Agricultural machine and method for performing machine functions

Abstract

Agricultural machine (1), in particular agricultural distribution machine, comprising: - at least two actuating devices (2) which are designed to carry out at least two different machine functions directly and / or indirectly on the basis of control signals, - a main sensor device (3) which is designed to detect at least one measured variable, - a control device (4) which is arranged to generate the control signals. The invention is characterized in that the control device (4) is designed to generate the control signals on the basis of the measured variable detected by the main sensor device (3).

Description

[0001] The present invention relates to an agricultural machine, in particular an agricultural distribution machine, comprising at least two actuating devices which are configured to carry out at least two different machine functions indirectly and / or directly on the basis of control signals, a sensor device which is configured to detect at least one measured variable, and a control device which is configured to generate the control signals, according to the preamble of claim 1.

[0002] Such agricultural machines are known from the prior art, which have one or more sensors, wherein the measured values ​​of the sensors or the measured variable detected by the sensors are used to control a single machine function. No control is provided for other machine functions using the measured values ​​detected by the sensors.

[0003] The object of the present invention is therefore to provide an agricultural machine by means of which the previous state of the art is further developed by using the sensor device to use the measured variables detected to control several machine functions.

[0004] The underlying problem is solved by an agricultural machine having the features of patent claim 1 and by a method for carrying out machine functions having the features of patent claim 12.

[0005] A core idea of ​​the present invention is to provide an agricultural machine, in particular an agricultural distribution machine, wherein the agricultural machine comprises: - at least two actuating devices which are designed to carry out at least two different machine functions directly and / or indirectly on the basis of control signals, - a sensor device which is designed to detect a measured variable, - a control device which is arranged to generate the control signals.

[0006] According to the invention, the agricultural machine is characterized in that the control device is configured to generate the control signals on the basis of the measured variable detected by the main sensor device.

[0007] Preferably, the term "control device" can refer to electronics, for example, embodied as a driver circuit or with microprocessor(s) and a data memory, and / or a mechanical, pneumatic, and / or hydraulic control system, which, depending on its design, can perform control tasks and / or regulation tasks and / or processing tasks. Even if the term "control" is used herein, it can also appropriately include or mean "regulation" or "control with feedback" and / or "processing."

[0008] An actuating device is understood to mean that one or more output variables of a system, in this case the agricultural machine, are intended to be influenceable. The actuating device is configured to convert received control signals into movements. Preferably, the respective actuating device can comprise one or more actuators configured to convert the control signals received from the control device into movements, whereby the machine functions can be carried out. This means that the machine function is carried out by appropriately controlling the actuating device, in particular the at least one actuator. An actuator can in particular be a hydraulically operating actuator, a pneumatically operating actuator and / or an electrically operating actuator.

[0009] It is intended that the associated machine function can be carried out directly or indirectly by means of the actuating device. "Direct" means that the respective machine function can be carried out directly by means of the actuating device using control signals. An example of this is the machine function "folding a frame part" using a hydraulic cylinder. "Indirect" means that the respective machine function can be carried out using components of the actuating device assigned to the machine function. An example of this is the machine function "metering seed," which is carried out using a metering disc, a drive motor, a generated air flow, etc.

[0010] Machine functions refer to the functions and / or functionality of the agricultural machine. The machine functions depend on the design of the agricultural machine. It is conceivable that different agricultural machines have at least some of the same machine functions.

[0011] Examples of machine functions of agricultural machinery, which are not exhaustive, are: - setting a height position and / or height control of the agricultural machine and / or parts of the agricultural machine in relation to the agricultural area; - Distribution of material; - speed of the agricultural machine; - Changes to working parameters such as distribution quantity, distribution type, distribution direction, working depth and / or working width of the agricultural machine and / or parts of the agricultural machine, - rotational position of the agricultural machine and / or parts of the agricultural machine; - Steering angle of the agricultural machine.

[0012] The measurand can be a directly measured measurand and / or a measurand determined indirectly based on a directly measured measurand and / or a derived measurand. The measurand is the measured quantity or the quantity to be measured. The measurand can be a spatial distance, also distance or distance, for example a distance from the sensor to an agricultural area and / or objects, and / or a time, and / or a speed, for example of the agricultural machine and / or parts thereof; a position, for example of the agricultural machine and / or parts thereof; an angle to a reference, for example the agricultural area, and / or the like. The measurand can be dependent on the machine functions, i.e. dependent on the type or design of the agricultural machine.

[0013] Examples of agricultural machines can be self-propelled or trailed machines, such as field sprayers, seed drills, soil tillage machines such as disc harrows, cultivators, harrows, hoes, harvesters, and / or the like. Other agricultural machines are also conceivable. In principle, any agricultural machine that includes at least two executable machine functions is conceivable.

