DE102011121414A1 - Method and a device for controlling a drive of a first self-propelled work machine with respect to a second self-propelled work machine - Google Patents

Abstract

The present invention provides a method (500) for controlling a travel of a first and / or second work machine. The method (500) comprises a step of reading (510) an environment detection signal of an environment detection unit (130) of the first work machine (110), the environment detection signal representing an environment (135) around the first work machine (110). Furthermore, the method (500) comprises a step of recognizing (520) the second work machine (100) based on an outline and / or a shape and / or a contour of the second work machine (100) using the surroundings detection signal. Finally, the method comprises a step of guiding (530) the first and / or second work machine (100, 110) such that, at least within a predefined time interval, the first work machine (110) is at a predetermined lateral or lateral distance (150) from the first work machine second work machine (100) moves to control the travel of the first and / or second work machine (100, 110).

Description

The present invention relates to a method and apparatus for controlling a travel of a first self-propelled work machine relative to a second self-propelled work machine according to the main claims.

In the field of agricultural machines are known systems that allow automatic tower control of harvesters (grain, grass, corn). Such systems work so far with stereo video or 3D Lidar to automate depending on a parallel moving vehicle, the removal and the ejection control. Often, a tracking in such a coupling of two self-propelled machines but associated with a considerable effort for the detection of one of the two machines and the coordination of the two machines. Furthermore, an idea of the virtual or electronic tiller for road traffic is known.

Against this background, the object of the present invention is to provide an improved method and an improved device for controlling a drive of a first self-propelled work machine.

This object is achieved by a method and an apparatus according to the main claims.

• – Einlesen eines Umfelderfassungssignals einer Umfelderfassungseinheit der ersten selbstfahrenden Arbeitsmaschine, wobei das Umfelderfassungssignal eine Umgebung um die erste selbstfahrende Arbeitsmaschine repräsentiert;
• – Erkennen der zweiten selbstfahrenden Arbeitsmaschine anhand eines Umrisses und/oder einer Form und/oder einer Kontur der zweiten selbstfahrenden Arbeitsmaschine unter Verwendung des Umfelderfassungssignals; und
• – Führen der ersten und/oder zweiten Arbeitsmaschine, derart, dass zumindest innerhalb eines vordefinierten Zeitintervalls die erste Arbeitsmaschine in einem vorbestimmten seitlichen oder lateralen Abstand zu der zweiten Arbeitsmaschine fährt, um die Fahrt der ersten und/oder zweiten Arbeitsmaschine zu regeln.

The present invention provides a method of controlling a travel of a first and / or second work machine, the method comprising the present steps:

• Reading in an environment detection signal of an environment detection unit of the first self-propelled work machine, the environment detection signal representing an environment around the first self-propelled work machine;
• Detecting the second self-propelled work machine based on an outline and / or a shape and / or a contour of the second self-propelled work machine using the environment detection signal; and
• Guiding the first and / or second working machine such that, at least within a predefined time interval, the first working machine travels at a predetermined lateral or lateral distance to the second working machine in order to control the travel of the first and / or second working machine.

Under a work machine, which may be designed in particular as a self-propelled machine or as a self-propelled machines, a vehicle can be understood, which can perform while driving before specific work. For example, such a work machine can be a harvester, an agricultural (traction) device such as a tractor or tractor-trailer combination or even a construction machine. In this case, a work machine can also be designed in several parts, for example in the form of a towing vehicle with an attached trailer. An environment detection signal can be understood as a signal which represents objects in an environment of the first work machine. In this case, the surroundings detection signal may have been recorded by an environment detection unit, wherein this environment detection unit may be for example an optical sensor, an ultrasonic sensor or another sensor that records in an object in the vicinity of the sensor of the type that distances of parts of the object, in different Angles are arranged to the sensor, also be detected differently. Alternatively or additionally, the environment detection signal may be an optical image of an object such as the second work machine. An outline or a shape may be understood as meaning a contour of the second working machine, the contour, the shape and / or the contour of the second working machine having a contour stored in a memory, an outline stored in the memory and / or one in the memory deposited form of the second working machine are compared and detected, for example, in a match of stored in the memory shape, contour or memory stored contour with the derived from the Umfeldfassungssignal shape, contour and / or outline to more than a predetermined ratio, the second machine , Not only can the title of the second work machine be recognized, but also the position of the second work machine with respect to the first work machine can be detected. By guiding a first work machine, the output of control and / or regulating signals can be understood in order to guide the first work machine at a predetermined lateral distance to the second self-propelled work machine. The term "lateral distance" may be understood to mean a state in which, for example, the driving trajectories of the first and second working machines are similar except for a lateral offset. And a predetermined time interval may be understood to mean a certain (not the one) time span in which the first work machine travels to the second work machine at the particular lateral distance. In this case, at least an adjustment of this lateral distance between the first and second work machine should be done, so that the first and second work machine at least for a predetermined period of time with a same Driving speed before the speed of one of the two working machines is changed again.

