DE102015109799A1 - Method for synchronizing two independent, self-propelled agricultural machines - Google Patents

Abstract

The invention relates to a method for the synchronization of two independent, self-propelled agricultural machines (2, 3), which cooperate in a cooperative process at least partially automated on an agricultural field, wherein a work machine (2) has a signature (9) and wherein the other work machine ( 3) has a reading device (11) for reading out the signature (9), wherein a signature information is read from the reading device (11) from the signature (9). It is proposed that the synchronization is based on the signature information and / or on a secondary information derived from the signature information.

Description

The invention relates to a method for synchronizing two independent, self-propelled agricultural machines according to the preamble of claim 1 and a driver assistance system for carrying out such a method according to the preamble of claim 14.

Basically, in independent, self-propelled harvesters, which are to cooperate with each other, a synchronization is required to coordinate the occurring within the cooperation sub-processes. For example, when overloading crop material from a work machine to the other work machine, a particular positioning of the work machines relative to one another is to be maintained.

In the DE 10 2011 052 688 A1 For example, a method and system for transferring crop from a harvester to a transport vehicle is described in which both the harvester and the transport vehicle have a signature and a reader. The signature is used to determine the relative position of harvester and transport vehicle from the transport vehicle with an optical sensor. The harvester can capture the signature of the transport vehicle and transmit and store it via telecommunications to a remote data management device to notify the amount of overcharge after synchronization.

Although with the in the DE 10 2011 052 688 A1 described method supported by the determination of the above relative positions when overcharging the crop, but it is still required during the cooperation process, ie the overloading of the crop. For example, the driver must ensure that the desired distribution of the crop or no excessive loading in the transport vehicle.

The invention has for its object to provide a method for synchronizing two independent, self-propelled harvesters, with the synchronization for the driver or the driver is further simplified.

The above object is achieved in a method according to the preamble of claim 1 by the features of the characterizing part of claim 1.

The proposed solution is based on the consideration that the signature of one of the machines or both machines can provide information about important information for synchronization. Thus, a partial automation of the cooperation process to be synchronized is easy to implement, so that the driver or the driver can be relieved and concentrate on the harvesting process or the like. By "partial automation" is meant here that at least one of the machines largely automatically adapts its machine parameters for the synchronization of the cooperation process to the other work machine. It may also be that the work machine can set the respective machine parameters via appropriate instructions to the driver, in particular via a driver assistance system. Such machine parameters may be travel speed, overload parameters or the like of the respective work machine.

The synchronization can affect all possible variants of the cooperation of two machines, as will be explained. In the case of the loading of cargo onto a transport vehicle, the signature can provide information about the geometric conditions of the transport vehicle, so that an excessive or in terms of a weight distribution unfavorable loading of the transport machine can be avoided.

In the preferred embodiment according to claim 2, both machines each have a signature and a reading device for reading the signature of the other work machine. In this case, a mutual, semi-automatic adaptation of the respective machine parameters is possible for the synchronization.

Preferably, one of the self-propelled agricultural machines is a harvester and the other working machine is a transport vehicle (claim 3). The fact that the synchronization based on the signature can be at least partially automated, the driver is relieved. This is especially important in harvesters, as the adjustment of the harvesting process regularly requires some attention from the driver.

The signature is preferably an optical signature, in particular a standard signature, to which cost-effective hardware and software solutions exist. Accordingly, it is proposed that the signature is a QR code or a bar code (claim 4). Optical signatures have the advantage that they are inexpensive to manufacture and also enable reliable detection in the agricultural environment.

A further advantageous embodiment of the method provides that the signature information or the secondary information is information about the machine having the signature ( Claim 6). With such information, it is the first working machine possible to adapt their working parameters in the context of synchronization to the other machine.

Additionally or alternatively, at least one of the work machines can have a driver assistance system and the synchronization of the two work machines can be controlled by means of the driver assistance system (claim 7). Particularly preferably, based on the signature information or the secondary information, the driver assistance system presets control of work organs of at least one of the work machines and / or gives instructions to the driver of at least one of the work machines based on the signature information and / or the secondary information. In the latter case, the driver assistance system is equipped with an input / output device for interacting with the driver.