[0014] According to the invention, the control device is configured to generate the control signals based on the measured variable detected by the main sensor device. This means that each of the at least two differing machine functions can be executed based on the control signals that can be generated by the control device based on the measured variable detected by the main sensor device.

[0015] Preferably, the control device is configured to generate the corresponding control signals based on the detected measured variable and to transmit them to the actuating devices. Preferably, each actuating device is configured to receive the control signals from the control device.

[0016] According to a preferred embodiment, it can be provided that the main sensor device for detecting the measured variable comprises at least one sensor. In particular, the at least one sensor is at least partially, largely, or even completely robust against environmental influences that can occur in agriculture, such as differences in light, lack of light, excessively bright light, dust, fog, rain, vibrations, strong wind, and / or the like. Preferably, the at least one sensor is a contactless sensor. More preferably, the at least one sensor is a radiation-based sensor and / or an electromagnetic sensor. Particularly preferably, the at least one sensor is a radar sensor.

[0017] Preferably, the agricultural machine has exactly one main sensor device. Further preferably, the main sensor device can have a maximum of two sensors. Preferably, the main sensor device has exactly one sensor. This allows the costs of the agricultural machine to be reduced and the computational effort to be minimized.

[0018] According to a preferred embodiment, the main sensor device is configured to record the measured variable at a measuring point, preferably precisely one measuring point, wherein the measuring point preferably has at least one measuring point and / or measuring range, more preferably different measuring points and / or measuring ranges. A measuring point comprises a measuring point and / or a measuring range, for example in order to scan a specific area, for example the agricultural area, and to record the measured variable. For example, a contour of the agricultural area, a height difference to the agricultural area and / or a change in this height difference can be scanned. The contour can be understood to mean a height profile. It is understood that as the agricultural machine moves across the agricultural area, the measuring point also moves accordingly.

[0019] Another term for a measuring point can be a measuring spot. The measuring point can be the area that can be detected by the sensor. The measuring point of the at least one sensor can depend on the type of sensor. Preferably, the at least one sensor has a corresponding aperture angle. The detection range also depends on the distance to the measurement target or the object to be scanned.

[0020] Preferably, the control device is configured to generate control signals for executing a first machine function based on one or more of the measuring points and / or measuring ranges, and control signals for executing a second machine function based on one or more further measuring points and / or measuring ranges. This means that the control device can generate the control signals based on the measured variable detected by the measuring points or measuring range of the measuring point for executing the at least two machine functions.

[0021] Preferably, the measuring point can be divided into at least two subsets, wherein the control signals for executing one of the machine functions can preferably be generated from a first subset, and the control signals for executing another machine function can preferably be generated from the second subset. Each subset can have at least one measuring point. Preferably, the subsets are different from one another or have at least one intersection.

[0022] Preferably, different measuring points and / or measuring ranges of the measuring point can be assigned to the machine functions. Further preferably, certain measuring points and / or measuring ranges of the measuring point can be assigned to specific machine functions. For example, measuring points and / or measuring ranges that are oriented downwards could be assigned to the height or height control. Measuring points and / or measuring ranges that extend or are oriented in the direction of travel and / or transversely to the direction of travel can be assigned to the speed and / or the distribution.

[0023] According to a further preferred embodiment, it is provided that the main sensor device is configured to detect the measured variable in at least one viewing direction of the main sensor device, preferably in mutually different viewing directions. This means that the measuring point of the main sensor device is arranged accordingly according to the respective viewing direction. The respective viewing direction can preferably have an angle to a vertical. Preferably, the angle is at least 0° and at most 90°. The viewing direction can be the direction in which the detection takes place, that is to say, for example, in the direction in which the main sensor device, preferably the at least one sensor, emits rays and / or signals and / or the like.

[0024] Preferably, the measuring points and / or measuring areas of the measuring point are different from one another. Preferably, the measuring points and / or measuring areas of the measuring point differ in terms of their spatial direction, wherein preferably each measuring point is or can be assigned a specific direction. This direction can also be referred to as the measuring direction.

[0025] According to a further preferred embodiment, it can be provided that the main sensor device is configured to detect the measured variable in at least one measuring direction, preferably in mutually different measuring directions. Preferably, at least one specific measuring direction and / or at least one measuring range is assigned to each machine function, and the control signals can be generated by means of the control device based on the measured variable detected in the at least one specific measuring direction. The measured variable can be detected in one or more directions. Multiple measured variables could also be detected, with each measured variable being detectable in a specified measuring direction. The measuring direction or measuring directions of the measuring points and / or measuring ranges each relate to the measuring point.

[0026] A measuring direction can be a direction in space, starting from the main sensor device, in which and / or along which the main sensor device can detect the measured variable.

[0027] It may be necessary to record the measured variable in different measuring directions, since the respective machine functions, in particular, may depend on the direction of the measured variable. By way of example and not exhaustively, it is intended that for height control relative to the agricultural area, the distance from the main sensor device to the agricultural area is recorded, i.e., in a direction from the main sensor device to the agricultural area.

