DE102011121433A1 - Method and device for controlling an agricultural machine - Google Patents

Abstract

The present invention provides a method (400) for driving an agricultural machine (100), the method (400) comprising a step of reading (410) a sequence of drive commands stored in a memory (150), the sequence (150) of drive commands represents a time sequence of a plurality of predetermined movements of different components (120, 137) of the agricultural machine (100). Finally, the method (400) includes a step of driving (420) the components (120, 137) of the agricultural machine (100) using the sequence of drive commands to correspond to movement of the individual components (120, 137) of the agricultural machine (100) to effect the sequence.

Description

The present invention relates to a method and a device for controlling an agricultural machine according to the main claims.

The automation of field machines has progressed so far that the working steps for fieldwork are largely carried out by the user himself, but navigation on the field is still to be assumed by a driver. As an example here is z. B. to call a partially autonomous longitudinal guide. Here the ISOBUS is used to control the longitudinal speed of the tractor depending on the swath width and height. Furthermore, a round baler can control the tractor. If a round bale in the loading chamber is large enough, the press stops the tractor via the ISOBUS and controls the hydraulics so that the bale is wrapped and ejected. Then the tractor starts again automatically. These cycles are each event-driven. This means that for a given event (round bales large enough) a preprogrammed action (stop tractor) is initiated. Furthermore, there are various automated transverse guidance devices in the agricultural sector. Tractors are steered by GPS in order to be able to trace an exact line during field work. Even the edge of the field is recognized - and when it is reached the headland management is automatically operated. So here are location and event-driven cycles are applied, which are preprogrammed accordingly.

It is the object of the present invention to provide an improved method for driving an agricultural machine and an improved device for driving an agricultural machine.

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

• – Auslesen einer in einem Speicher abgespeicherten Sequenz von Ansteuerungsbefehlen, wobei die Sequenz von Ansteuerungsbefehlen eine zeitliche Abfolge von mehreren vorbestimmten Bewegungen von unterschiedlichen Komponenten der Landmaschine repräsentiert; und
• – Ansteuern der Komponenten der Landmaschine unter Verwendung der Sequenz von Ansteuerungsbefehlen, um eine Bewegung der einzelnen Komponenten der Landmaschine entsprechend der Sequenz zu bewirken.

The present invention provides a method for driving an agricultural machine, the method comprising the following steps:

• - reading out a sequence of drive commands stored in a memory, the sequence of drive commands representing a time sequence of a plurality of predetermined motions of different components of the agricultural machine; and
• - driving the components of the agricultural machine using the sequence of drive commands to effect movement of the individual components of the agricultural machine according to the sequence.

Further, the present invention provides an apparatus having units configured to perform or implement the steps of the above method or a variant thereof. 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.

An agricultural machine is an agricultural utility such as a tractor, combine harvester, Hächsler or similar device to understand, in particular which is designed as a self-propelled device. Under a memory, for example, be an electronic, magnetic or other memory that can store electronically readable signals. By a sequence of drive commands, he is to be understood, for example, as a list of commands which, when executed, cause movements of different components of the agricultural machine. For example, a first component of the agricultural machine may be used for locomotion of the agricultural machine, for example a first component in the form of a gearbox in conjunction with wheels of the agricultural machines. Another component of the agricultural machine may, for example, a PTO shaft for driving from a coupled to the agricultural machine implement such as a Heuladewagen or Maishächsler. Such a working device or working means can be a non-self-propelled device for ordering or harvesting an agricultural area. The sequence of drive commands may represent a cycle of predetermined movements of the different components of the agricultural machine.

The present invention is based on the recognition that by driving the components of the agricultural machine using the sequence of drive commands, a semi-automatic or automatic control of the movements of components of the agricultural machine becomes possible, which was previously trained by storing the sequence of drive commands in the memory , In this way, a relief of the driver of the agricultural machine can advantageously be achieved, if not even the driver of the agricultural machine for the execution of certain movements of the different components of the agricultural machine can be completely replaced by a control unit.

Particularly advantageous is an embodiment of the present invention, wherein a step of recording a time sequence of a plurality of movements of different components of the agricultural machine and a step of storing the recorded time sequence as a sequence of drive commands in the memory are provided. Such an embodiment of the present invention has the advantage that different movements of components of the agricultural machine can be trained in different local conditions, so that such an embodiment of the present invention can be very flexibly adapted to the local conditions in the field of agricultural operations.