The proposed solution can be particularly advantageous in the context of the overloading of crop from a working machine to the other machine (claim 8). Here, the transfer of the sensor signals of a Überladeeinrichtungskamera together with the signature information or the secondary information in a transfer information according to claim 11 is of particular importance. This is due to the fact that the sensor signals are always subject to restrictions that may be due, for example, to a limited detection area as a whole or a high data spread at the boundaries of the detection area. This can be counteracted by a comparison of the corresponding data or by an at least partial replacement or an at least partial completion of the corresponding data, so that a particularly good database for the particularly automated overloading results.

In a further preferred embodiment, the signature not only has the function of providing information, but also the function of providing a reference position on the respective work machine, which can be detected by the reading device (claim 12). This makes it possible that not only signature information can be read out by means of the reading device, but also that the relative position of the two working machines relative to one another can be determined. This dual use leads to a simple constructive and control engineering design.

According to a further teaching according to claim 14, which has independent significance, a driver assistance system for synchronizing two self-propelled machines is claimed, which operates according to the above proposed method. Please refer to all relevant explanations.

In the following the invention will be explained in more detail with reference to a drawing illustrating only embodiments. In the drawing shows

1 a system of a harvesting machine and a transport vehicle for carrying out a proposed method in a side view,

2 the system according to 1 in a plan view in the direction II.

In 1 is a system 1 from two independent, self-propelled agricultural machines 2 . 3 are shown, which perform a yet to be explained, at least partially automated cooperation process. The term "self-propelled" means that the agricultural machinery 2 . 3 each have their own drive for autonomous movement. The working machine 2 . 3 can either be a single vehicle, or even a team to be explained. In the embodiment, the working machines 2 . 3 led by a driver. However, there are also driverless guided machines 2 . 3 conceivable.

In the drawing is the working machine 2 a transport vehicle and the working machine 3 a harvester. The two machines 2 . 3 are designed independently of each other. This means that the two working machines 2 . 3 are independently operable.

In the following description, the terms "harvester" and "transport vehicle" will be used to describe the proposed teachings representative of the term "self-propelled agricultural work machine" to facilitate understanding. This is not meant to be limiting. Rather, all statements apply to a harvester and a transport vehicle for all other types of self-propelled agricultural machinery accordingly.

When in the 1 shown harvester 3 it is a combine harvester. Alternatively, it may be, for example, a forage harvester. The harvester 3 harvesting crops from the field during a harvest, processing them with various working organs and finally throwing the processed crop through a transfer device 4 , here by an actuator adjustable, in particular pivotable, Überladerohr, in a loading container 5 out. The harvester 3 Can also store a crop 6 in which the Crop is cached before ejection. Overloading from the harvester 3 either at a standstill or during harvesting.

The transport of the crop from the harvester 3 to a harvest bin, a harvest storage o. The like. Is usually from an above transport vehicle 2 accepted. The transport vehicle 2 has to pick up the crop mostly a loading container 5 on. Here and preferably, the transport vehicle 2 designed as a team. The team has a tractor here 7 , in particular a tractor, and one to the tractor 7 attached trailer 8th on, on which the loading container 5 located. For overloading the transport vehicle drives 2 usually right, left or behind the harvester 3 ago.

The proposal is a synchronization of the two machines 2 . 3 intended. This means that the two working machines 2 . 3 interact in an agricultural field during the co-operation process. The cooperative process preferably relates to a process that proceeds continuously over a certain period of time, here and preferably the transfer of crop material from a work machine 2 on the other work machine 3 , For the synchronization must be at least one machine 2 . 3 an information about the other working machine 2 . 3 available. During the transfer process, these are, for example, geometry information about the transport vehicle 2 , as will be explained.

Accordingly, at least one work machine 2 according to the proposal a signature 9 on, while at least the other working machine 3 a reading device 11 having. It is proposed that a signature information from the reading device 11 from the signature 9 is read out and that the synchronization based on the signature information and / or based on the secondary information derived from the signature information, as will be explained in detail.

