Agricultural implement

Abstract

The present invention relates to an agricultural, in particular autonomous, implement comprising a control system and at least one position-determining unit connected to the control system, with at least one receiving unit arranged on the implement side for at least receiving position signals. According to the invention, the implement comprises at least one mobile transmitter unit and at least one holding device for receiving the transmitter unit. In a transport position, the transmitter unit is arranged detachably, in particular detachably, on the implement, and in an operating position, it is arranged at a distance from the implement and temporarily stationary, in particular on a floor, in an operating position. The transmitter unit is connectable to the control system in the transport position and / or operating position.

Description

[0001] The present invention relates to an agricultural implement, in particular for soil cultivation, with at least one transmitter unit.

[0002] In addition to agricultural machines for field cultivation, which are usually pulled by a towing vehicle such as a tractor, self-propelled agricultural machines are also known, which are controlled and operated by a driver during field cultivation, in particular soil cultivation and / or grassland cultivation.

[0003] Modern agricultural technology increasingly strives for greater automation and autonomous processing of agricultural processes. Satellite-based systems such as GPS, GLONASS, or Galileo are used for positioning, both for navigation and for work processes, for example, for detecting field boundaries or for position-based yield recording. Positioning is based on signals or position signals transmitted by the satellites and received by a corresponding positioning unit. To determine a position, a corresponding receiving unit must receive the position signals from at least three satellites; reception of additional satellites can improve the positioning accuracy.

[0004] To further increase the accuracy of position determination, an additional correction signal is typically used. This correction signal contains information that enables a positioning unit to determine a significantly more precise position from the received position signals and the correction signal. A correction signal is typically determined and transmitted by a reference station at a precisely known geographical location. These systems are referred to as differential position detection systems. In addition to stationary and networked reference stations that cover a very large area, local reference stations are also used, which can be configured as fixed or mobile transmitter units.Mobile transmitter units have the advantage that they can be set up closer to the work site, which means that the required correction signals can be generated directly in the vicinity of, for example, a field to be worked on, and their signal propagation times can be kept short, thus further improving position determination.

[0005] The most accurate position determination possible is particularly desirable for autonomously operating agricultural implements, since compliance with specified field boundaries must be monitored and ensured, particularly for safety reasons. WO 2016 / 087535 A1 describes an agricultural system in which the position of a work machine is monitored by a satellite-based navigation system. If the work machine leaves a permitted working area or communication with the work machine is interrupted, an emergency shutdown and deactivation of the work machine occurs.

[0006] DE 10 2006 016 396 A1 discloses a mobile reference station for generating correction signals for an agricultural vehicle. The mobile reference station receives position signals from a satellite-based positioning system and, using a processor, derives correction signals from these, which are transmitted via a radio antenna. The processor is connected to an inertial sensor. Based on signals from the inertial sensor, the processor can calculate a position change of the reference station and generate an error signal if the calculated amount of position change exceeds a predetermined threshold. This allows the reference station to indicate or prevent the transmission of erroneous correction signals. This results in the corresponding agricultural vehicle continuing to operate without a correction signal, or an operator having to control the vehicle manually.In order to be able to use the mobile reference station again, the operator of the agricultural vehicle must set up the mobile reference station again and put it into operation.

[0007] Another disadvantage of mobile reference stations is the additional effort required to set up the reference stations and find a suitable location in the field environment.

[0008] It is therefore the object of the present invention to provide an agricultural implement, a method and a transmitter unit which enable improved position determination while simultaneously increasing system reliability.

[0009] The object is achieved by a working device according to the features of claim 1, a method according to claim 7 and a transmitter unit according to claim 12. Advantageous embodiments of the invention are specified in the subclaims.

