Agricultural machinery

Abstract

The present invention relates to an agricultural work machine (1) with a chassis (3) and a cabin (8) arranged thereon. The work machine (1) comprises a control unit (12) for operating the agricultural work machine (1) in an autonomous operating mode (B). A The agricultural machine (1) comprises at least one sensor system (13) for detecting objects in the environment (U) of the machine (1) with multiple sensors (14, 14.1, 14.2, 14.3), wherein the at least one sensor system (13) is connected to the control unit (12) for transmitting sensor data. The machine (1) is characterized in that the control unit (12) is designed and configured to operate the machine (1) in autonomous mode (B). A) based on the sensor data provided by the at least one sensor system (13), wherein the at least one sensor system (13) is based on a sensor technology and all sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) are arranged either on the chassis (3) or on the cabin (8) of the working machine (1).

Description

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

[0002] In modern agriculture, there is a constant drive to increase the productivity and efficiency of work processes. As part of this effort, the topic of "autonomy" has increasingly come into focus in recent years. There is a desire to use agricultural machinery that can autonomously perform tasks on the farm and / or in the field, meaning without requiring operator intervention. Some designs for such agricultural machinery, which can operate in an autonomous mode, do not include a cab attached to the chassis, allowing the machine to operate completely unmanned.Other concepts, however, still include 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 its surroundings. This is crucial because safety-critical situations can arise in these environments, requiring the machine to react immediately and automatically. To monitor these surroundings, suitable sensors must be installed on the machine. An agricultural machine equipped with such sensors is known, for example, from EP 3 871 481 A1.

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

[0005] Particularly important in the context of avoiding safety-critical operating situations and thus ensuring the safe operation of the agricultural machine in autonomous operating mode is the detection of objects in the vicinity of the agricultural machine, since a collision between the agricultural machine and objects in the vicinity of the machine that do not represent crops or working material must be avoided at all costs.Particularly in the case of agricultural machinery that can be operated in an autonomous operating mode and is based on a classic machine architecture with a cabin, reliable detection of objects in all potentially occurring operating situations and in all potentially occurring environmental conditions during the operation of the agricultural machinery in the entire environment of the agricultural machinery presents challenges for the sensor technology.

[0006] Above all, movements and vibrations imposed on agricultural machinery from various sources during operation pose challenges. In agricultural machinery with a classic machine architecture, i.e., a chassis and a cab attached to it, the chassis and cab generally do not move uniformly, but often relative to each other. This results in a high level of complexity in the evaluation of sensor data, which is particularly critical in autonomous operating mode, where no operator influences the machine's control, and especially for the crucial aspect of object detection.

[0007] Based on this, the object of the present invention is therefore to eliminate the described disadvantages of the prior art and in particular to ensure reliable and robust detection of objects in the vicinity of an agricultural machine with a cabin that can be operated in an autonomous operating mode.

[0008] This problem is solved according to the invention by the features of independent claim 1, wherein advantageous further developments of the agricultural machinery according to the invention are the subject of the corresponding dependent claims 2 to 14.

[0009] Accordingly, the present invention relates to an agricultural machine, in particular a tractor, comprising a chassis and a cab with a cab roof extending from the front to the rear of the cab, the cab being arranged on the chassis. The agricultural machine includes a control unit designed and configured to operate the agricultural machine in an autonomous operating mode. The agricultural machine comprises at least one sensor system for detecting objects in the vicinity of the agricultural machine, with multiple sensors, the at least one sensor system being connected to the control unit for transmitting sensor data.The agricultural machine is characterized in that the control device is designed and configured to control the agricultural machine in autonomous operating mode based on the sensor data provided by the at least one sensor system, wherein the at least one sensor system is based on a sensor technology and all sensors of the at least one sensor system are arranged either on the chassis or on the cab of the agricultural machine.

[0010] Arranging all sensors of a sensor system based on a specific sensor technology on a single component of the agricultural machine—either on the chassis or the cab—ensures that vibrations and movements imposed on the machine during operation result in only minimal relative movements between the sensors of the system, if any at all. This is because the sensors move together with the respective component to which they are attached. Consequently, all sensors in the system perform essentially identical movements during the operation of the agricultural machine.This is particularly advantageous for the detection of objects in the vicinity of the agricultural machinery, as the computational effort for processing the sensor data provided by the sensors of a sensor system can be kept low, while at the same time object detection can be carried out reliably, which is essential for the operation of the agricultural machinery in autonomous operating mode.