In the illustrated embodiment, it is such that the transport vehicle 2 here both a signature 9 as well as a reading device 12 having. The harvester is also corresponding 3 with a signature 10 fitted. As a result, both machines are 2 . 3 Information about the other working machine 2 . 3 before, so that the synchronization by a two-sided adjustment of the machine parameters of both machines 2 . 3 can be made.

In detail, the transport vehicle 2 a plurality of identical signatures 9a -D on, in different places of the trailer 8th are arranged and readable from there. This can increase the probability that one of the signatures 9a -D in the detection area of the reader 11 lies. Next is the tug 7 with two identical signatures 9e F equipped differently to those on the trailer 8th arranged signatures 9a -D are. This takes into account the fact that here and preferably the signature information of the signatures 9a -D information about the trailer 8th , in particular the local charging container 5 , and the signature information of the signatures 9e , f Information about the tug 7 gives.

Next, here and preferably, the harvester 3 two identical signatures 10a . 10b whose signature information in turn provides information about the harvester 2 gives.

In the illustrated and so far preferred embodiment, the signature is 9 . 10 in each case an optical signature, in particular a QR code or a bar code. Further preferably, the reading device 11 . 12 for reading the signature 9 . 10 an optical sensor, in particular a camera. Further preferably, the reading device 11 . 12 In addition to the camera for generating sensor data and an evaluation unit for generating the signature information.

The signature 9 can in principle be applied to a sticker, in turn, to the respective work machine 2 . 3 is glued on. This allows the signature 9 renew in a simple way, in case of damage to the signature 9 occured. Alternatively, the signature 9 directly on the respective work machine 2 . 3 be applied, in particular by any type of printing process.

To the signature 9 To protect against contamination, it may be beneficial to the signature 9 Cover with a transparent protective film. The protective film is preferably designed to be interchangeable in case of severe soiling or damage.

Preferably, the surface of the signature 9 or the protective film designed so that their respective surface is water-repellent, especially dirt-repellent. An example of this is the realization of a surface with the well-known lotus effect.

In a particularly preferred embodiment, the signature information as such already contains an identification to the work machine 2 . 3 or to the type of work machine 2 . 3 , If the information required for the synchronization is not directly in the respective signature 9 is contained, can be derived from the signature information, if necessary, a secondary information. Preferably, the Secondary information based on the signature information from a memory 13 for storing data, in particular from a database, read out. In the simplest case, the signature information is then an ID via which a corresponding information required for the synchronization from the memory is obtained 13 is readable. The memory 13 can in a work machine 2 . 3 arranged and / or, as in the embodiment according to 2 shown to be located remotely from the synchronization site. This can be the memory 13 To be part of a central planning system that works with a number of machines 2 . 3 communicated.

Preferably, the signature information and / or the secondary information is information about the signature 9 . 10 having a working machine 2 . 3 , The signature information and / or the secondary information may contain information about the category of the work machine 2 . 3 and / or information about the geometry of the work machine 2 . 3 be. Additionally or alternatively, the signature information and / or the secondary information may contain information about the functional structure of the work machine 2 . 3 and / or information about the control structure of the work machine 2 . 3 be.

For example, the information obtained may be information on which side of a harvester 3 their overload device 4 and thus a flow 14 of the crop. In addition, it may also be indicated in which area the loading container 5 must be located to over the transfer device 4 to be filled. Also, the determined information may be an area relative to the harvester 3 describe in which the transport vehicle 2 during synchronization must move.

In the case of a transport vehicle 2 the signature information and / or the secondary information preferably contains information about the geometry of the loading container 5 For example, the size and / or the volume of the cargo container 5 , But it may also be included, for example, the maximum amount of charge in the information determined.