[0028] Preferably, the control device is configured to detect and / or differentiate the measuring points and / or measuring ranges, in particular the different measuring directions, so that the control device can select the measuring points and / or measuring ranges and can generate the control signals based on the assignment of the measuring points and / or measuring ranges to a machine function.

[0029] To record the measured value, it may preferably be provided that: - the main sensor device comprises several sensors which are oriented in different viewing directions; and / or - at least one sensor is configured to record the measured value in different viewing directions.

[0030] Preferably, the at least one sensor, which is configured to detect the measured variable in the mutually different viewing directions, can be movably mounted for detecting the at least one measured variable. Preferably, the at least one sensor can be movably mounted by at least one hydraulic, at least one pneumatic and / or at least one electric actuator. This can depend on the type of movement and / or the number of possible movements. Preferably, the at least one sensor can be movably mounted by a motor. For example, at least one electric motor, at least one pneumatic motor, at least one hydraulic motor and / or the like can be provided.

[0031] Preferably, the movable mounting of the at least one sensor is provided by one or more movements or possibilities of movements. Preferably, the at least one sensor - displaceable, in particular displaceable, along a direction oriented transversely to a direction of travel and / or along a direction oriented perpendicular to the direction of travel; and / or - rotatable about the direction which is oriented transversely to the direction of travel and / or rotatable about the direction which is oriented perpendicular to the direction of travel.

[0032] Preferably, the agricultural machine can have a movement mechanism configured to displace and / or rotate the at least one sensor. It is also conceivable for the displacement and rotation to be performed independently of one another, for example, through a mechanical coupling, such as a corresponding driver element, so that a rotation can be performed simultaneously during a displacement. Alternatively or cumulatively, the displacement and rotation can be performed independently of one another.

[0033] Preferably, the at least one sensor can be configured to rotate continuously or discontinuously, preferably about the axis that is transverse to the direction of travel and / or about the axis that extends upwards perpendicular to the direction of travel. This makes it possible to move the measuring point in space. The measured variable can be detected based on the measuring point in different directions and / or at different time intervals.

[0034] The movable mounting of the at least one sensor makes it possible for the at least one sensor to detect the measured variable based on the measuring point in different directions, preferably viewing directions. The control device can be configured to evaluate the measuring point differently in the different viewing directions. This means, for example, that measuring points and / or measuring ranges can be assigned differently to the machine functions.

[0035] According to a further embodiment, the main sensor device is configured to detect the measured variable at regular and / or irregular time intervals. Preferably, the time intervals of the main sensor device can be specified and / or preset manually and / or by the control device, depending on the machine function to be performed.

[0036] Preferably, the agricultural machine can have an operating terminal or be operatively connected to an operating terminal, in particular at least by signaling. Preferably, users can use the operating terminal to perform certain user inputs and / or store them in the operating terminal, a storage device, and / or the control device.

[0037] The time intervals specify the times at which and after which the measured variable should be recorded. Preferably, the control device can have an internal clock by means of which the measured variables can be recorded at the time intervals.

[0038] Preferably, different time intervals can be predefined and / or specified for each measuring direction of the main sensor device, in particular manually and / or by means of the control device. This may be due to a machine function changing relatively slowly and / or remaining largely unchanged during operation. For example, during normal travel on agricultural land, but not on a headland, the speed is essentially constant. In contrast, frequent recording of the measured variable is necessary to correctly adjust the height position.

[0039] It is conceivable that a user can enter and store the time intervals by making corresponding inputs on the control device. Alternatively or cumulatively, the control device is configured to retrieve stored time intervals from a storage unit. Particularly preferably, it can be provided that the measuring points, viewing directions and / or the time intervals are stored or stored in the control device. Alternatively or cumulatively, it is conceivable that the control device is configured to access an internal and / or external memory in which the viewing directions and / or time intervals are stored or stored. An external memory can be a cloud storage device, a flash memory device, a portable memory device, for example a USB memory device, CD-ROM, floppy disk, and / or the like.An internal memory is a memory integrated in the control device, which can preferably be a hard disk, a flash memory, and / or the like.

[0040] Overall, it is possible to capture the measured variable in different viewing directions and / or at the respective time intervals by means of the movable mounting of the at least one sensor of the main sensor device. Preferably, the movable mounting and / or the movement of the at least one sensor can be controlled by means of the control device, and / or the activation or deactivation of the at least one sensor can be controlled by means of the control device, preferably depending on the viewing direction and / or the time interval.

[0041] Preferably, the viewing directions and / or time intervals are variable. Preferably, the viewing directions and / or time intervals depend on further parameters, such as the speed of the agricultural machine, the height of the agricultural machine, and / or the like. Preferably, the control device is configured to change the viewing directions, measuring directions, and / or time intervals depending on the further parameters.

