Agricultural work machine with driver assistance system

Description

[0001] The present invention relates to an agricultural machine comprising a driver assistance system which is set up for the optimized determination of working parameters of the agricultural machine according to the preamble of claim 1.

[0002] The focus here is on agricultural machinery of all kinds. This primarily concerns harvesting machines such as combine harvesters and forage harvesters, but also tractors, especially tractors.

[0003] Agricultural machinery is adapted to its specific task using a variety of operating parameters. These parameters include, for example, engine speed, threshing drum speed, power take-off torque, the gap size of a grain cracker, driving speed, and the like. Various approaches exist for optimizing these operating parameters to achieve specific goals. This optimization can be performed by the user, primarily the driver, or in conjunction with a driver assistance system. It can also be fully automated.

[0004] In one known approach, the user can specify strategy parameters for the driver assistance system, for example, by selecting a predefined strategy or weighting several competing optimization goals. The driver assistance system then translates these strategy parameters into optimized operating parameters using an application rule, which can, for example, be map-based.

[0005] EP 2 401 904 A2 describes how, in the case of current agricultural machinery, optimized working parameters are determined from the strategic specifications (in particular the selection and optimization criteria) of a user of the agricultural machinery via an application instruction (in particular the characteristic curves in combination with the control units). It is also known that the application instruction can, in principle, be adapted to the local context by, for example, consulting an external advisor who contributes expert knowledge.

[0006] From EP 2 687 922 A2, a further development of this principle is known, in which the application rule, there the characteristic curve fields (short: characteristic fields), is successively improved in the field during the execution of an agricultural work task by visiting different working points in order to take into account the influence of the local context (weather, climate, crop types, soil types, etc.) on the theoretical characteristic curve fields.

[0007] From EP 2 728 523 A1, an agricultural working machine according to the preamble of claim 1 is known.

[0008] A problem with successively optimizing work parameters with regard to the local context is that this process takes a certain amount of time, for example, 30 minutes, to determine or parameterize the characteristic curves to such an extent that optimized work parameters can then be derived from these curves for various changes, such as those in the field composition. For this purpose, the agricultural machine may, for example, cycle through several non-optimized operating points, i.e., combinations of work parameters, in order to identify support points of the characteristic curve(s). During this optimization routine, the agricultural machine therefore operates with changing and suboptimal settings of work parameters.

[0009] It is a challenge to achieve optimized working parameters more quickly and / or efficiently.

[0010] The invention is based on the problem of designing and further developing the known method in such a way that further optimization is achieved with regard to the aforementioned challenge.

[0011] The above problem is solved by the features of the characterizing part of claim 1.

[0012] By being configured for the optimized determination of work parameters, the agricultural machine comprises at least one driver assistance system and a sensor arrangement, the agricultural machine is further configured to perform an agricultural work task in a local context, and the driver assistance system comprises a map-based control system, the map-based control system comprising one or more maps, each map being configured to optimize work parameters of the process units of the agricultural machine, and each map describing at least the relationship between work parameters of a process unit and quality parameters by means of initial work points, and the map(s) being configured as basic maps, and the driver assistance system being configured to check the performance of an agricultural work task in a local context,Whether a context-related map is available, and if so, whether the base map is replaced by the context-related map to determine optimized operating parameters, and the map control is further configured to use the context-related map as the initial map, ensures that a fast and efficient optimization of the agricultural machine's operating parameters is possible. This is achieved in particular by replacing a base map stored in the agricultural machine with a map related to the specific context, so that the agricultural machine starts the optimization process with a map better adapted to a particular context and arrives more quickly at optimized values ​​for the operating parameters to be optimized.

[0013] In an advantageous embodiment of the invention, a model quality module is assigned to the driver assistance system, in particular the map-based control system, wherein the model quality module defines a model quality of the context-related map, preferably that the model quality determines the time interval until the optimized operating parameters resulting from the selected strategy setting are achieved. This has the particular effect that the quality of the optimization of the operating parameters achieved by means of the map-based control system becomes verifiable.

[0014] In order to ensure that the computational effort for replacing a basic characteristic map with a context-related characteristic map does not exceed the performance of the existing computing device, an advantageous further development of the invention provides that a threshold value is assigned to the model quality and that when the threshold value is reached, the basic characteristic map is overwritten by the context-related characteristic map.

