AGRICULTURAL VEHICLE WITH DRIVING SYSTEM AND METHOD FOR CONTROLLING AND / OR REGULATING A DRIVING SYSTEM OF AN AGRICULTURAL VEHICLE

Description

[0001] The invention relates to an agricultural vehicle, preferably an autonomous agricultural vehicle, having a driving motion system. The invention also relates to a method for controlling and / or regulating a driving motion system of an agricultural vehicle, preferably an autonomous agricultural vehicle.

[0002] An autonomous agricultural vehicle in the form of an autonomous carrier vehicle is already known from WO 2019 193 080 A1 and DE 10 2018 108 025 A1. The vehicle comprises a control device with a positioning system, wherein position-dependent work instructions, which can be defined using a planning tool, are stored in the control device for, for example, a vehicle's drive system. The control device can also be equipped with environmental sensors in order to be able to influence the drive system based on signals from the environmental sensors.

[0003] However, satellite-based positioning systems known from the state of the art, such as GPS systems, have tolerances of up to 0.5 meters or more, which can sometimes lead to unwanted and faulty work processes in position-dependent work instructions.

[0004] DE 10 2017 130 694 A1 also discloses an agricultural work machine with a control device, wherein the control device is configured to detect a row of a row crop based on a soil contour detected by a detection device and to steer and / or adjust the work machine based on this. However, such a system requires continuous detection of the soil contour, which is sometimes not possible or only possible to a limited extent in heavily undulating terrain, and which often leads to problems with changing row layouts, for example, in curves.

[0005] The object of the invention is therefore to eliminate the described disadvantages of the prior art. In particular, the aim is to create an agricultural vehicle with which precise work processes can be carried out at any time.

[0006] These objects are achieved by an agricultural vehicle having the features of independent claim 1, as well as by a method for controlling and / or regulating a driving movement system of an agricultural vehicle having the features of method claim 15. Advantageous developments of the invention are disclosed in the claims and the following description with partial reference to the figures.

[0007] The invention relates to an agricultural vehicle, preferably an autonomous agricultural vehicle.

[0008] The agricultural vehicle according to the invention comprises at least one chassis with a running gear, which is coupled (e.g., operatively connected) to a driving motion system for preferably specifying driving speeds and / or steering movements. Furthermore, the agricultural vehicle comprises at least one control device for providing (e.g., calculating, generating, or the like) control and / or regulating signals for the driving motion system.

[0009] In addition, the agricultural vehicle according to the invention comprises at least one first sensor device which is designed to detect objects in front of the vehicle (e.g. persons, obstacles and / or the like), and at least one second sensor device which is designed to detect at least one row of a plant population (e.g. grain, corn, sugar beets and / or the like).

[0010] In order to create an agricultural vehicle with which positionally accurate work processes can be carried out at any time, the invention provides that the control device is configured to provide control and / or regulating signals for the driving movement system primarily from signals of the first sensor device to signals of the second sensor device.

[0011] The invention makes use of the knowledge that at least two sensor devices can be selectively used primarily for providing control and / or regulating signals by means of a control device and thus the sensor device (i.e. the signals) with a sufficient or correct or required signal strength is preferably used for providing control and / or regulating signals by the control device.

[0012] As a result of the measures according to the invention, an agricultural vehicle is created which enables a much more precise execution of work processes using simple means, in particular a much more precise processing of rows of a plant stand, such as a row crop.

[0013] The agricultural vehicle according to the invention can be a preferably autonomous (e.g., fully autonomous or semi-autonomous) agricultural carrier vehicle to which agricultural implements can be attached, i.e., to which the implements can be coupled. According to an alternative or supplementary embodiment, the agricultural vehicle can also be a preferably autonomous (e.g., fully autonomous or semi-autonomous) agricultural towing vehicle, by means of which agricultural implements (e.g., work machines) can be pulled, in particular, along an agricultural area.

[0014] It should be noted that a travel speed specification via the travel motion system can include a fixed speed value or a speed range, as well as acceleration or deceleration. Furthermore, a travel speed specification also includes a travel speed of 0 km / h, which corresponds to stopping or standstill.

[0015] Furthermore, it should be noted that specifying steering movements by means of the driving movement system can include a movement of the vehicle along at least one row of a plant stand, or alternatively or additionally, can also include a movement of the vehicle along a specified route (e.g., lane, driving lane). Steering movements can also be comprised of a movement along a route specified, for example, using a planning tool (e.g., route planning program).

[0016] The chassis is expediently a chassis with a running gear attached to it. The running gear can be formed by wheels, crawler tracks, or the like, which can also be attached to one or more axles. At least one wheel and / or crawler track and / or one axle can also be steerable by specifying steering movements, for example, by means of at least one steering actuator (e.g., steering cylinder).