[0011] According to an advantageous embodiment of the invention, it is provided that all sensors of the at least one sensor system are arranged at the same height in the vehicle height direction, have an identical angle of inclination with respect to the vehicle height direction and / or have an identical field of view.

[0012] Arranging sensors at the same height, with identical tilt angles and / or identical fields of view further reduces the computational effort required for processing sensor data. Not only do the sensors in the sensor system not move relative to each other, but the fact that other parameters are also identical makes it easier to correlate sensor data from different sensors within the system. This, in turn, improves both the detection of objects and the reliability of object recognition based on sensor data.

[0013] According to an advantageous embodiment of the invention, it is provided that a position of the sensors, an orientation of the sensors, a field of view of the sensors and / or a number of sensors of the at least one sensor system is selected in such a way as to depend on the geometry of the agricultural machine that the detection of objects in the vicinity of the agricultural machine takes place in a detection area which extends in an angle of 360° around the agricultural machine.

[0014] For the safe operation of agricultural machinery in autonomous mode, it is crucial that objects can be detected not just in certain areas around the machine, but reliably across its entire surroundings. The machine's geometry presents certain challenges in this regard, as the visibility of different areas around the machine varies depending on the operator's position.The choice of position, orientation of the field of view and / or number of sensors, depending on the geometry of the agricultural machine, ensures that the entire environment of the agricultural machine, including areas that are more difficult to see, can be reliably scanned with regard to the detection of objects by the sensors.

[0015] According to an advantageous embodiment of the invention, the field of view of the sensors of the at least one sensor system is selected such that the fields of view of at least some of the sensors overlap in certain areas, preferably in the peripheral areas.

[0016] Selecting the sensor fields of view such that the fields of view of some sensors overlap in certain areas, preferably at the edges, ensures that the optimal central areas of the sensors' fields of view can be used for detecting objects in the vicinity of the agricultural machine. Utilizing these central areas increases the reliability of object detection and provides sensor data that allows for further, more in-depth processing, such as object classification, by the control unit.

[0017] According to an advantageous embodiment of the invention, it is provided that the at least one sensor system is based on a RaDAR technology, a LiDAR technology or a camera technology.

[0018] The aforementioned technologies RaDAR, LiDAR and camera represent advantageous sensor technologies for object detection, each with different strengths but with overall balanced characteristics, meaning that each technology is fundamentally suitable for object detection regardless of class, provided that only one sensor system is provided on the agricultural machine.

[0019] According to an advantageous embodiment of the invention, the sensors of a sensor system based on RaDar technology are arranged on the chassis of the agricultural machinery.

[0020] According to an advantageous embodiment of the invention, the sensors of the sensor system based on RaDar technology are arranged on the right and left sides of the hood of the agricultural machinery in the longitudinal direction of the vehicle on a front mounting frame of the chassis.

[0021] Preferably, the sensor system based on RaDar technology comprises four sensors, with two sensors each being arranged on the right and left sides of the hood in the longitudinal direction of the vehicle on the front mounting frame of the chassis.

[0022] According to an advantageous embodiment of the invention, the sensors of a sensor system based on LiDar technology are arranged on the cab of the agricultural machinery.

[0023] According to an advantageous embodiment of the invention, at least two sensors of the sensor system based on LiDar technology are arranged in the longitudinal direction of the vehicle on the right and left sides of the cabin, preferably in the area of ​​the A-pillars of the cabin, and in the vertical direction of the vehicle in the area of ​​a lower half of the cabin.

[0024] Preferably, the sensor system based on LiDar technology comprises three sensors, with a third sensor being located on the cabin roof in the front area of ​​the cabin.

[0025] According to an advantageous embodiment of the invention, the sensors of a sensor system based on camera technology are arranged on the cabin of the agricultural machinery.

[0026] According to an advantageous embodiment of the invention, the sensors of the camera technology-based sensor system are arranged on the cabin roof in the front and / or rear area of ​​the cabin.