It is particularly advantageous if, in the step of activating, at least one component of the agricultural machine is actuated, which is designed to move the agricultural machine between two geographic positions spaced apart from one another and at least one further component for moving a working device connected to the agricultural machine is actuated. As a working device here, as already mentioned above, a device for changing a soil condition, such as a plow, or a device for receiving an agricultural product, such as a loader wagons for grass or hay or a front fork, are understood. Such an embodiment of the present invention has the advantage that a complex movement of the agricultural machine or an interaction of the components of the agricultural machine is made possible to a complex movement, said movement or the interaction of the components of the agricultural machine is automatically controlled. In this way, by controlling such a complex movement, such an embodiment of the present invention can relieve the driver to a great extent or even make it unnecessary.

It is also particularly advantageous if, according to a further embodiment of the present invention, in the step of driving, the sequence of drive commands is applied several times in succession in order to effect a movement of the individual components according to the sequence. Such an embodiment of the present invention has the advantage that only a work operation in which a plurality of sub-operations can be divided, each of which can be carried out by the execution of a sequence of drive commands. As a result, a simplification of the control of the components of the agricultural machine can be achieved, which has a lower error rate.

In order to achieve a precise execution of a desired operation by the use of the sequence of drive commands, in the step of driving taking into account a current geographical position of the agricultural machine and / or a desired geographical position of the agricultural machine after performing the control, in particular where the geographical or the desired geographic position of the agricultural machine has been obtained using a satellite positioning system. Such Embodiment of the present invention has the advantage that an adaptation of the drive commands for the components of the agricultural machine toward II geographical position of the agricultural machine can be performed. For example, when processing a field as an agricultural area, respect for the agricultural machine can be made in this field, so that in the step of decency an uneven boundary of the field can be detected and the drive commands can be adapted to this uneven boundary. In this way, it can be ensured, for example, that the agricultural machine also actually only works on an area that is actually to be processed within the uneven boundary of the field. Alternatively or additionally, for example, an obstacle such as a high voltage mast within the agricultural area can be detected, which must be considered for the control of the components of the agricultural machine.

According to a particular embodiment of the present invention, in the step of driving, an object detected by a sensor may be taken into consideration in an intended range of movement of the agricultural machine or implement of the agricultural machine to prevent the agricultural machine or implement from colliding with or colliding with the detected object detected object by more than a predetermined minimum distance approaches. Such an embodiment of the present invention has the advantage that of such a working agricultural machine there is a very low risk for persons or animals that are free-roaming in the field of agricultural operation.

According to a further embodiment of the present invention, a second stored sequence of drive commands can be read out of the memory in the step of reading out. The second sequence of drive commands represents a time sequence of a plurality of predetermined motions of different components of the agricultural machine, the second sequence being different from the time sequence of the predetermined motions of different components of the agricultural machine according to the sequence. Further, according to this embodiment of the present invention, in the step of driving, the components of the agricultural machine may first be driven using the sequence and subsequently using the second sequence of drive commands to effect movement of the individual components corresponding to the sequence or the second sequence. Such an embodiment of the present invention offers the advantage that different movements of the agricultural machine or components of the agricultural machine, which can be subdivided, for example, into several similar subsequences of movements, can also be stored in a memory by such smaller subsequences. For the step of propriety then only these smaller subsequences need to be read out and, for example, applied several times in succession in order to be used to control the complex movement of the agricultural machine or the components of the agricultural machine. In this way, by subdividing a longer-lasting movement into several individual partial movements, it is possible to achieve a simplification of the storage or activation of this overall movement.

It is also favorable if according to its embodiment of the present invention in the step of driving movements of components of the agricultural machine are driven to perform a processing of agricultural land within a predetermined geographical area, in particular wherein in the step of driving a control of movements of components of the Agricultural machine for processing the agricultural area in one of several to be driven by the agricultural machine on the agricultural land to be trajectories, in particular wherein the webs are arranged equidistantly on the agricultural land. Such an embodiment of the present invention offers the advantage of significantly facilitating a mostly monotonous vehicle guidance for the driver of an agricultural machine, unless this driver can be completely replaced by the aforementioned embodiment of the present invention. In this case, a significant cost savings through the use of the present embodiment of the invention by reducing personnel costs would be achievable.