[0017] The driving movement system can expediently comprise steerable steering knuckles, tie rods, steering gears, steering columns and / or the like for specifying steering movements and expediently comprise in particular at least one steering actuator (e.g. steering cylinder).

[0018] The row of a crop stand can, for example, be defined by seeds and / or by plants, by soil structures (e.g. ridges) and / or by data provided in the positioning system and / or by data provided by a planning tool.

[0019] In the context of the invention, providing or specifying includes in particular calculating, generating, determining and / or the like.

[0020] Prioritizing signals can be achieved, for example, by assigning a higher priority and / or a more relevant priority. The priorities can be stored in the control device.

[0021] To specify travel speeds, the travel motion system can expediently comprise at least one motor (e.g., electric motor, hydraulic motor, combustion engine, and / or the like) with a drive train. A motor can also be assigned to a wheel or crawler track, for example, and can be designed as a wheel hub motor. Motors can also be assigned to multiple wheels or crawler tracks, or can be operatively coupled to them.

[0022] According to the invention, the agricultural vehicle has at least one third sensor device which is set up to detect an actual position (e.g. the actual current position and / or location) and / or to specify a target position (e.g. the required current position) of the vehicle on an agricultural area, and wherein the control device is set up to provide control and / or regulating signals for the driving movement system primarily from signals of the first sensor device and from signals of the second sensor device to signals of the third sensor device.

[0023] The third sensor device can be used, in particular, to check whether an actual position at least approximately corresponds to a required position, i.e., a target position. Alternatively or additionally, if, for example, neither the first sensor device nor the second sensor device provides a corresponding signal suitable for use, the movement of the vehicle can be determined based on the signals from the third sensor device.

[0024] The control device can optionally or additionally also be configured to provide control and / or regulating signals for the travel movement system with priority from signals of the second sensor device to signals of the third sensor device and / or with priority from signals of the first sensor device to signals of the third sensor device.

[0025] According to the invention it is thus achieved, for example, that movements of the vehicle preferably take place on the basis of the signals from the second sensor device (e.g. along the row of a plant stand), but only as long as a sufficiently strong or required signal is present; if this is not the case, movements of the vehicle take place on the basis of signals from the third sensor device (e.g. at the headland, when cornering or the like). However, if an object (e.g. a person) located in the movement range of the vehicle is detected by means of the first sensor device, control and / or regulating signals for the travel movement system are provided on the basis of the signals from the first sensor device, independently of signals from the second sensor device and the third sensor device (thus bringing the vehicle to a standstill).

[0026] In order to enable trouble-free operation of the agricultural vehicle, it is possible according to a development of the invention that the control device is set up to automatically carry out a change of the signals of the sensor devices used for the provision, preferably the first sensor device, the second sensor device and / or the third sensor device.

[0027] According to a further development of the invention, automated execution can be carried out in a variety of ways, expediently based on a comparison carried out by the control device of actual signals detected, preferably by means of the first sensor device and / or the second sensor device, with target signals, and / or of actual positions detected, preferably by means of the third sensor device, with target positions.

[0028] A preferred embodiment of the invention can provide that target signals for the first sensor device and / or target signals for the second sensor device and / or target positions for the third sensor device are stored and / or can be stored in the control device, wherein the target signals and / or target positions can also each comprise signal ranges and position ranges and / or threshold values ​​for signals or positions.

[0029] It is possible that threshold values ​​can be stored and / or can be stored for target signals and / or target positions and a change in the signals of the sensor devices used for the provision, preferably the first sensor device, the second sensor device and / or the third sensor device, is initiated by exceeding and / or falling below the threshold values.

[0030] According to an alternative or supplementary embodiment of the invention, it can be provided that the control device is configured to provide control and / or regulating signals for the driving movement system in such a way that a standstill of the vehicle is initiated by actual signals of the first sensor device that deviate from target signals, independently of actual signals of the second sensor device and of actual positions of the third sensor device.

[0031] According to an alternative or supplementary embodiment of the invention, it can be provided that the control device is configured to provide control and / or regulating signals for the driving movement system in such a way that driving speeds and steering movements are initiated on the basis of actual positions and / or target positions of the third sensor device by actual signals of the second sensor device that deviate from target signals, in particular are initiated on the basis of work instructions provided by a planning tool.

[0032] The planning tool can, for example, be a route planning tool known from the state of the art, by means of which work instructions (e.g. routes) for the vehicle and / or its work tools can be specified and planned.