[0042] In summary, it can be provided that for the detection of the measured variable by means of the main sensor device - the at least one sensor is variable in its position and / or location; and / or - the main sensor device, preferably the at least one sensor, the time intervals for detecting the measured variable are predetermined and / or can be predetermined; and / or - the main sensor device, preferably the at least one sensor, has one or more viewing directions and / or measuring directions in which the measured variable is to be detectable predefined and / or predefinable.

[0043] Preferably, the control device can be configured to generate the control signals depending on the viewing directions, measuring directions, and / or time intervals. Preferably, the machine functions can be controlled by means of the control signals, which can be generated based on the detected measured variable in specific viewing directions, measuring directions, and / or specific time intervals.

[0044] According to a preferred embodiment, the main sensor device for detecting the measured variable comprises at least two identical sensors. Depending on the positioning of the at least two identical sensors and / or the associated viewing directions relative to one another, redundant detection of the measured variable and / or multiple measuring points can be present and / or control signals for multiple machine functions can be generated. Particularly preferably, the control device is configured to combine the measured variables detected by the respective sensors, in particular by means of sensor data fusion.

[0045] Preferably, the at least two identical sensors can have different or identical viewing directions and / or measuring points, preferably viewed in pairs. By using identical viewing directions and / or measuring points, redundant detection of the measured variable can be achieved. With different viewing directions and / or measuring points, the measured variable can be detected in multiple measuring directions.

[0046] According to a further embodiment, it can be provided that the agricultural machine, in addition to the main sensor device, has a secondary sensor device which is configured to detect a secondary measured variable. It is preferably provided that the measured variable can be supplemented by the secondary measured variable, in particular can be combined by means of the control device. Particularly preferably, the control device is configured to combine the measured variable and the secondary measured variable by means of sensor data fusion. Particularly preferably, the control device is configured to process various measured values ​​of the measured variable of the main sensor device using a specific method, for example, using a Kalman filter or the like. The specific method can be present as a program and / or code which can be executed by the control device. This makes it possible to estimate the actual measured variable and to obtain it accordingly quickly.Preferably, the control device is configured to generate the control signals based on the measured variable detected by the main sensor device and on the secondary measured variable detected by the secondary sensor device. The secondary measured variable can provide a correction value for the measured variable. This means that the measured variable is made more precise by including the secondary measured variable.

[0047] By providing the secondary sensor device and the combination of the measured variable and the secondary measured variable, the corresponding control signal can be generated, whereby the actuating device(s) can be controlled more precisely by means of the control device and by means of the control signal due to the combination of the measured variable and the secondary measured variable.

[0048] According to a further embodiment, it is provided that the secondary sensor device for detecting the secondary measured variable has at least one secondary sensor, wherein the at least one sensor of the main sensor device and the at least one secondary sensor of the secondary sensor device are different from one another, preferably with regard to the measuring principle and / or with regard to the measured variable to be detected.

[0049] This means that the underlying measuring principle of the at least one sensor differs from the underlying measuring principle of the secondary sensor. Purely by way of example and not exhaustively, the at least one sensor is a radar sensor, and the at least one secondary sensor is an ultrasonic sensor, a laser sensor, and / or the like.

[0050] Because the at least one secondary sensor differs from the at least one sensor, in particular with regard to the measuring principle, errors, tolerances and / or inaccuracies of the at least one sensor can be compensated.

[0051] According to a further preferred embodiment, it is provided that the at least two machine functions are dependent on one another, wherein the control device is configured to generate the control signals on the basis of the measured variable detected by the main sensor device and the dependence of the machine functions on one another and to provide the control signals to the actuating devices of the at least two machine functions that are dependent on one another.

[0052] Preferably, the control device is configured to generate the control signals based on the measured variable detected by the main sensor device, the interdependence of the machine functions, and the secondary measured variable detected by the secondary sensor device. Preferably, the generated control functions can be transmitted to the actuating devices of the dependent machine functions.

[0053] Examples of interdependent machine functions are illustrated using a spraying machine as an example and are not exhaustive. Changing the height of a spray boom and the nozzles arranged on it changes the spray pattern of the respective nozzle, particularly the width with which it impacts the agricultural area. It is therefore necessary to control the respective nozzle and / or the delivery accordingly to ensure a consistent spray pattern.

[0054] The control device is configured to generate corresponding control signals based on the interdependence of the machine functions and to transmit them to the respective actuating devices of the interdependent machine functions. This allows the interdependent machine functions to be executed accordingly.

[0055] According to a further preferred embodiment, the control device is configured to generate the control signals using a priority sequence that can be retrieved by the control device. Preferably, the control device first generates control signals for safety-relevant machine functions.

