WO2013087256A1

WO2013087256A1 - Method and device for activating an agricultural machine

Info

Publication number: WO2013087256A1
Application number: PCT/EP2012/070441
Authority: WO
Inventors: Florian Belser; Thomas Maurer
Original assignee: Robert Bosch Gmbh
Priority date: 2011-12-16
Filing date: 2012-10-16
Publication date: 2013-06-20
Also published as: DE102011121433A1

Abstract

The present invention provides a method (400) for activating an agricultural machine (100), wherein the method (400) comprises a step of reading (410) a sequence of activation commands stored in a memory (150), wherein the sequence (150) of activation 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) comprises a step of activating (420) the components (120, 137) of the agricultural machine (100) using the sequence of activation commands in order to cause a movement of the individual components (120, 137) of the agricultural machine (100) corresponding to the sequence.

Description

Method and device for controlling an agricultural machine

description

The present invention relates to a method and an apparatus for

Control of 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

To regulate 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 bale big enough) one

preprogrammed action (stop tractor) is initiated. Furthermore, there are various automated transverse guidance devices in the agricultural sector. Tractors will be

GPS controlled steered, in order to be able to follow an exact line with the 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 applied, which are preprogrammed accordingly.

It is the object of the present invention to provide an improved method for controlling an agricultural machine and an improved device for controlling a vehicle

To create agricultural machine. This object is achieved by a method and a device according to the

Main claims solved.

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 a movement of the individual components of the

Agricultural machine according to the sequence effect.

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. At a

For example, the interfaces may be part of a hardware-based training

so-called system ASICs, which includes a 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.

Also of advantage is 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 executed on a computer or a device.

Under 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 can 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, for example, a PTO to drive from one to the agricultural machine

coupled implement such as a hay cart or a

Maishächsler. Such a working device or work equipment can not one

Self-propelled device for ordering or harvesting an agricultural crop

Be usable 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 finding that by driving the

Components of the agricultural machine using the sequence of

Control commands, a semi-automatic or automatic control of the movements of components of the agricultural machine is 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

various components of the agricultural machine and a step of storing the recorded time sequence as a sequence of drive commands are provided in the memory. Such an embodiment of the present invention offers the advantage that in different local conditions different

Movements of components of the agricultural machine can be trained, so Such an embodiment of the present invention can be adapted very flexibly to the local conditions in the field of agricultural operation.

It is particularly advantageous if, in the step of driving, at least one component of the agricultural machine is actuated, which is designed for locomotion of the agricultural machine between two geographic positions spaced apart from one another and at least one further component for moving one with the agricultural machine

connected working device is controlled. 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

For example, 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 furthermore particularly advantageous if, according to a further embodiment of the present invention, in the step of the activation, the sequence of activation commands is applied several times in succession to a movement of the individual

To effect components according to the sequence. Such an embodiment of the present invention offers the advantage that only working in the multiple

Sub-operations can be divided, each of which can be performed by the execution of a sequence of control 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 one geographical position of the agricultural machine was obtained using a satellite positioning system. Such an embodiment of the present invention offers 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 agricultural

Areas of use respect the agricultural machine in this field so that in the step of decency uneven border of the field can be detected and the control 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 to be recognized, which is to 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 provided in one

Movement range of the agricultural machine or a working implement of the agricultural machine are taken into account to prevent the agricultural machine or the implement collides with the detected object or approaches the detected object by more than a predetermined minimum distance. 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 another embodiment of the present invention, in the step of reading out from the memory, a second stored sequence of

Control commands are read 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 first using the sequence and below Use of the second sequence of drive commands are driven to cause movement of the individual components corresponding to the sequence or the second sequence. Such an embodiment of the present invention has the advantage that different movements of the agricultural machine or components of the agricultural machine, for example, in several similar subsequences of

Subdivide movements, even by such smaller subsequences in one

Memory can be stored. 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 agricultural land in one of several of the

Agricultural machine takes place on the agricultural land to moving lanes, in particular where the lanes are arranged on the agricultural land equidistant. 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 take up a good from a predetermined storage area and convey the goods to a predetermined unloading area or a plurality of predetermined ones

Carry out unloading areas. Such an embodiment of the present invention offers the advantage that often standardized, recurring work in a farm such as feeding feed from a silo into the barn can be carried out partially or fully automatically by the agricultural machine (such as a tractor with front loader fork). In this case, the agricultural machine can be controlled such that it recognizes the good or a position of Guts in the predetermined storage area independently and receives in particular with a working device and a predetermined position in

Deposits unloading or parts of the estate at a plurality of predetermined positions in the unloading area.