[0033] According to an alternative or supplementary embodiment of the invention, the control device can be configured to provide control and / or regulation signals for the driving movement system in such a way that, preferably independently of actual signals and / or target signals from the second sensor device, a standstill of the vehicle is initiated by actual positions of the third sensor device deviating from the target positions. This can be the case, for example, if the second sensor device detects a row of a plant stand, but the position of the row does not correspond to a target position of the vehicle. This can be the case, for example, if the vehicle is in the "wrong" row.

[0034] In order to carry out agricultural processes, it is possible according to a preferred embodiment for the agricultural vehicle to be coupled to working tools (e.g. spray nozzles, distribution nozzles, soil cultivation tools, sowing coulters, dosing systems and / or the like) which can be activated (e.g. switched on), deactivated (e.g. switched off) and / or parameterised (e.g. specification of frequencies) by means of an actuating device (e.g. one or more cylinders, drives, valves and / or the like), wherein the control device is set up to provide control and / or regulating signals for activation, deactivation and / or parameterisation for the actuating device.

[0035] It should be noted that, in the context of the invention, agricultural work machines can also be subsumed under the definition of work tools.

[0036] According to an alternative or supplementary embodiment of the invention, the control device can be configured to provide control and / or regulating signals for activating the actuating device exclusively when control and / or regulating signals for the travel movement system are provided based on signals from the second sensor device, and to provide control and / or regulating signals for deactivating the actuating device when control and / or regulating signals for the travel movement system are provided based on signals from the first sensor device and / or the third sensor device. Thus, for example, work tools are only activated when they are located within the range of a row of a plant stand.

[0037] A preferred embodiment of the invention can provide that the agricultural vehicle has at least one fourth sensor device, which is preferably designed to detect the function (e.g. a position, an attitude, a speed, and / or the like) of the working tools and / or the actuating device.

[0038] To achieve the greatest possible impact force using the agricultural vehicle, according to a further development of the invention, the control device is configured to provide control and / or regulating signals for the driving movement system in a first operating mode, primarily from signals of the fourth sensor device to signals of the second sensor device and the third sensor device, and / or in a second operating mode, primarily from signals of the first sensor device and / or the second sensor device and / or the third sensor device to signals of the fourth sensor device. Thus, it is possible, for example, to specify a driving speed based on the signals of the fourth sensor device, in particular to specify a maximum possible driving speed.In the first operating mode, it is also conceivable that the vehicle is moved within a driving speed range and within this the driving speed is adjusted based on the signals from the fourth sensor device.

[0039] A change from the first operating mode to the second operating mode can be initiated by the control device, for example, by actual signals from the first sensor device deviating from target signals and / or by actual signals from the second sensor device deviating from target signals and / or by actual positions of the third sensor device deviating from target positions. This means that, as long as target signals and / or actual positions are detected, a driving speed can be provided based on signals from the fourth sensor device, for example. However, as soon as a deviation from a target signal and / or a target position is detected, these signals are used primarily to provide control and / or regulation signals for the driving movement system.

[0040] In order to prevent dangerous movements that can be triggered, for example, by the travel movement system, it is possible for the control device to be coupled to an emergency stop device (e.g., emergency off switch), wherein the control device is configured to provide control and / or regulating signals for the travel movement system primarily from signals of the emergency stop device to signals of the sensor devices, preferably primarily from signals of the emergency stop device to signals of the first sensor device, the second sensor device, and / or the third sensor device. Alternatively or additionally, it would also be conceivable for the control device to be configured to provide control and / or regulating signals for the travel movement system primarily from signals of the emergency stop device to signals of the fourth sensor device.

[0041] The sensor devices can each be formed by one or more detection means, measuring means, sensors, cameras and / or the like.

[0042] The first sensor device can expediently be formed by an environmental sensor system. The environmental sensor system can be configured, in particular, for object detection or object acquisition, e.g., for obstacle detection, person detection, animal detection, and / or the like, and can be formed, for example, by one or more radar sensors, lidar sensors, cameras, and / or the like. The first sensor device can thus form an environmental sensor system.

[0043] The first sensor device can in particular have a detection range extending over the entire working width of the vehicle.

[0044] The second sensor device can expediently be formed by a sensor system for detecting at least one row of a plant population, for example by one or more cameras, laser scanners and / or the like. The second sensor device can also expediently be configured to detect seeds which are covered with soil, for example.

[0045] The third sensor device can expediently be formed by a positioning system. For example, it can be formed by a satellite-based positioning system (e.g., GPS system) and / or a geofencing system.

[0046] Detection using the sensor devices can be performed online using sensors mounted on the vehicle. Alternatively or additionally, detection using the sensor device can also be performed offline, for example, using sensors mounted on an aircraft (e.g., a drone).