The present invention is based on the recognition that simply recognizing an outline, a contour and / or a shape makes it very easy to recognize the second work machine. For this purpose, for example, a now widely used camera can be used as an optical sensor, which can now be recognized by sophisticated image processing algorithms very easily a type of work machine, such as a specific harvester and with knowledge of a particular size of this machine also a conclusion on a distance this (second) work machine to first machine can be pulled in a technically very simple manner. In this way, it can be advantageously avoided that complex sensor systems must be used to control the travel of two work machines, while still a very precise control of the drive of the two machines can be ensured to sufficient efficiency (for example, a very small loss of crop) of the coupling to reach these two working machines. In addition, relief of the driver of the first work machine can be achieved because fine control of the travel of the first work machine with respect to a position to the second work machine is automatically performed. This also contributes to an increase in efficiency, since an automatic control usually has significantly fewer errors than a manual control of the drive of the first work machine.

Also, the present invention provides an apparatus comprising units adapted to perform the steps of a method according to any one of the preceding claims.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs data and / or control signals as a function thereof. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

A computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above if the program is installed on a computer or a device is also of advantage is performed.

Even with such embodiments of the invention, the advantages of the invention can be implemented very efficiently.

It is also favorable that in the step of guiding the first working machine is guided in such a way that further a (longitudinal) distance between the first and second self-propelled working machine in the direction of travel is variable. Under such a distance between the first and second working machine in the direction of travel can be understood a variable distance, which is caused by different speed in the first and second machine. In particular, according to this embodiment of the present invention can thus be advantageously ensured that not only a certain lateral, that is lateral distance between the first and second working machine is maintained, but also that the first work machine, for example, defined next to, slightly before or slightly behind the second Working machine can drive. Such an embodiment of the present invention has the advantage that, for example, when loading a material to be unloaded from the second into the first working machine, optimum filling of a loading area mounted in or on the first working machine becomes possible.

Also favorable is an embodiment of the present invention in which the distance is changed cyclically in the step of guiding. Such an embodiment of the present invention offers the advantage that the cyclical variation of the (longitudinal) distance between the first and second working machines further optimizes the efficiency of the coupling of the first and second working machines, for example a faster filling of a loading area of the first Working machine with a good from the second work machine to accomplish.

Also, according to another embodiment of the present invention, the lateral distance between the first and second work machines may be changed according to a predefined pattern. Such an embodiment of the present invention also offers the advantage of a highly functional coupling between the first and second self-propelled work machines to enable a quick completion of a (sub-) function such as a discharge operation of the second work machine. For example, this predefined pattern may be a cyclic repetition of a lateral approach of the first work machine to the second work machine and a subsequent increase in the distance of the first work machine to the second work machine.

Conveniently, an embodiment of the present invention further provides a step of transmitting travel data between the first and second work machines, wherein in the step of guiding, the travel data is used to control the lateral distance between the first and second work machines. Such an embodiment of the present invention offers a further possibility of coupling between the first and second working machine, since, for example, driving data such as a steering movement or a speed change such as acceleration or deceleration of the second working machine can be transmitted to the first working machine, for example by radio or another wireless transmission technique ,

As a result, the regulation of the travel of the first work machine can advantageously be adapted in good time to a change in the travel data of the second work machine.

Particularly advantageous is an embodiment of the present invention wherein the second work machine is configured to dispense a product from a dispensing outlet and the first work machine is configured to receive the product within a predefined loading area. For example, a dispensing outlet may be understood to mean a dispensing tube of a harvester, such as a combine harvester. And a loading area can be understood, for example, a limited by lateral sidewalls surface of a trailer, which is part of the first work machine and is pulled for example by a tractor. In this case, in the step of guiding, the first working machine can be regulated in such a way that the discharge outlet is above the loading area during the predefined time interval. Such an embodiment of the present invention ensures that a particularly relevant part of the second work machine is defined on a correspondingly complementary part of the first work machine, thereby ensuring the efficiency of the coupling between the first and second work machine.

