Field working system

Abstract

The invention relates to a field working system (1), comprising an agricultural machine (10) having a motor unit (18) and a chassis (12) which can be drivingly coupled to said motor unit, the agricultural machine being designed to work a field using at least one working device (40), wherein a control unit (5) of the system (1) is designed to autonomously control the agricultural machine (10) when working a field. According to the invention, in order to optimize the transportability of an autonomous agricultural machine, the control unit (5) is designed to autonomously control a preparation process (S120) of the agricultural machine (10) after the field working process in order to prepare a transportation process.

Description

[0001] Machine factory P24015WO

[0002] Bernard Krone GmbH & Co. KG

[0003] November 27, 2025

[0004] SYSTEM FOR FELT PROCESSING

[0005] The present invention relates to a system for field cultivation, comprising an agricultural machine according to the preamble of claim 1, and a method for operating such an agricultural machine.

[0006] Agricultural machinery has long been known in two forms: firstly, pulled by a tractor during field work, and secondly, self-propelled agricultural machinery controlled by a driver. These machines can also be moved in the same way during transport or road journeys, i.e., on the way to or from the field—either pulled by a tractor or driven autonomously by the driver. In addition, autonomous agricultural machinery is increasingly being used. These machines have their own drive and steering systems and can carry out field work independently, without driver commands. These vehicles cannot travel autonomously on public roads, so a different transport concept is necessary. For example, the agricultural machinery can be loaded onto a low-loader, which is complex and increases the overall costs.

[0007] One possible alternative is to attach the agricultural machine to a towing vehicle for transport, similar to a trailer. Various adjustments to the machine are necessary for such a journey. For example, a working implement may need to be raised and / or folded to avoid obstructing transport. It may also be necessary to modify various settings of the steering and drive systems so that the machine can be towed and steered by the towing vehicle without its own power. These and other adjustments are time-consuming and require the operator to have considerable knowledge of the machine's construction and operation. The towing vehicle driver may not be adequately qualified and would therefore either need assistance from another person or would first need to familiarize themselves with the machine.Both of these factors would significantly increase the effort involved in a transport operation. Furthermore, there is an inherent risk that a user might fail to configure certain settings or configure them incorrectly, which could lead to damage to the agricultural machinery or endanger other road users during the transport process.

[0008] The purpose of the invention is to optimize the portability of an autonomous agricultural machine.

[0009] The problem is solved with a field processing system having the features of independent claim 1. Advantageous embodiments can be found in the dependent claims.

[0010] For this purpose, a field cultivation system is created, comprising an agricultural machine which has an engine unit and a chassis that can be coupled to it for drive transmission and is designed to carry out field cultivation using at least one cultivation device, wherein a control unit of the system is designed to autonomously control the agricultural machine during field cultivation.

[0011] The field cultivation system includes an agricultural machine, which explicitly includes the possibility that the agricultural machine constitutes the system itself, meaning it has no other components. The agricultural machine can also be referred to as an agricultural work machine. It could be, in particular, a harvesting machine such as a forage harvester, a combine harvester, a baler, or a forage wagon. However, it could also be, for example, a tedder, a plow, a fertilizer spreader, a slurry tanker, or similar equipment.

[0012] The agricultural machine has an engine unit, which in turn can contain one or more motors. Different types of motors can be used, in particular combustion engines and / or electric motors. A hybrid drive is also conceivable, in which the drive power is primarily generated by a combustion engine, which, however, supplies one or more electric motors via a generator, which then produce the actual driving force. A chassis can be coupled to the engine unit for power transmission, for example, via a gearbox and / or a clutch. In this context, "coupled" also includes the possibility that the chassis is permanently coupled to the engine unit. The coupling transmits power, so that movement and driving force from the engine unit can be transmitted to the chassis. The chassis can be designed, in particular, as a wheeled chassis or a tracked chassis.Hybrid designs are also conceivable, where, for example, one axle of the chassis has wheels and another axle has a track drive. The agricultural machine can have a body. The engine unit and other components can be arranged within this body. The body can have fairings that shield internal components. The chassis is attached to and supports the body. The body can have a rigid frame that provides mechanical stabilization and allows forces to be transmitted between the chassis and various components of the body (such as the engine unit).

[0013] The agricultural machine is designed to perform field cultivation using at least one implement. Field cultivation can include, for example, plowing, fertilizing, mowing, tedding, harvesting, or similar activities. The implement can be permanently attached to the agricultural machine or be part of it; that is, the agricultural machine can incorporate the implement. However, the agricultural machine can preferably be designed for the attachment of various implements, such as a plow, a tedder, a header, or similar equipment. The actual body of the agricultural machine may not be specifically designed for any particular field cultivation activity. However, it can have attachment structures, such as a three-point linkage, through which an implement adapted to the respective field cultivation activity can be attached.It goes without saying that the agricultural machine is driven by the engine unit via the chassis during field work. Depending on the design, the implement can also be driven, for example by a mechanical coupling to the engine unit.