[0010] An agricultural, in particular autonomous, implement comprising a control system and at least one position-determining unit connected to the control system, with at least one receiving unit arranged on the implement side for at least receiving position signals. According to the invention, the implement comprises a mobile transmitter unit and at least one holding device for receiving the transmitter unit. In a transport position, the transmitter unit is arranged detachably, in particular detachably, on the implement, and in an operating position, it is arranged at a distance from the implement and temporarily stationary, in particular on a floor, in an operating position. The transmitter unit is connectable to the control system in the transport position and / or operating position.

[0011] A working device can be a working device mounted or attached to a towing vehicle, in particular for soil cultivation. Likewise, a working device within the meaning of the invention can be a self-propelled working device or even a driverless, autonomous working device. A control system can control the functions of the working device, for example for soil cultivation, and / or the navigation and steering. To determine a position of the working device, a positioning unit based on one or more satellite-supported navigation systems can be provided. The positioning unit can additionally or alternatively be configured to receive signals, in particular position signals and / or correction signals, which are transmitted, for example, via mobile radio or other wireless means.In addition, the positioning unit can receive and process signals from transmitter units, which act like radio beacons and transmit corresponding position signals and / or location signals, as well as, in particular, an individual identifier.

[0012] According to the invention, the working device has at least one mobile transmitter unit and at least one holding device for receiving the transmitter unit. In a transport position, the at least one transmitter unit is detachably arranged on the working device and can thus, for example, be carried along with the working device during a transport journey to a field. This eliminates the need for separate transport of the transmitter unit to the place of use of the working device. The transmitter unit can be received by the holding device and held in the transport position or held on a separate bearing on the working device. The holding device can be designed and configured such that at least one transmitter unit can be received, held in a transport position, arranged in a bearing and / or set down. A holding device can be arranged on each side and on a top side of the working device.In the front and rear areas, a front or rear power lift arranged on the implement and not required for a tool can serve as a holding device for picking up and setting down a transmitter unit. A transmitter unit can be set down, in particular autonomously by the control system, at an operating position suitable for operating the transmitter unit. In this case, an operating position of a transmitter unit can be on a field to be worked or outside the field. At least one operating position can be stored in the implement, in particular the control system, in the form of a measuring point. A measuring point can be a previously known, suitable operating position, whereby the exact location details or geographical coordinates of the measuring point, which are required for determining a correction signal by a transmitter unit, are known.

[0013] The at least one transmitter unit mounted on the implement offers the advantage of eliminating the need for separate transport of the transmitter unit. Furthermore, the implement can place the transmitter unit, particularly autonomously, at a designated operating position without requiring an operator to transport the transmitter unit there. This allows the transmitter unit to be moved to an optimal operating position without great effort, thus ensuring precise cultivation of a field.

[0014] Preferably, the control system is designed to be connectable to the at least one transmitter unit, wherein the transmitter unit is designed and configured such that location parameters, a positioning signal, and / or a correction signal for position determination can be transmitted from the transmitter unit to the control system. A correction signal for position determination can be generated by the transmitter unit based on received position signals from one or more satellite navigation systems, and in particular the precise geographical coordinates of the operating position of the transmitter unit, and sent to the control system of the implement. For this purpose, the transmitter unit can have a receiving unit at least for position signals, a control unit at least for generating a correction signal, and a transmitting unit for transmitting at least the correction signals.In addition to or as an alternative to correction signals, the transmitter unit can transmit location signals, for example via the transmitter unit. When transmitting location signals that can be received by the control system of the implement, the transmitter unit essentially functions like a radio beacon. In addition to its location parameters, which indicate its position, the transmitter unit can transmit an identifier so that the control system can determine or triangulate an exact position of the implement from the received location signals from one or more transmitter units. An operating position of at least one transmitter unit can be stored in the control system of the implement. This has the advantage that the control system can assign received location signals to an operating position and / or a transmitter unit, which can enable a more accurate determination of the exact position of the implement.The transmitter units can be located on or off the field. This has the advantage that, even if the reception quality of the position signals deteriorates, the control system can still ensure reliable positioning of the implement.