[0015] In an advantageous embodiment of the invention, the driver assistance system, and in particular the associated map control, is designed such that the applied context-related map is checked whenever the conditions of the local context change during the execution of an agricultural task. The applied context-related map is then replaced by an adapted context-related map, particularly when the model quality threshold of the model quality module is reached. This has the particular effect of enabling a better response to conditions that change significantly throughout the day and result in a significant, even abrupt, deterioration of the model quality.

[0016] In a further advantageous embodiment of the invention, the driver assistance system, and in particular the associated map control, is designed such that the applied context-related map is checked whenever the agricultural machine is used under the same conditions on a subsequent day. The applied context-related map is then replaced by an adapted context-related map, particularly when the model quality threshold of the model quality module is reached. This has the particular effect of better taking into account daily changing harvesting conditions, which have a direct influence on the optimization of the operating parameters.

[0017] In an advantageous embodiment of the invention, the driver assistance system, and in particular the associated map control, is designed such that the applied context-related map is checked whenever the context-related map is to be exchanged between different agricultural machines under the same conditions, either simultaneously or on the following day. The applied context-related map is then replaced by an adapted context-related map, particularly when the model quality threshold of the model quality module is reached. This has the particular effect of better taking into account daily changing harvesting conditions and the conditions that vary from one agricultural machine to another, which have a direct impact on the optimization of the operating parameters.In this context, it is advantageous if the various working machines include working machines from one machine fleet or working machines from different machine fleets, so that the driver assistance system according to the invention can be used universally.

[0018] A further advantageous embodiment of the invention arises when the driver assistance system, and in particular the map control associated with it, is designed such that the applied context-related map is always checked when the context-related map is to be exchanged between agricultural machinery operating in different regions. The applied context-related map is then replaced by an adapted context-related map, particularly when the model quality threshold of the model quality module is reached. This has the particular effect of better taking into account region-specific changes in harvesting conditions, which have a direct influence on the optimization of the operating parameters.

[0019] An advantageous further development of the invention also arises if the driver assistance system, and in particular the map control associated with it, is designed such that the applied context-related map is always checked when the context-related map is to be exchanged between agricultural machines that are used at different times of the year, wherein the different times of the year include the different times of the same year or of different years, and wherein the applied context-related map is then replaced by an adapted context-related map, in particular when the threshold of the model quality of the model quality module is reached. This has the particular effect of better taking into account seasonally changing harvesting conditions, which have a direct influence on the optimization of the working parameters.

[0020] In an advantageous embodiment of the invention, a control arrangement for distributing optimized context-related characteristic maps is provided, wherein the control arrangement has a database with stored strategy parameters and associated data on local contexts, and the stored strategy parameters of driver assistance systems of agricultural machinery were successively optimized in optimization routines during the execution of agricultural work tasks in local contexts from initial strategy parameters to adapt to the respective local context, wherein the driver assistance system determines context data of the local context of the agricultural work task, in particular by means of the sensor arrangement, and transmits it to the control arrangement.The fact that the control arrangement determines context-related characteristic maps adapted to the local context based on a comparison of the received context data with the context data from the database and transmits them to the driver assistance system of the agricultural machine, and that the driver assistance system applies the transmitted context-related characteristic maps as basic characteristic maps, ensures that faster and / or more efficient optimization of the working parameters of the agricultural machine is possible by means of less error-prone data transmission systems.

[0021] In this context, a cost-effective limitation of the computing power of an agricultural machine is achieved if the control system is located externally to the agricultural machine, in particular if the control system is formed by one or more servers and communicates with the agricultural machine via the Internet, and / or if a large number of strategy parameters are stored in the database, which originate from other, especially similar, agricultural machines.

[0022] A particularly efficient agricultural machine is achieved when it is configured for the optimized determination of its operating parameters, wherein the agricultural machine has a driver assistance system and a sensor arrangement, wherein the agricultural machine is configured to perform an agricultural task in a local context, wherein the driver assistance system is configured to determine optimized operating parameters for the agricultural machine in a determination routine using a parameterizable strategy, wherein the strategy includes strategy specifications, an application rule, and the optimized operating parameters, and wherein the strategy is parameterizable by strategy parameters to adapt to a local context.wherein the driver assistance system is configured to use the strategy specifications as input parameters of the application rule in the determination routine in order to determine the optimized working parameters with respect to the strategy specifications as output parameters of the application rule, and wherein the driver assistance system is configured to parameterize the strategy with initial strategy parameters at the beginning of the execution of the agricultural work task in order to determine the optimized working parameters, and wherein the strategy comprises at least one characteristic map, and wherein the driver assistance system determines the optimized working parameters from the characteristic map or maps based on the strategy specifications using the application rule, wherein the characteristic map is configured as a basic characteristic map and / or as a context-related characteristic map.