The illustrated transport vehicle 2 is with a driver assistance system 15 equipped, with the synchronization of the two working machines 2 . 3 by means of the driver assistance system 15 is controlled. Also the shown harvester 3 is with a driver assistance system 16 equipped, with the synchronization of the two working machines 2 . 3 additionally by means of the driver assistance system 15 is controlled. This mutual equipment of the working machines 2 . 3 with a driver assistance system 15 . 16 , each in the usual way with a computing unit 15a . 16a and a memory 15b . 16b equipped during an ongoing during harvesting operation Überladevorgangs the fact that in this type of overloading both machines 2 . 3 have to contribute to the synchronization. The transport vehicle 2 For example, must have a predetermined relative position to the harvester 2 comply while the harvester 3 For example, a control system adapted to the transport vehicle control of crop flow and in particular the transfer device 4 must make.

In the case of automated synchronization take the driver assistance systems 15 . 16 based on the signature information or the secondary information, an activation of at least one working member of the respective work machine 2 . 3 in front. This working organ can be, for example, a traction drive of the working machine 2 . 3 or a transfer device mentioned above 4 act. In principle, it can also be provided that only one of the two machines 2 . 3 a driver assistance system 15 . 16 having.

In a semi-automated variant for the synchronization, it may be provided that the driver assistance system 15 . 16 based on the signature information or the secondary information instructions to the driver of at least one of the work machines 2 . 3 , in particular instructions regarding the driving speed, outputs.

Here, and preferably, the synchronization comprises, as indicated above, the overloading of load, in particular crop, from a work machine 3 on the other, a transport vehicle providing work machine 2 , The overcharging is then performed based on the signature information and / or the secondary information, as has already been explained.

Preferably, that of the respective driver assistance system 15 controlled synchronization the implementation of a Überladestrategie of cargo to the transport vehicle 2 and / or that of the respective driver assistance system 15 controlled adjustment of the relative positions and / or the travel speeds of the two machines 2 . 3 ,

Additionally or alternatively, it has proven to be advantageous if the signature information and / or the secondary information information for the control and / or regulation of the synchronization in dependence on the two work machines 2 . 3 provides. In particular, these may be target specifications for the synchronization. For example, the information obtained can be a relative target profile for the synchronization of the two machinery 2 . 3 include. The relative target profile can, for example, relative positions of the machines 2 . 3 specify each other for the transfer operation in dependence on the delivery volume and / or the conveying speed and / or the weight of the already handed over crop.

In the illustrated embodiment and preferably the signature information and / or the secondary information comprises at least one overload parameter, wherein preferably an overload parameter, the loading geometry and / or the loading volume of the signature 9 having working machine 2 . 3 is. Another overloading parameter can be the payload of the transport vehicle 2 be.

The proposed solution can be particularly advantageous together with the work machines 2 . 3 apply existing sensors. As part of the unloading of crops here is the sensor of a Überladeeinrichtungskamera 17 in the foreground, which in the illustrated and so far preferred embodiment of the Überladearm 4 the local harvester 3 is arranged.

Preferably, it is such that from the sensor signals of the Überladeeinrichtungskamera 17 and the signature information and / or the secondary information, an overload information is generated, wherein the overloading is then performed based on the Überladeinformation.

Preferably, from the sensor signals of the Überladeeinrichtungskamera 17 Sensor geometry data to the loading geometry of the transport vehicle providing work machine 3 generated. This may be, for example, data on the outline of the transport vehicle, in particular the outline of the cargo container 5 , act. These sensor geometry data provide information about the shape and position of the cargo container 5 and can the driver assistance system 15 . 16 serve as the basis for a particularly automated overloading. It should be noted, however, that such sensor geometry data are provided with a certain blurring, especially in the harsh environmental conditions here, and depending on the sensor also have only a limited detection range. It is therefore provided in a particularly preferred embodiment that the sensor signals of the Überladeeinrichtungskamera 17 be associated with the signature information and / or the secondary information to an overload information to achieve a particularly high process reliability in the case of overcharging.

In detail, the overload information is preferably determined by the from the signature 9 determined loading geometry is matched to the sensor geometry data. This can be done, for example, that the from the signature 9 ascertained position geometry is scaled or supplemented with position information of the transport vehicle.