Also advantageous is an embodiment of the present invention further comprising a step of moving the dispensing outlet within the predefined loading area. Such an embodiment of the present invention also offers the possibility that, for example, a good from the second work machine can be transferred very quickly and safely into the loading area of the first work machine, so that a coupling between the first and second work machine need only be done for a short time.

Also advantageous is an embodiment of the present invention, further comprising a step of actively protecting the first and second work machines from collision if, in the step of guiding, the predetermined lateral or lateral distance becomes less than a predetermined safety threshold. Such an embodiment of the present invention offers the advantage of a very safe vehicle guidance, without damaging the first and / or second working machine is to be expected in case of failure of the automatic control of the lateral distance.

It is particularly advantageous if, in the step of guiding, further consideration of objects in the travel path of the first and / or second work machine takes place, wherein in the step of guiding the first and / or second work machine is guided such that a collision of the first and / or second vehicle with the object is prevented. Such objects in the travel path of the first and / or second work machine can be detected, for example, by an evaluation of data from a digital map (in particular in the case of fixed objects such as power pylons in an agricultural area) or by a further environment sensor system (in particular in the case of objects lying on the agricultural area like straw bales). In this way, an optimized control of the travel of the first and / or second machine can be achieved, since, for example, obstacles can be detected early. In this way, an optimal avoidance path of the two "coupled" working machines can be searched without, for example, a promotion of good from the second machine to the first machine needs to be interrupted.

An embodiment of the present invention is particularly efficient, in which a transport machine is used as the first work machine and a harvesting machine is used as the second work machine. A harvesting machine can be understood to be a working machine which picks up a good on an agricultural area. Under a transport machine can be understood in this context, a working machine, which is designed for the introduction of a larger amount of the crop. Such an embodiment of the present invention offers the advantage that a transfer of in crop, for example from a harvester as a second work machine in a transport machine as the first work machine very easily and without high loss on crop is feasible. Alternatively, construction machines, for example rollers, can also be used for the first and second self-propelled work machines.

Furthermore, it is also conceivable that a control of a drive from several work machines in the aforementioned manner. Such an embodiment of the present invention has the advantage that a travel of several work machines in the convoy significantly relieves the corresponding operators of the work machines, since the fine control can be done automatically during most of the journey.

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

1 a schematic diagram of an arrangement of two work machines when driving using an embodiment of the method according to the invention;

2 a schematic diagram of a further arrangement of two work machines when driving using an embodiment of the method according to the invention;

3 a schematic diagram of a further arrangement of two work machines when driving using an embodiment of the method according to the invention;

4 a schematic diagram of a further arrangement of two work machines when driving using an embodiment of the method according to the invention; and

5 a flowchart of an embodiment of a method according to the invention.

The same or similar elements may be provided in the following figures by the same or similar reference numerals. Furthermore, the figures of the drawings, the description and the claims contain numerous features in combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations not explicitly described here.

In fieldwork, there are always processing steps that require vehicles to interact. This applies, for example, to the unloading process of forage harvesters or combine harvesters as working machines on a field or an agricultural area. Since such (work) machines generally harvest a field continuously at low but constant speeds (0 to 20 km / h), but only have a limited storage tank for the crop or no storage tank, these machines should be unloaded while driving. For this purpose, the driver of a transport vehicle as another working machine should lead this further work machine as possible with the same speed, slightly offset next to the harvester along. According to an exemplary embodiment of the approach presented here, it is now possible for the unloading process to be automated with a coupling of the transverse and / or longitudinal guidance of a "slave" vehicle (for example a transport vehicle) to a "master". Vehicle (for example, a harvester).