[0047] It is possible that further sensor devices are assigned to the vehicle and / or that further sensors are assigned and / or assignable to the first sensor device, the second sensor device, the third sensor device and / or the fourth sensor device.

[0048] According to the invention, it is particularly possible for the control device to be configured to use the signals from the sensor device (e.g., the second sensor device and / or the third sensor device) to provide control and / or regulating signals, by means of which the most precise movement of the vehicle can be achieved, e.g., primarily based on rows of a plant stand (and thus the second sensor device) compared to a positioning system (and thus the third sensor device). Irrespective of the signals from the rows of a plant stand (and thus the second sensor device) and a positioning system (and thus the third sensor device), when an object is detected in the movement range of the vehicle, the control and / or regulating signals for the driving movement system are provided primarily based on the detected object (and thus the first sensor device).

[0049] It is also possible for the vehicle and / or the control device to be coupled to a remote control, and for the control device to be configured to provide control and / or regulating signals for the driving motion system based on the signals from the remote control, in particular with priority over signals from the sensor devices, preferably with priority over signals from the first sensor device, the second sensor device, and / or the third sensor device. The sensor devices can thus be expediently overridden by means of the remote control.

[0050] The control device comprises, for example, a computer unit, an on-board computer, and / or the like with a control and / or regulation program, and also includes a control and / or regulation circuit, in particular a hydraulic and / or pneumatic and / or electrical control and / or regulation circuit, wherein the control and / or regulation circuit is expediently designed for hydraulic and / or pneumatic and / or electrical signal and / or command transmission. This signal and / or command transmission can also be wireless (e.g., via WLAN).

[0051] In the context of the invention, the term "control device" encompasses, in particular, the entirety of the components for signal and / or command transmission. Accordingly, this also includes computer units, CPUs, and / or the like. Control devices integrated into the respective sensors, sensor units, or sensor arrangements are also included. It should also be noted that the signals and / or data from the sensors / measuring devices / detection devices and / or the like can each be used as feedback for a control and / or regulating variable.

[0052] It should also be noted that the terms "control" and "regulation" and "control device" and "regulation device" can refer to electronic and / or pneumatic and / or hydraulic controls or regulations, which, depending on their design, can perform control and / or regulation tasks. Even if the term "control" is used herein, it can also appropriately include "regulation." Likewise, the use of the term "regulation" can also encompass "control."

[0053] To achieve the objects, the invention also comprises a method for controlling and / or regulating a driving movement system of an agricultural vehicle, preferably an autonomous agricultural vehicle.

[0054] The vehicle comprises a chassis with a running gear coupled to a driving motion system for preferentially specifying driving speeds and steering movements. The vehicle also comprises a control device for providing control and / or regulating signals for the driving motion system.

[0055] Furthermore, the vehicle comprises at least one first sensor device, which is preferably configured to detect objects in front of the vehicle, and at least one second sensor device, which is preferably configured to detect at least one row of a plant population.

[0056] The method according to the invention is characterized by providing control and / or regulating signals for the driving movement system primarily from signals of the first sensor device to signals of the second sensor device.

[0057] According to the invention, the agricultural vehicle has at least one third sensor device, which is preferably configured to detect an actual position and / or to specify a target position of the vehicle on an agricultural area, wherein the control device is configured to provide control and / or regulating signals for the driving movement system primarily from signals of the first sensor device and from signals of the second sensor device to signals of the third sensor device. Furthermore, the control device can be configured to provide control and / or regulating signals for the driving movement system primarily from signals of the second sensor device to signals of the third sensor device and / or primarily from signals of the first sensor device to signals of the third sensor device.

[0058] According to a development of the method, it is possible for the agricultural vehicle to be coupled to work tools which can be activated, deactivated and / or parameterized by means of an actuating device, wherein the control device is configured to provide control and / or regulating signals for activation, deactivation and / or parameterization for the actuating device and wherein the control device is configured to provide control and / or regulating signals for activation of the actuating device exclusively when control and / or regulating signals for the travel movement system are provided on the basis of signals from the second sensor device and to provide control and / or regulating signals for deactivation of the actuating device when control and / or regulating signals for the travel movement system are provided on the basis of signals from the first sensor device and / or the third sensor device.