Alternatively or additionally, it may be provided that the transfer information is determined by the sensor geometry data being at least partially, in particular if the blur in the sensor geometry data and thus the scattering of the sensor geometry data is high, by the charge geometry determined from the signature , if necessary after an upstream scaling process, be replaced or supplemented. Thus, if it is detected that the scatter in the sensor geometry data in a part of the data is high, then that data may be represented by the corresponding part of the signature 9 determined loading geometry to be replaced.

In the event that certain sensor geometry data is limited by a limited detection range of the Überladeeinrichtungskamera 17 are missing, the overload information is preferably determined by the sensor geometry data at least in part by the from the signature 9 be complemented loading geometry.

The above replacement or supplementation of the sensor geometry data here and preferably requires an upstream scaling process, by means of which the geometric scales of the mutually opposing data are matched to one another.

Next has been found to be advantageous if by means of the reading device 11 a position information of the signature 9 and thus the relative position of the two machines 2 . 3 is determined to each other, based on this determination of the adjustment of the relative positions and / or the travel speeds of the two machines 2 . 3 is made. This can for example be done by the signature 9 and / or a mark on the work machine 2 from the reading device 11 is detected and by a computing unit 16 the relative movement of the working machines 2 . 3 each other, in particular in the direction of travel, is continuously determined and this relative movement is regulated and / or controlled according to a target specification by a particular automatic control and / or control. After that, the movement can be one of the working machines 2 . 3 according to the target specification of the movement in particular in the direction of travel of the other work machine 2 . 3 be adjusted. This can be the work machine 2 . 3 , which indicate their movement to the other working machine 2 . 3 Adjusts the reading device 11 or the corresponding signature 9 exhibit.

It is particularly advantageous if the reading device 11 . 12 the working machine 2 . 3 . which adjusts its movement, has a second optical sensor for detecting the relative movement, and / or when the working machine 2 . 3 , in whose movement the other working machine 2 . 3 adapts, a second signature and / or another of the reading device 11 . 12 has recognizable character. Then, by means of the reading device 11 . 12 the relative movement not only in the direction of travel, but also be determined transversely to the direction of travel.

Will a relative movement between the two working machines 2 . 3 Also detected transversely to the direction of travel, the relative movement during synchronization can also be regulated and / or controlled transversely to the direction of travel.

To get a good and fast communication of the two machines 2 . 3 before, during and / or after the synchronization to ensure that they can communicate directly and / or indirectly, in particular via a radio link, preferably a wireless connection.

The proposed reading of the respective signature 9 by means of the reading device 11 preferably takes place before or during the cooperation process of the working machines 2 . 3 , If a mechanical coupling between the two machines 2 . 3 is provided, the readout is preferably triggered by the coupling process.

Given the fact that modern agricultural machinery 2 . 3 are often equipped with monitoring systems having optical sensors such as cameras, it is preferably such that the respective reading device 11 Part of such a monitoring system is. The reading device takes over 11 in addition to the function of reading the signature 9 also a monitoring function. For example, the monitoring system may have the function of monitoring the overcharge by means of an above on the transfer arm 4 a harvester 3 arranged Überladeeinrichtungskamera 17 serve. Preferably, exactly this camera serves as a reading device 11 for reading the signature 9 , This dual use of the camera leads to a particularly compact and at the same time cost-effective arrangement.

In addition, it has proven useful if the data from the synchronization, in particular automatically, be logged and preferably provided with a time stamp. Further preferably, these are transferred to a central data management device.

The following is the method for the application of the synchronization of the unloading of crop from a harvester 3 on a transport vehicle 2 described by way of example.

Before synchronization, the transport vehicle is moving 2 in front of, beside or behind the harvester 3 , in the embodiment of 2 to the left of the harvester. In this case, the reading device having a camera detects 12 of the transport vehicle 2 the signature 10 the harvester 3 , The harvester 3 in turn captures via its reading device 11 a signature 9 on the transport vehicle 2 , The transport vehicle 2 determined from the signature 10 the type of harvester 3 and calls from a store 13 , here from a database, secondary information for the synchronization. The harvester 3 identifies the transport vehicle 2 and / or the loading container 5 of the transport vehicle 2 about the signature 9 and retrieves secondary information from memory 13 for the loading container 5 From, for example, how much of the harvested crop in the loading container 5 can be filled.