[0027] Preferably, the camera-based sensor system comprises eight sensors, five of which are located in the front of the cabin along a front roof edge and three of which are located in the rear of the cabin along a rear roof edge.

[0028] According to an advantageous embodiment of the invention, the agricultural machine comprises three sensor systems for detecting objects in the vicinity of the agricultural machine, each with several sensors, wherein a first sensor system is based on RaDar technology, a second sensor system is based on LiDAR technology, and a third sensor system is based on camera technology, wherein preferably the sensors of the third sensor system based on camera technology are arranged locally in the vicinity of the sensors of the second sensor system based on LiDAR technology.

[0029] The use of RaDAR, LiDAR, or camera technology as the sensor technology for at least one sensor system—each with its own strengths in detecting objects in the vicinity of the agricultural machine—combined with the specific mounting depending on the sensor technology, ensures that each technology can optimally utilize its strengths in object detection, taking into account the machine's geometry. This results in the best possible object detection in all operating situations and environmental conditions, enabling the agricultural machine to react appropriately and reliably in autonomous operating mode without operator intervention.In particular, when the three sensor technologies RaDAR, LiDAR and camera are combined using three sensor systems, a particularly reliable, high-quality detection of objects is achieved in all possible operating situations and under all possible environmental conditions during the operation of the agricultural machine in autonomous operating mode.

[0030] According to an advantageous embodiment of the invention, the sensors of the at least one sensor system are arranged either on the chassis or on the cabin by means of a bracket structure.

[0031] According to an advantageous embodiment of the invention, the agricultural machine comprises an inertial sensor arranged on the chassis for detecting the chassis's own movements and an inertial sensor arranged on the cab for detecting the cab's own movements, wherein the inertial sensors are each connected to the control unit for transmitting sensor data, and wherein the control unit is provided and configured to transfer the sensor data provided by the sensors of the at least one sensor system into a global coordinate system using the sensor data from the inertial sensors.

[0032] The use of inertial sensors to detect self-movements and the application of this sensor data by the control unit allows for the compensation of relative movements between sensors through transformation into a global coordinate system. This results in significantly improved accuracy in processing the sensor data and thus more reliable detection of objects in the vicinity of the agricultural machine during autonomous operation.

[0033] The present invention is described in more detail below with reference to the embodiments illustrated in the figures.

[0034] They show: Fig. 1 a schematic and exemplary representation of an agricultural machine according to the invention, which can be operated in both a manual operating mode and an autonomous operating mode; Fig. 2 a schematic and exemplary representation of a front area of ​​a cab of the agricultural machinery according to Fig. 1 with sensors of several sensor systems for detecting objects in the vicinity of the agricultural machinery; and Fig. 3 a schematic and exemplary representation of a rear area of ​​the cab of the agricultural machinery according to Fig. 1 with sensors of a sensor system for detecting objects in the vicinity of the agricultural machinery; and Fig. 4 a schematic and exemplary representation of a side area of ​​the cab of the agricultural machinery according to Fig. 1 with sensors of several sensor systems for detecting objects in the vicinity of the agricultural machinery.

[0035] Fig. Figure 1 shows a schematic and exemplary representation of an agricultural machine 1 according to the invention in the form of a tractor 2, wherein the basic structure of an agricultural machine 1 designed as a tractor 2 is considered to be known to those skilled in the art. The agricultural machine 1 according to the invention can be spatially defined by three directions of extension, which are defined by a coordinate system in Fig. 1 are shown as examples. The first direction of extension is the longitudinal direction of the agricultural machine 1, hereinafter also referred to as the vehicle longitudinal direction F. LThe first direction is designated as the x-axis direction; the second direction of extension is the width direction of the agricultural machine 1, hereinafter also referred to as vehicle width direction F. B The third direction of extension is the vertical direction of the agricultural machinery 1, hereinafter also referred to as the vehicle height direction F. H denoted as running in the z-axis direction.

