DE102019201827A1 - Device and method for the safe operation of an adjustable tool mounted on an autonomously operable agricultural machine - Google Patents

Abstract

The present invention relates to a device (12) for the safe operation of a tool (14) adjustable on an autonomously operable agricultural machine (10), with: an input interface (34) for receiving (S10) environmental sensor data from an environmental sensor unit (18) the agricultural machine with information about objects (20) in the vicinity of the agricultural machine; a processing unit (36) for recognizing (S12) an object in a probable passage area of the agricultural machine and the tool based on the environment sensor data; and a control unit (38) for controlling (S14) a self-propelled unit (16) of the agricultural machine in order to change a speed and / or direction of movement of the agricultural machine, and an adjustment unit (30) of the implement in order to change an orientation of the implement, based on the detected object, so that a collision of the agricultural machine and the tool with the detected object is prevented. The present invention also relates to a method for the safe operation of a tool (14) which is adjustably mounted on an agricultural machine (10) that can be operated autonomously and an agricultural machine (10) that can be operated autonomously.

Description

The present invention relates to a device for the safe operation of a tool which is adjustably mounted on an agricultural machine that can be operated autonomously. The present invention further relates to a correspondingly designed method and an agricultural machine that can be operated autonomously.

More and more modern agricultural machines (tillage machines, field sprayers, transporters, seed drills, tractors etc.) offer possibilities for autonomous or semi-autonomous operation. The fact that agricultural machines are mainly used in fields or outside of busy areas and the work to be carried out is often recurring means that autonomous approaches can be implemented with comparatively little effort. In particular, self-driving vehicles can be used with tools that operate largely or completely autonomously. There is a high potential for cost reduction through such automation.

An important prerequisite here is the detection and recognition of the surroundings of the agricultural machine. Environment sensors, such as radar, lidar, camera or ultrasonic sensors, are used to record sensor data with information on the environment. Based on this data, objects in the vicinity of the agricultural machine can be identified and classified. Based on this, a behavior of the agricultural machine with regard to driving and using a tool can be adapted to a current situation.

In this context, the GB 2521343 A an agricultural sprayer with an adjustable boom based on an optical scanner. The agricultural field sprayer has spray nozzles which are mounted along a boom and a lifting means to vary a height of the boom in relation to a ground. The agricultural field sprayer comprises an optical scanner for detecting and measuring a height of the ground or of the plants growing on the ground. Speed and / or position measuring means measure the current speed and / or position of the field sprayer, and data processing means are connected to the optical scanner and the speed and / or position measuring means and are designed to dynamically determine a height of the boom based on the measured subsoil or the measured Calculate plant height.

One challenge in this context is that such an automated setting of the boom cannot be possible quickly enough due to the reaction times of the corresponding actuators. It is then necessary for the driver of the vehicle to reduce the speed in order to avoid damage to the boom. However, such an intervention by an operator is usually not possible, particularly in the field of fully autonomous agricultural machines.

On the basis of this, the present invention has the object of providing an approach for the safe operation of a tool that is adjustably mounted on an agricultural machine that can be operated autonomously. In particular, the safety of the agricultural machine and of the tool mounted on it and of objects in the vicinity of the agricultural machine should be ensured. Furthermore, the most uninterrupted and efficient operation of the autonomous agricultural machine should be ensured.

• einer Eingangsschnittstelle zum Empfangen von Umgebungssensordaten von einer Umgebungssensoreinheit an der landwirtschaftlichen Maschine mit Informationen über Objekte in der Umgebung der landwirtschaftlichen Maschine;
• einer Verarbeitungseinheit zum Erkennen eines Objekts in einem voraussichtlichen Überfahrtbereich der landwirtschaftlichen Maschine und des Werkzeugs basierend auf den Umgebungssensordaten; und
• einer Steuerungseinheit zum Ansteuern einer Selbstfahreinheit der landwirtschaftlichen Maschine, um eine Geschwindigkeit und/oder Bewegungsrichtung der landwirtschaftlichen Maschine zu ändern, sowie einer Einstelleinheit des Werkzeugs, um eine Ausrichtung des Werkzeugs zu ändern, basierend auf dem erkannten Objekt, sodass eine Kollision der landwirtschaftlichen Maschine und des Werkzeugs mit dem erkannten Objekt verhindert wird.