[0014] A control unit of the system is designed to autonomously control the agricultural machine during fieldwork. The term "control unit" is not to be interpreted as requiring it to be physically located in a single location. It can comprise multiple components or subunits, which may be spatially separated and thus geographically distant from one another. Where these components are interconnected by signal transmission, the connection can be wired or wireless. At least some functions of the control unit can be implemented in software. The control unit can, in particular, be at least partially, and preferably completely, integrated into the agricultural machine. However, it could also be located, at least partially, in another vehicle, in a building, or in a mobile device (for example, a tablet).If the implement is an attachment that can be replaced as needed, the control unit can also be at least partially integrated into the implement. In any case, the control unit can autonomously control the agricultural machine during field work. This means the agricultural machine is designed as an autonomous vehicle, capable of performing field work without control commands from a driver or operator. However, this does not preclude the agricultural machine from having a control station or driver's cab and being able to be controlled by a driver if necessary. It goes without saying that the agricultural machine may be equipped with sensors that allow the control unit to orient itself within the working area, for example, GNSS position sensors, cameras, lidar, radar, or ultrasonic sensors, etc.The control unit can optionally plan a route within the working area; however, such a route can also be planned externally and made available to the control unit. According to the invention, the control unit is configured to autonomously control a preparation process of the agricultural machine after fieldwork in order to prepare for a transfer operation. The transfer operation serves to move the agricultural machine. Such a transfer operation takes place in particular before and / or after fieldwork, i.e., when the agricultural machine is moved away from and / or towards a working area. A transfer operation can, in particular, include road travel. The preparation process concerns the agricultural machine and can, in particular, include at least one adjustment of a component of the agricultural machine.Strictly speaking, the control unit does not perform the preparation process itself, but rather controls it. The term "control" here also includes the possibility of regulation. The preparation process serves to prepare the agricultural machine for the transport operation, and this preparation can be carried out completely or partially. This means that, within the scope of the invention, it is conceivable that, in addition to the preparation process, which is autonomously controlled by the control unit, at least one further action is necessary to prepare the agricultural machine. Preferably, however, the preparation process includes all actions that can be performed on the agricultural machine. The preparation process is controlled autonomously by the control unit, i.e., without a user having to perform or monitor it individually.However, the term "autonomous" in this context does not preclude the possibility that a user can intervene in the preparation process through input, or that at least individual actions—and possibly the entire preparation process—can depend on user input. As mentioned above, the control unit can have multiple spatially separated components. In this case, it would be conceivable that the control of field processing, on the one hand, and the control of the preparation process, on the other, could be carried out by different components of the control unit. Advantageously, however, these functions would be performed at least partially by the same component.

[0015] The preparation process largely relieves the person who wishes to carry out, monitor, and / or prepare the transport operation of the need for preparatory adjustments to the agricultural machinery. This person, for example, the driver of a tractor or other vehicle, therefore does not require any special knowledge of the machinery's construction and function. Operating errors are thus largely eliminated. A significant time advantage also arises, as the control unit, unlike a human operator, can carry out the preparation process without hesitation and without errors. It is also possible to prepare the agricultural machinery before the person arrives on site. Upon the person's arrival, the transport operation can then preferably begin without any significant delay.

[0016] According to one embodiment, the agricultural machine can be coupled to a tractor for transport. In particular, the agricultural machine can be attached to the tractor so that the tractor can pull it. The tractor, which can also be called the towing vehicle, can itself be an agricultural machine, but it can also be another vehicle, for example, a truck. Normally, the towing vehicle is a motor vehicle with its own drive system; however, it could also be, for example, a trailer without its own drive system that is being pulled. In addition to a mechanical coupling for transmitting tractive force, a coupling for energy transmission can also be provided. For this purpose, the agricultural machine can have at least one connection for an electrical, pneumatic, and / or hydraulic connection to the tractor.According to another embodiment, the agricultural machine can be loaded onto a transport vehicle for the transfer process. The transport vehicle can, for example, be a low-loader that picks up the agricultural machine. Preferably, the agricultural machine can drive onto the transport vehicle using its own drive system. This driving onto the vehicle can be carried out autonomously as part of the preparation process. Another possibility is that the agricultural machine can be coupled to a guide vehicle in a follow-up mode for the transfer process. The guide vehicle can be designed similarly to a tractor. However, in this case, the guide vehicle is not intended to pull the agricultural machine, but rather for the agricultural machine to orient itself to the guide vehicle. Accordingly, the agricultural machine moves under its own power during the transfer process.In this context, one can also speak of an electronic drawbar, since the agricultural machine can follow the lead vehicle much like a traditional drawbar, although it is not mechanically pulled and guided by a drawbar. Various coupling options exist. For example, a mechanical coupling element can be used, which, however, does not transmit tractive force but provides information about the relative position of the lead vehicle and the agricultural machine through its orientation. A wired or wireless connection between the lead vehicle and the agricultural machine can also be used, allowing the lead vehicle to control the agricultural machine. Another possibility is that the agricultural machine detects the lead vehicle using non-contact sensors (for example, cameras, radar, or lidar sensors), enabling it to follow the vehicle.