[0059] Further details and advantages of the invention are described below with reference to the accompanying drawings. The proportions of the individual elements in the figures do not always correspond to the actual proportions, as some shapes are simplified and others are enlarged relative to other elements for clarity. They show: Figure 1a perspective view of a highly simplified embodiment of an agricultural vehicle, Figure 2Aa top view of a highly simplified embodiment of an agricultural vehicle with straight wheels, Figure 2Ba top view of an agricultural vehicle according to the Figure 2A, with steered wheels, Figure 3A & 3B shows a plan view of an agricultural area with three agricultural vehicles according to the invention arranged thereon, which carry out driving movements on the basis of at least one first sensor device, a second sensor device and / or a third sensor device.

[0060] The Figures 1 to 3 The embodiments shown correspond at least partially, so that similar or identical parts are provided with the same reference numerals, and for their explanation, reference is also made to the description of the other embodiments or figures to avoid repetition. The illustrated embodiments merely represent examples of how the agricultural vehicle according to the invention and the method according to the invention can be designed and constructed and do not represent a conclusive limitation.

[0061] The Figures 1 and 2show different views of highly simplified embodiments of agricultural vehicles 10, which are shown with common reference to the Figures 1 and 2 be described.

[0062] The Figure 1 shows a variant of an agricultural vehicle 10 in a perspective view as well as the Figures 2A and 2B a variant of an agricultural vehicle 10 in a plan view with different steering angles.

[0063] The agricultural vehicle 10 is preferably designed as an autonomous (e.g. fully autonomous or semi-autonomous) agricultural vehicle 10. The vehicle 10 according to the embodiments is designed as a carrier vehicle, which means that working tools 12 (e.g. for distributing material, for soil cultivation, for harvesting - according to the Figures 1 and 2for soil cultivation). However, it would also be conceivable for the vehicle 10 to form a towing vehicle by means of which agricultural working tools 12 (e.g. working machines for distributing material (e.g. field sprayers, seed drills, fertilizer spreaders), for soil cultivation (e.g. hoes, harrows, disc harrows, cultivators), for harvesting (e.g. mowers, cutting units) and / or the like) can be pulled along an agricultural area 14.

[0064] Regardless of the embodiment, the vehicle 10 is always configured to perform agricultural processes. These processes may include, for example, traction work, distribution work, soil cultivation work, and / or similar agricultural processes. Harvesting operations are also conceivable.

[0065] The vehicle 10 comprises a chassis 16 with a running gear 18, wherein the running gear 18 comprises four wheels 20 which are steerable relative to the chassis 16 (cf. Figure 2A and 2B ). For specifying driving speeds and / or steering movements, the agricultural vehicle 10 comprises a driving movement system 100. Furthermore, the vehicle 10 comprises a control device 110 for providing control and / or regulating signals for the driving movement system 100.

[0066] To perform steering movements, the vehicle motion system 100 also includes steering actuators 22, for example in the form of steering cylinders, coupled to the control device 110 and to the wheels 20. Steering rods or the like would also be conceivable.

[0067] The driving movement system 100 also expediently comprises at least one motor 24 for specifying driving speeds, wherein it would also be conceivable for at least some of the wheels 20 to be assigned wheel hub motors.

[0068] For detecting objects 26 (e.g. persons, obstacles) in front of the vehicle 10, the agricultural vehicle 10 comprises at least one first sensor device 50. The first sensor device 50 thus expediently forms an environmental sensor system.

[0069] To detect at least one row 28 of a plant stand, the vehicle 10 also comprises a second sensor device 52.

[0070] In order to detect an actual position and / or to specify a target position of the vehicle 10, for example on an agricultural area 14, it is also possible for the vehicle 10 to comprise a third sensor device 54.

[0071] In order to create an agricultural vehicle 10 with which positionally accurate work processes can be carried out, the invention provides that the control device 110 is configured to provide control and / or regulating signals for the driving movement system 100 primarily from signals of the first sensor device 50 to signals of the second sensor device 52.

[0072] According to the invention, the control device 110 can be expediently configured to provide control and / or regulating signals for the travel movement system 100 primarily from signals of the first sensor device 50 and from signals of the second sensor device 52 to signals of the third sensor device 54.

[0073] The control device 100 can also be optimally configured to provide control and / or regulating signals for the travel movement system 100 with priority from signals of the second sensor device 52 to signals of the third sensor device 54 and / or with priority from signals of the first sensor device 50 to signals of the third sensor device 52.

[0074] Prioritizing signals from sensor devices 50; 52; 54; 54 can be achieved, for example, by assigning a higher priority and / or a more relevant priority. The priorities can be stored in the control device 110, which can be determined according to the Figures 2A and 2B represented by an arrow and the letters N=low and H=high.