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

Fig. 1 is a schematic representation of a movement process, which executes an agricultural machine on an agricultural area and the according to a

Embodiment of the present invention is taught;

Fig. 2 is a schematic representation of a sequence of movements, which executes an agricultural machine on an agricultural area and according to a

Embodiment of the present invention is taught;

3 is a flow chart of an embodiment of the invention as a method according to the control of an agricultural machine. and

4 is a flow chart 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, 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. The approach presented in detail below makes it possible to have a working cycle on the field (ie arable land) or in the yard (ie a farmland)

agricultural operation) by teaching at least partially to automate. 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. Fig. 1 shows a schematic representation of a movement sequence, the one

Agricultural machine 100 performs on an agricultural land 1 10 and which is taught according to an embodiment of the present invention. In the field work with an attachment 120, which can be understood as a working device according to the present description, z. B. always at the processing edge 125, which originated from the previous step, are driven along. The implement may be driven via movement of a component of the agricultural machine 100, such as a power take off. Alternatively or additionally, the implement 120 can be understood as part of the agricultural machine 100 in the sense of this description. When the field end 130 is reached on a track 135, the headland 140 is performed, ie Attachment 120 is raised, corresponding actuators are actuated on or for implement 120 (eg turn plow or stop the outflow at a fertilizer spreader), tractor 100 should turn over, lower attachment 120 again and again on the implement

Drive processing edge 135 along. This completes a cycle with a cycle time of a few minutes, depending on the length of the field or track.

These operations should a drive device 145 (for example, a

microelectronic control unit) with a memory 150 in the agricultural machine 100 are now trained. At this time, the driving device 145 is set in the learning mode. The first main step to be learned consists of following along the

Processing edge 135 of the field 1 10, wherein at least one movement of a component 137 (eg, wheels or a gearbox) of the agricultural machine 100 is controlled, which serve to move the agricultural machine 100 over ground. In this case, the longitudinal and transverse guidance of the agricultural machine 100 (ie the vehicle) should be taught. The

Longitudinal speed is usually a fixed value and remains constant. The

Teaching the transverse guide is similar, it should always be a constant distance 155 in

Transverse direction, ie perpendicular to the previously driven lane are maintained. This distance 155 preferably depends on the working width of the attachment or implement 120. A location system 160 (based on GPS technology, for example) records the distance traveled 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 drive device 145 and memory 150 trained and stored in memory. In order for this system can automatically take over the lateral and longitudinal guidance of the agricultural machine 100 on the field 1 10 from a drive device 145 and the memory 150 and stores this temporal sequence of executed

Driving commands for components 120 of the agricultural machine in the memory 150. Among the components that are driven by the driver and subsequently by the driving device 145 of the agricultural machine 100 are thus components that are used for locomotion of the agricultural machine such as the steering guidance or the gear setting of the agricultural machine and At the same time, control commands for the attachment 120 are also stored, such as, for example, the height to which the attachment or implement 120 is to be lowered. In order to recognize the field end 130, z. B. the geographic coordinates of the field 1 10 be known and with an obtained location information (such as a GPS position) are compared or the field end 130 detected by environment sensor 165. If the tractor 100 arrives at the field end 130, the driver initiates the headland 140 at a certain distance 170 from the field end 130. This distance 170 should also be taught to the system 145, 150. Now the headland 140 is being trained. 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 the lowering of the attachment 120 again. These steps include activating the actuator system (eg lift out device 120, switch off PTO shaft, actuate hydraulics, etc.). The system 145, 150 is in the learning mode and remembers the driver-controlled steps as a sequence of control commands. This sequence of

Drive commands are then stored in memory 150. In addition, the tractor 100 is turned. The system 145, 150 should therefore control the actuators for the attachment 120 and at the same time control the tractor 100. If the driver returns to the field track 135 after the turning operation 140 (after the device 120 has been lowered again), the headland working step 140 is completed. If the driver drives back to the

Editing along 135, he leads the step "Along the

Machining edge ", which it has already executed in front of headland 140. This completes one cycle and the 145, 150 system knows all the work steps from which system 145, 150 can control the vehicle control (transverse and longitudinal guidance, actuators of the

Implement 120) by constantly repeating the learned cycle. On the dimensions of the field 1 10, the location unit (GPS unit) 160 recognizes when the field 1 10 is finished. Now the execution of the cycles is aborted and the system 145, 150 stops its operation.