[0015] In a preferred embodiment, the at least one holding device is designed and constructed such that one or more transmitter units can be picked up and / or lowered independently of one another by the holding device. For this purpose, the holding device can be designed in the form of an articulated arm or a folding device which can be controlled by the control system, in particular autonomously, and / or by an operator. Transmitter units can be arranged on the implement in the transport position and / or held in the transport position by means of the holding device. The transmitter units can be picked up and / or lowered at a distance from one another in time and / or space at their respective operating positions, in particular autonomously from the control system or the implement.This offers the advantage that multiple transmitter units can be deployed at different operating positions for optimal positioning of the implement, thus improving the determination of the implement's position. Furthermore, a transmitter unit can be replaced and / or relocated, particularly autonomously, for example, in very large fields or if a transmitter unit no longer transmits a reliable signal.

[0016] In a preferred embodiment, the working device, in particular the holding device, has at least one connection module for connection to at least one transmitter unit, wherein a transmitter unit connected to a connection module can be supplied with electrical energy and / or connected to the control unit for data transmission. The connection module can be arranged on the holding device and / or the working device. In the transport position, a transmitter unit can be supplied with electrical energy and / or data via the connection module in a wired and / or wireless manner. In an operating position, a transmitter unit can be supplied with data wirelessly. This has the advantage that a transmitter unit with insufficient electrical energy can be taken up by the working device, in particular replaced with another transmitter unit, and supplied with electrical energy again via the connection module.Via a data connection, the operating software of the transmitter unit can be updated or reset, for example by the control system, in order to improve faulty or inaccurate signal transmission and / or to correct errors.

[0017] In a further preferred embodiment, the control system is designed and configured to determine an operating position for a transmitter unit based on at least one received signal. At least one operating position or its location parameters for a transmitter unit to be deployed can be stored in the control system in the form of a measuring point. In addition, further operating positions for the same transmitter unit can be stored in the control system, for example in the event that a relocation of the transmitter unit is intended. This can be the case for processing another field or for a very large field. The control system can evaluate received signals, in particular position signals, continuously, at intervals, or as needed in order to determine an optimal operating position for a transmitter unit.The received signals can be position signals, location signals from other transmitter units, and in particular a position-related evaluation of these signals with regard to their signal strength and / or signal quality. This has the advantage that, for example, at a specified operating position, in particular a measuring point, signals receivable there can be recorded and evaluated to determine whether they are suitable for sufficiently accurate position determination of the implement. If predefined limit values ​​for signal strength and / or signal quality are undershot, a warning can be issued and / or a more suitable operating position can be determined and suggested by the control system based on the received signals. A more suitable operating position can be determined as a drop-off point independently of already known operating positions, which can be stored as measuring points in the control system.At a drop-off point, a transmitter unit can still receive sufficiently good position signals to transmit usable correction signals, location parameters, and / or positioning signals to the implement's control system. This ensures improved positioning of the implement in the event of poor signal quality from the existing satellites and / or base stations by determining a more suitable operating position, particularly a drop-off point, for a transmitter unit.

[0018] The control system is preferably designed and configured to monitor location parameters, a signal, and / or a charge level of the transmitter unit. A transmitter unit can be deployed and operated at an operating position with predetermined location parameters. The respective location parameters can be stored in the control system and compared with the actual location parameters emitted by the transmitter unit, in particular the actual location parameters currently determined by the transmitter unit. To determine a location parameter or a change in a location parameter, a transmitter unit can have a sensor, in particular an acceleration sensor, which can detect a change in the position of the transmitter unit and transmit it as a sensor signal.In the event of a deviation, for example if a transmitter unit is unexpectedly moved or overturned, the control system can issue a warning about possibly faulty correction signals from this transmitter unit. In addition, a locating signal and / or a correction signal from a transmitter unit can be monitored and compared with previous ones, in particular within a defined period of time. In the event of an unexpectedly large deviation in the locating signals and / or correction signal due to the movement of the implement, the control system can assume that the transmitter unit or its signals have been tampered with by a third party, for example due to weather conditions or deliberate manipulation, and issue a corresponding warning and / or no longer take the signals from the transmitter unit into account for determining the position. Furthermore, the control system can determine the charge level or the battery level.Monitor the power supply of a transmitter unit based on a corresponding signal emitted by the transmitter unit. This has the advantage that a transmitter unit can be replaced in a timely manner, particularly autonomously by the control system, thus ensuring continued reliable positioning of the implement while simultaneously increasing system safety.