According to another embodiment of the present invention, in the step of driving, movements of components of the agricultural machine may be controlled to perform picking up of goods from a predetermined storage area and conveying the goods to a predetermined unloading area or a plurality of predetermined unloading areas. Such an embodiment of the present invention offers the advantage that often standardized, recurring work in a farm such as feeding fodder from a silo into the barn can be performed partially or fully automatically by the agricultural machine (such as a front loader tractor). In this case, the agricultural machine can be controlled such that it autonomously recognizes the good or a position of Guts in the predetermined storage area and in particular with a working device receives and deposits a predetermined position in the unloading or parts of the Guts at several predetermined positions in the unloading.

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

1 a schematic representation of a sequence of movements, which performs an agricultural machine on an agricultural area and which is taught according to an embodiment of the present invention;

2 a schematic representation of a sequence of movements, which performs an agricultural machine on an agricultural area and which is taught according to an embodiment of the present invention;

3 a flowchart of an embodiment of the invention as a method according to For driving an agricultural machine; and

4 a flowchart of another embodiment of a method according to an embodiment of the present 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, whose description as well as the claims numerous characteristics 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.

The approach presented in detail below makes it possible to at least partially automate a work cycle on the field (i.e., arable land) or on the farm (i.e., a farm) by training. Thus, any work can be carried out without a driver, with the navigation of an agricultural machine such as one of the tractor in the field on GPS data (as satellite-based positioning) and / or an environment detection (eg., Using at least one of the physical principles of laser, Video, radar, ultrasound), which, for example, can also detect and classify objects such as bales of straw, and thus the driver can be replaced. By learning a work cycle, not only the working functions of the tractor such. B. lifting the attachment at the field end, etc. automated, but also the navigation on the field, the limits of the GPS devices should be known advantageously. When working in the yard, the automated guidance can be stored from one GPS point to another, e.g. B. if silage is to be fetched in the silo and brought into the stable. Thus, for example, the field processing and / or the farm work fully automated or semi-automated with a minimum amount of time for the driver take place.

The invention is based on the recognition that the work with the tractor in the field or on the farm mainly consists of recurring, cyclical tasks that must be repeated until the field is finished or the transhipment work is completed. Fieldwork includes field cropping, field fertilization, sowing and field crops. In the case of farm work, transhipment work (eg from the silo to the stable) is of particular interest.

1 shows a schematic representation of a movement sequence, the agricultural machine 100 on a farmland 110 and that is taught according to an embodiment of the present invention. For field work with an attachment 120 , which can be understood as a working device according to the present description, should, for. B. always at the processing edge 125 , which was created from the previous step, to be driven along. The implement may be about a movement of a component of the agricultural machine 100 such as a PTO are driven. Alternatively or additionally, the working device 120 in the sense of this description also as part of the agricultural machine 100 be understood. When the field end 130 on a train 135 is achieved, the headland becomes 140 carried out, ie the attachment 120 raised, corresponding actuators on or for the implement 120 controlled (eg turn plow or turn off the outflow with a fertilizer spreader), the tractor 100 should turn, the attachment 120 Lower again and again at the processing edge 135 drive along. This completes a cycle with a cycle time of a few minutes, depending on the length of the field or track.

These steps should be a drive device 145 (For example, a microelectronic controller) with a memory 150 in the agricultural machine 100 now be trained. This will be the driving device 145 put into learning mode. The first main step to be learned consists of traversing the machining edge 135 of the field 110 , wherein at least one movement of a component 137 (eg wheels or a gearbox) of the agricultural machine 100 is controlled, the locomotion of the agricultural machine 100 serve over reason. Here, the longitudinal and transverse guidance of the agricultural machine should 100 (ie the vehicle) are taught. The longitudinal speed is usually a fixed value and remains constant. The learning of the transverse guide is similar, it should always be a constant distance 155 be maintained in the transverse direction, ie perpendicular to the previously driven lane. This distance 155 preferably depends on the working width of the attachment or implement 120 from. A location system 160 (based on GPS technology, for example) records the distance covered and recognizes the driver of the agricultural machine 100 set transverse distance of the agricultural machine 100 from the processing edge 135 , This distance is the system as a driving device 145 and memory 150 learned and stored in memory. Thus, this system can be made of a drive device 145 and the memory 150 automatically the transverse and longitudinal guidance of the agricultural machine 100 on the field 110 take over and store this chronological sequence of component control commands to be executed 120 the agricultural machine in the store 150 , Among the components used by the driver and subsequently by the driver 145 the agricultural machine 100 are driven, are thus components that serve the locomotion of the agricultural machine such as the steering guide or the gearbox setting of the agricultural machine and at the same time are also control commands for the attachment 120 stored such as the height to which the attachment or implement 120 should be lowered.

