus ensuring safe operation of the work machine in autonomous mode is the detection of objects in the vicinity of the agricultural work machine, as collisions between the agricultural work machine and objects in the vicinity of the work machine that are not crops or work materials must be avoided at all costs. Particularly for agricultural work machines that can be operated in an autonomous mode and are based on a classic machine architecture with a cabin, reliable detection of objects in all potentially occurring operating situations and environmental conditions during operation of the agricultural work machine presents certain challenges for the sensor technology.

[0006] Based on this, it is therefore the object of the present invention to eliminate the described disadvantages of the prior art and, in particular, to ensure reliable and robust detection of objects in the environment of an agricultural work machine with a cabin that can be operated in an autonomous operating mode.

[0007] This object is achieved according to the invention by the features of independent patent claim 1, wherein advantageous developments of the agricultural working machine according to the invention are the subject of the corresponding dependent patent claims 2 to 11.

[0008] Accordingly, the present invention relates to an agricultural work machine, in particular a tractor, having a chassis and a cab arranged on the chassis. The agricultural work machine comprises a control device designed and configured to operate the agricultural work machine in an autonomous operating mode. The agricultural work machine comprises at least two sensor systems for detecting objects in the environment of the agricultural work machine, each having at least one sensor, wherein the sensor systems are each connected to the control device for transmitting sensor data.The agricultural work machine is characterized in that the control device is provided and configured to control the agricultural work machine in autonomous operating mode based on sensor data provided by at least one of the sensor systems, wherein the sensor systems are based on different sensor technologies.

[0009] The use of at least two sensor systems based on different sensor technologies ensures reliable and robust object detection in all operating situations and environmental conditions for agricultural machines with a cabin that can be operated in an autonomous mode, i.e., machines that feature a classic architecture. Due to the presence of the cabin, the machine geometry is generally significantly more complex than for machines without a cabin. A complex machine geometry, in turn, ensures that certain areas in the vicinity of the machine may not be detected, or only inadequately, with sensors using only one specific sensor technology. Objects in these areas in the vicinity of the machine may therefore not be detected by this one sensor system.The use of multiple sensor systems based on different sensor technologies allows the weaknesses of one sensor technology to be compensated for by another sensor technology, thus enabling object detection in all areas surrounding the machine, even with complex machine geometries, operating situations, and environmental conditions. Furthermore, object detection can be ensured by using multiple sensor systems based on different sensor technologies. In the event that, for example, one sensor system fails, at least one additional sensor system is available, which can ensure the continued operation of the agricultural machine in autonomous mode, at least for a short time.

[0010] According to an advantageous development of the invention, it is provided that at least one of the sensor systems is based on a sensor technology which allows the detection of objects in the environment of the agricultural work machine independently of external environmental influences.

[0011] Agricultural machinery often operates in environments where high levels of dirt particles, such as dust, impact the machine during operation. Such dirt particles also accumulate on the sensors of the sensor systems designed to detect objects, which is problematic for at least some sensor technologies. If there are sufficient dirt particles on a surface of these sensors required for detection, the sensor may no longer function properly, meaning that objects can no longer be detected reliably. The same applies, for example, to changes in lighting conditions. With other sensor technologies, however, the accumulation of dirt particles or a change in lighting conditions does not lead to a loss of function.The use of a sensor technology that fundamentally allows the detection of objects in the vicinity of the work machine regardless of external environmental influences, thus reveals its advantages particularly in adverse conditions and allows reliable detection of objects even then.

[0012] According to an advantageous development of the invention, it is provided that at least one of the sensor systems is based on a sensor technology which allows the detection of objects in the wider environment of the agricultural work machine.

[0013] The ability to detect objects in the wider vicinity of the work machine is a significant advantage considering the reaction time of the agricultural work machine in autonomous operating mode. If objects are detected in the wider vicinity of the work machine, the work machine can react early and does not have to act immediately according to an emergency routine, as would be the case if the object were only detected in the immediate vicinity of the work machine. This allows for better protection of the work process and minimizes downtime.

[0014] According to an advantageous development of the invention, it is provided that at least one of the sensor systems is based on a sensor technology which provides sensor data which allows a classification of objects detected in the environment of the agricultural work machine by means of the control device.