[0023] Further advantageous embodiments are the subject of further dependent claims and are described below with reference to exemplary embodiments shown in several figures.

[0024] They show: Figure 1: The agricultural machine with the assistance system according to the invention in a schematic representation. Figure 2: A detailed representation of the assistance system according to the invention. Figure 3: A further detailed representation of the assistance system according to the invention.

[0025] The solution according to the invention can be applied to a wide range of agricultural machinery 1, in particular to harvesting machines. Such agricultural machinery 1 is used for a variety of different agricultural tasks. By way of example, Fig. 1 an agricultural machine 1 designed as a combine harvester 2 during harvesting activity.

[0026] For these agricultural tasks, very different working parameters can be set on the agricultural machinery.

[0027] The in Figure 1The schematically depicted combine harvester 2 accommodates a harvesting header 3 at its front, which is connected to the inclined conveyor 4 of the combine harvester 2 in a manner known per se. The crop flow 5 passing through the inclined conveyor 4 is transferred in the upper, rear section of the inclined conveyor 5 to the threshing elements 7 of the combine harvester 2, which are at least partially enclosed at the bottom by a so-called threshing concave 6. A deflecting drum 8 downstream of the threshing elements 7 redirects the crop flow 5 exiting them in the rear section so that it is transferred directly to a separating device 10 designed as a separator rotor assembly 9. It is within the scope of the invention that the separating device 10 can also be designed as a straw walker, which is known per se and therefore not shown.It is also within the scope of the invention that the separating device is designed as a single-rotor or double-rotor unit, or that the threshing elements 7 and the separating device 10 are combined to form a single- or double-rotor axial flow threshing and separating device.

[0028] In the separating device 10, the material flow 5 is conveyed in such a way that the freely moving grains 11 contained in the material flow 5 are separated in the lower section of the separating device 10. Both the grains 11 separated at the threshing concave 6 and in the separating device 10 are fed via the return floor 12 and feed floor 13 to a cleaning device 17 consisting of several sieve levels 14, 15 and a blower 16. The cleaned grain flow is finally transferred to a grain tank 19 by means of elevators 18.

[0029] In the rear area, the separating device 10 can also be assigned a shredding device 21 comprising a straw chopper 20. Furthermore, a crop distribution device 22 can be positioned in the discharge area of ​​the straw chopper 20, which distributes the residual material conveyed from the combine harvester 2 onto the ground 23.

[0030] The harvesting header 3, the threshing elements 7, the concave 6, the deflecting drum 8, the separating device 10, the cleaning device 17, and specifically the sieve levels 14, 15 and the blower 16, the shredding device 21, here the straw chopper 20, and the crop distribution device 22 constitute the process units 24. Furthermore, the operating parameters 25 of these process units 24 can preferably be the following: The threshing elements 7 can be formed by a plurality of threshing drums 7.1, 7.2, and the operating parameter 25 is the respective threshing drum speed 26. The operating parameter 25 of the concave 6 can, for example, be its so-called threshing gap 27. The operating parameter 25 of the deflecting drum 8 associated with the threshing elements 7 can be its speed 28. Depending on the specific design of the separating device 10, its operating parameters 25 can be very different.From the prior art, parameters such as the respective rotor speed 29 or the opening widths of the separating jacket of the separating device 10 (not shown here) are known. The operating parameters 25 of the cleaning device 17 can include the vibration frequency and direction 30, 31 of the sieve planes 14, 15 and the rotational speed 32 of the blower 16. The operating parameter 25 of the straw chopper 20 can, for example, be limited to the rotational speed 33 of the chopper shaft (not shown here). The operating parameters 25 of the material distribution device 22 can, in a manner known per se and therefore not described in detail here, be the rotational speed 34 of the discharge elements (not shown) and the discharge point 35 of the residual material flow from the material distribution device 22.

[0031] Furthermore, the agricultural machine 1 includes a driver assistance system 36 for controlling the harvesting attachment 3 and the combine harvester 2.