To end the field now 130 to recognize, z. For example, the geographic coordinates of the field 110 be known and compared with an obtained location information (such as a GPS position) or the field end 130 by environment sensor 165 be recorded. Come the tractor 100 at the field end 130 on, the driver heads off a certain distance 170 to the field end 130 the headland 140 one. This distance 170 should the system 145 . 150 also be trained. Now the headland will turn 140 learned. For this purpose, the lateral guidance, the longitudinal guidance and the device control are presented directly by the driver. He carries out all necessary steps until he drops the attachment again 120 out. These steps include the actuation of the actuators (eg device 120 lift out, switch off PTO shaft, operate hydraulics, etc.). The system 145 . 150 It is in the learning mode and remembers the steps controlled by the driver as a sequence of control commands. This sequence of drive commands is then stored in memory 150 stored. In addition, the tractor 100 turned. The system 145 . 150 So should the actuators for the attachment 120 drive and at the same time the tractor 100 Taxes. The driver drives after the turning process 140 back in the field track 135 (after the device 120 lowered again) is the headland working step 140 completed. The driver drives again at the processing edge 135 along, he initiates the work step "Along the processing edge", which he already before the headland 140 has executed. This is a cycle gone through and that 145 . 150 System knows all work steps. From here on, the system can 145 . 150 the vehicle control (transverse and longitudinal guidance, actuator of the attachment 120 ) by constantly repeating the learned cycle. On the dimensions of the field 110 recognizes the locating unit (GPS unit) 160 when the field 110 finished is finished. Now the execution of the cycles is aborted and the system 145 . 150 ends his activity.

2 shows a schematic representation of a movement sequence, the agricultural machine 100 on a farm 200 (eg, farm, yard) and is taught in accordance with an embodiment of the present invention. Such an application in the yard 200 can z. B. picking up a square bale 210 from straw and dropping this bale 210 In the stable 220 be. Here, the driver should the system 145 . 150 learn again different work steps for a work cycle, which then as a sequence of drive commands for components of the agricultural machine 100 in the store 150 be filed. The pick-up point 230 and the unloading point 240 are determined and trained, for example, via satellite-based geographic location information (such as GPS positions). Then the recording of a bale 210 learned. The driver controls a square bale 210 while the system 145 . 150 in the learning mode, the transverse and / or longitudinal guidance of the agricultural machine 100 connected, for example, with data from the environment sensors 160 (eg a laser scanner or a video camera) gets taught. This data is called a sequence of drive commands in the memory 150 stored. For example, the object becomes an operator input interface 210 , which represents a "square bale" in this embodiment, detected from the environment sensor and the object properties in memory 150 stored. This object 210 for example, should always be at the stored location (storage location) 230 take. The stored location 230 can also be an area (for example, within a range of 10 meters around this stored location 230 ) in which square bales 210 lie and by the tractor 100 can be loaded. A sensor is advantageous here 160 or a stacking (eg, slightly offset stacking so that the edges of the object 210 from the sensor 160 (For example, the video camera, an ultrasonic environmental sensor and / or a radar environment detection sensor) can be detected, which makes it possible, the bales 210 to distinguish from each other. The next step (which is translated into a drive command) is to start up and pick up the square bale 210 with a device, here as a working device 120 to understand (eg a front loader or a front fork). Here, the location and orientation of the bale 210 determined to make the tractor 100 for example, at right angles to the longitudinal side of the bale 210 can position. The long side of the bale 210 can about the environmental sensors 160 be classified. Became the tractor 100 aligning to the object 210 "Quad bale" trained with respect to the long side, the driver drives to a certain distance to the object 210 approach. This distance can also be taught, for example. Now the hydraulics will be used to control the implement 120 of the tractor 100 taught, the one component (for example, as a working equipment connection) of the agricultural machine 100 represents. The front loader 120 should be lowered to a certain height. The tines of the fork should be aligned perpendicular to the ground.