Fig. 2 shows a schematic representation of a movement sequence, the one

Agricultural machine 100 is running on a farm 200 (eg, farm, yard) and is trained according to an embodiment of the present invention. Such an application on the yard 200 may, for. B. picking up a square bale 210 of straw and placing this bale 210 in the stable 220 be. In this case, the driver should again teach the system 145, 150 different work steps for a work cycle, which are then stored as a sequence of drive commands for components of the agricultural machine 100 in the memory 150. The pickup point 230 and the unloading point 240 are for example, via satellite-based geographic location information (such as GPS positions) set and trained. Then the inclusion of a bale 210 is taught. 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, for example, with data from the environment sensor 160 (eg., A laser scanner or a video camera) learned gets. These data are called sequence of

Control commands stored in the memory 150. Over a

For example, the operator input interface becomes the object 210 that is in this

Embodiment represents a "square bale" detected from the environment sensors and stored the object properties in the memory 150. This object 210 should

for example, always at the stored location (storage location) 230 record. The stored location 230 may also include an area (eg within a range of 10 meters around this stored location 230) in which square bales 210 are located and which may be loaded by the tractor 100. Advantageously, a sensor 160 or a stacking (eg slightly offset stacking, so that the edges of the object 210 are detected by the sensor 160 (for example, the video camera, an ultrasonic environment sensor and / or a radar environment detection sensor) which makes it possible to distinguish bales 210. The next step (which is translated into a drive command) is to start up and pick up the bale

Quad bale 210 with a device, which is to be understood here as a working device 120 (eg, a front loader or a front fork). Here, the position and orientation of the bale 210 is detected so that the tractor 100 can position, for example, at right angles to the longitudinal side of the bale 210. The longitudinal side of the bale 210 may over the

Environment sensor 160 classified. If the tractor 100 has been trained in aligning with the object 210 "square bale" with respect to the longitudinal side, the driver drives up to a certain distance to the object 210. This distance can also be taught in. Now the hydraulics are used to control the implement 120 of the tractor 100 trained, the one component (for example, as a

Implement connection) of the agricultural machine 100. 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 sensor in the fork). Then the Traktorl OO moves with the tines of the front loader fork 120 until it stops in the square bale 210. The stopping point can, for. B. on the environment sensor 160 are 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. Then the freight is lifted to a certain position to be stored 310. Then the transport follows the specific one

Storage 240th This can, for. B. be designated by GPS coordinates and their dimensions z. B. by HMI (HIM = Human machine interface) are taught. There, the bale 210 is stored by z. B. the fork is tilted until the bale 210 slips off. This tilt position is to be learned and stored (as a control command). Thereafter, the tractor 100 is driven back to the loading point 230. 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 is moved to the stable 220. This of course requires adequate protection of the tractor 100 z. B. by environment sensor 160, so that no persons 250 or suddenly free-running animals by the one working cycle autonomously exporting tractor 100 come to harm.

The learning function can also be applied to bulk material, but this requires a sufficient contour-sensing sensor 160, the bulk of its

Can differentiate limitation, so that the system 145, 150 can also be taught. This allows the driver to train the loading of bulk material by z. B. with a blade instead of the forks 120 the boundaries anfährt or by HMI defines the boundary. Due to a z. B. already programmed from the factory or learning procedure for bulk material (lowering the blade, driving into the estate, Anwinkein 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. For example, to distribute granules at multiple locations 240, therefore, the operator may stop at a plurality of locations 240 with a previously filled bucket and perform unloading movements there, stored by the system 145, 150, but it is also conceivable that the driver may be defined a lot should be unloaded there, z. B. by sensors 160, by means 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 working steps, as shown by way of example in FIG. 3 in the flowchart according to an exemplary embodiment of a method 300 according to the invention. In a first step, a start 310 of a recharging point. This is followed by a recording 320 of a square bale. Furthermore, after the picking up step 320, a step 330 of unloading is started and then a step of discharging 340 of the rectangular bale. The aforementioned steps of the method 300 are then repeated, for example, with a cycle time 350 of 12 hours. The time to wait between cycles can vary as well. For a sequence of similar steps on the field 1 10 this time is usually zero, on the yard 200 it can be several hours or days. Since the tractor 100 also controls the functions of the implement 120, the attachment 120 does not need to have its own controller. The cyclical recurring work is trained and stored after a harvest season for a tractor 100. 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 a further embodiment of the present invention as method 400 for controlling an agricultural machine. The method 400 includes a step of reading 410 a sequence of drive commands stored in a memory, wherein the sequence of drive commands represents a time series of a plurality of predetermined motions of different components of the agricultural machine. Furthermore, the method 400 comprises 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