[0032] The driver assistance system 36 includes, according to Figure 2 A memory 37 for storing data, which will be explained in more detail later, and a computing device 38 for processing the data stored in the memory 37. The data stored in the memory 37 can initially include information 40 generated by internal sensor systems 39, information 41 generated by external systems, and information 42 stored directly in the computing device 37. The driver assistance system 36 can be operated via an operating and display unit 44 located in the cab 43 of the combine harvester 2. The driver assistance system 36 is fundamentally designed to support a driver 45 of the combine harvester 2 in operating the combine harvester 2.

[0033] In this way, the agricultural machine 1 is initially configured to optimize the determination of work parameters 25 of the agricultural machine 1, whereby the driver assistance system 36 in conjunction with the machine's internal sensor systems 39 is of crucial importance. The agricultural machine 1, thus configured, is therefore able to perform an agricultural task, in this case the harvesting of a field, in a local context 61, on a specific field in a specific region. The local context 61 comprises all influencing factors that are fundamentally present at the location where the agricultural task is carried out, i.e., locally, and that influence the outcome of the agricultural task.Where the term is used here, the local context 61 refers only to that portion of these influencing factors which is also known to the agricultural machine 1, in particular to the driver assistance system 36, and / or to the control arrangement 46, which will be explained later. The influencing factors can be measured, but can also be obtained, for example, from a weather service. Here, the local context 61 preferably includes the weather and / or the climate and / or a crop type and / or variety and / or harvesting conditions such as straw or grain moisture and / or selected plant protection measures and / or a degree of ripening and / or soil condition. Additionally, machine equipment can be taken into account. GPS data can be used to determine the local context 61.

[0034] The driver assistance system 36 now determines optimized working parameters 25 for the agricultural machine 1 for carrying out the agricultural work task in a determination routine 47 using a parameterizable strategy 48. This process is abstract in Fig. 2 a) Strategy 48 is presented and will be explained in more detail below. Strategy 48 comprises strategy specifications 49, an application rule 50, and the optimized operating parameters 25. More generally, strategy 48 can be parameterized by strategy parameters 51 to adapt it to a local context 61, as will also be explained below. In the determination routine 47, the driver assistance system 36 uses the strategy specifications 49 as input parameters of the application rule 50 to determine the optimized operating parameters 25 as output parameters of the application rule 50. The optimized operating parameters 25 are optimized with respect to the strategy specifications 49.

[0035] To determine the optimized work parameters 25 for a new agricultural task, the driver assistance system 36 parameterizes strategy 48 with initial strategy parameters at the start of the agricultural task. These initial strategy parameters can be adjusted during the execution of the agricultural task. Strategy specifications 49 can include abstract strategies 48 and / or weightings of quality parameters 59. The abstract strategies 48 preferably include a machine-friendly strategy 48 with low wear of the autonomous agricultural machine 1 and / or an eco-mode with low energy consumption but longer working time and / or fast processing with higher fuel consumption, and / or higher harvest quality with increased time expenditure and / or high throughput with lower harvest quality.The quality parameters 59 preferably include competing quality parameters 59, for which the user, as in . Fig. 2 As an example, three quality parameters (59) are shown, and a weighting can be graphically set. The graphical display visualizes the competition between the quality parameters (59). The optimization is therefore a multi-objective optimization. Here, and preferably, the strategy specifications (49) are defined by the user.

[0036] The definition of each quality parameter 59 is of particular importance here. Preferably, each quality parameter 59 is defined in general terms by a target specification for the optimization or adjustment of a working parameter. In the simplest case, the term "optimization" can encompass the maximization or minimization of the respective working parameter. The term "adjustment" means that the respective working parameter should assume a specific value, and the driver assistance system 36 optimizes the working parameters so that this value is achieved, if possible. The quality parameters 59 can preferably be selected from the list including "threshing yield," "broken kernel percentage," "separation losses," "cleaning losses," "threshing unit drive slippage," "fuel consumption," "throughput," "cleanliness," and "straw quality." A working parameter 25 can, for example, also be a driving speed or a harvesting throughput.The working parameters 25 are determined by the interaction of machine-related working parameters 25 with the local conditions.