About the signature 10 the harvester 3 gets out of memory 13 a relative target profile for synchronization with the harvester 3 retrieved, according to which the transport vehicle 2 during synchronization relative to the harvester 3 to position. In addition, it is preferable that the harvester 3 and the transport vehicle 2 to contact each other via a radio link to tune the start of synchronization. The harvester 3 pivots the transfer device 4 to the loading container 5 and the transport vehicle 2 and the harvester 3 signal that they are ready for the cooperation process.

Then there is one of the two working machines 2 . 3 a signal for the start of the cooperation process. The transport vehicle 3 captures continuously through the reader 12 the signature 10 and thereby determines the relative position to the harvester 3 , The driver assistance system 15 of the transport vehicle 2 It continuously regulates the relative position to the harvester 3 in accordance with the determined relative nominal profile. The harvester 3 monitored with a jumper camera 17 the filling of the loading container 5 , While the harvester 3 complies with their optimum speed matched to the harvesting process, the transport vehicle adapts 2 with his driver assistance system 15 continuously to the harvester 3 in accordance with the determined relative nominal profile. After a predetermined amount of the crop has been overloaded and / or via the docking camera 17 it was found that the loading container 5 is filled, the promotion of the crop is stopped. The harvester 3 moves the Überladeeinrichtung 4 back to a rest position and signals the transport vehicle 2 the end of the About charging. Further, the harvester stores 3 the overloaded quantity and the signature 9 of the transport vehicle 2 and / or loading container 5 , preferably with a time stamp. The proposed synchronized cooperation process is thus completed.

By the proposed method for the synchronization of two self-propelled agricultural machines 2 . 3 and the proposed driver assistance system 15 . 16 can be the synchronization for the drivers of the working machines 2 . 3 at least partially automate in a simple manner and thus simplify for the driver.

LIST OF REFERENCE NUMBERS

1

system

2

working machine

3

working machine

4

mover

5

loading container

6

harvest storage

7

tractor

8th

pendant

9a-f

signature

10a, b

signature

11

reader

12

reader

13

Storage

14

flow

15

Driver assistance system

15a

computer unit

15b

Storage

16

Driver assistance system

16a

computer unit

16b

Storage

17

Transfer device camera

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011052688 A1 [0003, 0004]

Claims (15)