[0036] The agricultural machine 1 comprises, among other things, a chassis 3, ground engagement devices 4 assigned to a front axle 5 and a rear axle 6 (shown in the figures as crawler tracks), an engine hood 7 mounted on the chassis 3, and a cab 8 mounted on the chassis 3 with a cab roof 9 extending from the front 10 to the rear 11 of the cab 8. The cab 8 can be mounted on the chassis 3 by means of damping elements (not shown in the figures). An operator of the agricultural machine 1 (not shown in the figures) can be located in the cab 8 to control it. For this purpose, one or more operating and control devices (also not shown in the figures) are typically provided inside the cab 8 for operating and controlling the agricultural machine 1.

[0037] It is essential for the agricultural work machine 1 according to the invention that it can operate not only in a manual operating mode B M , i.e., in an operating mode in which, during the operation of the agricultural machine 1, at least temporary intervention by the operator in the control of the agricultural machine 1 is possible, but also in an autonomous operating mode B A can be operated. The autonomous operating mode B AThe autonomous operating mode of the agricultural machine 1 is defined within the scope of the invention as an operating mode which, during operation of the agricultural machine 1, does not require any intervention by the operator in the control of the agricultural machine 1, neither for the drive and guidance of the agricultural machine 1 nor for the control of working units (not shown in the FIGS.) for the execution of work orders. The autonomous operating mode B A The agricultural work machine 1 according to the invention therefore corresponds to the operation of an unmanned autonomous agricultural work machine.

[0038] So that the agricultural work machine 1 can operate in autonomous mode B ATo enable operation, the agricultural machine 1 includes a control unit 12. This control unit 12 is therefore designed and configured to operate the agricultural machine 1 in autonomous operating mode B. A to operate. The control unit 12 is designed and configured to receive various data from different data sources wirelessly and / or via cable and to use this data to control the agricultural machinery 1 in autonomous operating mode B. A to process. The control unit 12 can also be designed and configured to receive and process data that is used for control in manual operating mode B. M The agricultural machinery 1 is required. However, a separate control unit from the control unit 12 may also be provided for this purpose.

[0039] A key aspect for the operation of agricultural machinery 1 in autonomous operating mode B A , regardless of the location, for example on a farm, on public roads and paths and / or a field, the agricultural machine 1 is operating in autonomous mode B A The operation involves the detection of objects in the vicinity U of the agricultural machine 1. In order for the detection of objects in the vicinity U of the agricultural machine 1 to be possible, it is necessary that the agricultural machine 1 includes sensors.

[0040] The agricultural machine 1 according to the invention comprises at least one sensor system 13 for detecting objects in the environment U of the agricultural machine 1. The sensor system 13 comprises several sensors 14 and is based on a specific sensor technology. In other words, the sensors 14 of the sensor system 13 are all of the same sensor technology. The sensor system 13 is connected to the control unit 12 for transmitting sensor data. The control unit 12 is thus designed and configured to operate the agricultural machine 1 in autonomous operating mode B based on the sensor data provided by the at least one sensor system 13. A to be targeted, therefore depending on the object situation in the environment U of the agricultural work machine 1.

[0041] During the operation of agricultural machinery 1 in autonomous operating mode B Awill be, as well as during operation in manual operating mode B MMovements and vibrations from various sources are imprinted on the agricultural machine 1. Due to the classic machine architecture of the agricultural machine 1, with a chassis 3 and a cabin 8 mounted on it, the chassis 3 and the cabin 8 of the agricultural machine 1 generally do not move uniformly, but often relative to each other. In particular, if the cabin 8 is mounted on the chassis 3 via intermediate damping elements, strong relative movements of both assemblies can occur. Sensors attached to these assemblies therefore move significantly relative to each other in certain operating situations.In particular, if sensors for detecting objects in the vicinity U of the agricultural machine 1, which use the same sensor technology, were arranged both on the chassis 3 and on the cab 8, the relative movements of the sensors to each other would result in considerable effort in processing the sensor data. To take this disadvantage into account, the invention provides that all sensors 14 of the sensor system 13 are arranged either on the chassis 3 or on the cab 8 of the agricultural machine 1.Relative movements between sensors 14 of the same sensor technology can thus preferably be completely, or at least largely, reduced, which enables significantly more resource-efficient processing of the sensor data and thus always reliable detection of objects in the environment U of the agricultural machine 1 in all operating situations and under all environmental conditions during operation of the agricultural machine 1 in autonomous operating mode B. A can be done.