[0017] Preferably, the control unit is configured to coordinate the execution of at least one action in the preparation process with a scheduled pick-up time for the transport operation. The scheduled pick-up time, referred to here as the transport operation time, can be stored within the control unit. It can be externally specified or determined by the control unit. It is understood that the preparation process should be completed by the specified pick-up time to avoid unnecessary waiting time for the tractor or other vehicle. The control unit can determine the time required for individual actions in the preparation process, for example, by calculation, estimation, or by accessing stored values. From this, the total time for the preparation process can be calculated.This total time does not necessarily have to equal the sum of the individual times, as some actions may be performed concurrently. The total time can be used to determine whether the preparation process will be completed by the pickup time. If so, no further coordination is necessary. Otherwise, there are two coordination options, which can be implemented alternatively or simultaneously. First, the control unit can exclude or shorten at least one planned action. Exclusion is possible, for example, for actions that are not directly safety-relevant. Shortening the action could be achieved, for example, by performing it more quickly and / or less thoroughly. In addition to adjusting the preparation process, the pickup time can also be postponed.This can be useful, for example, if excluding or shortening actions is insufficient to meet the originally scheduled pickup time. The pickup time is adjusted to the total time allotted for the preparation process; it is therefore determined by the control unit. The pickup time, i.e., the scheduled pickup time for the transfer process, can be communicated externally so that users can plan accordingly.

[0018] As mentioned previously, the autonomous execution of the preparation process does not completely preclude user intervention. According to one embodiment, the control unit is configured to perform at least one action of the preparation process based on user input. This input can relate to whether the action is performed at all, how it is performed, and / or when it is performed. User input can be provided via any interface, which need not be part of the field management system. For example, input could be provided via a user interface in the tractor, transport vehicle, guide vehicle, etc., or via a mobile device such as a smartphone or tablet. Such user input could, for instance, include a pickup time requested by the user.It could also be a specific instruction regarding the execution of the preparation process or individual actions within it. Preferably, the control unit is configured to receive a command relating to the preparation process via a wireless interface. In particular, the preparation process can be initiated by such a command. That is, the command can be sent to the wireless interface from a remote location, for example, the tractor or another vehicle, so that a user can influence the preparation process remotely, especially by initiating it. In addition to or as an alternative to the user input mentioned above, output to a user can also be useful. Accordingly, the control unit can be configured to trigger an output relating to the preparation process at a user interface.This user interface also need not be part of the field management system. For example, the control unit could transmit a message via a wireless interface of the system to a corresponding wireless interface of a device that has a user interface configured for output. The output can be visual and / or audible. The output can contain various types of information. For example, it can inform the user of a scheduled pickup time. It can also confirm that a user-requested pickup time is possible or indicate that the requested pickup time cannot be met. The output can also include information that the agricultural machine has finished field work or will finish in the foreseeable future, and that the preparation process can therefore begin.The user could then have the opportunity to initiate the preparation process via user input. The output can also indicate whether the preparation process as a whole, or individual actions within it, were completed as intended. In this context, it can be helpful to provide at least supplementary, easily understandable output via a user interface on the agricultural machine itself. For example, this user interface could be an indicator light that glows red if the preparation process has not yet been completed as intended, and green otherwise.

[0019] One embodiment provides that the control unit is configured to use sensors to verify the execution of at least one action during and / or after the preparation process. For this purpose, the control unit is connected to at least one sensor unit via signal transmission. The sensor unit can be, in particular, part of the agricultural machine, but it could also be an external sensor unit. The sensor unit could, for example, be a position sensor that checks the setting of a moving part of the agricultural machine. It could also be a camera whose images are evaluated using image recognition. Other types of sensors can also be used. If the verification takes place during the action, a control system can be provided in which the sensor unit supplies the controlled variable. After the action, the successful completion can be verified.Depending on this, the above-mentioned output can be triggered via a user interface.