[0015] Preferably, the control device is provided and configured to carry out a multi-stage classification of the sensor data, wherein in a first stage a distinction is made between living and non-living objects.

[0016] A particularly important aspect in the context of object detection in autonomous operating mode is the detection of living objects in the vicinity of the agricultural machine. Living objects must be reliably identifiable, and the machine must react reliably when detecting living objects in autonomous operating mode, for example, by stopping the machine immediately, as a collision with living objects has serious consequences. However, not every sensor technology allows for consistently reliable object classification.The use of a sensor system based on a sensor technology that can provide sensor data that allows reliable object classification between living and non-living ensures that the operation of the work machine in autonomous mode is possible in all areas without the need for additional safety mechanisms, for example through operator involvement.

[0017] According to an advantageous development of the invention, it is provided that the agricultural working machine comprises three sensor systems for detecting objects in the environment of the agricultural working machine, each with at least one sensor.

[0018] The use of three sensor systems based on different sensor technologies increases the level of security in autonomous operating mode. If, for example, one sensor system fails, two additional sensor systems are available to maintain the operation of the agricultural machine. Furthermore, the accuracy of object detection is increased.

[0019] Preferably, one sensor system is arranged on the chassis of the agricultural work machine and two sensor systems are arranged on the cab of the agricultural work machine.

[0020] According to an advantageous development of the invention, it is provided that the sensor system arranged on the chassis is arranged at the front of the agricultural work machine on the chassis, one of the sensor systems arranged on the cabin is arranged on the cabin roof and the other of the sensor systems arranged on the cabin is arranged to the side of the cabin and / or on the cabin roof.

[0021] Preferably, the sensor system arranged on the chassis is arranged on a front mounting frame of the chassis.

[0022] Preferably, one of the sensor systems arranged on the cabin is arranged on the cabin roof in the front and / or rear area of ​​the cabin.

[0023] Preferably, it is provided that the other of the sensor systems arranged on the cabin is arranged to the side of the cabin in the area of ​​the A-pillars of the cabin and in the vehicle height direction in the area of ​​a lower half of the cabin and / or on the cabin roof in the front area of ​​the cabin.

[0024] The arrangement of sensor systems on the chassis and cab, especially at specific positions, ensures that the surroundings of the agricultural machine can be fully monitored despite complex machine geometry. The arrangement of all sensors of a sensor system on the chassis or cab also ensures that there is essentially no relative movement between the sensors of a sensor system. This minimizes the computational effort for the control system and improves the results and accuracy of object detection.

[0025] According to an advantageous development of the invention, it is provided that the sensor systems are based on RaDAR technology, LiDAR technology or camera technology.

[0026] The aforementioned RaDAR, LiDAR and camera technologies represent advantageous sensor technologies for object detection, each with different strengths but with overall balanced characteristics, which means that each technology is fundamentally suitable for the detection of objects on its own, regardless of their class.

[0027] According to an advantageous development of the invention, it is provided that the sensor system arranged on the chassis is based on RaDAR technology, one of the sensor systems arranged on the cabin is based on camera technology and the other of the sensor systems arranged on the cabin is based on LiDAR technology.

[0028] The use of RaDAR technology, LiDAR technology and camera technology for the sensor systems, each with its own distinct strengths, in combination with the specific positioning of the respective sensor system in the area where the respective sensor technology can best exploit its strengths in terms of object detection in light of the machine geometry, ensures that objects can be detected overall in all operating situations and in all environmental conditions, taking into account the efficient use of available resources, and thus the agricultural machine can always react appropriately and quickly in autonomous operating mode, without operator intervention.

[0029] According to an advantageous development of the invention, it is provided that the control device is provided and configured to process the sensor data provided by the sensor systems redundantly or jointly for the detection of objects in the environment of the agricultural work machine.

[0030] The present invention is described in more detail below with reference to the embodiments shown in the figures.

[0031] They show: Fig. 1 a schematic and exemplary representation of an agricultural working machine according to the invention, which can be operated both in a manual operating mode and in an autonomous operating mode; Fig. 2 a schematic and exemplary representation of a front area of ​​a cabin of the agricultural work machine according to Fig. 1 with sensors of several sensor systems for detecting objects in the vicinity of the agricultural machine; and Fig. 3 a schematic and exemplary representation of a rear area of ​​the cabin of the agricultural working machine according to Fig. 1 with sensors of a sensor system for detecting objects in the vicinity of the agricultural machine; and Fig. 4 a schematic and exemplary representation of a lateral area of ​​the cabin of the agricultural work machine according to Fig. 1 with sensors from several sensor systems for detecting objects in the vicinity of the agricultural machine.