[0056] The retrievable ranking can be stored in the memory unit. The ranking can be a program and / or executable code that can be executed mechanically, for example, by the control device itself, by means of which and / or based on which and / or dependent on which the control unit generates control signals.

[0057] Safety-relevant machine functions can be those that can be used to prevent damage, collisions, and the like through appropriate control of the control devices. Examples of this could be the speed of the agricultural machine or the height of the machine. By reducing the speed, collisions, for example, with objects and / or living beings, can be avoided. The same can apply to the height through appropriate height control.

[0058] Particularly preferably, the control device is configured to execute secondary machine functions based on the detected measured variable. Secondary machine functions are understood to be functions that can influence the generation of the control signals and, accordingly, the execution of the machine functions. The control device is preferably configured to execute at least one secondary machine function based on the detected measured variable, wherein the control device is configured to additionally generate the control signals based on the secondary machine functions. The control device is preferably configured to process the detected measured variable and execute the secondary machine functions. Secondary machine functions can preferably be monitoring functions of machine functions, safety functions of machine functions, and the like.For example, the control device can be configured to perform environmental detection, wherein the environmental detection preferably detects obstacles and / or field boundaries and / or the like. If the environmental detection is positive, i.e., for example, an obstacle and / or a field boundary is detected, control signals can be generated to execute the corresponding machine function, which, for example, lead to the immediate stop of the agricultural machine, a reduction in speed, and / or evasive maneuvering of the agricultural machine.

[0059] Preferably, the control device is configured to monitor a distribution, in particular with regard to the existence of the distribution, the distribution quantity, the orientation of the distribution and / or the form of the distribution.

[0060] Preferably, the control device can be configured to check whether a machine function can be executed. The check is preferably performed before, during, and / or after the generation of the control signals, for example, by comparing the generated control signals with stored control signals and / or threshold values. For example, the height of a spray boom is limited so that obstacles with a height greater than the maximum height of the spray boom cannot be driven over. Immediate stopping of the machine or evasive maneuvering are options for preventing damage.

[0061] Preferably, in order to check whether a machine function can be carried out, it can be provided that the control device is set up to evaluate and / or assess the detected measured variable. An evaluation and / or assessment can be carried out using a corresponding program and / or code. An evaluation and / or assessment of the at least one measured variable can be used to check whether the machine function can be carried out at all. For example, this can be achieved by comparing the generated control signal with a threshold value that corresponds to the maximum or minimum possible movement of the actuating device or actuator. Alternatively or cumulatively, the evaluation and / or assessment of the measured variable can be used to carry out safety functions in order to prevent collisions, damage and the like.

[0062] Likewise, the evaluation and / or assessment could be used for monitoring functions, for example to monitor the distribution of material, such as spray liquid.

[0063] Further possibilities as to how the evaluation and / or assessment of the recorded at least one measured variable can be applied are also covered by the present invention.

[0064] Particularly preferably, the control device is configured to generate the control signals in addition to the detected measured variable based on evaluation and / or assessment of the detected at least one measured variable.

[0065] According to a further preferred embodiment, it is provided that the control device is configured to retrieve at least one threshold value for the at least one measured variable and to take the at least one threshold value into account for generating the control signals.

[0066] A threshold value can mean that above the threshold value, at least one measured variable is considered to have been recorded. If the threshold value of at least one measured variable is undershot, then at least one measured variable is not recorded. For example, this could be due to a defect in the main sensor device, e.g., in the at least one sensor. It is also conceivable that no measured variable is detectable due to external influences. Alternatively or cumulatively, the threshold value can refer to the measured values ​​of the measured variable, e.g., to an actual distance to an object. Other threshold values ​​or uses of threshold values ​​are also conceivable.

[0067] The threshold value or threshold values ​​can be stored in the storage unit and / or retrieved from the storage device by the user.

[0068] Preferably, the control device is configured to generate control signals when the at least one threshold value is undershot or exceeded, by means of which control signals the agricultural machine can be transferred into a safe state.

[0069] A safe state can be understood as "fail-safe." A safe state means that if the measured value falls below the threshold, the machine's functionality is restricted to such an extent that no danger arises from the machine. This can preferably be achieved through appropriate control signals from the control device. For example, all machine functions can be deactivated.

[0070] According to a preferred embodiment, it is provided that the agricultural machine can be operated in at least two operating modes and the control device activates or deactivates machine functions depending on the operating mode.

[0071] The operating modes can preferably be: a transport mode, for example travel on public roads in which the agricultural machine is not operated; an operating mode in which the agricultural machine can be operated in all functions; a restricted operating mode, for example travel on the headland when no spreading of material is necessary or intended, and / or the like. By way of example and not exhaustively, it is conceivable that when the transport mode is active, the control device deactivates several machine functions. If spreading of material is not intended, this machine function can be deactivated. The same can apply to height control and the like.