To achieve this object, the present invention relates, in a first aspect, to a device for safely operating a tool which is adjustably mounted on an agricultural machine that can be operated autonomously, with:

• an input interface for receiving environment sensor data from an environment sensor unit on the agricultural machine with information about objects in the environment of the agricultural machine;
• a processing unit for recognizing an object in a probable passage area of the agricultural machine and the tool based on the environment sensor data; and
• a control unit for controlling a self-propelled unit of the agricultural machine in order to change a speed and / or direction of movement of the agricultural machine, and an adjustment unit of the tool to change an orientation of the tool, based on the detected object, so that a collision of the agricultural machine and of the tool with the detected object is prevented.

• einem einstellbar gelagerten Werkzeug zum Ausführen einer landwirtschaftlichen Funktion mit einer Einstelleinheit zum Ausrichten des Werkzeugs;
• einer Selbstfahreinheit zum autonomen Bewegen der landwirtschaftlichen Maschine;
• einer Umgebungssensoreinheit zum Detektieren von Objekten in der Umgebung der landwirtschaftlichen Maschine; und
• einer Vorrichtung wie zuvor beschrieben.

In a further aspect, the present invention relates to an agricultural machine that can be operated autonomously, with:

• an adjustably mounted tool for performing an agricultural function with an adjustment unit for aligning the tool;
• a self-propelled unit for autonomously moving the agricultural machine;
• an environment sensor unit for detecting objects in the vicinity of the agricultural machine; and
• a device as described above.

Further aspects of the invention relate to a method corresponding to the device and a computer program product with program code for performing the steps of the method when the program code is executed on a control unit, as well as a storage medium on which a computer program is stored that, when executed on a computer is effected, an execution of the method described herein.

Preferred embodiments of the invention are described in the dependent claims.

The device according to the invention or the method according to the invention and the autonomously operable agricultural machine according to the invention reduce the risk of a collision with an obstacle (object). This improves operational safety. Environmental sensor data are received via an input interface. The sensor data are evaluated in order to identify objects that are located in an area that the agricultural machine and the tool mounted on it will cross or drive over in the immediate future (crossing area). The self-propelled unit and the tool are then controlled in order to prevent a collision. As soon as an object is detected with which a collision is likely to occur, the behavior of the agricultural machine is adapted accordingly in order to avoid the collision.

In comparison to previous approaches in which only a position or orientation of the tool is adjusted, the device according to the invention offers the advantage that the driving behavior of the machine (speed and / or direction of movement) is also controlled. This makes it possible to prevent collisions with objects that cannot be prevented by simply adjusting the tool position. Compared to previous approaches in which a driving behavior is adapted, an additional adaptation of a tool position can increase efficiency. It is avoided that an evasive maneuver is carried out due to smaller obstacles if a change in the orientation of the tool is sufficient. This can improve efficiency.

In a preferred embodiment, the input interface for receiving environmental sensor data from an environmental sensor unit is designed with two individual sensors. The environmental sensor unit preferably comprises two individual sensors with different sensor principles. The processing unit is designed to recognize an object based on a data fusion of the environment sensor data. Data from several individual sensors are merged. The merging can improve the accuracy of the object recognition. The adaptation of the behavior of the agricultural machine and its tool can be done with increased accuracy. The safety during operation is further increased. The environment sensor unit can comprise a radar sensor, a lidar sensor and / or a camera sensor. The use of several sensors with different sensor principles can result in improved accuracy in the detection of objects and in the reaction of the agricultural machine based thereon.

In an advantageous embodiment, the control unit is designed to initiate an evasive action in which the speed and / or direction of movement of the agricultural machine and / or the orientation of the tool is temporarily changed. When giving way, on the one hand the trajectory of the agricultural machine can be changed. On the other hand, it is possible to adjust the positioning of the tool. A combined adaptation of the trajectory (speed and / or direction of movement) of the agricultural machine and the alignment of the tool is preferably carried out. In this respect it is possible to carry out an evasive process adapted to the current situation or the current object.