[0037] It is essential that the driver assistance system 36 uses strategy parameters 51 as initial strategy parameters, which have already been optimized by at least one agricultural machine 1 in a similar local context 61. The initial strategy parameters can have been optimized by one agricultural machine 1, or strategy parameters 51 from several agricultural machines 1 can be linked together. Initial strategy parameters are strategy parameters 51 that are used at the beginning of the execution of the agricultural work task to parameterize the strategy 48. In a preferred embodiment, the initial strategy parameters comprise initial coefficients 56 from characteristic maps 55 of the application rule 50, as will be explained later. These initial coefficients 56 are used to parameterize initial characteristic maps 55.The initial characteristic maps 55 are used at the start of the agricultural work task. In this context, the term "initial" always refers to the beginning of an agricultural work task. Instead of the agricultural machine 1 starting with a standard configuration, it uses initial strategy parameters that have a higher probability of leading closer to and more quickly to an optimum of the work parameters 25. The strategy parameters 51 can include strategy settings 49, coefficients 56 of characteristic maps 55, and the like. The optimized work parameters 25 are set by the driver assistance system 36 on the agricultural machine 1 and used to carry out at least part of the agricultural work task.

[0038] The one or more characteristic maps 55 stored in the driver assistance system 36 form the characteristic map control 57 assigned to the driver assistance system 36. As described, each characteristic map 55 is configured to optimize working parameters 25 of the process units 24 of the agricultural machine 1, wherein the respective characteristic map 55 describes at least the relationship between working parameters 25 of a process unit 24 and quality parameters 59 by means of initial working points 58.

[0039] According to the invention, the characteristic maps 55 assigned to the driver assistance system 36 of the agricultural machine 1, in the exemplary embodiment the combine harvester 2, are initially configured as basic characteristic maps 60. The driver assistance system 36 is configured to check, in a test step 62, whether a context-related parameterized characteristic map 63 is available or not when performing an agricultural task in a local context 61. If a context-related characteristic map 63 is not available, the stored basic characteristic map(s) 60 are used. If one or more context-related characteristic maps 63 are available, the stored basic characteristic map(s) 60 are replaced by the context-related characteristic map(s) 63 to determine optimized working parameters 25, so that the characteristic map control 57 is configured to apply the context-related characteristic map(s) 63 as initial characteristic map(s) 64.

[0040] Fig. 3This section describes further details of the driver assistance system 36 according to the invention. Essential for implementing the described map-based control 57 using the driver assistance system 36 is the aforementioned control arrangement 46. This control arrangement 46 can, in principle, be part of the agricultural machine 1, in particular the driver assistance system 36. Here, however, and preferably, it is arranged externally. The preferred sequence of the method using a control arrangement 46 is explained below. The control arrangement 46 has a database 52 with the stored strategy parameters 51 and associated data on local contexts 61. The database 52 can be part of the control arrangement 46 or arranged externally.The stored strategy parameters 51 were successively optimized by driver assistance systems 36 of agricultural machinery 1 in optimization routines 53 during the execution of agricultural work tasks in local contexts 61 from initial strategy parameters to adapt to the respective local context 61. This can involve historical and / or current data, which can in principle originate from the local area or from all over the world.

[0041] Here, and preferably, the driver assistance system 36 determines context data of the local context 61 of the agricultural work task, in particular by means of the sensor systems 39, and transmits this data to the control unit 46. Additionally or alternatively, the control unit 46 can also determine the context data itself, in particular from GPS data of the agricultural machine 1. The determination can also be limited to a simple selection. Here, and preferably, however, average values ​​of a multitude of initial strategy parameters from similar contexts are calculated, or these are otherwise linked and transmitted as initial strategy parameters. When calculating the average values, the initial strategy parameters from similar contexts can be weighted, preferably depending on the reliability of the data and / or a similarity index.The control arrangement 46 determines initial strategy parameters adapted to the local context 61 based on a comparison of the received context data with the context data from the database 52 and transmits these to the driver assistance system 36 of the agricultural working machine 1.

[0042] As previously described, during the execution of the agricultural work task, particularly at the beginning of the task, the agricultural machine 1 uses sensor array 39 to determine sensor data relating to the achievement of the strategy specifications 49 in an optimization routine 53 controlled by the driver assistance system 36. In the optimization routine 53, the driver assistance system 36 successively optimizes the initial strategy parameters based on the sensor data, ultimately leading to optimized work parameters 25. In this way, the initial strategy parameters are used as the starting point of the optimization routine 53, resulting in better outcomes at the beginning of the optimization routine 53. This also allows the optimization routine 53 to be shortened.

[0043] Additionally, the transfer of initial strategy parameters and their use in later phases of the agricultural task can be provided, analogous to the described use. In particular, the agricultural machine 1 can compare its own performance with the performance of other agricultural machines 1 and, depending on the performance, reuse initial strategy parameters from another agricultural machine 1. Subsequently, an optimization routine 53 can optionally be executed again.