[0042] To further reduce the effort required for processing the sensor data, it is advantageous to arrange the sensors 14 of the at least one sensor system 13 in a specific manner. In particular, it is advantageous if all sensors 14 of the at least one sensor system 13 are arranged in the vehicle height direction F. Hare arranged at the same height. Additionally or alternatively, it is considered advantageous if all sensors 14 of the at least one sensor system 13 have a position relative to the vehicle height direction F. Hexhibit identical tilt angles. Furthermore, or alternatively, it is advantageous if all sensors 14 of the at least one sensor system 13 have an identical field of view (FOV). Regarding the field of view of the sensors 14, it is also advantageous for the reliability of object detection in the vicinity U of the agricultural machine 1 if the field of view of the sensors 14 of the at least one sensor system 13 is selected such that the fields of view of some of the sensors 14 overlap in certain areas, preferably at the edges. This allows the particularly good central areas of the fields of view of the sensors 14 to be used for object detection in the vicinity U of the agricultural machine 1.

[0043] Since the detection of objects is not intended to occur only in a specific area around U of the agricultural machine 1, but rather throughout its entire surroundings U, i.e., within a detection area extending in a 360° radius around the agricultural machine 1, the design of the at least one sensor system 13 should be adapted to the geometry of the agricultural machine 1. In particular, the position and orientation of the sensors 14, their field of view (FOV), and / or the number of sensors 14 in the at least one sensor system 13 must be selected according to the geometry of the agricultural machine 1 such that objects can be detected throughout its entire surroundings U.

[0044] To ensure operational reliability in autonomous operating mode B A To increase the efficiency, it may also be provided that the agricultural machine 1 includes further sensor systems 13 for detecting objects in the vicinity U of the agricultural machine 1, each with several sensors 14, as exemplified in Fig. 1 shown. These additional sensor systems 13 are also connected to the control unit 12 for transmitting sensor data, so that the control unit 12 is designed and configured to control the agricultural machinery 1 in autonomous operating mode B. ASensor data from these additional sensor systems 13 must also be taken into account. Even in a configuration with additional sensor systems 13, for example, as shown with three sensor systems 13, it is true that each sensor system 13 is based on a specific sensor technology; the sensors 14 of sensor system 14 are therefore sensors of the same sensor technology. If several sensor systems 13 are provided for the detection of objects in the vicinity U of the agricultural machine 1, the sensor systems 13 are based on different sensor technologies. That is, each sensor system 13 used is based on its own sensor technology, which differs from the sensor technology of the other sensor systems 13 used.

[0045] The control unit 12 can be designed and configured to process the sensor data provided by the sensor systems 13 for the detection of objects in the vicinity U of the agricultural machine 1 either redundantly or jointly. In redundant processing, the sensor data from different sensors 14 and / or different sensor systems 13 are each analyzed individually for objects in the vicinity U of the agricultural machine 1, thus ensuring reliable detection of objects in the vicinity U of the agricultural machine 1. In joint processing, the sensor data from different sensors 14 and / or different sensor systems 13 are combined, and the resulting enriched data set is then analyzed for objects in the vicinity U of the agricultural machine 1, thereby increasing the accuracy of object detection.

[0046] The sensor technologies on which at least one sensor system 13 can be based are preferably RaDAR technology, LiDAR technology, or camera technology. In other words, if a sensor system 13 is based on RaDAR technology, then all of the sensors 14 of this sensor system 13 are RaDAR sensors 14.1. If, on the other hand, a sensor system 13 is based on LiDAR technology, then 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, then all of the sensors 14 of this sensor system 13 are camera sensors 14.3, in particular monocular cameras and / or stereo cameras.

[0047] For reliable detection of objects in the vicinity U of the agricultural machine 1 in autonomous operating mode B AIt is advantageous to select sensor technologies according to certain criteria. In particular, it is advantageous to select a sensor technology for at least one sensor system 13 that allows the detection of objects in the vicinity U of the agricultural machine 1 independently of external environmental influences, that allows the detection of objects in the wider vicinity of the agricultural machine 1, preferably an area U of the agricultural machine 1 with a radius of up to 32 m extending from the agricultural machine 1, and / or that provides sensor data that allows the control unit 12 to classify objects detected in the vicinity U of the agricultural machine 1. The control unit 12 can use various methods or algorithms for classifying detected objects, optionally based on classical object recognition or artificial intelligence.Preferably, the control device 12 uses a learning artificial neural network for classifying detected objects.