[0020] Since the preparation process is autonomous, it is advisable to implement safety precautions to protect the agricultural machine and its surroundings from damage. Advantageously, the control unit is configured to check the relevant action area for the presence of an obstacle, particularly a person, before triggering at least one action of the preparation process, and to only initiate the action if no obstacle is detected. The action area is the area affected by the action, for example, the area within which the agricultural machine or a part thereof moves during the action. The action area can be checked using sensors. At least one sensor unit of the agricultural machine can be used for this purpose. Possible sensor types include cameras, lidar, radar, or ultrasonic sensors, etc.The obstacle could be an inanimate object, such as a stone, a plant, or another vehicle. It could also be an animal, such as livestock or wildlife, that is temporarily in the vicinity of the agricultural machine. In particular, it could be a person. It goes without saying that the protection of people in the vicinity of the agricultural machine has top priority. If the presence of an obstacle is detected in the operating area, the action will not be carried out. This includes the possibility that the action can be carried out at a later time when the obstacle is no longer present. In some cases, the control unit might move the agricultural machine away from the obstacle so that it is removed from the operating area. A notification might also be issued to a person instructing them to leave the operating area.In the case of an animal, attempts could be made to drive it away using visual or acoustic signals.

[0021] The agricultural machine may finish fieldwork in a position that is not ideal for retrieval. This can also be corrected during the preparation process. The control unit is designed to steer the machine to a predefined retrieval position and / or orientation during this process. The control unit can actuate the machine's drive and steering system so that it moves to the retrieval position and positions itself accordingly. Optionally, the retrieval position can be identical to the starting position from which the machine began fieldwork. In particular, the retrieval position and / or orientation can be defined by user input. The retrieval position and / or orientation can be selected with regard to coupling to the tractor or guide vehicle.If a transport vehicle is used, the pickup position can be one from which the agricultural machine can easily drive onto the transport vehicle. If the transport vehicle is already on site, the pickup position could also be a position on the transport vehicle itself. This means the agricultural machine can drive onto the transport vehicle autonomously.

[0022] The control unit is preferably configured to trigger, during the preparation process, the adjustment of at least one adjustable component associated with the agricultural machine from a working position intended for field cultivation to a transfer position intended for the transport operation. The component is associated with the agricultural machine, meaning it is either part of the machine or at least connected to it. The component can be adjusted by translational and / or rotational movements. If the component is used during field cultivation but has no function during transport, it can, for example, be adjusted to a space-saving transfer position for the transport operation. If the component is only used during transport, it can, for example, be adjusted from a space-saving working position to a less space-saving but more usable transfer position.The adjustment can be made primarily by actuators, but adjustment by a previously pre-tensioned spring element would also be conceivable, for example.

[0023] A component adjustable into the transfer position can be a drawbar element designed for at least indirect coupling to the tractor. The drawbar element can pivot about a drawbar axis relative to the aforementioned vehicle body, the drawbar axis preferably running parallel to a vehicle vertical axis. It generally serves for at least indirect coupling to the tractor and for transmitting a tractive force. The drawbar element can form a drawbar that is coupled to the tractor, a part of such a drawbar, or it can be designed for connection to such a drawbar. If the drawbar element is coupled directly or indirectly to the tractor, changes in the tractor's position, for example when cornering, cause the drawbar element to pivot.In the working position, the drawbar element can be arranged on the vehicle body in a space-saving manner, for example, by being fully or partially retracted, folded in, or swung upwards. In contrast, in the transport position, it can be extended, unfolded, or swung downwards. If the agricultural machine is driven into a collection position as described above, adjusting the drawbar element can preferably take place after reaching the collection position.

[0024] A component that can be adjusted into the transfer position can also be a processing implement. To adjust it to the transfer position, the processing implement can, for example, be raised and / or pivoted upwards. Parts of the processing implement can also be adjusted relative to each other, for example, folded together. As mentioned, the processing implement can, in particular, be an attachment that is coupled to a three-point linkage of the agricultural machine. Therefore, the control unit can, in particular, control such a three-point linkage. In addition to adjusting it to the transfer position, the processing implement can be secured in this position, for example, with a specially designed locking mechanism. Especially if the processing implement has pointed or sharp-edged components, at least one protective element can also be fitted to partially shield the processing implement from its surroundings.Advantageously, when adjusting to the transition position as described above, it is checked whether there is an obstacle in the operating range. It is also advantageous to verify that the transition position has been reached using sensors.