The method described below by way of example now makes it possible to simplify or improve the unloading process. For this purpose, the transport vehicle 100 (as a second machine) through the harvester 110 (as the first working machine) are detected by means of environmental sensors, as exemplified in the 1 is shown. As a transport vehicle 100 can be a team from a tractor 105 and a trailer 107 serve. Further, in the first work machine 110 an optical sensor 120 for example, in the area of the roof of the first working machine 110 or in the area of a discharge pipe 130 the first working machine 110 arranged a video image of the environment of the first work machine 110 in a detection area 135 records and as surroundings detection signal to an evaluation unit 140 in the first work machine 110 sends. Is in the evaluation unit 140 now an outline of the second working machine 100 detected, for example, by a comparison of an outline, a shape or a contour of a in the detection area 135 The object having a stored shape, contour, or outline of a known work machine such as a tractor-trailer combination may be at a predetermined minimum degree of coincidence of the shape stored in the memory with the shape, contour, or outline of the image extracted from the surroundings detection signal Object in the detection area 135 the second working machine 100 be recognized. Is then recognized that the second work machine 100 in the coverage area 135 the sensor 130 can, the evaluation unit 130 the first working machine 110 the drive of the first working machine 110 so that they become the second working machine 100 in a predefined lateral or lateral distance 150 moves. Alternatively or additionally, information, for example via a wireless communication link, the journey data (such as a change in speed or direction of travel) of the first work machine 110 to the second machine 100 be transmitted, so that this compliance with the particular lateral distance 150 supervised.

Alternatively or additionally, a recognition of the first work machine 110 by a sensor of the second machine 100 from conceivable, this sensor or a correspondingly designed evaluation again recognizes the first work machine on the basis of an outline, a shape or a contour having an object detected in the detection range of the sensor. In this case, then, for example, the drive of the tractor-trailer combination 100 be regulated so that the tractor-trailer-team 100 at least for a predetermined period of time in the predetermined lateral or lateral distance 150 to the harvester 110 moves.

Particularly simple and cost-effective, the Ansah disclosed in this description can be used to control a drive a first machine 110 then realize, if as a sensor 130 for detecting an object in a detection area 135 an optical sensor such as a video camera is used. Also, a sensor based on an evaluation of ultrasonic signals may be used to detect an object in the detection area 135 scan. From a named contour of a (expected second working machine) and the actual size and dimension of the contour, shape or outline of the object in the detection area can thus be deduced not only on the type or type of the second machine, but also on the Distance and the orientation or direction of travel of the second machine 100 be closed, so that the control of the drive of the first and / or second machine on the one hand very cost-effective and on the other hand also automatically and therefore can be performed very easily and quickly. In this way it can also be ensured that as little crop as possible during a discharge from the first machine 110 in the second working machine 100 get lost.

So now close a (transport) vehicle 100 on the harvester 110 on, so recognizes the sensors 130 a similarly fast moving object 100 about his contour. This can be the driver of the harvester 110 Now confirm or select and the parallel guidance of the opening machine 100 Request. This is then z. B. by radio link z. B. C2X, WLAN, etc. It is the transport vehicle to be traveled trajectory, curvature, steering angle and acceleration, speed transmitted. These target values are determined by the computer 130 the harvester 110 due to the position of the measured contour of the transport vehicle 100 and the trajectory of the harvester 110 calculated and thereby form a control loop. This is how the transport vehicle becomes 100 always the trajectory of the harvesting vehicle 110 follow, or is from the harvester 110 held on a desired trajectory.

To improve the goods transfer process, z. B. the driver in a simple embodiment of the harvester 110 by a suitable input element, the loading limits of a loading area 160 (eg front and rear trailer wall), if not automatically by the sensors 130 was detected. If this is done, then preferably the position of the contour z. B. the trailer 107 or semitrailers are kept parallel.

This facilitates the loading of the trailer 107 through the ejection tower 130 , However, it may also be desirable to distribute the load on the trailer 107 by varying the position of the trailer 107 (as part of the transport vehicle 100 ) and / or the control of the tower 120 to realize. This can now be done because of the sensors 130 or the entry of the trailer 107 or selecting a previously saved trailer profile the position of the tower 120 to the trailer limitations is known.

The load distribution can be so for example by varying the longitudinal position of the trailer 107 done so the tower 120 along z. B. the centerline of the trailer 107 to be led. This is z. B. in flowing goods (grain) appropriate. For goods that are not easy in the trailer 107 flow apart (corn, grass), in addition to the longitudinal position should also be the transverse position of the trailer 107 be varied. Thus, a variation of the longitudinal and / or transverse guidance of the trailer 107 be understood by a goodness or a type of goods to be landed on the transport vehicle. That's how the tower can be 120 the harvester 110 usually remain in one position and can only be traversed if necessary (eg in curves or in case of a sudden stop). Such an approach is schematically in the 2 shown in the tower 120 only rigidly in one position remains and an optimized loading by a variation of the position of the trailer 107 he follows. This will change the mechanics of the tower 120 protected and can be adjusted to optimal crop flow.