[0019] A method for handling at least one transmitter unit for a, in particular autonomous, working device, which is designed and configured as above, comprises the following steps according to the invention: - Moving to an operating position for at least one transmitter unit and - Moving at least one transmitter unit from a transport position to an operating position on the operating position by means of a holding device, - Receiving correction signals, location parameters and / or location signals from the temporarily stationary transmitter unit located at the operating position by the control system.

[0020] A working device having at least one transmitter unit can be moved to an operating position, in particular in the form of a previously known measuring point and / or a measuring point stored in the control system, for setting down the transmitter unit autonomously or during transport of the working device, for example, to the operating position. This can also be done, for example, with an operating position, in particular in the form of a measuring point and / or a setting-down point, of a transmitter unit outside of a field to be worked. The operating position, in particular a measuring point, can be stored in the control system, for example, during route planning.The transmitter unit can be lowered from the transport position to an operating position using the holding device by an operator of the implement and / or autonomously by the implement's control system, particularly during field work. An operating position, particularly a measuring point and / or a drop-off point, can be identified using the implement's sensors, enabling autonomous approach to an operating position and precise, autonomous drop-off of a transmitter unit into the operating position. It is also conceivable for the transmitter unit to be lowered and put into operation by the implement at the start of the work process at a field access point.Once correction signals, location parameters, and / or positioning signals, which can be transmitted by the transmitter unit, can be received by the implement's control system and used for position determination, the implement can utilize the improved position determination in a work process. Because the implement has at least one detachable transmitter unit, the effort of transporting and setting up one or more transmitter units separately is eliminated.

[0021] The method preferably comprises the further step of determining an operating position for a transmitter unit based on at least one received signal. The control system can evaluate received signals continuously, at intervals, or as needed to determine an optimal operating position for a transmitter unit. The received signals can be position signals, location signals from other transmitter units, and in particular a position-related evaluation of these signals with regard to their signal strength and / or signal quality. Based on the received signals, the control system can determine a more suitable operating position for a transmitter unit to be deployed, for example, with a greater signal strength and / or better signal quality than at the predetermined operating position.This has the advantage that, for example, signals receivable at a given operating position can be recorded and evaluated to determine whether they are suitable for sufficiently accurate positioning of the implement. If predetermined limit values ​​are undershot, for example, the implement can determine a new operating position for a transmitter unit. This operating position can be defined as the drop-off point at which a sufficiently accurate position signal and / or correction signals can be received. A drop-off point can deviate from previously known measuring points. The control system can determine the precise geographical coordinates of the drop-off point, improved using a correction signal, and transmit them to the transmitter unit deployed at the drop-off point. This enables the transmitter unit at the drop-off point to generate and transmit precise location signals, location parameters and / or correction signals for the control system.This allows the implement to continue to work the field precisely using the transmitter unit, even if the implement cannot receive sufficiently accurate correction signals and / or location signals other than those from the transmitter unit.

[0022] The method further preferably comprises the further steps of moving to the operating position of a remote transmitter unit, picking up the remote transmitter unit by means of the holding device, and moving the transmitter unit into a transport position. Moving to the operating position of a transmitter unit to be picked up can take place autonomously, in particular during and / or after processing a field. The transmitter unit in question can be picked up by the holding device and moved into a transport position. In the transport position, the picked up transmitter unit can be held by the holding device or arranged in a bearing on the implement. The autonomous picking up of a transmitter unit offers the advantage that a transmitter unit that has already been picked up in an operating position can be picked up again and, for example, relocated or replaced with another one.This ensures reliable operation of the transmitter unit and thus reliable position determination even during long operating periods and / or in very large fields.