[0032] Fig. Fig. 1 shows an agricultural working machine 1 according to the invention in the form of a tractor 2 in a schematic and exemplary representation, wherein the basic structure of an agricultural working machine 1 designed as a tractor 2 is considered to be known to the person skilled in the art. The agricultural working machine 1 according to the invention can be spatially defined by means of three extension directions, which are defined by a coordinate system in Fig. 1 are identified by way of example. The first direction of extension is the longitudinal direction of the agricultural machine 1, hereinafter also referred to as the vehicle longitudinal direction F L which runs in the x-axis direction, the second extension direction is the width direction of the agricultural work machine 1, hereinafter also referred to as vehicle width direction F Bwhich runs in the y-axis direction, and the third extension direction is the height direction of the agricultural work machine 1, hereinafter also referred to as vehicle height direction F H which runs in the z-axis direction.

[0033] The agricultural work machine 1 comprises, among other things, a chassis 3, ground engagement means 4, which are assigned to a front axle 5 and a rear axle 6 and are shown in the figures in the form of crawler tracks, an engine hood 7 arranged on the chassis 3, and a cabin 8 arranged on the chassis 3 with a cabin roof 9, which extends from the front area 10 of the cabin 8 to the rear area 11 of the cabin 8. The cabin 8 can be arranged on the chassis 3 by means of damping elements (not shown in the figures). An operator of the agricultural work machine 1 (not shown in the figures) can be located in the cabin 8 to control the same. For this purpose, one or more operating and control devices (also not shown in the figures) for operating and controlling the agricultural work machine 1 are usually provided within the cabin 8.

[0034] It is now essential for the agricultural working machine 1 according to the invention that it can be operated not only in a manual operating mode B M , i.e. an operating mode in which during the operation of the agricultural working machine 1 at least temporarily an intervention by the operator in the control of the agricultural working machine 1, but also in an autonomous operating mode B A can be operated. The autonomous operating mode B Aof the agricultural work machine 1 is defined within the scope of the invention as an operating mode which, during operation of the agricultural work machine 1, does not require any intervention by the operator in the control of the agricultural work machine 1, neither for the drive and track guidance of the agricultural work machine 1 nor for the control of work units (not shown in the figures) for executing work orders. The autonomous operating mode B A The agricultural working machine 1 according to the invention therefore corresponds to the operation of an unmanned autonomous agricultural working machine.

[0035] In order for the agricultural machine 1 to operate in autonomous operating mode B Acan be operated, the agricultural working machine 1 comprises a control device 12. This control device 12 is therefore intended and set up to operate the agricultural working machine 1 in the autonomous operating mode B A The control device 12 is intended and configured to receive various data from various data sources wirelessly and / or wired and to use these to control the agricultural work machine 1 in autonomous operating mode B A The control device 12 can also be provided and configured to receive and process data required for control in manual operating mode B M of the agricultural work machine 1. However, a control device separate from the control device 12 can also be provided for this purpose.

[0036] An essential aspect for the operation of the agricultural machine 1 in autonomous operating mode B A , regardless of the location, for example on a farm, on public roads and paths and / or in a field, the agricultural working machine 1 in autonomous operating mode B A is operated is the detection of objects in the environment U of the agricultural work machine 1. In order for the detection of objects in the environment U of the agricultural work machine 1 to be possible, it is necessary that the agricultural work machine 1 comprises a sensor system.