[0025] Advantageously, the agricultural machine has at least one steerable axle, and the control unit is configured to trigger, during the preparation process, an adjustment of the steering system of the at least one steerable axle from a working mode to a transfer mode and / or to trigger an adjustment of at least one steerable axle to a defined position. In this configuration, the agricultural machine has at least one steerable axle that is part of the chassis. In particular, the agricultural machine can have a front axle and a rear axle, both of which are steerable. This includes the possibility of multiple front axles and / or multiple rear axles. The terms "front axle" and "rear axle" refer to different positions with respect to the direction of travel of the agricultural machine, or, one could also say, with respect to a longitudinal axis of the vehicle.Each steerable axle preferably has two wheels spaced apart along a transverse axis of the agricultural machine. "Steerable" means that the orientation of each wheel of the axle relative to the vehicle body can be changed by a pivoting movement. In principle, two wheels could pivot about a common pivot axis, similar to a turntable steering system. However, it is clearly preferred that each wheel can be deflected about its own pivot axis, with the respective steerable axle particularly featuring a kingpin steering system. A steerable axle, especially the front axle, can be mechanically coupled or connectable to the aforementioned drawbar element. Such a mechanical coupling can be implemented entirely or partially by fluid mechanics. The operating mode described above is intended for field work and can, in particular, include active and individual steering of each steerable axle.This means that each axle can be individually steered via a steering actuator, which in turn is controlled by the control unit. In contrast, the transfer mode can exclude active steering and instead provide forced steering via the drawbar. The front axle can be directly forced-steered by the drawbar, while the rear axle is in turn forced-steered by the front axle. The latter can be achieved through a mechanical, particularly fluid-mechanical, coupling. Forced steering of the rear axle typically involves a deflection opposite to that of the front axle. Optionally, the coupling can be configured such that the rear axle is only deflected when the steering angle of the front axle exceeds a certain value.Alternatively, or in particular additionally, the control unit can be configured to trigger the adjustment of at least one steerable axle, in particular each steerable axle, to the defined position mentioned above. The defined position of the steerable axle can, in particular, be a straight-ahead position. The straight-ahead position can also be referred to as the neutral position and corresponds to driving straight ahead. However, it can also be another position, provided that this is advantageous in preparation for the transfer operation. The defined position can also be user-selectable. The adjustment can, in particular, be performed by actuators. Adjusting the steerable axles to the defined position can, in particular, be performed before adjusting the steering system in order to prevent misalignment of the steerable axles.

[0026] The control unit can also be configured to check the roadworthiness of the agricultural machine during the preparation process. Such a check can relate to various aspects. For example, tire pressure or axle load could be checked, or whether each implement is in its transport position. In particular, the lighting system of the agricultural machine can be checked. Depending on the result of the check, the control unit can trigger an output via the user interface.

[0027] One embodiment provides that the control unit is configured to trigger a cleaning process for at least one component of the agricultural machine during the preparation process. Advantageously, the cleaning process is carried out by the agricultural machine itself. It can relate to different components. For example, the agricultural machine can have a radiator fan with a radiator screen associated with the engine unit, and the control unit is configured to trigger cleaning of the radiator screen during the preparation process. The cleaning of the radiator screen can be carried out by various means, for example, mechanically and / or by reversing the airflow of the radiator fan. Optionally, it could be checked whether a person could be hit by blown-out dirt particles; that is, an action zone as described above could be defined.Another example would be that the agricultural machine has a particulate filter for exhaust gas treatment of the engine unit, with the control unit configured to trigger a regeneration of the particulate filter during the preparation process. This regeneration, which requires high temperatures over a longer period, can be carried out depending on the pickup time. That is, it may only be performed if sufficient time remains before the start of the transport process.

[0028] According to one embodiment, the control unit is configured to trigger the switching of an internally controllable component of the agricultural machine during the preparation process. This allows the component to be controlled by the tractor or lead vehicle after coupling. The component is internally controllable during fieldwork, i.e., by the agricultural machine itself, with the control commands for the component being generated by the control unit. However, during the transfer process, the component should be controllable by the tractor or lead vehicle. Preferably, the control can be achieved via a physical connection to the tractor or lead vehicle, for example, an electrical, pneumatic, or hydraulic connection. In principle, however, a wireless connection would also be possible.In order for the tractor or lead vehicle to be able to control the machine, a change must be made within the agricultural machine, which in this design is done autonomously by the control unit.

[0029] In particular, the control unit can trigger a changeover of the agricultural machine's braking system, allowing the braking system to be activated by the tractor or towing vehicle after coupling. During fieldwork, the braking system is typically only controllable—that is, it can be released or locked—by the agricultural machine's own systems. The braking system can, for example, include at least one SAHR (Spring Applied Hydraulic Released) brake connected to the agricultural machine's hydraulic system. For the transport process, the braking system can be connected to the tractor's or towing vehicle's hydraulic system. Alternatively, a connection can be established with the tractor's or towing vehicle's pneumatic system, which actuates a combination cylinder on the agricultural machine, which in turn hydraulically engages the braking system.Other configurations are also conceivable, but in each case, the tractor or lead vehicle controls the braking system. It goes without saying that the braking system should only be switched when the agricultural machine no longer needs to perform any maneuvers, for example, when it has already reached its pickup position. Another example could be the agricultural machine's lighting system. This can be controlled internally during field work, while control by the tractor is more practical during transport.