[0048] Referring to the aforementioned preferred criteria for the choice of sensor technology and the preferred sensor technologies RaDAR, LiDAR, and camera, a sensor system 13 based on RaDAR technology demonstrates its strengths particularly in the detection of objects in the vicinity U of the agricultural machine 1, independent of external environmental influences. Conversely, a sensor system 13 based on RaDAR technology exhibits weaknesses, for example, when object classification is to be performed using the control unit 12 based on the sensor data. In contrast, a sensor system 13 based on camera technology provides sensor data that is particularly well-suited for classifying detected objects.A sensor system 13 based on camera technology has weaknesses, for example, in the detection of objects that should be independent of external environmental influences. A sensor system 13 based on LiDAR technology is particularly well suited for the detection of objects in the wider vicinity 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.

[0049] If the control unit 12 receives sensor data from a sensor system 13 that allows for the classification of detected objects, the control unit 12 is designed and configured to subject this sensor data to a multi-stage classification. This is a particularly important aspect in the context of object detection in autonomous operating mode B. AThe purpose is to reliably identify living objects in the vicinity U of the agricultural machine 1, since the operation must be immediately interrupted or stopped upon detection of living objects. The control unit 12 is therefore designed and configured to distinguish, in a first stage of classifying detected objects in the vicinity U of the agricultural machine 1, only between living and non-living objects. Subsequent stages of classification, which can be performed by the control unit 12, can then enable differentiation between various classes of living and non-living objects.

[0050] Referring to the previously mentioned preferred sensor technologies RaDAR, LiDAR or camera, certain positions for the arrangement of a sensor system 13 are to be considered preferred, taking into account the machine architecture:

[0051] If a sensor system 13 based on RaDAR technology is used, the RaDAR sensors 14.1 of this sensor system 13 should be arranged on the chassis 3 of the agricultural machine 1. The sensor system 13 based on RaDAR technology, or its RaDAR sensors 14.1, arranged on the chassis 3, can be positioned, as shown in the FIGS., at the front of the agricultural machine 1 on the chassis 3, preferably on the right and left sides of the engine hood 7 on a front mounting frame 15 of the chassis 3. The sensor system 13 based on RaDAR technology comprises, in particular, four sensors 14.1, two of which are arranged in the longitudinal direction F of the vehicle. L are arranged on the right and left sides of the engine hood 7 on the front mounting frame 15 of the chassis 3.

[0052] If a sensor system 13 based on LiDAR technology is used, the LiDAR sensors 14.2 of this sensor system 13 should be arranged on the cab 8 of the agricultural machine 1. The sensor system 13 based on LiDAR technology, or its LiDAR sensors 14.2, arranged on the cab 8 can be positioned, as shown in the FIGS., such that at least two LiDAR sensors 14.2 are positioned on the right and left sides of the cab 8 in the longitudinal direction of the vehicle, preferably in the area of ​​the A-pillars of the cab 8, and in the vertical direction of the vehicle in the area of ​​the lower half of the cab 8. In a preferred embodiment, as shown in particular in Fig.As shown in Figure 2, the sensor system 13, based on LiDAR technology, is designed to comprise three LiDAR sensors 14.2. Two of the three LiDAR sensors 14.2 are, as already described, arranged laterally on the cabin 8. The third LiDAR sensor 14.2 is located on the cabin roof 9 in the front area 10 of the cabin 8.

[0053] If a camera-based sensor system 13 is used, the camera sensors 14.3 of this sensor system 13 should also be arranged on the cab 8 of the agricultural machine 1. The camera-based sensor system 13, or its camera sensors 14.3, arranged on the cab 8 can be located on the cab roof 9 in the front region 10 and / or rear region 11 of the cab 8, as shown in the FIGS. Preferably, the camera-based sensor system 13 comprises eight camera sensors 14.3, five of which are arranged in the front region 10 of the cab 8 along a front roof edge, and three of which are arranged in the rear region 11 of the cab 8 along a rear roof edge of the cab roof 9, with at least some of these camera sensors 14.3 being spaced apart from one another.