[0072] The control device preferably has a selection control, by means of which the control device can decide which machine functions are active or inactive. The selection control can be predefined and / or predefinable and / or retrievable. The selection control preferably depends on the operating mode, the design of the agricultural machine, and / or the like.

[0073] By activating or deactivating machine functions, the required computing power can be reduced.

[0074] The underlying object is also achieved by a method for executing machine functions of an agricultural machine, preferably according to one of the preceding claims, comprising the method steps: a) providing the agricultural machine with at least two actuating devices for carrying out at least two different machine functions, a main sensor device and a control device; b) detecting a measured value by means of the main sensor device; c) generating control signals based on the measured variable detected by the main sensor device; d) Controlling the actuating devices by means of the generated control signals and executing at least two different machine functions.

[0075] Particularly preferably, an agricultural machine is provided which is configured to carry out the method according to one embodiment.

[0076] For the purposes of the application, features disclosed in conjunction with other features may also be considered as disclosed on their own. Features linked by "and / or" are to be understood as disclosed both individually and in combination with the other features.

[0077] All features disclosed for the system, the method and the agricultural machine can be used in a corresponding manner with each other.

[0078] Further advantageous embodiments emerge from the subclaims.

[0079] Further objects, advantages, and benefits of the present invention will become apparent from the following description taken in conjunction with the accompanying drawings, in which: Fig. 1 a schematic representation of the agricultural machine according to an embodiment; Fig. 2 an embodiment of the agricultural machine; Fig. 3 a side view of the Fig. 2; Fig. 4 shows a further embodiment of the agricultural machine; Fig. 5 a side view of the Fig. 4; Fig. 6 a schematic representation of a method for performing machine functions;

[0080] In the figures, identical components are designated by the same reference symbols, although in some figures the reference symbols may be omitted for the sake of clarity.

[0081] In the Fig. 1 schematically shows the agricultural machine 1 according to an embodiment.

[0082] The agricultural machine 1 comprises a main sensor device 3 with at least one sensor 5, 5', a secondary sensor device 6 with at least one secondary sensor 6, a control device 4, and two actuating devices 2. The main sensor device 3, preferably the at least one sensor 5, 5', is configured to detect a measured variable. The secondary sensor device 6, preferably the at least one secondary sensor 7, is configured to detect a secondary measured variable.

[0083] The sensor devices 4, 6 are configured to transmit the detected measured variables to the control device 4, wherein the sensor device 4 is configured to process the detected measured variables and generate control signals based on the detected measured variables. Furthermore, the sensor device 4 is configured to transmit the generated control signals to at least two actuating devices 2, whereby at least two mutually different machine functions of the agricultural machine 1 can be executed.

[0084] According to the invention, the control device 4 is configured to generate the control signals based on the measured variables detected by the main sensor device 3. Furthermore, in one embodiment, the control device 4 can be configured to generate the control signals based on the measured variables detected by the main sensor device 3 and based on the secondary measured variables detected by the secondary sensor device 6. Preferably, the control device 4 is configured to combine the measured variables detected by the sensor devices 3, 6 and to generate the control signals based on these variables.

[0085] Furthermore, it can be provided that the control device 4 can execute at least one secondary machine function, for example, environmental detection, based on the detected measured variable and, if applicable, the detected secondary measured variable. The control device 4 is configured to take into account the result of the secondary machine function in addition to the measured variables and, based on this, generate the control signals in addition to the detected measured variables.

[0086] In the Fig. 2, the agricultural machine 1 is designed, for example, as a towed field sprayer, i.e., as an agricultural field sprayer that can be coupled or towed by means of a towing vehicle (not shown here). The direction of travel F is indicated by the corresponding arrow. A longitudinal extension direction of the distribution boom corresponds to a width direction B of the machine 1.

[0087] The machine 1 has a distribution boom 9, which is directly or indirectly mounted on a carrier vehicle 8, for spreading material such as fertilizer, pesticides, or seeds. In the case of a field sprayer, the material to be spread is a spray liquid. The distribution boom 9 comprises two lateral arms 10, which are pivotally attached at their inner end to a central section 11 and have an outer free end. The distribution boom 9 can, for example, have working widths of more than 20 meters. The distribution boom 9 or the arms 10 can be formed, at least in sections, by a lattice-like rod structure or by a truss construction. Furthermore, the rod structure or the lattice construction has a greater height than depth.

[0088] The two lateral booms 10 and the central part 11 each have a plurality of dispensing elements for dispensing the material, e.g. spray nozzles arranged at a distance in the longitudinal direction of the distribution boom.