Regulate both components, so tower and trailer, as it through the schematic representation 3 it can be seen, so every point of a trailer 107 optimally filled, through optimal utilization of space and optimum compaction / pressing of the crop (eg in grass silage). This always ensures optimum utilization of the available transport capacity. If necessary, this method can also be used Be the harvester's internal crop storage 110 To reduce (during the grain harvest), as faster and more precise a favorable transfer position of the transport vehicle 100 is reached.

So that the transport vehicle 100 The transmitted specifications for longitudinal and transverse guidance can perform, it is preferably used in the vehicle 100 available electro-hydraulic steering, as well as the brake (ABS) and the engine control. Is this z. B. not possible, as well as a help for the driver can be displayed in an information display. This then shows him the deviation in the longitudinal and transverse direction and shows the necessary steering direction and speed changes.

At the beginning of the takeover of the control must be the driver of the transport vehicle 100 confirm the transfer of the control. The remote-controlled vehicle 100 preferably receives a device that protects it from collisions or even the harvesting vehicle 120 , This collision protection can z. B. without sensors on the basis of map data in which trenches, boundaries of the field end, objects such. B. trolley masts are registered. However, with environment sensors, even non-mapped obstacles can be detected. If an obstacle detected, so can by the transport vehicle 100 or by the harvester 110 an avoidance trajectory can be calculated or, if necessary, the vehicle 100 respectively. 110 stopped or a driver pickup be requested. When engaging z. B. by the driver recognizes the computer of the harvester on the sensor that the vehicle 100 deviates from the required trajectory, and so can stop the transfer of crop.

The detection of the contour does not need just like in 1 shown on the entire vehicle platoon 105 . 107 but can only be limited to one part. This is in the 2 shown. Here, the detection of the loading space boundary and the outer contour of the trailer is shown in highlighted.

The coupling of vehicles can also be done in principle in the reverse system configuration. The transport vehicle points here, as in 4 shown, the sensors on and regulates the position of the trailer 107 relative to the harvesting vehicle 110 , This can be done by radio connection to the harvesting vehicle 110 be notified in which position the trailer 107 located. Is not a sensor 130 in the tower 120 of the harvesting vehicle 110 installed, so can by estimating the volume flow and the preset size of the trailer 107 a controlled loading of the trailer 107 by controlling the tower 120 or changing the longitudinal and transverse position of the trailer 107 be varied if the tower 120 not adjusted. This should be the transport machine 100 or the harvester 110 be networked by radio and exchange information. At least the beginning of delivery should be transmitted to the transport machine, so that hereafter the trailer 107 evenly, for example through a meandering movement 300 the relative position of the outlet tower with respect to the loading area, as in 3 shown loaded. Depending on the system design may be the calculation of the trajectory of the transport vehicle 100 for loading on the harvesting vehicle 110 or on the transport vehicle 100 and necessary information about it can be exchanged wirelessly.

Finally, the present invention provides a method 500 for controlling a drive of a first and / or second working machine, as in the 5 is shown as a flowchart according to an embodiment. The procedure 500 includes a step of reading 510 an environment detection signal of an environment detection unit of the first self-propelled work machine, wherein the environment detection signal represents an environment around the first self-propelled work machine. Furthermore, the method comprises a step of recognizing 520 the second self-propelled work machine based on an outline and / or a shape and / or a contour of the second self-propelled work machine using the Umfelderfassungssignals. Finally, the process includes 500 a step of leadership 530 the first and / or second work machine such that, at least within a predefined time interval, the first work machine travels at a predetermined lateral or lateral distance to the second work machine to control the travel of the first and / or second work machine.

Further fields of application of the approach presented above can be the automatic refueling of harvesting machines, if they are on large fields in continuous use. It is also conceivable to couple machines for common field processing in order to reduce the processing time and overlap. This allows z. As well as the increase in the machining width without using larger and heavier machines, whereby the compaction of the soil is reduced. For example, several machines can be controlled by one driver and thus the work of a large machine can be performed by several small ones. If, for example, the view between the coupled machines is concealed, then a cascade-like coupling can take place in which the first machine is oriented to the master machine and the second machine is oriented to the contour of the first and so on.

This may possibly also apply to road construction, if several rolls z. B. the paving machine with different offset.

The invention should enable vehicles or work machines (crop and tree rails) to couple, so that z. B. defined side by side / drive parallel to each other, or the " slave" vehicle trajectory of the "master" vehicle follows or laterally and / or longitudinally offset follows.