[0037] The agricultural work machine 1 according to the invention comprises at least two sensor systems 13 for detecting objects in the environment U of the agricultural work machine 1. Each sensor system 13 comprises at least one sensor 14. Each sensor system 13 with at least one sensor 14 is further based on a specific sensor technology. In other words, the sensor(s) 14 of a sensor system 13 are sensors 14 of the same sensor technology. Each sensor system 13 is connected to the control device 12 for transmitting sensor data. The control device 12 is thus provided and configured to operate the agricultural work machine 1 in autonomous operating mode B based on sensor data provided by at least one of the sensor systems 13. Ato control, thus depending on the object situation in the environment U of the agricultural machine 1. In order for the operation of the agricultural machine 1 in the autonomous operating mode B A In order to ensure that the detection can be carried out in all potentially occurring operating situations and under all potentially occurring environmental conditions / influences, the sensor systems 13 are based on different sensor technologies. Different sensor technologies have different strengths and weaknesses, so that when using only one sensor system based on only one sensor technology, it may not be possible to detect objects in the environment U of the agricultural work machine 1 in all operating situations and / or under all environmental conditions / influences, and thus to operate the agricultural work machine 1 in autonomous operating mode B. Acould be reliably ensured. This circumstance can be taken into account by using at least two sensor systems 13 based on different sensor technologies.

[0038] The control device 12 can be provided and configured to process the sensor data provided by the sensor systems 13 for detecting objects in the environment U of the agricultural work machine 1 either redundantly or jointly. With redundant processing, the sensor data from different sensors 14 and / or different sensor systems 13 are each analyzed individually for objects in the environment U of the agricultural work machine 1, thereby enabling security when detecting objects in the environment U of the agricultural work machine 1. With joint processing, the sensor data from different sensors 14 and / or different sensor systems 13 are interwoven, and an enriched data set resulting therefrom is then analyzed for objects in the environment U of the agricultural work machine 1, thereby increasing the accuracy of object detection.

[0039] To ensure operational safety in autonomous operating mode B A To further increase the detection efficiency, it can also be provided that the agricultural working machine 1 comprises a further sensor system 13 for detecting objects in the environment U of the agricultural working machine 1 with at least one sensor 14, thus three sensor systems 13. Such an embodiment is exemplified in Fig. 1. This further sensor system 13 is also connected in such an embodiment to the control device 12 for transmitting sensor data, so that the control device 12 is provided and configured for controlling the agricultural work machine 1 in autonomous operating mode B ASensor data from this additional sensor system 13 must also be taken into account. Even in a configuration with the additional sensor system 13, i.e., with three sensor systems 13, the sensor systems 13 are based on different sensor technologies. This means that each of the three sensor systems 13 used is based on its own sensor technology, which is different from the sensor technology of the other sensor systems 13 used.

[0040] The sensor technologies on which the sensor systems 13 are based are preferably RaDAR technology, LiDAR technology, or camera technology. In other words, if a sensor system 13 is based on RaDAR technology, all of the sensors 14 of this sensor system 13 are RaDAR sensors 14.1. If, however, a sensor system 13 is based on LiDAR technology, all of the sensors 14 of this sensor system 13 are LiDAR sensors 14.2. If a sensor system 13 is based on camera technology, all of the sensors 14 of this sensor system 13 are camera sensors 14.3, in particular mono cameras and / or stereo cameras.

[0041] For reliable detection of objects in the environment U of the agricultural machine 1 in autonomous operating mode B AIt is advantageous to select the sensor technologies of the sensor systems 13 according to certain criteria. It is particularly advantageous if at least one of the sensor systems 13 is based on a sensor technology that allows the detection of objects in the surrounding area U of the agricultural work machine 1, independent of external environmental influences. Alternatively or additionally, it is particularly advantageous if at least one of the sensor systems 13 is based on a sensor technology that allows the detection of objects in the wider surrounding area of ​​the agricultural work machine 1, preferably an area with a radius of up to 32 m from the agricultural work machine 1.Furthermore, it is alternatively or additionally particularly advantageous if at least one of the sensor systems 13 is based on a sensor technology that provides sensor data that allows a classification of objects detected in the environment U of the agricultural work machine 1 by means of the control device 12. The control device 12 can use various methods or algorithms to classify detected objects, which are optionally based on conventional object recognition or artificial intelligence. Preferably, the control device 12 uses a self-learning artificial neural network to classify detected objects.