[0023] Particularly preferably, the method comprises the further steps of monitoring the operating position, the received signals, and / or sensor data of the transmitter unit, in particular by the transmitter unit and / or the control system, and / or issuing a warning signal that at least one signal from the transmitter unit could be faulty. Received signals from the control system can be position signals, location signals, correction signals, and / or sensor signals emitted by a transmitter unit. The location parameters of an operating position, in the form of a measuring point and / or a drop-off point, of a transmitter unit can be stored in the control system and compared with the actual location parameters and / or signals emitted by the transmitter unit, in particular those currently determined by the latter.In the event of a deviation, for example if a transmitter unit is unexpectedly moved or overturned, which can be indicated by a corresponding sensor signal, the control system can issue a warning about possibly faulty signals, for example correction signals, position signals, locating signals and / or sensor signals, from this transmitter unit. In addition, at least one locating signal and / or one correction signal from a transmitter unit can be monitored and compared with previous ones, in particular within a defined period of time. In the event of an unexpectedly large deviation in the locating signals, sensor signals and / or correction signal due to the movement of the work equipment, the control system can detect tampering of the transmitter unit or unit, for example due to weather conditions or deliberate manipulation.accept their signals from third parties and issue a corresponding warning and / or no longer take the signals from the transmitter unit into account for position determination.

[0024] The method further preferably comprises the further step of monitoring and / or transmitting a charge level of a power supply of the transmitter unit to the control system. The control system can monitor a charge level or the power supply of a transmitter unit based on a corresponding signal emitted by the transmitter unit. This has the advantage that a transmitter unit can be replaced in a timely manner, particularly autonomously by the control system, thus ensuring continued reliable positioning of the implement while simultaneously increasing system reliability.

[0025] A transmitter unit for a work device designed and configured as provided and / or for carrying out a method as described above comprises at least one transmitting unit, a receiving unit, and / or a control unit, as well as, in particular, at least one sensor, in particular for determining position. Position signals from a satellite-based positioning system and / or location signals from other transmitter units can be received via the receiving unit, from which the transmitter unit can generate correction signals using the control unit. These correction signals can be transmitted via the transmitting unit and received by the control system of the work device. Location parameters, signals concerning the charge level, and / or sensor signals from the transmitter unit can also be transmitted via the transmitting unit.The sensor signals can be generated, for example, by a position sensor, an acceleration sensor and / or proximity sensor of the transmitter unit.

[0026] Further details of the invention can be found in the figures and the description of the figures, which show a preferred embodiment of the invention.

[0027] They show: Fig. 1: a view of a working device in the field with two transmitter units each in an operating position; Fig. 2: a rear view of a working device with a transmitter unit on a holding device; Fig. 3: a side view of a working device with transmitter units arranged at the front and sides in transport position; and Fig. 4: A flowchart of a method for handling a transmitter unit; and Fig. 5: A flowchart of determining an operating position for a transmitter unit.

[0028] In Fig. 1 shows an agricultural implement 10 in the form of an autonomous agricultural implement. The implement 10 can be used to cultivate a field, for example, for soil cultivation, with a variety of different tools (not shown). The implement 10 has a control system 12, which controls the implement 10 and executes and controls the underlying processes. These include, among other things, the steering and navigation of the implement 10. For the necessary position determination of the implement 10, the control system 12 has a position determination unit 14, which is connected to a receiving unit 16. Via the receiving unit 16, the implement 10 or the control system 12 can receive position signals 18 from satellites of a satellite navigation system 46 and determine the current position of the implement 10 from the position signals 18.To improve the accuracy of the determined position, correction signals 26 are required. These correction signals 26 are typically calculated and transmitted by stationary or mobile transmitting units. In . Fig. 1, the transmitting units are shown in the form of mobile transmitter units 20, which can be set up at the respective location as required and generate correction signals 26 and transmit them for reception by the control system 12 of the working device 10.