[0054] In the embodiment shown in the FIGS., the agricultural machine 1 comprises exactly three sensor systems 13, each with several sensors 14 for detecting objects in the vicinity U of the agricultural machine 1. A first sensor system 13 is a sensor system 13 based on RaDAR technology. As previously described, this system is arranged on the chassis 3 and comprises four RaDAR sensors 14.1, two of which are positioned in the longitudinal direction F of the vehicle. L The first sensor system is located on the right and left sides of the engine hood 7 on the front mounting frame 15 of the chassis 3. A second sensor system 13 is based on LiDAR technology. This sensor system 13 is located on the cab 8 and comprises three LiDAR sensors 14.2, two of which are positioned laterally in the area of ​​the A-pillars of the cab 8 and vertically in the vehicle direction F. Hseen in the lower half of the cabin 8, and a LiDAR sensor 14.2 is arranged on the cabin roof 9 in the front area 10 of the cabin 8. A third sensor system 13 is a camera-based sensor system 13. This sensor system 13 is also arranged on the cabin 8 and 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 each other. Three of these camera sensors 14.3 are arranged in the rear area 11 of the cabin 8 along a rear roof edge 18, with all of these being spaced apart from each other. The camera sensors 14.3, in particular the five camera sensors 14.3 arranged at the front roof edge, are located in close proximity to the LiDAR sensors 14.3.2 arranged and each encompassing a field of view (FOV) between 90° and 110°, preferably exactly 110°, resulting in good overlap of the adjacently arranged camera sensors 14.3 in the peripheral areas of the respective fields of view.

[0055] The sensors 14 of the sensor systems 13, regardless of the number of sensor systems 13 used and the selected sensor technology, can be arranged on the chassis 3 or on the cabin 8 or on the cabin roof 9 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.

[0056] Furthermore, the agricultural machine 1 may include inertial sensors (not shown in the figures) ("Inertial Measurement Unit" (IMU)) designed and configured to measure translational and rotational accelerations of the agricultural machine 1. If such inertial sensors are used, one inertial sensor is arranged on the chassis 3 to detect the chassis 3's own movements. Another inertial sensor is arranged on the cab 8 to detect the cab 8's own movements. The inertial sensors are each connected to the control unit 12 for transmitting sensor data. The control unit 12 can evaluate the sensor data from the inertial sensors and, based on this, transfer the sensor data provided by the sensors 14 of the sensor systems 13 into a global coordinate system.Taking into account self-movements when evaluating the sensors 14 for detecting objects in the environment U of the agricultural machinery 1 ensures reliable detection of objects using multiple sensors 14 or multiple sensor systems 13.