In one embodiment, the control unit is designed to set up a cost function and to evaluate the cost function based on predefined criteria. Based on this, the self-propelled unit and the setting unit are controlled in such a way that an optimized compensation is made between insufficient function fulfillment of the tool and a loss of time due to the change in the orientation of the tool and the change in the speed and / or direction of movement of the agricultural machine. The control of the self-propelled unit and the setting unit is optimized to the extent that safety is to be guaranteed while the tool fulfills its function and with minimal loss of time. In other words, an optimum is determined on the basis of predefined criteria. For example, in the case of an agricultural field sprayer, the plants are intended as an agricultural machine with a spray device receive a sufficient amount of pesticides as a tool. At the same time, it should be ensured that as few deviations as possible from an ideal lane have to be accepted in order to minimize the loss of time. The efficiency can be improved while maintaining safe operation.

In a preferred embodiment, the input interface is designed to receive a movement signal from the self-propelled unit with information about a probable course of a trajectory of the agricultural machine. The processing unit is designed to determine the probable overrun area based on the movement signal. In addition, the processing unit can itself determine the likely overrun area. For this purpose, information about the course of a trajectory of the agricultural machine is necessary. This course can, for example, be determined based on sensor data or can also be received by a route planning unit. The agricultural machine determines where it is moving and detects whether there are any objects in this area that will possibly lead to a collision with the agricultural machine or its tool. Security is increased.

In a preferred embodiment, the input interface is designed to receive map data with information about objects in the vicinity of the agricultural machine. The control unit is designed to control the self-propelled unit and the setting unit based on the map data. In addition, it is possible to take into account map data in which stationary obstacles (objects) can be drawn. The additional consideration of map data can further improve security. A redundancy is created. Stationary objects are recognized with a probability bordering on certainty. Appropriate consideration can be given.

In one embodiment, the input interface is designed to receive position data from a position sensor on the agricultural machine with information about a current position of the agricultural machine. The control unit is designed to control the self-propelled unit and the setting unit based on the position data. In addition, it is possible for position data, that is to say the agricultural machine's own position, to be taken into account. This is advantageous when a trajectory of the agricultural machine is specified. The agricultural machine thus follows a predetermined trajectory, and it is possible to plan a deviation from this trajectory by means of the position data. By additionally taking the position data into account, improved efficiency in the adaptation of the speed and / or direction of movement of the agricultural machine or the alignment of the tool can be achieved. The adjustment is made in such a way that the most efficient operation possible is maintained.

In an advantageous embodiment, the input interface is designed to receive speed sensor data from a speed sensor with information about a speed of the agricultural machine. The control unit is designed to control the self-propelled unit and the setting unit based on the speed sensor data. It is possible that the speed of the agricultural machine is also taken into account. In this way, the adaptation of the speed and / or direction of movement or the alignment of the tool can be further optimized. The changes made are minimized. The load on the agricultural machine and the tool is kept to a minimum. The safety of the agricultural machine, the tool and the objects in the vicinity are guaranteed.

In an advantageous embodiment of the agricultural machine that can be operated autonomously, the tool comprises a linkage with several linkage sections. The adjustment unit comprises several adjustment elements via which the linkage sections are movably connected to one another. The adjusting elements are preferably used to adjust the height of the individual rod sections above a ground and to move the rod sections between a folded position in which the rod sections protrude slightly over the agricultural machine and an extended position in which the rod sections protrude significantly have trained on the agricultural machine. In the field of field sprayers in particular, there are often variable boom constructions that form a boom to which the individual nozzles for applying a liquid are attached. In order to produce an optimal distance from the ground or from the plants growing on the ground in this case, it is necessary that the height of individual sections can be corrected. In this way, the tool can perform well in the sense of a uniform application of the liquid to the plants or the ground.

In a further embodiment of the agricultural machine, the tool comprises a Spray device for applying a liquid on a substrate.

An environment of the agricultural machine includes e.g. B. an area in the vicinity of the agricultural machine that is visible from an environmental sensor attached to the agricultural machine. An environmental sensor unit can comprise several sensors which, for example, enable a 360 ° all-round view and can thus record a complete image of the surroundings. An object here can be a static or a dynamic object. For example, trees, stones, pedestrians, people, animals and other machines represent objects. A crossing area is an area which is expected to be crossed by the agricultural machine and its tools in the near future. The specification of a passage area can include an uncertainty. For example, it is possible that this uncertainty increases with increasing distance from the agricultural machine or is defined as increasing.