[0029] According to the invention, the working device 10 has at least one transmitter unit 20, which is received by a holding device 22. By means of the holding device 22, the transmitter unit 20 can be moved from a transport position 32 into an operating position 34 for operating the transmitter unit 20. In the transport position 32, the transmitter unit 20 is mounted on the working device 10, for example, in a storage device (not shown) or can be held by the holding device 22. Moving a transmitter unit 20 from a transport position 32 into an operating position 34 can be done autonomously by the control system 12 or the working device 10.

[0030] The working device 10 can move to the operating position 50, for example in the form of a predetermined measuring point 52 and / or a determined setting point 54, of the respective transmitter unit 20, for example, before starting work in the field and set the transmitter unit 20 down at its respective operating position 50, 52, 54. As in Fig. 1, two transmitter units 20 were detached from the working device 10, with one transmitter unit 20 arranged in the background being shown smaller.

[0031] A transmitter unit 20 has a receiving unit 36 ​​for receiving the position signals 18 of the satellite navigation system 46. The received signals are processed by a control unit 40 of the transmitter unit 20, and a correction signal 26 is generated, which is transmitted via a transmitting unit 38. The transmitter unit 20 also has a sensor 42, which can be configured as a position sensor, an acceleration sensor, and / or a proximity sensor. Via the sensor 42, the control unit 40 of the transmitter unit 20 can detect a change in position or approach to the transmitter unit 20 and send a corresponding sensor signal 44 to the control system 12, so that possible manipulation of the transmitter unit 20 can be detected and taken into account, for example, by the control system 12 no longer using the signals from the affected transmitter unit 20.

[0032] In addition to the correction signals 26, the transmitter unit 20 transmits a locating signal 28, which can include, for example, a position indication or location parameter 48 and / or a unique identifier for this transmitter unit 20. A precise operating position 50, 52, 54 of a transmitter unit 20 can be stored in the control system 12. Thus, the transmitter unit 20 functions like a radio beacon, alternatively or in addition to the transmitted correction signals 26. By using multiple transmitter units 20 that transmit corresponding locating signals 28, the control system 12 can very precisely triangulate the position of the implement 10 in addition to or as an alternative to the position and correction signals, thereby enabling more reliable position determination.In this case, the operating position 50, 52, 54 of the transmitter units 20 can be stored in the control system 12 and / or transmitted by the transmitter units 20 and transferred to the control system 12.

[0033] On the working device 10 in Fig. 1 shows a transmitter unit 20 in the transport position 32 on the side of the implement 10. The transmitter unit 20 is held in the transport position 32 by the holding device 22, with the transmitter unit 20 being arranged on a connection module 30. Via the connection module 30, the transmitter unit 20 can be supplied with electrical energy wirelessly or by wire and / or connected to the control system 12, for example, for data transmission.

[0034] Moving a transmitter unit 20 from the transport position 32 into the operating position 34 is possible in Fig. 2. The transmitter unit 20 is still connected to the holding device 22, which places the transmitter unit 20 laterally from the working device 10 onto the ground 24 in an operating position 50, 52, 54.

[0035] After releasing the holding device 22, the transmitter unit 20 can remain in the operating position 50, 52, 54 and transmit at least the correction signals 26 required for precise position determination by the control system 12.

[0036] In Fig. 3 shows a side view of the implement 10. Two holding devices 22 are shown on the side of the implement 10, with a transmitter unit 20 arranged in a transport position 32 in one holding device 22 and a connection module 30 arranged on it. In addition, the implement 10 has another holding device 22 in a front area with a transmitter unit 20 arranged thereon in a transport position 32. The front-side holding device 22 of the implement 10 can, for example, be a front power lift that is not required for the planned work in the field.