This configuration setting of the hydraulics as a component of the agricultural machine is stored (eg position measurement technique of the individual cylinders, or acceleration sensors in the fork). Then the tractor drives 100 with the tines of the front loader fork 120 until it stops in the square bale 210 , The stop can z. B. on the environment sensor 160 be determined or via a distance measurement on the front loader to the square bale 210 or other sensors in the loader 120 z. B. Force measurement by strain gauges. This is followed by the lifting of the freight to a certain position to be stored 310 , Then follows Transport to the designated depot 240 , This can, for. B. be designated by GPS coordinates and their dimensions z. B. by HMI (HIM = Human machine interface) are taught. There is the bale 210 filed by z. B. the fork is tilted until the bale 210 slip. This tilt position is to be learned and stored (as a control command). After that, the tractor becomes 100 back to the loading point 230 hazards. This completes a work cycle. The cycle time of this work cycle can be stored permanently that z. B. every morning and every evening a square bale 210 in the stable 220 is driven. Of course, this requires adequate protection of the tractor 100 z. B. by environmental sensors 160 , so no people 250 or suddenly free-running animals through the one-cycle autonomously exporting tractor 100 to harm you.

The learning function can also be used for bulk material, but this is a sufficient contour-sensing sensors 160 necessary, which can distinguish the bulk material from its boundary, thus this the system 145 . 150 can also be taught. This allows the driver to train the loading of bulk material by z. B. with a shovel instead of the fork 120 approaches the boundaries or defines the boundary by means of HMI. Due to a z. B. already programmed from the factory or learning procedure for bulk material (lowering the blade, driving into the estate, bending the blade and subsequent lifting, optionally shaking to better distribute it in the blade) so the entire bulk material can be loaded, even if it is distributed. When unloading, it may be useful the bulk material, eg. B. grains in several places 240 Therefore, the driver with a previously filled shovel in several places 240 stop and perform unloading movements there through the system 145 . 150 be saved, but it is also conceivable that the driver defines how much should be unloaded there, z. B. by sensors 160 , with the help of which the weight of the goods in the blade can be determined. This can then be done a defined filling of the blade and a corresponding distribution of the goods. This can be z. B. be used for food distribution.

The learning strategy follows a simple structure. The cycle consists of a fixed sequence of different work steps, such as 3 in the flowchart according to an embodiment of a method according to the invention 300 exemplified. In a first step, a startup takes place 310 a charging point. This is followed by a recording 320 a square bale. Furthermore, after the recording step 320 a step of startup 330 an unloading point and then a step of unloading 340 of the square bale. The above steps of the process 300 then, for example, with a cycle time 350 repeated 12 hours. The time to wait between cycles can vary as well. For a sequence of similar steps in the field 110 This time is usually zero, in the yard 200 It can be several hours or days. Because the tractor 100 also the functions of the attachment 120 controls, needs the attachment 120 do not have their own control unit. The cyclical recurring works are after a harvest season for a tractor 100 taught and saved. In the next harvest season, the driver only needs to play or select the cycles. In addition, splitting the cycles into individual building blocks allows them to be combined into a new cycle.

4 shows a flowchart of another embodiment of the present invention as a method 400 for controlling an agricultural machine. The procedure 400 has a step of reading 410 a sequence of drive commands stored in a memory, the sequence of drive commands representing a time sequence of a plurality of predetermined motions of different components of the agricultural machine. Furthermore, the method comprises 400 a step of driving 420 the components of the agricultural machine using the sequence of drive commands to effect movement of the individual components of the agricultural machine according to the sequence.

The embodiments of the present invention presented herein provide advantages over the approaches known in the art in several aspects. First, a field work or farm work can be carried out completely or partially automated, depending on the driver's request. At the same time, a simple automation of the field processing and the transport tasks is made possible, whereby this automation takes place on the basis of a learning based on the first processing cycle. Remaining cycles can then be carried out automatically. All necessary steps can be carried out. All cycle-based work can be automated and no complex control units are required on the attachments, only the tractor requires such a control unit.

With the help of GPS and / or environment sensor technology, for example, a wide variety of recurring tasks for fieldwork can thus be automated by teaching a cycle which the vehicle or the agricultural machine repeats autonomously. It moves to certain geometrical locations on the field, e.g. For example, to load and unload a crop, to cultivate a field, to harvest, to fertilize, etc.

The embodiments shown are chosen only by way of example and can be wholly or partially combined with each other.