[0089] The central section 11 is mounted on the carrier vehicle 8 in a height-adjustable manner by means of an adjusting device 2 for adjusting the height of the central section 11 in order to adjust its height relative to an agricultural target area Z to be worked, for example a soil L and / or formed by a plant stand P. The adjusting device 2 for adjusting the height of the central section 11 comprises a height-adjustable lifting frame 12 to which the central section 11 is mounted. The lifting frame 12 is mounted on the carrier vehicle 8 in a height-adjustable manner by means of a parallelogram linkage 13 in a manner known per se. The adjusting device 2 for adjusting the height of the central section 11 further comprises at least one actuatable actuator 14, which is supported at one end on the carrier vehicle 8 and at the other end on the lifting frame 12. The adjusting device 2 can thus raise and lower the entire distribution linkage 9 for height control.The actuating device 2 is configured to receive the control signals from the control device 4, so that the control signals can be converted into movements of the actuator 14. The height of the distribution boom 9 can be adjusted by the movements of the actuator 14. The height of the distribution boom 9 is one of the machine functions. Another machine function is the application of the material itself, which depends in particular on the height of the distribution boom 9. The machine functions of the agricultural machine are controlled by the control device 4 based on the measured variable detected by the main sensor device 4.

[0090] The agricultural machine 1 has the main sensor device 4. This is designed to detect height changes of the distribution boom 9 relative to a target area Z, which preferably lies in front of the distribution boom 9. The sensor device 4 comprises, purely by way of example, two sensors 5, 5' on each boom 10, although other arrangements and more or fewer than two sensors 5, 5' per boom 10 are also conceivable. Likewise, a secondary sensor device 6 with a secondary sensor 7 can be provided, which is arranged, for example, on the central part 11 and can detect the secondary measured variable vertically downwards. In principle, the at least one secondary sensor 7 can also be arranged at other positions on the distribution boom 9.

[0091] In the Fig. 3 is a side view of the Fig. 2. It is also shown that the at least one sensor 5, 5' is movably mounted, wherein the possible rotations about the width direction B or the direction of travel F are shown. Furthermore, the at least one sensor 5, 5' could be displaceably mounted. The sensor which is directed downwards could be a sensor 5, 5' of the main sensor device 3 or a secondary sensor 7 of the secondary sensor device 6. The measured variable of the main sensor device 3 shown is a distance to the target area Z, in this case the plants P, represented by a corresponding arrow, wherein the arrow can also represent the corresponding measuring direction.

[0092] Furthermore, various measuring points M1, M2, M3 are shown, by means of which the measured variable can be detected by means of the main sensor device 3. The first measuring point M1 is assigned a first viewing direction B1, the second measuring point M2 a second viewing direction B2, and the third measuring point M3 a second viewing direction B3.

[0093] According to the Fig. 4 shows a further embodiment of the agricultural machine 1, wherein the agricultural machine 1 comprises a gantry structure 15 or a wide-span structure, which is provided as a carrier for further agricultural elements of the agricultural machine 1. According to the Fig. 4, a working device 17 is arranged on the gantry structure 15 and connected thereto, wherein the working device 17 is preferably connected to a frame structure 18. According to the Fig. 4, a plurality of row units 16 are provided, which are arranged on the gantry structure 15 and operatively connected thereto. Row units 16 can be designed in various configurations, for example, as a sowing row, as a hoeing row, and the like. Instead of row units, other implements can also be provided, for example, a harvesting attachment, a spraying device, a cultivator device, a harrow device, and the like. Any possible type of agricultural machine 1 that can be formed with the gantry structure 15 is conceivable.

[0094] Different detection ranges are possible and shown with regard to the sensor devices 3, 6 or the sensors 5, 5', 7, wherein each detection range corresponds to a measuring direction and / or a time interval of the measurement of the sensor devices 3, 6 or the sensors 5, 5', 7.

[0095] According to the Fig. 5 is a side view of the Fig. 4, wherein the height of the implement 17 is adjustable. Other machine functions, such as distribution and the like, may depend in particular on the height of the implement 17. A parallelogram linkage 13 with an actuator 14 is also shown for this purpose.

[0096] In the Fig. 6 schematically shows a method, wherein the method for carrying out machine functions of an agricultural machine comprises the following method steps.

[0097] In a first step S1, it is provided to provide the agricultural machine 1 with at least two actuating devices 2 for carrying out at least two different machine functions, a main sensor device 3 and a control device 4.

[0098] In a subsequent step S2, the detection of a measured variable by means of the main sensor device 3 is provided and in a further subsequent step S3, the generation of control signals based on the measured variable detected by means of the main sensor device 3, by means of the control device 4.

[0099] In a further step S4, the actuating devices 2 are controlled by means of the generated control signals and the at least two different machine functions are executed accordingly.