[0044] It can be provided that the driver assistance system 36 subsequently transmits the optimized strategy parameters 51 and the context data to the control arrangement 46. The user sets the strategy specifications 49 and / or optimization criteria here, preferably. However, it is also possible for the user to intervene more deeply in the system and even set individual operating parameters 25. Furthermore, it is preferably provided that the driver assistance system 36 sets various operating parameters 25 in the optimization routine 53, which form the initial operating points 58 of the respective map 55 or maps 55. The driver assistance system 36 initially sets the optimized operating parameters 25 of the initial strategy parameters as optimized operating parameters 25 on the agricultural machine 1 by replacing the respective stored base map 60 with the determined context-related map 63, as already described.

[0045] In an advantageous embodiment of the invention, a model quality module 65 can be assigned to the driver assistance system 36, and in particular to the map control 57, in which a model quality 66 of the context-related map 63 is defined, preferably that the model quality 66 determines the time interval until the optimized operating parameters 25 resulting from the selected strategy setting 49 have been achieved. This initially has the advantage that the quality of the optimization of the operating parameters 25 achieved by means of the map control 57 can be verified.In order to ensure that the computational effort for replacing a basic characteristic map 60 with a context-related characteristic map 63 does not overwhelm the performance of the existing computing device 38, it is also provided in an advantageous embodiment that a threshold value 67 is assigned to the model quality 66 and that when the threshold value 67 is reached, the basic characteristic map 60 is overwritten by the context-related characteristic map 63.

[0046] The driver assistance system 36, and in particular the map control 57 associated with it, is also designed such that the applied context-related map 63 is always checked when the conditions of the local context 61 change during the performance of an agricultural work task in a local context 61, whereby the applied context-related map 63 is then replaced by an adapted context-related map 63, in particular when the threshold 67 of the model quality 66 of the model quality module 65 is reached. According to Figure 3a Conditions in a local context can change so significantly during the day that the model accuracy experiences a significant, even abrupt, deterioration. Causes for this can include, among others, increasing cloud cover, the onset of dew, changes in crop varieties, altered fertilization and plant protection measures, changing weed growth, fluctuations in the ripening stage of the harvested crop, and yield changes.

[0047] The driver assistance system 36 and in particular the map control 57 associated with it is also designed such that the applied context-related map 63 is always checked when the agricultural machine 1 is used under the same conditions on a subsequent day 68, whereby the applied context-related map 63 is then replaced by an adapted context-related map 63 when the threshold 67 of the model quality 66 is reached.

[0048] The driver assistance system 36, and in particular the map control 57 associated with it, can be further configured such that the applied context-related map 63 is always checked when the context-related map 63 is to be exchanged between different agricultural machines under the same conditions 69 or on the following day 70, wherein the applied context-related map 63 is then replaced by an adapted context-related map 63 when the threshold 67 of the model quality 66 is reached. In this context, it is within the scope of the invention that the different agricultural machines 1 comprise machines 1 of one machine fleet or machines 1 of different machine fleets.

[0049] Furthermore, the driver assistance system 36 and in particular the map control 57 associated with it can be designed such that the applied context-related map 63 is always checked when the context-related map 63 is to be exchanged between agricultural machinery 1 that is in use in different regions 71, whereby the applied context-related map 63 is then replaced by an adapted context-related map 63 when the threshold 67 of the model quality 66 is reached.

[0050] Furthermore, the driver assistance system 36, and in particular the map control 57 associated with it, can be designed such that the applied context-related map 63 is always checked when the context-related map 63 is to be exchanged between agricultural machinery 1 that is used at different times of a year 72, wherein the different times 72 include times 72 of the same year or of different years, and the applied context-related map 63 is then replaced by an adapted context-related map 63 when the threshold 67 of the model quality 66 is reached. In this way, the influence of harvests taking place earlier or later in a year on the harvest result is also taken into account.

[0051] Furthermore, it is provided that the control arrangement 46 already described is intended for the distribution of the optimized context-related characteristic maps 63, wherein the control arrangement 46 has a database 52 with stored strategy parameters 51 and assigned data on local contexts 61, that the stored strategy parameters 51 of driver assistance systems 36 of agricultural machinery 1 were successively optimized in optimization routines 53 during the execution of agricultural work tasks in local contexts 61 from initial strategy parameters 51 to adapt to the respective local context 61, and that the driver assistance system 36 determines context data of the local context 61 of the agricultural work task, in particular by means of the sensor systems 39, and transmits it to the control arrangement 46.that the control arrangement 46 determines context-related characteristic fields 63 adapted to the local context 61 based on a comparison of the received context data with the context data from the database 52 and transmits them to the driver assistance system 36 of the agricultural working machine 1, and that the driver assistance system 36 applies the transmitted context-related characteristic fields 63 as basic characteristic fields 60.