[0030] The control unit can also be advantageously configured to trigger the decoupling of the chassis from the engine unit and / or the shutdown of the engine unit during the preparation process. During fieldwork, the chassis can be coupled to the engine unit via a transmission. A clutch can be located between the engine unit and the transmission, or even within the transmission itself, which can interrupt the mechanical coupling between the chassis and the engine unit. Such decoupling prevents the engine unit from being driven by the chassis during transport. This would result in unwanted braking and could also damage the engine unit, as the speed during transport can be significantly higher than during fieldwork.

[0031] The problem is also solved by a method for operating an agricultural machine which has an engine unit and a chassis that can be coupled to it for drive transmission and is configured to carry out field cultivation using at least one implement, and which can be autonomously controlled by a control unit. According to the invention, after field cultivation, the control unit autonomously controls a preparation process of the agricultural machine to prepare for transport. In this method, the agricultural machine and the control unit are preferably components of the system described above.

[0032] The aforementioned terms have already been explained with reference to the system according to the invention and therefore will not be explained again. Preferred embodiments of the method correspond to those of the system according to the invention.

[0033] The invention is described below with reference to figures. The figures are merely exemplary and do not limit the general concept of the invention. They show

[0034] Fig. 1 shows a top view of a machining area with an agricultural machine of a system according to the invention;

[0035] Fig. 2 is a schematic side view of the agricultural machine from Fig. 1 in a first state; Fig. 3 is a schematic side view of the agricultural machine from Fig. 1 in a second state; and

[0036] Fig. 4 shows a flowchart of a method according to the invention.

[0037] Fig. 1 shows a top view of a processing area 50 and an agricultural machine 10, which is designed as an autonomous vehicle. The agricultural machine is also shown in a schematic side view in Figs. 2 and 3, where a longitudinal axis X, a transverse axis Y, and a vertical axis Z of the agricultural machine 10 are indicated, as well as a direction of travel R pointing opposite to the longitudinal axis X. The agricultural machine 10 has a vehicle body 11 on which wheels 13 of two steerable axles 14, 15 are arranged. These are part of a chassis 12, which supports the vehicle body 11 and via which the agricultural machine 10 can be driven. A rear axle 15 is connected to a motor unit 18 via a transmission 16. However, the embodiment shown here with a rear axle drive is only exemplary, and a front axle drive or all-wheel drive could also be provided. The rear axle 15 can be decoupled from the motor unit 18 by means of a clutch 17.

[0038] In this example, the engine unit 18 comprises a diesel engine connected to an exhaust system 26 with a particulate filter 27. Although not apparent from the schematic diagram, the diesel engine is preferably coupled to a generator that provides electrical power for operating one or more electric motors, which are also part of the engine unit 18. This means that the actual generation of the drive force, which is transmitted via the transmission 16, is carried out by the at least one electric motor. The engine unit 18 also includes a cooling fan 19 with a fan screen (not shown separately) through which particles are filtered from the intake air.Each axle 14, 15 is assigned steering cylinders 21, 22 of a steering system 20, whereby the front steering cylinders 21 of the front axle 14 can be controlled independently of the rear steering cylinders 22 of the rear axle 15 via a hydraulic system of the agricultural machine 10 (not shown). Thus, independent steering of the axles 14, 15 is possible. The wheels 13 can be braked by a braking device 23 (schematically shown). This device can, for example, include SAHR brakes that can be released hydraulically.

[0039] The steering system 20, the braking system 23, and the engine unit 18 are controllable by a control unit 5. In this embodiment, the agricultural machine 10 forms a system 1 according to the invention for field cultivation, wherein the control unit 5 is integrated into the agricultural machine 10. However, alternative configurations are also conceivable in which the control unit 5 of the system 1 is arranged wholly or partially outside the agricultural machine 10. The control unit 5 is configured to autonomously control the agricultural machine 10 during field cultivation. As indicated in Fig. 1, the agricultural machine 10 travels along a route F according to the control by the control unit 5 while it carries out the field cultivation by means of a cultivation implement 40. In this example, the cultivation implement 40 is coupled to the vehicle body 11 via a rear-mounted lifting mechanism 25 and can, for example, be designed as a mower. Fig.Figures 1 and 2 show the processing device 40 in a working position in which it is lowered towards the ground and has a greater width with respect to the transverse axis Y than the actual agricultural machine 10.