Method for synchronizing two independent, self-propelled agricultural machines ( 2 . 3 ), which cooperate on an agricultural field in a cooperation process at least partially automated, whereby a working machine ( 2 ) a signature ( 9 ) and wherein the other working machine ( 3 ) a reading device ( 11 ) for reading the signature ( 9 ), wherein a signature information from the reading device ( 11 ) from the signature ( 9 ), the synchronization being based on the signature information and / or secondary information derived from the signature information. Method according to claim 1, characterized in that both working machines ( 2 . 3 ) one signature each ( 9 . 10 ) and a reading device ( 11 . 12 ) for reading the signature ( 9 . 10 ) of the other working machine ( 2 . 3 ), preferably that of both reading devices ( 11 . 12 ) from the signature ( 9 . 10 ) of the other working machine ( 2 . 3 ) a signature information is read out. Method according to claim 1 or 2, characterized in that at least one of the working machines ( 2 . 3 ) is a harvesting machine, in particular a combine harvester or a forage harvester, or a transport vehicle, preferably that one of the working machines ( 2 . 3 ) one harvester and the other working machine ( 2 . 3 ) is a transport vehicle. Method according to one of the preceding claims, characterized in that the signature ( 9 ) is an optical signature, in particular a QR code or a bar code, and / or that the reading device ( 11 ) for reading the signature ( 9 ) has an optical sensor, in particular a camera. Method according to one of the preceding claims, characterized in that the secondary information based on the signature information from a memory ( 13 ) for storing data, in particular from a database, is read, preferably that the memory ( 13 ) in one of the working machines ( 2 . 3 ), and / or that the memory ( 13 ) is located away from the synchronization location. Method according to one of the preceding claims, characterized in that the signature information or the secondary information contains information about the signature ( 9 ) having a working machine ( 3 ), preferably that the signature information or the secondary information contains information about the category of the work machine ( 3 ), and / or that the signature information or the secondary information contains information about the geometry of the work machine ( 3 ), and / or that the signature information or the secondary information contains information about the functional structure of the working machine ( 3 ), and / or that the signature information or the secondary information contains information about the control structure of the work machine ( 3 ). Method according to one of the preceding claims, characterized in that at least one of the working machines ( 2 . 3 ) a driver assistance system ( 15 . 16 ) and that the synchronization of the two working machines ( 2 . 3 ) by means of the driver assistance system ( 15 . 16 ), preferably that the driver assistance system ( 15 . 16 ) based on the signature information or the secondary information an activation of at least one working organ of the respective work machine ( 2 . 3 ), and / or that the driver assistance system ( 15 . 16 ) based on the signature information and / or the secondary information instructions to the driver of the respective work machine ( 2 . 3 ). A method according to claim 7, characterized in that the cooperation process that of the driver assistance system ( 15 . 16 ) controlled overloading of cargo, in particular crop, from a working machine ( 2 ) to the other, a transport vehicle providing work machine ( 3 ) and that the overloading is performed based on the signature information and / or the secondary information. A method according to claim 7 or 8, characterized in that the cooperation process that of the driver assistance system ( 15 . 16 ) controlled implementation of a Überladestrategie of cargo on a transport vehicle providing work machine ( 3 ) and / or by the driver assistance system ( 15 . 16 ) controlled adjustment of the relative positions and / or the traveling speeds of the two working machines ( 2 . 3 ) to each other. Method according to one of claims 7 to 9, characterized in that the signature information or the secondary information comprises at least one overcharge parameter, preferably that an overload parameter, the loading geometry and / or the loading volume of a transport vehicle providing work machine ( 3 ). Method according to one of claims 8 to 10, characterized in that a Überladeeinrichtungskamera ( 17 ) is provided that from the sensor signals of the Überladeeinrichtungskamera ( 17 ) and the signature information and / or the secondary information generates an overload information and that the overcharging is performed based on the overcharge information, preferably that from the sensor signals of the Überladeeinrichtungskamera ( 17 ) Sensor geometry data to the loading geometry of the working vehicle providing a transport vehicle ( 3 ) and that the overload information is determined by matching the charge geometry determined from the signature to the sensor geometry data, and / or that the transfer information is determined by the sensor geometry data being determined at least in part by the charge geometry determined from the signature , if necessary after an upstream scaling process, be replaced or supplemented. Method according to one of claims 7 to 11, characterized in that by means of the reading device ( 11 ) a position information of the signature ( 9 ) and thus the relative position of the two working machines ( 2 . 3 ) is determined to each other and that based on this determination of the driver assistance system ( 15 ) controlled adjustment of the relative positions and / or travel speeds of the two working machines ( 2 . 3 ) is made. Method according to one of the preceding claims, characterized in that the reading device ( 11 ) Is part of a monitoring system and in addition to the function of reading the signature ( 9 ) also assumes a monitoring function, preferably that the reading device as Überladeeinrichtungskamera ( 17 ) is configured. Driver assistance system for synchronizing two independent, self-propelled agricultural machines ( 2 . 3 ), which cooperate on an agricultural field in a cooperation process at least partially automated, whereby a working machine ( 2 ) a signature ( 9 ) and wherein the other working machine ( 3 ) a reading device ( 11 ) for reading the signature ( 9 ), wherein by means of the driver assistance system ( 15 ) a signature information from the reading device ( 11 ) from the signature ( 9 ), the synchronization being based on the signature information and / or secondary information derived from the signature information. Driver assistance system according to claim 14, characterized in that the driver assistance system ( 15 ) based on the signature information and / or the secondary information control of working organs of at least one of the working machines ( 2 . 3 ), and / or that the driver assistance system ( 15 ) based on the signature information and / or the secondary information instructions to the driver of at least one of the working machines ( 2 . 3 ).

Images