[0075] To carry out agricultural processes, in accordance with the Figure 1for soil cultivation, it is possible that working tools 12 are attached to the agricultural vehicle 10 (according to the Figure 1 e.g. chopping tools) which can be activated, deactivated and / or parameterized, for example, by means of an actuating device (e.g. one or more cylinders, drives, valves and / or the like not shown here), wherein the control device 110 is in turn configured to provide control and / or regulating signals for activation, deactivation and / or parameterization for the actuating device.

[0076] According to an alternative or supplementary embodiment of the invention, it can be provided that the control device 110 is configured to provide control and / or regulating signals for activating the actuating device exclusively when control and / or regulating signals for the travel movement system 100 are provided on the basis of signals from the second sensor device 52 (i.e. when the vehicle 10 is moved along a row 26 of a plant stand) and to provide control and / or regulating signals for deactivating the actuating device when control and / or regulating signals for the travel movement system 100 are provided on the basis of signals from the first sensor device 50 and / or the third sensor device 52 (i.e. when the vehicle 10 is not moved along a row 26 of a plant stand, or when an object 26 is located in the movement range of the vehicle 10).

[0077] A preferred embodiment of the invention can provide that the agricultural vehicle 10 has at least one fourth sensor device 56, which is preferably designed to detect the function of the working tools 12 and / or the actuating device.

[0078] To enable, for example, an operator to bring the vehicle and / or the work tools 12 to a standstill and / or to a non-hazardous state in the event of hazardous movements, the vehicle 10, or rather the control device 110, is coupled to an emergency stop device 30 (e.g., emergency off switch). The control device 100 is configured to provide control and / or regulating signals for the travel movement system 100, primarily from signals of the emergency stop device 30 to signals of the sensor devices 50; 52; 54, preferably primarily from signals of the emergency stop device 30 to signals of the first sensor device 50, the second sensor device 52, and / or the third sensor device 54.In addition, it is possible for the control device 110 to be configured to provide control and / or regulating signals for the travel movement system 100 primarily from signals of the emergency stop device 30 to signals of the fourth sensor devices 56.

[0079] According to the embodiments, the rows 28 of a plant stand are defined by plants, but could alternatively or additionally also be defined by seeds, by soil structures and / or by data provided in the positioning system.

[0080] Further details of a movement sequence possible by means of the invention and a possible process sequence by means of the agricultural vehicle 10 are given in the Figure 3A and 3B out.

[0081] On the agricultural vehicle 10, a directional arrow is drawn to indicate the direction of travel of the vehicle 10. The directional arrow is also marked with position numbers from 1 to 3, to which the following description refers.

[0082] The vehicle 10 comprises at least one first sensor device 50, which is preferably configured to detect objects 26 located in front of the vehicle 10. Furthermore, the vehicle 10 comprises at least one second sensor device 52, which is preferably configured to detect at least one row 28 of a plant stand.

[0083] As long as only the second sensor device 52 provides signals, preferably target signals, the movement, i.e. the provision of the control and / or regulating signals for the driving movement system 100, of the vehicle 10 at position 1 and at position 3 takes place based on the signals of the second sensor device 52. However, if an object 26 is detected by the first sensor device 50, for example a deviation of a target signal of the first sensor device 50, the control device 100 is set up to provide control and / or regulating signals for the driving movement system 100 primarily from signals of the first sensor device 50 to signals of the second sensor device 52, which according to the Figure 3BFor example, this can correspond to a stoppage of the vehicle 10. As soon as the object 26 is no longer detected by the first sensor device 50 and the second sensor device 52 detects a row 28 of a plant stand, the control device 110 is again configured to provide control and / or regulating signals for the driving movement system 100 based on signals from the second sensor device 52.

[0084] In order to detect an actual position of the vehicle 10 and / or to specify a desired position of the vehicle 10, it is also possible for the vehicle 10 to comprise a third sensor device 54. The third sensor device 54 can, for example, be a satellite-based positioning system. The third sensor device 54 can, in particular, expediently be used to check whether an actual position at least approximately corresponds to a required position, i.e., a desired position. This can, for example, be the case in the range of position numbers 1 and 3. Alternatively or additionally, if, for example, neither the first sensor device 50 nor the second sensor device 52 supplies a corresponding signal, a movement of the vehicle 10 can be carried out based on the signals of the third sensor device 54. This can, for example, be the case when cornering, as indicated by position number 2. However, this can, for example,This can also be the case if the direction of row 28 of the crop changes, for example, when approaching a headland. This can also be the case when using a planning tool to specify the routes of vehicle 10.