[0040] During fieldwork, the control unit 5 can orient itself using various sensors 30, which can be, for example, cameras, radar, lidar, ultrasonic, or GNSS sensors. The control unit 5 can also control the lighting system 32 of the agricultural machine 10, if required, which may include, for example, headlights, taillights, turn signals, or the like. The control unit 5 is also connected to a wireless interface 33. This allows it to communicate, for example, via a wireless connection V with a corresponding interface 46 of a remote terminal device 45, which has a user interface 47 (for example, a touchscreen) for user input and output. The terminal device 45 can be, for example, a tablet, but it can also be installed in a tractor 60. The tractor 60 is intended to collect the agricultural machine 10 after fieldwork for transport.The agricultural machine 10 has a drawbar element 24 for the traction-transmitting connection to the tractor 60, as well as an electrical connection 28 and a pneumatic connection 29, which are intended for connection to the electrical and pneumatic systems of the tractor 60, respectively. Instead of the tractor 60, a transport vehicle, for example a low-loader, could also be used, onto which the agricultural machine 10 can be loaded, in particular driven onto, for the transfer process. In this case, the drawbar element 24 can be omitted. Another possibility is that the agricultural machine 10 is picked up by a lead vehicle, in which case no traction-transmitting connection is established. Instead, the agricultural machine 10 follows the lead vehicle during the transfer process, being driven by its own engine unit 18.

[0041] The control unit 5 is configured to carry out a method according to the invention, which is explained below with reference to Fig. 4. In a first step S100, the control unit triggers an output on the user interface 47 via the wireless interfaces 33, 46, informing a user that fieldwork has ended or will end in the foreseeable future. As soon as fieldwork is finished and the agricultural machine 10 has reached an end position PE of the travel route F, the control unit 5 begins a preparation process S120 to prepare for the transfer operation. Optionally, in a preceding step S110, user input can be requested as to whether the preparation process S120 should be started. The steps of the preparation process S120 described below do not have to be carried out in the order described.Where appropriate, they can also be carried out in parallel or in a different order.

[0042] In step S130, the control unit 5 moves the agricultural machine 10 from the end position PE to a designated pick-up position PA and into a pick-up orientation AA. Pick-up position PA and pick-up orientation AA can be predefined or set via the user interface 47. If a transport vehicle is already on site for the transfer operation, the pick-up position PA could also be a position on the transport vehicle, meaning the agricultural machine 10 could drive onto the transport vehicle autonomously. After or upon reaching pick-up position PA, the axles 14 and 15 are set to a defined position, in particular a straight-ahead position, according to step S140. In step S150, the steering system 20 is switched from a working mode to a transfer mode. As a result, the steering cylinders 21 and 22 can no longer be controlled independently.Rather, the front axle 14 is positively steered by the drawbar element 24, while the rear steering cylinders 22 of the rear axle 15 are mechanically-hydraulically coupled to the deflection of the front axle 14. This ensures that the rear axle 15 deflects in the opposite direction to the front axle 14 when the steering angle of the front axle 14 exceeds a certain value. In step S160, the brake device 23 is connected to a hydraulic translator 34, which in turn is connected to the pneumatic connection 29. As soon as the pneumatic connection 29 is connected to a (not shown) pneumatic system of the tractor 60, the latter can thus actuate the brake device 23. In step S170, the clutch 17 is released, so that the chassis 12 is decoupled from the engine unit 18. In step S180, the control unit 5 checks the road safety of the agricultural machine 10, in particular by checking the function of the lighting system 32.In step S190, the lighting system 32 is converted so that it can be controlled via the electrical connection 28 after coupling to the tractor 60.

[0043] In step S200, the control unit 5 uses sensors 30 to check whether an obstacle, in particular a person 70, is located in a rear working area Bi. If not, the control unit 5 triggers, in step S210, the adjustment of the processing device 40 to a transfer position. For this purpose, it is raised by means of the lifting mechanism 25 and folded together by means of internal actuators, as indicated in Fig. 3. If an obstacle is detected in S200, step S210 is skipped. In step S220, the control unit 5 uses sensors 30 to check whether an obstacle is located in a front working area B2. If not, the control unit 5 triggers, in step S230, the adjustment of the tiller element 24 to a transfer position, whereby the tiller element 24 is unfolded, as indicated in Fig. 3. If an obstacle is detected at S220, step S230 is skipped.Both when adjusting the drawbar element 24 and when adjusting the processing device 40, the control unit 5 can use the sensors 30 to check the execution of the respective action.