[0042] With reference to the previously mentioned preferred criteria for selecting the sensor technology and the preferred sensor technologies RaDAR technology, LiDAR technology, and camera technology, a sensor system 13 based on RaDAR technology demonstrates its strengths particularly in the detection of objects in the environment U of the agricultural work machine 1, independent of external environmental influences. However, a sensor system 13 based on RaDAR technology exhibits weaknesses, for example, when an object classification is to be carried out based on the sensor data by means of the control device 12. A sensor system 13 based on camera technology, on the other hand, provides sensor data that is particularly well suited for carrying out a classification of detected objects.A sensor system 13 based on camera technology, however, has weaknesses, for example, when detecting objects that are supposed to be independent of external environmental influences. A sensor system 13 based on LiDAR technology is particularly well suited for detecting objects in the wider environment of the agricultural machine 1. However, weaknesses of a sensor system 13 based on LiDAR technology include, for example, the high investment costs and the required installation space.

[0043] If the control device 12 receives sensor data from a sensor system 13 that allows a classification of detected objects, the control device 12 is designed and configured to subject this sensor data to a multi-stage classification. A particularly relevant aspect in the context of object detection in autonomous operating mode B AThe aim is to reliably identify living objects in the environment U of the agricultural work machine 1, since upon detection of living objects, operation must be immediately interrupted or stopped. The control device 12 is therefore intended and configured to distinguish only between living and non-living objects in a first stage of classifying detected objects in the environment U of the agricultural work machine 1. Further subsequent stages of the classification, which can be carried out by means of the control device 12, can then enable a distinction to be made between different classes of living and non-living objects.

[0044] As already described, according to one embodiment, the agricultural work machine 1 can comprise three sensor systems 13 for detecting objects in the environment U of the agricultural work machine 1, each having at least one sensor 14, wherein the three sensor systems 13 are based on different sensor technologies. In such an embodiment, it is preferably provided that one sensor system 13 is arranged on the chassis 3 of the agricultural work machine 1 and the two further sensor systems 13 are each arranged on the cabin 8 of the agricultural work machine 1. The sensor system 13 arranged on the chassis 3 can, as shown, be arranged on the front of the agricultural work machine 1 on the chassis 3, preferably on a front attachment frame 15 of the chassis 3. One of the two sensor systems 13 arranged on the cabin 8 can be arranged on the cabin roof 10, preferably in the front area 10 and / or rear area 11 of the cabin 8.The other of the two sensor systems 13 arranged on the cabin 8 can be arranged to the side of the cabin 8, preferably in the area of ​​the A-pillars of the cabin 8 and in the vehicle height direction F. H seen in the lower half of the cabin 8, and / or on the cabin roof 9, preferably in the front area 10 of the cabin 8. The sensor system 13 arranged on the chassis 3 is preferably a sensor system 13 based on RaDAR technology. The two sensor systems 13 arranged on the cabin 8 are therefore preferably sensor systems 13 based on LiDAR technology and camera technology. The sensors 14 of the sensor systems 13 can preferably be arranged on the chassis 3 or the cabin 8 by means of bracket structures 16. If such bracket structures 16 are provided, the sensors 14 are attached to the bracket structures 16 and the bracket structures 16 are attached either to the chassis 3 or to the cabin 8.

[0045] In the embodiment shown in the FIGS., the sensor system 13 based on RaDAR technology arranged on the chassis 3 comprises four RaDAR sensors 14.1, two of which are arranged in the vehicle's longitudinal direction F L are arranged on the right and left sides of the bonnet 7 on the front mounting frame 15 of the chassis 3. The sensor system 13 based on LiDAR technology arranged on the cabin 8 comprises three LiDAR sensors 14.2, of which two LiDAR sensors 14.2 are arranged laterally in the area of ​​the A-pillars of the cabin 8 and in the vehicle height direction F Hseen in the lower half of the cabin 8 and a LiDAR sensor 14.2 are arranged on the cabin roof 9 in the front area 10 of the cabin 8. The camera technology-based sensor system 13 arranged on the cabin 8 comprises eight camera sensors 14.3. Five of these camera sensors 14.3 are arranged in the front area 10 of the cabin 8 along a front roof edge 17, with at least some of these camera sensors 14.3 being spaced apart from one another. Three of these camera sensors 14.3 are arranged in the rear area 11 of the cabin 8 along a rear roof edge 18, all of which are spaced apart from one another.