• 1 eine schematische Darstellung einer landwirtschaftlichen Maschine mit einer erfindungsgemäßen Vorrichtung;
• 2 eine schematische Darstellung einer erfindungsgemäßen Vorrichtung;
• 3 eine schematische Darstellung einer erfindungsgemäßen landwirtschaftlichen Maschine in einer Draufsicht; und
• 4 eine schematische Darstellung eines erfindungsgemäßen Verfahrens.

The invention is described and explained in more detail below with reference to a few selected exemplary embodiments in connection with the accompanying drawings. Show it:

• 1 a schematic representation of an agricultural machine with a device according to the invention;
• 2 a schematic representation of a device according to the invention;
• 3 a schematic representation of an agricultural machine according to the invention in a plan view; and
• 4th a schematic representation of a method according to the invention.

1 shows schematically an autonomously operable agricultural machine according to the invention 10 . The agricultural machine 10 includes a device 12th for safe operation of an adjustable on the agricultural machine 10 stored tool 14th . The agricultural machine 10 further comprises the tool 14th , a self-propelled unit 16 and an environmental sensor unit 18th . The agricultural machine 10 takes over the environmental sensor unit 18th Objects 20th true in their environment. It is recognized whether the object 20th is located in an anticipated crossing area. If this is the case, a speed and / or direction of movement of the agricultural machine 10 changed or changed an orientation of the tool to cause a collision with the object 20th to prevent.

In the example shown, an autonomously driving field sprayer is used as an agricultural machine 10 pictured. The field sprayer is used to spray a liquid substance on larger fields or fields. For this purpose, the field sprayer comprises a liquid tank 22nd in which a pesticide can be filled, for example. The field sprayer also includes a spray device as a tool 14th . By means of the spray device, the contents of the liquid tank 22nd be applied to a field or to the plants in the field.

The agricultural machine 10 operates autonomously, i.e. without a human operator. Through the self-propelled unit 16 there is an autonomous movement. The self-propelled unit 16 controls a motor and a steering of the agricultural machine. Through the tool 14th an autonomous field processing takes place. Obstacles occurring during autonomous operation that could possibly lead to a collision must be recognized. It is necessary that the agricultural machine 10 carries out a corresponding response. For example, the agricultural machine can initiate a braking process, undertake a bypassing process or also move the tool into a position in which the collision is avoided.

In the example shown, the spray device is a long and fold-out boom with a linkage 24 with a total of five rod sections 26th educated. The boom makes it possible to use several nozzles over a width of several meters 28 and a pump (not shown) the liquid of the liquid tank 22nd to spread. The tool 14th includes an adjustment unit 30th that allows an orientation of the tool 14th to change. In the example shown, the setting unit includes 30th a chain hoist system through which the complete linkage 24 can be raised. The height of the linkage 24 above the subsurface is enlarged. Just by changing the height it is possible to avoid smaller obstacles such as stones or hay bales. In addition, the setting unit includes 30th in the illustrated embodiment several adjusting elements 32 . The adjusting elements 32 connect the rod sections 26th together. The adjusting elements can be controlled by an angle between the rod sections 26th to change. This makes it possible for individual sections to be folded in different ways. For example, an obstacle can be avoided on one side by using the corresponding rod section 26th that would otherwise collide with the obstacle is lifted. The adjusting elements 32 can be driven as actuators. For example, the adjusting elements 32 Include electric motors or be connected to a central motor via a cable system. In particular, it is possible that the linkage 24 is completely folded in so that the overhang over the agricultural machine 10 is significantly reduced on both sides. This allows a transfer of the agricultural machine 10 take place via normal traffic routes to a place of use.

In the 2 is schematically a device according to the invention 12th shown. The device comprises an input interface 34 , a processing unit 36 as well as a control unit 38 . The device 12th can for example be integrated as a module in a vehicle control device of the agricultural machine. It is also possible that the device 12th is implemented as a separate module. The device according to the invention 12th can be implemented partially or completely in software and / or in hardware. The units and interfaces can be designed individually or in combination as a processor, processor module or software for a processor.

Via the input interface 34 environmental sensor data are received from the environmental sensor unit. The input interface 34 can for example be implemented as a plug connection in hardware. It is also possible that the input interface 34 is designed as a corresponding software interface for receiving data. Communication can take place, for example, via a CAN bus (vehicle bus system). For example, data from a radar, lidar or camera sensor can be received. Preferably, data from a sensor set with several individual sensors are received. The environment sensor unit can comprise several sensors with different sensor principles. The received environment sensor data include information about objects in the vicinity of the agricultural machine. In particular, the detections of the various environmental sensors include information about a spatial position of a detected object.