[0044] In step S240, the control unit triggers a cleaning cycle for the radiator fan 19. During this cycle, the radiator fan 19 is operated with reversed airflow to blow dirt particles away from the radiator screen. In step S250, the control unit checks whether the remaining time until a scheduled pickup time is sufficient for cleaning the particulate filter 27. If not, in step S260, the user interface 47 is queried to determine whether the pickup time should be postponed in favor of cleaning. If postponement is possible or the remaining time is sufficient, the particulate filter 27 is regenerated in step S270. Otherwise, this step is skipped. In step S280, the engine unit 16 is switched off. In step S290, the control unit 5 triggers an output on the user interface 47 informing the user whether and to what extent the preparation process S120 was successfully completed.Additionally, a status light 35 on the vehicle body 11 of the agricultural machine 10 indicates whether the preparation process has been successfully completed. In step S300, the control unit 5 puts the agricultural machine 10 into an energy-saving mode.

Claims

Machine factory P24015WO Bernard Krone GmbH & Co. KG Claims 1. System (1 ) for field cultivation, comprising an agricultural machine (10) which has a motor unit (18) and a chassis (12) which can be coupled to it for drive transmission and is equipped to carry out field cultivation by means of at least one cultivation device (40), wherein the system (1 ) has a control unit (5) which is equipped to autonomously control the agricultural machine (10) during field cultivation, characterized in that the control unit (5) is equipped to autonomously control a preparation process (S120) of the agricultural machine (10) after field cultivation in order to prepare a transfer operation.

2. System according to claim 1, characterized in that the agricultural machine can be coupled to a tractor (60) for the transfer process, can be loaded onto a transport vehicle, or can be coupled to a lead vehicle in a following mode.

3. System according to one of the preceding claims, characterized in that the control unit (5) is configured to coordinate the execution of at least one action of the preparation process (S120) and a pick-up time provided for the transfer process.

4. System according to one of the preceding claims, characterized in that the control unit (5) is configured to perform at least one action of the preparation process (S120) depending on a user input.

5. System according to one of the preceding claims, characterized in that the control unit (5) is configured to trigger an output relating to the preparation process (S120) at a user interface (47).

6. System according to one of the preceding claims, characterized in that the control unit (5) is configured to sensorially verify the execution of the action during and / or after at least one action of the preparation process (S120).

7. System according to one of the preceding claims, characterized in that the control unit (5) is configured to check (S200, S220) an action area (Bi, B2) relevant to the action for the presence of an obstacle, in particular a person (70), before triggering at least one action of the preparation process (S120), and to trigger the action only if no presence is detected.

8. System according to one of the preceding claims, characterized in that the control unit (5) is configured to control the agricultural machine (10) to a predetermined pick-up position (PA) and / or into a predetermined pick-up orientation (AA) during the preparation process (S120) (S130).

9. System according to one of the preceding claims, characterized in that the control unit (5) is configured to trigger an adjustment (S210, S230) of at least one adjustable component (24, 40) assigned to the agricultural machine during the preparation process (S120) from a working position intended for field cultivation to a transfer position intended for the transfer process.

10. System according to one of the preceding claims, characterized in that at least one component adjustable into the transfer position is a drawbar element (24) designed for at least indirect coupling to the tractor and / or a processing device (40).

11. System according to one of the preceding claims, characterized in that the agricultural machine (10) has at least one steerable axle (14, 15) and the control unit (5) is configured to perform a preparation process (S120) To trigger (S150) the adjustment (S150) of a steering system (20) of at least one steerable axle (14, 15) from a working mode to a transfer mode and / or to trigger (S160) the adjustment (S160) of at least one steerable axle (14, 15) to a defined position.

12. System according to one of the preceding claims, characterized in that the control unit (5) is configured to check the roadworthiness of the agricultural machine (S) during the preparation process.

13. System according to one of the preceding claims, characterized in that the control unit (5) is configured to trigger a cleaning process (S240, S270) of at least one component (19, 27) of the agricultural machine (10) during the preparation process (S120).

14. System according to one of the preceding claims, characterized in that the control unit (5) is configured to trigger a changeover (S160) of at least one component of the agricultural machine (10) that can be controlled internally during field work during the preparation process (S120), whereby the component can be controlled after coupling by the tractor (60) or the guide vehicle.

15. System according to one of the preceding claims, characterized in that the control unit (5) is configured to trigger a decoupling (S170) of the chassis (12) from the motor unit (18) and / or a switching off (S280) of the motor unit (18) during the preparation process (S120).

16. Method for operating an agricultural machine (10) which has a motor unit (18) and a chassis (12) which can be coupled to it for drive transmission and is set up to carry out field cultivation by means of at least one cultivation implement (40), wherein it is autonomously controllable by a control unit (5), wherein the control unit (5) after field cultivation 2 autonomously controls a preparation process (S120) of the agricultural machine (10) to prepare a transfer operation.

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