[0037] A flowchart of a method for handling a transmitter unit 20 is shown in Fig. 4. After the start, the first step S1 can be to determine an operating position 50, 52, 54 for the transmitter unit to be deployed. In this example, however, step S1 is shown in dashed lines, since the operating position 50 for deploying the transmitter unit 20 has already been specified, for example, in the form of a measuring point 52 whose precise geographical coordinates are already known, so that it can be approached by the working device 10. A description of step S1 is given in Fig. 5. The known operating position 50, in the form of the measuring point 52 for setting down the transmitter unit, is approached by the implement in the second step S2. The operating position 50 can be located outside or inside the field to be worked. In the former case, the operating position 50 can be approached during transport, although an operator may have to control the approach. However, an operating position 50 in the field can be approached autonomously by the implement 10.

[0038] After moving to the operating position 50, in the third step S3, the respective transmitter unit 20 is moved from the transport position 32 on the working device 10 to the operating position 34 on the operating position 50 by a holding device 22 of the working machine 10. After being moved into the operating position 34, the transmitter unit 20 generates at least the necessary correction signals 26 and transmits them, so that in the fourth step S4, at least the correction signals 26 can be received by the control system 12, whereby the position of the working device 10 can be determined with the accuracy required for field cultivation. A transmitter unit 20 can additionally or alternatively transmit locating signals 28 such as a radio beacon for position determination by the control system 12, wherein the locating signals 28 can include, in addition to a unique identifier of the respective transmitter unit 20, its exact position or location parameters 48.

[0039] During processing of the field, in the fifth step S5, the transmitter unit 20 and its emitted signals 26, 28, 44, 48 are monitored by the control system 12. Both the signal strength and the signal quality can be determined. It is conceivable that limit values ​​are specified here, the undershoot of which results in an indication and / or non-use of the respective transmitter unit 20 in order to continue to enable high accuracy of position determination. Furthermore, a signal 44 concerning the charge level of the electrical power supply of the respective transmitter unit 20 and / or a sensor signal 44 concerning possible manipulation or a change in the position of the transmitter unit 20 can be detected by the control system 12. For example, if the power supply is too low, a transmitter unit 20 can be replaced, in particular initiated autonomously by the control system 12.

[0040] To accommodate a transmitter unit 20, its operating position 50, 52, 54 is first approached in a step S6, and then, in step S7, the transmitter unit 20 is moved from the operating position 34 to the transport position 32 on the working device 10. The transmitter unit 20 can remain here for subsequent transport of the working device 20 and / or be recharged on a connection module 30.

[0041] In Fig.Figure 5 shows a flowchart for determining an operating position 50 in the form of a drop-off point 54 for a transmitter unit 20. This step can be performed if no operating position 50 in the form of a measuring point 52 is stored for a transmitter unit 20, or if a more favorable operating position 50, for example, with better signal reception, is to be determined. In a first step S10, for example, the position signals 18 of a satellite navigation system 46 are recorded continuously, at intervals or as needed, in particular position-related, and in a second step S11 they are compared with one another and with, for example, predetermined limit values ​​for signal strength and / or signal quality. From this, positions with particularly high signal strength and / or particularly good signal quality can be determined.From these positions, for example, in conjunction with other parameters such as the accessibility of a position, suitable operating positions 50 in the form of drop-off points 54 for transmitter units on and / or adjacent to a field can be determined. A determined drop-off point 54 can be adopted for future work as a new measuring point 52, particularly in the control system 12. Reference symbol 10 Work equipment 12 Tax system 14 Positioning unit 16 Receiving unit 18 Position signal 20 Transmitter unit 22 Holding device 24 Floor 26 Correction signal 28 tracking signal 30 connection module 32 Transport position 34 Operating position 36 Receiving unit 38 Transmitter unit 40 Control unit 42 Sensor 44 Sensor signal 46 Satellite navigation system 48 location parameters 50 operating position 52 measuring point 54 Drop-off point S1 Determine operating position S2 Approach operating position S3 Transfer transmitter unit S4 Receive signals S5 Monitor transmitter unit S6 Approach operating position S7 Recording transmitter unit S10 Detecting signals S11 Evaluate signals S12 Determine operating position QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] WO 2016 / 087535 A1