[0057] 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 Soil intervention agents 5 Front axle 6 Rear axle 7 Hood 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 ironing 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 INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts 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) with a cabin roof (9) extending from the front area (10) to the rear area (11) of the cabin (8), wherein the cabin (8) is arranged on the chassis (3), wherein the agricultural working machine (1) comprises a control device (12) which is provided and set up to control the agricultural working machine (1) in an autonomous operating mode (B A ), wherein the agricultural working machine (1) comprises at least one sensor system (13) for detecting objects in the environment (U) of the agricultural working machine (1) with a plurality of sensors (14, 14.1, 14.2, 14.3), wherein the at least one sensor system (13) is connected to the control device (12) for transmitting sensor data, characterized bythat the control device (12) is provided and set up to control the agricultural working machine (1) in autonomous operating mode (B A ) based on the sensor data provided by the at least one sensor system (13), wherein the at least one sensor system (13) is based on a sensor technology and all sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) are arranged either on the chassis (3) or on the cabin (8) of the agricultural work machine (1). [2] Agricultural working machine (1) according to claim 1, characterized by that all sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) are arranged in the vehicle height direction (F H ) are arranged at the same height, a relative to the vehicle height direction (F H ) have an identical angle of inclination and / or an identical field of view. [3] Agricultural working machine (1) according to claim 1 or 2, characterized by that a position of the sensors (14, 14.1, 14.2, 14.3), an orientation of the sensors (14, 14.1, 14.2, 14.3), a field of view of the sensors (14, 14.1, 14.2, 14.3) and / or a number of sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) is selected as a function of the geometry of the agricultural work machine (1) in such a way that the detection of objects in the surroundings (U) of the agricultural work machine (1) takes place in a detection area which extends at an angle of 360° around the agricultural work machine (1). [4] Agricultural working machine (1) according to claim 2 or 3, characterized bythat the field of view of the sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) is selected such that the fields of view of at least some of the sensors (14, 14.1, 14.2, 14.3) overlap in some areas, preferably in the edge areas. [5] Agricultural working machine (1) according to one of claims 1 to 4, characterized by that the at least one sensor system (13) is based on a RaDAR technology, a LiDAR technology or a camera technology. [6] Agricultural working machine (1) according to claim 5, characterized by that the sensors (14.1) of a sensor system (13) based on RaDar technology are arranged on the chassis (3) of the agricultural work machine (1). [7] Agricultural working machine (1) according to claim 6, characterized by that the sensors (14.1) of the sensor system (13) based on RaDar technology are arranged in the vehicle's longitudinal direction (F L) are arranged on the right and left sides of a bonnet (7) of the agricultural working machine (1) on a front attachment frame (15) of the chassis (3), wherein the sensor system (13) based on RaDar technology preferably comprises four sensors (14.1), wherein two sensors (14.1) 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). [8] Agricultural working machine (1) according to one of claims 5 to 7, characterized by that the sensors (14.2) of a sensor system (13) based on LiDar technology are arranged on the cabin (8) of the agricultural work machine (1). [9] Agricultural working machine (1) according to claim 8, characterized by that at least two sensors (14.2) of the sensor system (13) based on LiDar technology are arranged in the vehicle's longitudinal direction (F L) on the right and left sides 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), wherein the sensor system (13) based on LiDar technology preferably comprises three sensors (14.2), wherein a third sensor (14.2) is arranged on the cabin roof (9) in the front region (10) of the cabin (8). [10] Agricultural working machine (1) according to one of claims 5 to 9, characterized by that the sensors (14.3) of a sensor system (13) based on camera technology are arranged on the cabin (8) of the agricultural work machine (1). [11] Agricultural working machine (1) according to claim 10, characterized bythat the sensors (14.3) of the sensor system (13) based on camera technology are arranged on the cabin roof (9) in the front area (10) and / or rear area (11) of the cabin (8), wherein the sensor system (13) based on camera technology preferably comprises eight sensors (14.3), of which five sensors (14.3) are arranged in the front area (10) of the cabin (8) along a front roof edge and three sensors (14.3) are arranged in the rear area (11) of the cabin (8) along a rear roof edge. [12] Agricultural working machine (1) according to one of claims 5 to 11, characterized bythat the agricultural work machine (1) comprises three sensor systems (13) for detecting objects in the environment (U) of the agricultural work machine (1), each having a plurality of sensors (14, 14.1, 14.2, 14.3), wherein a first sensor system (13) is based on RaDar technology, a second sensor system (13) is based on LiDAR technology and a third sensor system (13) is based on camera technology, wherein the sensors (14.3) of the third sensor system (13) based on camera technology are preferably arranged locally in the vicinity of the sensors (14.2) of the second sensor system (13) based on LiDAR technology. [13] Agricultural working machine (1) according to one of claims 1 to 12, characterized by that the sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) are arranged either on the chassis (3) or on the cabin (8) by means of a bracket structure (16). [14] Agricultural working machine (1) according to one of claims 1 to 13, characterized by in that the agricultural work machine (1) comprises an inertial sensor arranged on the chassis (3) for detecting the chassis's own movements (3) and an inertial sensor arranged on the cabin (8) for detecting the cabin's own movements (8), wherein the inertial sensors are each connected to the control device (12) for transmitting sensor data, wherein the control device (12) is provided and configured to transfer the sensor data provided by the sensors (14, 14.1, 14.2, 14.3) of the at least one sensor system (13) into a global coordinate system based on the sensor data of the inertial sensors.

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