In the processing unit 36 an object is detected in a probable passage area of the agricultural machine and the tool based on the environment sensor data. For example, it is possible that the passage area is first estimated, for example on the basis of current information about the speed and direction of movement of the agricultural machine. If there is an object within this area, it will be recognized. In particular, a size and an exact position of the object can be determined. It is also possible for a type of obstacle to be determined via a classification. It is possible here for a data fusion of the environment sensor data of several environment sensors with different sensor principles to take place in order to increase the reliability. For example, the data from a radar sensor and the data from a lidar sensor can be evaluated together. A lidar sensor is suitable for use at night, works very precisely, but has disadvantages when used in a dusty environment. In contrast, a radar sensor is robust against rain and dust, but often works with less accuracy. A camera sensor is suitable for classification, but has disadvantages when used at night. A redundant merger of several different environmental sensor data can provide sufficient security that an object has been correctly recognized and that the agricultural machine or its tool can avoid this object. For example, artificial neural networks or other learning algorithms can be used to detect the object.

In the control unit 38 the self-propelled unit and the setting unit of the tool are activated to prevent a collision. For this purpose, it is possible for a speed and / or direction of movement of the agricultural machine to be adapted via the self-propelled unit. It is also possible for the tool to be changed in its orientation or in its position relative to the agricultural machine. In the example described above, the actuating elements can in particular be activated accordingly, so that individual rod sections are folded in such a way that there is no collision with the recognized object. To control the self-propelled unit and the adjustment unit, it is possible that the control unit 38 is connected to a vehicle bus system of the agricultural machine. For example, control can take place via a CAN bus.

In the 3 is a schematic top view from the bird's eye view of an autonomously operable agricultural machine according to the invention 10 shown. In the illustrated embodiment, the environment sensor unit comprises 18th a total of twelve individual environmental sensors. In particular, the environment sensor unit comprises four fisheye cameras 18a (front, rear, left, right), a lidar sensor 18b (front), three short-range radar sensors 18c (front, left, right) and four 100 ° field-of-view cameras 18d (front left, front right, left front, right front). The dashed lines in the illustration indicate the areas of vision of the sensors. As shown, the environmental sensor unit enables 18th in this case almost a 360 ° all-round view so that objects can be seen in all directions.

It also includes the agricultural machine 10 in the illustrated embodiment a position sensor 40 , the z. B. can be designed as a GNSS device.

In addition, it is possible for map data to be received via a corresponding communication interface (not shown) or also based on a database of the agricultural machine. For example, stationary obstacles can be drawn in on such map data so that their position is already known. An adequate response from the agricultural machine can take place.

In the 4th a method according to the invention for the safe operation of a tool which is adjustably supported on an agricultural machine that can be operated autonomously is shown schematically. The method includes steps of receiving S10 of environmental sensor data, of detection S12 an object and the control S14 a self-propelled unit and an adjustment unit. The method can be implemented, for example, as software that is executed on a vehicle control device of the agricultural machine. It is also possible for the method according to the invention to be implemented as software for a mobile device (smartphone app). The method can be carried out completely or partially cloud-based.

The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are to be understood as examples and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art after using the present invention and after carefully analyzing the drawings, the disclosure and the following claims.

An element, a unit, an interface, a device and a system can be implemented partially or completely in hardware and / or in software. A computer program can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a semiconductor drive (SSD). A computer program can be distributed together with hardware and / or as part of hardware, for example by means of the Internet or by means of wired or wireless communication systems.