[0052] The control arrangement 46 can be used particularly efficiently if the control arrangement 46 is located externally to the agricultural machine 1, in particular if the control arrangement 46 is formed by one or more servers and communicates with the agricultural machine 1 via the Internet, and / or if a large number of strategy parameters 51 are stored in the database 52, which originate from other, in particular similar, agricultural machines 1. Reference symbol list: 1 agricultural machinery 34 Speed ​​distribution device 2 combine harvester 35 Delivery point distribution facility 3 Harvesting attachment 36 Driver assistance system 4 inclined conveyor 37 memory 5 Harvested crop power 38 Computing device 6 threshing basket 39 Sensor system 7 threshing organ 40 internal information 8 Deflection drum 41 external information 9 separator rotor arrangement 42 stored information 10 Separation device 43 cabin 11 grains 44 Control and display unit 12 Return floor 45 driver 13 Feed floor 46 Tax order 14 Sieve level 47 Investigative routine 15 Sieve level 48 parameterizable strategy 16 fan 49 Strategy guidelines 17 Cleaning facility 50 Instructions for use 18 Elevator 51 Strategy parameters 19 grain tank 52 database 20 Straw chopper 53 Optimization routine 21 shredding device 54 22 Goods distribution system 55 Characteristic map 23 Floor 56 coefficient 24 Process unit 57 Map control 25 Operating parameters 58 Initial operating point 26 threshing drum speed 59 Quality parameters 27 threshing split 60 Basic map 28 Deflection drum speed 61 local context 29 Rotor speed 62 Test step 30 Oscillation frequency and direction 63 context-related characteristic field 31 Oscillation frequency and direction 64 Initial characteristic curve 32 Fan speed 65 Model quality module 33 straw chopper speed 66 Model quality 67 threshold 68 The following day 69 at the same time 70 The following day 71 Regions 72 Times of a year 73 Deterioration of model quality

Claims

1. Agricultural work machine (1) configured for the optimized determination of work parameters (25) of the agricultural work machine (1), wherein the agricultural work machine (1) has a driver assistance system (36) and a sensor system (39), wherein the agricultural work machine (1) is configured to carry out an agricultural work task in a local context (61) and the driver assistance system (36) comprises a characteristic map controller (57), wherein the characteristic map controller (57) comprises one or more characteristic maps (55) and each characteristic map (55) is configured to optimize work parameters (25) of the process units (24) of the agricultural work machine (1), wherein the respective characteristic map (55) describes at least the relationship between work parameters (25) of a process unit (24) and quality parameters (59) by means of initial working points (58), characterized in that the characteristic map(s) (55) is / are designed as basic characteristic maps (60) and the driver assistance system (36) is configured to check, when carrying out an agricultural work task in a local context (61), whether a context-related characteristic map (63) is available and, if such a map is available, replaces the basic characteristic map (60) with the context-related characteristic map (63) for the purpose of determining optimized work parameters (25), and the characteristic map controller (57) is further configured to use the context-related characteristic map (63) as the initial characteristic map (64).

2. Agricultural work machine (1) according to Claim 1, characterized in that the driver assistance system (36), in particular the characteristic map controller (57), is assigned a model quality module (65) and the model quality module (65) defines a model quality (66) of the context-related characteristic map (63), preferably in that the model quality (66) determines the time period until the optimized work parameters (25) resulting from the selected strategy specification (49) are achieved.

3. Agricultural work machine (1) according to Claim 2, characterized in that a threshold value (67) is assigned for the model quality (66) and, when the threshold value (67) is reached, the basic characteristic map (60) is overwritten with the context-related characteristic map (63).

4. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36), and in particular the characteristic map controller (57) assigned to it, is such that the context-related characteristic map (63) used is checked, when carrying out an agricultural work task in a local context (61), whenever the conditions of the local context (61) change, wherein the context-related characteristic map (63) used is then replaced with an adapted context-related characteristic map (63), in particular when the threshold value (67) of the model quality (66) of the model quality module (65) is reached.

5. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36), and in particular the characteristic map controller (57) assigned to it, is such that the context-related characteristic map (63) used is checked whenever the agricultural work machine (1) is used in the same conditions on a following day (68), wherein the context-related characteristic map (63) used is then replaced with an adapted context-related characteristic map (63), in particular when the threshold value (67) of the model quality (66) of the model quality module (65) is reached.

6. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36), and in particular the characteristic map controller (57) assigned to it, is such that the context-related characteristic map (63) used is checked whenever the context-related characteristic map (63) is intended to be exchanged between various agricultural work machines (1) in the same conditions at the same time (69) or on the following day (70), wherein the context-related characteristic map (63) used is then replaced with an adapted context-related characteristic map (63), in particular when the threshold value (67) of the model quality (66) of the model quality module (65) is reached.

7. Agricultural work machine (1) according to Claim 6, characterized in that the various work machines (1) comprise work machines (1) in a machine fleet or work machines (1) in various machine fleets.

8. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36), and in particular the characteristic map controller (57) assigned to it, is such that the context-related characteristic map (63) used is checked whenever the context-related characteristic map (63) is intended to be exchanged between agricultural work machines (1) which are being used in different regions (71), wherein the context-related characteristic map (63) used is then replaced with an adapted context-related characteristic map (63), in particular when the threshold value (67) of the model quality (66) of the model quality module (65) is reached.

9. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36), and in particular the characteristic map controller (57) assigned to it, is such that the context-related characteristic map (63) used is checked whenever the context-related characteristic map (63) is intended to be exchanged between agricultural work machines (1) which are used at different times of a year (72), wherein the different times of a year (72) comprise the different times (72) of the same year or of different years, wherein the context-related characteristic map (63) used is then replaced with an adapted context-related characteristic map (63), in particular when the threshold value (67) of the model quality (66) of the model quality module (65) is reached.

10. Agricultural work machine (1) according to one of the preceding claims, characterized in that a control arrangement (46) for distributing optimized context-related characteristic maps (63) is provided, in that the control arrangement (46) has a database (52) with stored strategy parameters (51) and associated data for local contexts (61), in that the stored strategy parameters (51) of driver assistance systems (36) of agricultural work machines (1) were gradually optimized in optimization routines (53) when carrying out agricultural work tasks in local contexts (61) from initial strategy parameters for adaptation to the respective local context (61), in that the driver assistance system (36) determines context data relating to the local context (61) of the agricultural work task, in particular by means of the sensor system (39), and transmits said data to the control arrangement (46), in that the control arrangement (46) determines context-related characteristic maps (63) adapted to the local context (61) based on a comparison of the received context data with the context data from the database (52) and transits said characteristic maps to the driver assistance system (36) of the agricultural work machine (1), and in that the driver assistance system (36) uses the transmitted context-related characteristic maps (63) as basic characteristic maps (60).

11. Agricultural work machine (1) according to one of the preceding claims, characterized in that the control arrangement (46) is arranged outside the agricultural work machine (1), in particular in that the control arrangement (46) is formed by one or more servers and communicates with the agricultural work machine (1) via the Internet, and / or in that the database (52) stores a large number of strategy parameters (51) which come from other, in particular similar, agricultural work machines (1).

12. Agricultural work machine (1) according to one of the preceding claims, characterized in that the driver assistance system (36) is configured to determine optimized work parameters for the agricultural work machine (1) for carrying out the agricultural work task in a determination routine (47) by means of a parameterizable strategy, wherein the strategy comprises strategy specifications (49), an application rule (50) and the optimized work parameters (25), and wherein the strategy can be parameterized by means of strategy parameters (51) for adaptation to a local context (61), wherein the driver assistance system (36) is configured to use the strategy specifications (49) as input parameters of the application rule (50) in the determination routine (47) in order to determine the optimized work parameters (25) in an optimized manner with regard to the strategy specifications (49) as output parameters of the application rule (50), and wherein the driver assistance system (36) is configured, at the start of carrying out the agricultural work task, to parameterize the strategy with initial strategy parameters in order to determine the optimized work parameters (25), wherein the strategy comprises at least one characteristic map (55), and in that the driver assistance system (36) determines the optimized work parameters (25) based on the strategy specifications (49) from the characteristic map (55) or the characteristic maps (55) by means of the application rule (50), wherein the characteristic map (55) is formed as a basic characteristic map (60) and / or as a parameterized characteristic map (55).