[0085] According to the invention, it is thus possible for the control device 100 to be configured to use the signals of the sensor device (e.g., the second sensor device 52 and / or the third sensor device 54) to provide control and / or regulating signals, by means of which the most precise possible movement of the vehicle 10 can be achieved, e.g., primarily based on rows 28 of a plant stand (and thus the second sensor device 52) relative to a position determination system (and thus the third sensor device 54).Whereby, regardless of the signals from the rows 28 of a plant stand (and thus from the second sensor device 52) and a position determination system (and thus from the third sensor device 54), when an object 26 is detected in the movement range of the vehicle 10, the control and / or regulating signals for the driving movement system 100 are provided primarily on the basis of the detected object 26 (and thus from the first sensor device 50).

[0086] To achieve the greatest possible impact force using the agricultural vehicle 10, the control device 110 can be configured to provide control and / or regulating signals for the travel movement system 100 in a first operating mode, primarily from signals from the fourth sensor device 56 to signals from the second sensor device 52 and the third sensor device 54. Thus, for example, a travel speed can be specified based on the signals from the fourth sensor device 56, or steering movements can be specified, in particular such that the work tools 12 achieve a desired process result, which can be detected accordingly, for example, by means of the fourth sensor device.

[0087] However, in order to avoid any undesired or dangerous movements of the vehicle 10, it is also possible for the control device 110 to be configured to provide control and / or regulating signals for the travel movement system 100 in a second operating mode, primarily from signals of the first sensor device 50 and / or the second sensor device 52 and / or the third sensor device 54 to signals of the fourth sensor device 56. A change from the first operating mode to the second operating mode can be initiated by means of the control device 110, for example, by actual signals from the first sensor device 50 that deviate from the target signals (thus, for example, when an object 26 is detected) and / or by actual signals from the second sensor device 52 that deviate from the target signals (thus, for example, when no row 28 of a plant stand is detected) and / or by actual positions of the third sensor device 54 that deviate from the target positions (thus, for example,if the positioning system detects a position that is not within a desired range). List of reference symbols:

[0088] 10Vehicle 12Work tool 14Surface 16Chassis 18Chassis 20Wheels 22Steering actuator 24Engine 26Object 28Row 30Emergency stop device 50first sensor device 52second sensor device 54third sensor device 56fourth sensor device 100Travel motion system 110Control device

Claims

1. An agricultural vehicle (10), preferably an autonomous agricultural vehicle (10), comprising at least - a chassis (16) having an undercarriage (18) coupled to a driving motion system (100) for preferably specifying speeds of travel and steering movements, - a control device (110) for providing open-loop and / or closed-loop control signals for the driving motion system (100), - a first sensor device (50) configured for detecting objects (26) in front of the vehicle (10), characterized by - a second sensor device (52) configured for detecting at least one row (28) of a plant stock, wherein the control device (110) is configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) from signals from the first sensor device (50) in priority over signals from the second sensor device (52), wherein the agricultural vehicle (10) comprises at least - one third sensor device (54) configured for detecting an actual position and / or for specifying a setpoint position of the vehicle (10) on an agricultural area (14), wherein the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) from signals from the first sensor device (50) and from signals from the second sensor device (52) in priority over signals from the third sensor device (54).

2. The agricultural vehicle (10) according to Claim 1, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) - from signals from the second sensor device (52) in priority over signals from the third sensor device (54) and / or - from signals from the first sensor device (52) in priority over signals from the third sensor device (54).

3. The agricultural vehicle (10) according to Claim 1 or 2, characterized in that the control device (110) is furthermore configured - to execute a change of signals used for provision from the sensor devices (50; 52; 54; 56), preferably from the first sensor device (50), the second sensor device (52) and / or the third sensor device (54), in automated fashion.

4. The agricultural vehicle (10) according to Claim 3, characterized in that automated execution is performed on the basis of a comparison, carried out by means of the control device (110), of - actual signals, preferably detected by means of the first sensor device (50) and / or the second sensor device (52), with setpoint signals, and / or - actual positions, preferably detected by means of the third sensor device (54), with setpoint positions.

5. The agricultural vehicle (10) according to one of the preceding claims, characterized in that the control device (110) stores and / or is able to store - setpoint signals for the first sensor device (50) and / or - setpoint signals for the second sensor device (52) and / or - setpoint positions for the third sensor device (54).

6. The agricultural vehicle (10) according to Claim 5, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) in such a way that - actual signals from the first sensor device (50) that deviate from setpoint signals initiate a standstill for the vehicle (10) regardless of actual signals from the second sensor device (52) and actual positions from the third sensor device (54).

7. The agricultural vehicle (10) according to Claim 5 or 6, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) in such a way that - actual signals from the second sensor device (52) that deviate from setpoint signals initiate speeds of travel and steering movements on the basis of actual positions and / or setpoint positions from / for the third sensor device (54), in particular on the basis of work instructions provided by a planning tool.