[0046] Finally, it should be noted that the embodiments described above serve only to describe the claimed teaching, but are in no way to be regarded as limiting or exhaustive. List of reference symbols 1 agricultural work machine 2 tractors 3 chassis 4 Ground intervention means 5 front axle 6 Rear axle 7 Bonnet 8 cabins 9 Cabin roof 10 Front area of ​​the cabin 11 Rear area of ​​the cabin 12 Control device 13 Sensor system 14 Sensor 14.1 RaDAR sensor 14.2 LiDAR sensor 14.3 Camera sensor 15 mounting frames 16 temple structure F L Vehicle longitudinal direction F B Vehicle width direction F H Vehicle height direction B M Manual operating mode B A Autonomous operating mode U environment 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] EP 3 871 481 A1 [0003, 0004]

Claims

[1] Agricultural working machine (1), in particular a tractor (2), with a chassis (3) and a cabin (8) arranged on the chassis (3), wherein the agricultural working machine (1) comprises a control device (12) which is provided and designed to control the agricultural working machine (1) in an autonomous operating mode (B A ), wherein the agricultural working machine (1) comprises at least two sensor systems (13) for detecting objects in the environment (U) of the agricultural working machine (1), each having at least one sensor (14, 14.1, 14.2, 14.3), wherein the sensor systems (13) are each connected to the control device (12) for transmitting sensor data, characterized by that the control device (12) is provided and set up to control the agricultural working machine (1) in autonomous operating mode (B A) based on sensor data provided by at least one of the sensor systems (13), wherein the sensor systems (13) are based on different sensor technologies. [2] Agricultural working machine (1) according to claim 1, characterized by that at least one of the sensor systems (13) is based on a sensor technology which allows the detection of objects in the environment (U) of the agricultural work machine (1) independently of external environmental influences. [3] Agricultural working machine (1) according to claim 1 or 2, characterized by that at least one of the sensor systems (13) is based on a sensor technology which allows the detection of objects in the wider environment of the agricultural work machine (1). [4] Agricultural working machine (1) according to one of claims 1 to 3, characterized bythat at least one of the sensor systems (13) is based on a sensor technology which provides sensor data which allow a classification of objects detected in the environment (U) of the agricultural work machine (1) by means of the control device (12). [5] Agricultural working machine (1) according to claim 4, characterized by that the control device (12) is provided and configured to carry out a multi-stage classification of the sensor data, wherein in a first stage a distinction is made between living and non-living objects. [6] Agricultural working machine (1) according to one of claims 1 to 5, characterized by that the agricultural working machine (1) comprises three sensor systems (13) for detecting objects in the environment (U) of the agricultural working machine (1), each with at least one sensor (14, 14.1, 14.2, 14.3). [7] Agricultural working machine (1) according to claim 6, characterized bythat one sensor system (13) is arranged on the chassis (3) of the agricultural work machine (1) and two sensor systems (13) are arranged on the cabin (8) of the agricultural work machine (1). [8] Agricultural working machine (1) according to claim 7, characterized by that the sensor system (13) arranged on the chassis (3) at the front of the agricultural work machine (1) on the chassis (3), preferably on a front attachment frame (15) of the chassis (3), one of the sensor systems (13) arranged on the cabin (8) on the cabin roof (9), preferably in the front area (10) and / or rear area (11) of the cabin (8), and the other of the sensor systems (13) arranged on the cabin to the side of the cabin (8), preferably in the area of ​​the A-pillars of the cabin (8) and in the vehicle height direction (F H ) in the region of a lower half of the cabin (8), and / or on the cabin roof (9), preferably in the front region (10) of the cabin (8). [9] Agricultural working machine (1) according to one of claims 1 to 8, characterized by that the sensor systems (13) are based on RaDAR technology, LiDAR technology or camera technology. [10] Agricultural working machine (1) according to one of claims 7 or 8 in combination with claim 9, characterized by that the sensor system (13) arranged on the chassis (3) is based on RaDAR technology, one of the sensor systems (13) arranged on the cabin (8) is based on camera technology and the other of the sensor systems (13) arranged on the cabin (8) is based on LiDAR technology. [11] Agricultural working machine (1) according to one of claims 1 to 10, characterized by that the control device (12) is provided and configured to process the sensor data provided by the sensor systems (13) redundantly or jointly for the detection of objects in the environment (U) of the agricultural work machine (1).

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