The above-described embodiments of the invention offer several advantages. For example, a simplification of the field processing (automatic offset parallel driving or follow-up driving of vehicles) can be achieved by simple sensors for contour detection and wireless connection. Lower demands are placed on an agricultural machine operator; For example, this only acts as a transport driver, no longer as an unloading driver. Also, a simplified / improved process of transferring goods between moving machines and relieving the driver of both vehicles / work machines can now be achieved.

The exemplary embodiments shown are chosen only by way of example and can be combined with one another.

LIST OF REFERENCE NUMBERS

100

second working machine

105

tractor

107

pendant

110

first working machine

120

Tower, discharge outlet

130

Sensor (ik)

135

Detection area, environment

140

Evaluation unit, device

150

lateral, lateral distance

160

loading area

500

Method of regulation

510

Step of reading in

520

Step of cognition

530

Step of leadership

Claims (12)

Procedure ( 500 ) for controlling a drive of a first and / or second working machine, the method ( 500 ) comprises the following steps: - reading in ( 510 ) an environment detection signal of an environment detection unit ( 130 ) of the first working machine ( 110 ), wherein the environment detection signal is an environment ( 135 ) around the first working machine ( 110 represents; - Detect ( 520 ) of the second working machine ( 100 ) based on an outline and / or a shape and / or a contour of the second working machine ( 100 ) using the environment detection signal; and - guiding ( 530 ) of the first and / or second working machine ( 100 . 110 ), such that at least within a predefined time interval the first working machine ( 110 ) at a predetermined lateral or lateral distance ( 150 ) to the second working machine ( 100 ) drives to drive the first and / or second machine ( 100 . 110 ). Procedure ( 500 ) according to claim 1, characterized in that in the step of guiding ( 530 ) the first working machine ( 100 ) is guided such that further a distance between the first and second working machine ( 100 . 110 ) is variable in the direction of travel. Procedure ( 500 ) according to claim 2, characterized in that in the step of guiding ( 530 ) the distance is changed cyclically. Procedure ( 500 ) according to one of the preceding claims, characterized in that in the step of guiding ( 530 ) the lateral distance ( 150 ) between the first ( 100 ) and second working machine ( 110 ) is changed according to a predefined pattern. Procedure ( 500 ) according to one of the preceding claims, characterized in that further comprises a step of transmitting travel data between the first ( 100 ) and second ( 110 ) Working machine, wherein in the step of guiding ( 530 ) the travel data for regulating the lateral distance ( 150 ) between the first ( 100 ) and second ( 110 ) Work machine can be used. Procedure ( 500 ) according to one of the preceding claims, characterized in that further comprises a step of protecting the first ( 100 ) and second ( 110 ) Work machine is provided before a collision when in the step of guiding ( 530 ) the predetermined lateral or lateral distance ( 150 ) becomes smaller than a predetermined safety threshold. Procedure ( 500 ) according to one of the preceding claims, characterized in that in the step of guiding ( 530 ) furthermore a consideration of objects in the travel path of the first ( 100 ) and / or second ( 110 ) Machine, wherein in the step of guiding ( 530 ) the first ( 110 ) and / or second ( 110 ) Work machine is guided such that a collision of the first ( 100 ) and / or second ( 110 ) Vehicle with the object is prevented. Procedure ( 500 ) according to one of the preceding claims, wherein the first or second working machine ( 100 . 110 ) is adapted to a good from a delivery outlet ( 120 ) and the other of the first or second working machine ( 110 . 100 ) is formed around the goods within a predefined loading area ( 160 ) characterized in that in the step of guiding ( 530 ) the second and / or first working machine is regulated in such a way that the discharge outlet ( 120 ) during the predefined time interval over the loading area ( 160 ) is located. Procedure ( 500 ) according to claim 8, characterized in that further comprises a step of actively moving said discharge outlet (16). 120 ) within the predefined loading area ( 160 ) is provided. Procedure ( 500 ) according to one of claims 8 or 9, characterized in that as the first working machine ( 100 ) a transport machine and as a second working machine ( 110 ) a harvester can be used. Contraption ( 140 ) comprising units adapted to perform the steps of a method ( 500 ) according to one of the preceding claims. Computer program product with program code, designed to provide a method ( 500 ) according to one of claims 1 to 10, when the computer program is stored on a device ( 140 ) is performed.

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