LIST OF REFERENCE NUMBERS

100

agricultural machinery

110

agricultural area, field

120

Implement, plow, front loader, loading fork

125

working edge

130

field end

135

Working track of the agricultural machine

137

Wheel, gearbox, component for moving the agricultural machine over ground

140

headland

145

control unit

150

Storage

155

web width

160

Surroundings detection sensor, video camera

165

Tracking unit, GPS sensor unit

170

Distance to the field end

200

agricultural operation, farm, farm

210

Bales, square bales

220

barn

230

predetermined recording position

240

predetermined unloading position

250

free-running person

300

Method for transporting square bales

310

Step of approaching the receiving site

320

Step of picking up the square bale

330

Step of starting the unloading point

340

Step of unloading the square bale

350

Step of repeating the previous steps after a certain repetition time

400

Method for controlling an agricultural machine

410

Step of reading out

420

Step of driving components of the agricultural machine

Claims (11)

Procedure ( 400 ) for controlling an agricultural machine ( 100 ), the process ( 400 ) comprises the following steps: - readout ( 410 ) one in a memory ( 150 ) stored sequence of control commands, wherein the sequence ( 150 ) of drive commands a time sequence of several predetermined movements of different components ( 120 . 137 ) of the agricultural machine ( 100 represents; and - driving ( 420 ) of the components ( 120 . 137 ) of the agricultural machine ( 100 ) using the sequence of drive commands to control movement of the individual components ( 120 . 137 ) of the agricultural machine ( 100 ) according to the sequence. Procedure ( 400 ) according to claim 1, characterized by a step of recording a time sequence of a plurality of movements of different components ( 120 . 137 ) of the agricultural machine ( 100 ) and a step of storing the recorded timing sequence as a sequence of drive commands in the memory ( 150 ). Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) at least one component ( 137 ) of the agricultural machine ( 100 ) for moving between two geographically spaced apart geographical positions and / or for moving the agricultural machine ( 100 ) over ground) and at least one further component for moving one with the agricultural machine ( 100 connected implement ( 120 ) is driven. Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) the sequence of drive commands is applied multiple times in succession to a movement of the individual components ( 120 . 137 ) according to the sequence. Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) a consideration of a current geographical position of the agricultural machine ( 100 ) and / or a desired geographical position of the agricultural machine ( 100 ) after the activation has taken place, in particular with the geographical or the desired geographical position of the agricultural machine ( 100 ) using a satellite positioning system ( 165 ). Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) from a sensor ( 160 ) recognized objects ( 250 ) in a designated range of motion of the agricultural machine ( 100 ) or one with the agricultural machine ( 100 ) connected working device ( 120 ) to prevent the agricultural machinery ( 100 ) or a working device ( 120 ) of the agricultural machine ( 100 ) with the recognized object ( 250 ) collides or the detected object ( 250 ) approaches more than a predetermined minimum distance. Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of reading ( 410 ) from the memory ( 150 ) a second stored sequence of drive commands is read out, the second sequence of drive commands being a time sequence of a plurality of predetermined movements of different components ( 120 . 137 ) of the agricultural machine ( 100 ), which depend on the time sequence of the predetermined movements of different components of the agricultural machine ( 100 ) according to the sequence and wherein in the step of driving ( 420 ) the components ( 120 . 137 ) of the agricultural machine ( 100 ) are first driven using the sequence and subsequently using the second sequence of drive commands to control movement of the individual components ( 120 . 137 ) according to the sequence or the second sequence. Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) Movements of components ( 120 . 137 ) of the agricultural machine ( 100 ) in order to process an agricultural area ( 110 ) within a predetermined geographical area, in particular wherein in the step of driving ( 420 ) a control of movements of components ( 120 . 137 ) of the agricultural machine ( 100 ) for the processing of agricultural land ( 110 ) in one of several of the agricultural machine ( 100 ) on agricultural land ( 110 ) to moving trains ( 135 ), in particular the tracks ( 135 ) on agricultural land ( 110 ) are arranged equidistantly. Procedure ( 400 ) according to one of the preceding claims, characterized in that in the step of driving ( 420 ) Movements of components ( 120 . 137 ) of the agricultural machine ( 100 ) to record a good ( 210 ) from a predetermined storage area ( 230 ) and transporting the goods ( 210 ) to a predetermined unloading area ( 240 ) or a plurality of predetermined unloading areas. Contraption ( 145 150 ), the units ( 145 ) configured to perform the steps ( 410 . 420 ) of a process ( 400 ) to control, execute and / or implement according to one of the preceding claims. Computer program with program code for performing the steps of a method ( 400 ) according to one of claims 1 to 9, when the computer program is stored on a device ( 145 . 150 ) is performed.

Images