Fieldwork and the transport tasks, this automation is done by learning the first cycle. Remaining cycles can then be automated. 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.

Claims

claims

Method (400) for driving an agricultural machine (100), wherein the method

(400) has the following steps:

Reading (410) a sequence of drive commands stored in a memory (150), the sequence (150) of drive commands comprising a time series of a plurality of predetermined motions of

different components (120, 137) of the agricultural machine (100) represented; and

Driving (420) the components (120, 137) of the agricultural machine (100) using the sequence of drive commands to effect movement of the individual components (120, 137) of the agricultural machine (100) in accordance with the sequence.

2. The method (400) according to claim 1, characterized by a step of

Recording a chronological sequence of several movements of

different components (120, 137) of the agricultural machine (100) and a step of storing the recorded time sequence as a sequence of drive commands in the memory (150).

3. Method (400) according to one of the preceding claims, characterized

characterized in that in the step of driving (420) at least one component (137) of the agricultural machine (100) for locomotion between two geographically spaced geographic positions and / or movement of the agricultural machine (100) over ground) is driven and at least one further component for moving one connected to the agricultural machine (100

Working device (120) is controlled.

Method (400) according to one of the preceding claims, characterized

characterized in that in the step of driving (420) the sequence of

Control commands is applied multiple times in succession to effect a movement of the individual components (120, 137) according to the sequence. Method (400) according to one of the preceding claims, characterized

characterized in that the step of driving (420) takes into account a current geographical position of the agricultural machine (100) and / or a desired geographical position of the agricultural machine (100) after the activation has been carried out, in particular the geographical or the desired geographical position of the agricultural machine (100) using a

satellite positioning system (165).

Method (400) according to one of the preceding claims, characterized

characterized in that, in the step of driving (420), objects (250) detected by a sensor (160) in an intended movement range of the

Agricultural machine (100) or one connected to the agricultural machine (100)

Working device (120) are taken into account to prevent the

Agricultural machine (100) or implement (120) of the agricultural machine (100) collides with the detected object (250) or approaches the detected object (250) by more than a predetermined minimum distance.

Method (400) according to one of the preceding claims, characterized

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 comprising a time sequence of a plurality of predetermined movements of different components (120, 137) of the agricultural machine (100 ), which is different from the timing of the predetermined motions 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) first using the sequence and subsequently using the second sequence of

Control commands are driven to cause movement of the individual components (120, 137) corresponding to the sequence or the second sequence.

Method (400) according to one of the preceding claims, characterized

characterized in that in the step of driving (420) movements of

Components (120, 137) of the agricultural machine (100) are driven to a Processing of an agricultural area (1 10) within a

in particular in the step of the activation (420), an activation of movements of components (120, 137) of the agricultural machine (100) for the processing of the agricultural area (110) in one of several of the agricultural machine (100) on the agricultural land (1 10) to moving webs (135),

in particular, wherein the webs (135) are arranged equidistantly on the agricultural area (1 10).

Method (400) according to one of the preceding claims, characterized

characterized in that in the step of driving (420) movements of

Components (120, 137) of the agricultural machine (100) are actuated to perform picking up a good (210) from a predetermined storage area (230) and conveying the goods (210) to a predetermined unloading area (240) or a plurality of predetermined unloading areas.

Apparatus (145-150) comprising units (145) adapted to actuate, execute and / or implement the steps (410, 420) of a method (400) according to any one of the preceding claims.

Computer program with program code for performing the steps of

Method (400) according to one of claims 1 to 9, when the computer program is executed on a device (145, 150).