[0100] All features disclosed in the application documents are claimed as essential to the invention, provided that they are new, individually or in combination, compared to the prior art. List of reference symbols 1 agricultural machine 2 adjusting device 3 Main sensor device 4 Control device 5.5' sensor 6 Secondary sensor device 7 Sub-sensor 8 Carrier vehicle 9 distribution rods 10 side boom 11 Middle section 12 lifting frames 13 parallelogram linkages 14 Actuator 15 Gantry structure 16 row unit 17 Work equipment 18 Frame construction F Direction of travel B Width direction H Altitude direction Z agricultural target area L floor P Plant M1, M2, M3 measuring points B1, B2, B3 viewing directions

Claims

[1] Agricultural machine (1), in particular agricultural distribution machine, comprising: - at least two actuating devices (2) which are designed to carry out at least two different machine functions directly and / or indirectly on the basis of control signals, - a main sensor device (3) which is designed to detect a measured variable, - a control device (4) which is arranged to generate the control signals, characterized by that the control device (4) is arranged to generate the control signals on the basis of the measured variable detected by the main sensor device (3). [2] Agricultural machine (1) according to claim 1, characterized bythat the main sensor device (3) for detecting the measured variable comprises at least one sensor (5, 5'), wherein the at least one sensor (5, 5') is a contactless sensor, more preferably an electromagnetic sensor, particularly preferably a radar sensor. [3] Agricultural machine (1) according to claim 1 or 2, characterized by in that the main sensor device (3) is set up to detect the measured variable at a measuring point (M1, M2, M3), wherein the measuring point (M1, M2, M3) has different measuring points and / or measuring ranges, and wherein the control device (4) is set up to generate control signals for carrying out a first machine function using one or more of the measuring points and / or measuring ranges and control signals for carrying out a second machine function using one or more further measuring points and / or measuring ranges. [4] Agricultural machine (1) according to one of claims 1 to 3, characterized bythat the main sensor device (3) is designed to detect the measured variable in at least one viewing direction (B1, B2, B3), preferably in different viewing directions (B1, B2, B3). [5] Agricultural machine (1) according to one of claims 1 to 4, characterized by that the main sensor device (3) is designed to detect the measured variable at regular and / or irregular time intervals, wherein the time intervals of the main sensor device (3) can be specified manually and / or by the control device (4) depending on the machine function to be performed. [6] Agricultural machine (1) according to one of claims 1 to 5, characterized by that the main sensor device (3) for detecting the measured variable has at least two identical sensors (5, 5'), wherein the at least two identical sensors (5, 5') have different or identical viewing directions (B1, B2, B3) and / or measuring points (M1, M2, M3). [7] Agricultural machine (1) according to one of claims 1 to 6, characterized by in that the agricultural machine (1) has, in addition to the main sensor device (3), a secondary sensor device (6) which is designed to detect a secondary measured variable, and wherein the control device (4) is designed to generate the control signals on the basis of the measured variable detected by means of the main sensor device (3) and on the basis of the secondary measured variable detected by means of the secondary sensor device (6). [8] Agricultural machine (1) according to claims 2 and 7, characterized by that the secondary sensor device (6) has at least one secondary sensor (7) for detecting the secondary measured variable, wherein the at least one sensor (5, 5') of the main sensor device (3) and the at least one secondary sensor (7) of the secondary sensor device (6) are different from one another with regard to the measuring principle and / or with regard to the measured variable. [9] Agricultural machine (1) according to one of claims 1 to 8, characterized by that the at least two machine functions are dependent on one another, wherein the control device (4) is set up to generate the control signals on the basis of the measured variable detected by means of the main sensor device (3), the dependence of the machine functions on one another and, if appropriate, the secondary measured variable detected by means of the secondary sensor device (6). [10] Agricultural machine (1) according to one of claims 1 to 9, characterized by that the control device (4) is arranged to generate the control signals by means of a priority sequence that can be called up by the control device (4), wherein the control device (4) first generates control signals for safety-relevant machine functions. [11] Agricultural machine (1) according to one of claims 1 to 10, characterized bythat the control device (4) is designed to retrieve a threshold value for the measured variable and to take the threshold value into account for generating the control signals, wherein when the threshold value is undershot or exceeded, the control device (4) generates control signals by means of which the agricultural machine (1) can be transferred into a safe state. [12] Agricultural machine (1) according to one of claims 1 to 11, characterized by that the control device (4) is set up to carry out at least one secondary machine function on the basis of the detected measured variable, wherein the control device (4) is set up to additionally generate the control signals on the basis of the secondary machine functions, wherein preferably the at least one secondary machine function is an environment detection and / or a monitoring function of the machine functions. [13] Method for executing machine functions of an agricultural machine (1), preferably according to one of the preceding claims, comprising the method steps: a) providing the agricultural machine (1) with at least two actuating devices (2) for carrying out at least two different machine functions, a main sensor device (3) and a control device (4); b) detecting a measured variable by means of the main sensor device (3); c) generating control signals based on the measured variable detected by the main sensor device (3); d) controlling the actuating devices (2) by means of the generated control signals and executing the at least two different machine functions.

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