List of reference symbols

10

agricultural machine

12th

contraption

14th

Tool

16

Self-propelled unit

18th

Environmental sensor unit

18a

Fisheye camera sensor

18b

Lidar sensor

18c

Short range radar sensor

18d

100 ° field-of-view camera sensor

20th

object

22nd

Liquid tank

24

Linkage

26th

Linkage section

28

jet

30th

Setting unit

32

Control element

34

Input interface

36

Processing unit

38

Control unit

40

Position sensor

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• GB 2521343 A [0004]

Claims (13)

Device (12) for the safe operation of a tool (14) which is adjustably mounted on an agricultural machine (10) that can be operated autonomously, with: an input interface (34) for receiving environment sensor data from an environment sensor unit (18) on the agricultural machine with information about objects (20) in the environment of the agricultural machine; a processing unit (36) for recognizing an object in a probable passage area of the agricultural machine and the tool based on the environmental sensor data; and a control unit (38) for controlling a self-propelled unit (16) of the agricultural machine in order to change a speed and / or direction of movement of the agricultural machine, as well as an adjustment unit (30) of the tool in order to change an orientation of the tool, based on the detected Object, so that a collision of the agricultural machine and the tool with the detected object is prevented. Device (12) after Claim 1 wherein the input interface (34) is designed to receive environment sensor data from an environment sensor unit (18) with two individual sensors; and the processing unit (36) is designed to recognize an object (20) based on a data fusion of the environment sensor data. Device (12) according to one of the preceding claims, wherein the control unit (38) is designed to initiate an avoidance process in which the speed and / or direction of movement of the agricultural machine (10) and / or the orientation of the tool (14) is temporarily changed is. Device (12) according to one of the preceding claims, wherein the control unit (38) is designed to set up a cost function and to evaluate the cost function based on predefined criteria in order to control the self-propelled unit (16) and the setting unit (30) so that an optimized Compensation is made between inadequate performance of the tool (14) and a loss of time due to the change in the orientation of the tool and the change in the speed and / or direction of movement of the agricultural machine (10). Device (12) according to one of the preceding claims, wherein the input interface (34) is designed to receive a movement signal from the self-propelled unit (16) with information about a probable course of a trajectory of the agricultural machine (10); and the processing unit (36) is designed to determine the probable crossing area based on the movement signal. Device (12) according to one of the preceding claims, wherein the input interface (34) is designed to receive map data with information about objects (20) in the vicinity of the agricultural machine (10); and the control unit (38) is designed to control the self-propelled unit (16) and the setting unit (30) based on the map data. Device (12) according to one of the preceding claims, wherein the input interface (34) is designed to receive position data from a position sensor (40) on the agricultural machine (10) with information about a current position of the agricultural machine; and the control unit (38) is designed to control the self-propelled unit (16) and the setting unit (30) based on the position data. Device (12) according to one of the preceding claims, wherein the input interface (34) is designed to receive speed sensor data from a speed sensor with information about a speed of the agricultural machine (10); and the control unit (38) is designed to control the self-propelled unit (16) and the setting unit (30) based on the speed sensor data. Autonomously operable agricultural machine (10), comprising: an adjustable mounted tool (14) for performing an agricultural function with an adjustment unit (30) for aligning the tool; a self-propelled unit (16) for autonomously moving the agricultural machine; an environment sensor unit (18) for detecting objects (20) in the vicinity of the agricultural machine; and a device (12) according to one of the Claims 1 to 8th . Autonomously operable agricultural machine (10) according to Claim 9 wherein the tool (14) comprises a linkage (24) having a plurality of linkage sections (26); and the adjustment unit (30) comprises a plurality of adjusting elements (32) via which the rod sections are movably connected to one another, the adjusting elements preferably for setting a height of the individual rod sections above a ground and for moving the rod sections between a folded position in which the rod sections have a have a small overhang over the agricultural machine, and an extended position in which the linkage sections have a large overhang over the agricultural machine are formed. Autonomously operable agricultural machine (10) according to one of the Claims 9 to 10 , wherein the tool (14) comprises a spray device for applying a liquid on a substrate. Method for the safe operation of a tool (14) which is adjustably mounted on an agricultural machine (10) that can be operated autonomously, with the following steps: Receiving (S10) environment sensor data from an environment sensor unit (18) on the agricultural machine with information about objects (20) in the environment of the agricultural machine; Recognizing (S12) an object in an anticipated drive-over area of the agricultural machine and the tool based on the environment sensor data; and Controlling (S14) a self-propelled unit (16) of the agricultural machine in order to change a speed and / or direction of movement of the agricultural machine, as well as an adjustment unit (30) of the tool in order to change an orientation of the tool, based on the detected object, so that a collision of the agricultural machine and the tool with the recognized object is prevented. Computer program product with program code for performing the steps of the method according to Claim 12 when the program code is executed on a control unit (38).

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