[0005] DE 10 2006 016 396 A1

[0006]

Claims

[1] Agricultural, in particular autonomous, implement with a control system (12) and at least one position determination unit (14) connected to the control system (12) with at least one receiver unit (16) arranged on the implement side for at least receiving position signals (18), characterized by , that the working device (10) has at least one mobile transmitter unit (20) and at least one holding device (22) for receiving the transmitter unit (20), wherein the transmitter unit (20) is detachably, in particular removable, arranged on the working device (10) in a transport position (32) and is spaced apart from the working device (10) and temporarily fixed in place, in particular on a floor (24), at an operating position (50, 52, 54) in an operating position (34), wherein the transmitter unit (20) is connectable to the control system (12) in the transport position (32) and / or operating position (34). [2] Working tool according to claim 1, characterized by , that the control system (12) is designed to be connectable to the at least one transmitter unit (20), wherein the transmitter unit (20) is designed and configured in such a way that location parameters (48), a location signal (28) and / or a correction signal (26) for position determination can be transmitted from the transmitter unit (20) to the control system (12). [3] Working equipment according to claim 1 or 2, characterized by , that the at least one holding device (22) is designed and constructed in such a way that one or more transmitter units (20) can be picked up and / or placed down independently of each other by means of the holding device (22). [4] Working equipment according to any of the preceding claims, characterized by, that the working device (10), in particular the holding device (22), has at least one connection module (30) for connection with at least one transmitter unit (20), wherein a transmitter unit (20) connected to a connection module (30) can be supplied with electrical energy and / or connected to the control unit (12) for data transmission. [5] Working equipment according to any of the preceding claims, characterized by , that the control system (12) is designed and configured to determine an operating position for a transmitter unit (20) based on at least one received signal (18, 28). [6] Working equipment according to any of the preceding claims, characterized by , that the control system (12) is designed and configured to monitor location parameters (48), a signal (26, 28, 44, 48) and / or a charge level of the transmitter unit (20). [7] Method for handling at least one transmitter unit (20) for a, in particular autonomous, working device (10) according to one of the preceding claims, characterized by the steps - Approaching (S2) an operating position (50, 52, 54) for at least one transmitter unit (20) and - Moving (S3) at least one transmitter unit (20) by means of a holding device (22) from a transport position (32) to an operating position (34) at the operating position (50, 52, 54), - Receiving (S4) correction signals (26), location parameters (48) and / or location signals (28) from the temporarily stationary transmitter unit (20) located at the operating position (50, 52, 54) by the control system (12). [8] Method according to claim 7, characterized by the next step - Determining (S1) an operating position (50, 54) for a transmitter unit (20) based on at least one received signal (18, 28). [9] Method according to one of claims 7 or 8, characterized by further steps - Moving (S6) to the operating position (50, 52, 54) of a remote transmitter unit (20), picking up (S7) the remote transmitter unit (20) by means of the holding device (22) and - Moving the transmitter unit (20) into a transport position (32). [10] Method according to any one of claims 7 to 9, characterized by the next steps - Monitoring (S5) of the operating position (50, 52, 54), the received signals (18, 26, 28, 44, 48) and / or sensor data (44) of the transmitter unit (20), in particular by the transmitter unit (20) and / or the control system (12) and / or - Outputting a warning signal that at least one signal (26, 28, 44, 48) of the transmitter unit (20) may be faulty. [11] Method according to any one of claims 7 to 10, characterized by the next step - Monitoring (S5) and / or transmitting a charge status of a power supply of the transmitter unit (20) to the control system (12). [12] Transmitter unit for a working device (10) according to one of claims 1 to 6 and / or for carrying out a method according to one of claims 7 to 11 characterized by , that the transmitter unit (20) has at least one transmitting unit (38), one receiving unit (36) and / or one control unit (40), and in particular at least one sensor (42), especially for position determination.

Images