8. The agricultural vehicle (10) according to one of Claims 5 to 7, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) in such a way that - preferably regardless of actual signals and / or setpoint signals from / for the second sensor device (52), - actual positions from the third sensor device (54) that deviate from setpoint positions initiate a standstill for the vehicle (10).

9. The agricultural vehicle (10) according to one of the preceding claims, characterized in that - the agricultural vehicle (10) is coupled to work tools (12) that are able to be activated, deactivated and / or parametrized by means of an actuator, - wherein the control device (110) is configured to provide open-loop and / or closed-loop control signals for activation, deactivation and / or parametrization for the actuator.

10. The agricultural vehicle (10) according to Claim 9, characterized in that the control device (110) is furthermore configured - to provide open-loop and / or closed-loop control signals for activating the actuator only when open-loop and / or closed-loop control signals for the driving motion system (100) are provided on the basis of signals from the second sensor device (52), and - to provide open-loop and / or closed-loop control signals for deactivating the actuator when open-loop and / or closed-loop control signals for the driving motion system (100) are provided on the basis of signals from the first sensor device (50) and / or the third sensor device (54).

11. The agricultural vehicle (10) according to Claim 9, characterized in that the agricultural vehicle (10) comprises at least - one fourth sensor device (56) preferably configured for detecting the operation of the work tools (12) and / or the actuator.

12. The agricultural vehicle (10) according to Claim 11, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) - from signals from the fourth sensor device (56) in priority over signals from the second sensor device (52) and the third sensor device (54) in a first operating mode, and / or - from signals from the first sensor device (50) and / or the second sensor device (52) and / or the third sensor device (54) in priority over signals from the fourth sensor device (56) in a second operating mode.

13. The agricultural vehicle (10) according to Claim 12, characterized in that a change from the first operating mode to the second operating mode by means of the control device (110) is initiated by - actual signals from the first sensor device (50) that deviate from setpoint signals and / or - actual signals from the second sensor device (52) that deviate from setpoint signals and / or - actual positions from the third sensor device (54) that deviate from setpoint positions.

14. The agricultural vehicle (10) according to one of the preceding claims, characterized in that the control device (110) is coupled to an emergency stop device (30), wherein the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) from signals from the emergency stop device (30) in priority over signals from the sensor devices (50; 52; 54; 56), preferably from signals from the emergency stop device (30) in priority over signals from the first sensor device (50), the second sensor device (52) and / or the third sensor device (54).

15. A method for performing open-loop and / or closed-loop control of a driving motion system (100) of an agricultural vehicle (10), preferably an autonomous agricultural vehicle (10), comprising - a chassis (16) having an undercarriage (18) coupled to a driving motion system (100) for preferably specifying speeds of travel and steering movements, - a control device (110) for providing open-loop and / or closed-loop control signals for the driving motion system (100), - at least one first sensor device (50) configured for detecting objects (16) in front of the vehicle (10), characterized by - at least one second sensor device (52) configured for detecting at least one row (28) of a plant stock, wherein the method comprises providing open-loop and / or closed-loop control signals for the driving motion system (100) from signals from the first sensor device (50) in priority over signals from the second sensor device (52), wherein the agricultural vehicle (10) comprises at least - one third sensor device (54) configured for detecting an actual position and / or for specifying a setpoint position of the vehicle (10) on an agricultural area (14), wherein the control device (110) is configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) from signals from the first sensor device (50) and from signals from the second sensor device (52) in priority over signals from the third sensor device (54).

16. The method according to Claim 15, characterized in that the control device (110) is furthermore configured to provide open-loop and / or closed-loop control signals for the driving motion system (100) - from signals from the second sensor device (52) in priority over signals from the third sensor device (54) and / or - from signals from the first sensor device (52) in priority over signals from the third sensor device (54).

17. The method according to either of Claims 15 and 16, characterized in that - the agricultural vehicle (10) is coupled to work tools (12) that are able to be activated, deactivated and / or parametrized by means of an actuator, - wherein the control device (110) is configured to provide open-loop and / or closed-loop control signals for activation, deactivation and / or parametrization for the actuator and - wherein the control device (110) is configured - to provide open-loop and / or closed-loop control signals for activating the actuator only when open-loop and / or closed-loop control signals for the driving motion system (100) are provided on the basis of signals from the second sensor device (52), and - to provide open-loop and / or closed-loop control signals for deactivating the actuator when open-loop and / or closed-loop control signals for the driving motion system (100) are provided on the basis of signals from the first sensor device (50) and / or the third sensor device (54).