Method for controlling agricultural machine systems
For controlling several agricultural machine systems during operation on a territory, based on a reference line, an optimized route for working the territory is determined for the particular machine system, and the particular machine system is driven along this route. The reference line is determined by recording a reference path that was driven along with a first machine system, and the first machine system is controlled based on this reference line with consideration for the working conditions of the first machine system. This reference line is also transmitted by the first machine system to at least one second machine system, which is controlled based on this reference line of the first machine system and with consideration for the working conditions of the second machine system. A corresponding control system for controlling several agricultural machine systems during operation of a territory is also described.
1. A method for controlling several agricultural machine systems during operation on a territory, comprising the steps of determining originally a reference line only by a first machine system; determining by the first machine system, based on the originally determined reference line by the first machine system, an optimized route for working the territory for the first machine system; driving the first machine system along the optimized route; determining the original reference line only by a first machine system by recording a reference path that was driven along with the first machine system; transmitting this original reference line by the first machine system to at least one second machine system; controlling the second machine system based on the original reference line of the first machine system and with consideration for working conditions of the second machine system including crop properties and related consequences; based on the originally determined reference line determined by the first machine system, determining only by the first machine system a further reference line that is transmitted to the second machine system instead of or together with the originally determined reference line that was determined initially by the first machine system, so that the first machine system functions as a master machine and the second machine system receives the originally determined reference line and the further reference line only from the master machine.
2. A method as defined in claim 1 ; and further comprising controlling the first machine system based on the reference line recorded by the first machine system, with consideration for working conditions of the first machine system.
3. A method as defined in claim 2 ; and further comprising using a same coordinate system to determine the reference line and to determine optimized routes for the first machine system and the second machine system.
4. A method as defined in claim 1 ; and further comprising working the territory with the first machine system and the second machine system in chronological succession.
5. A method as defined in claim 1 ; and further comprising working the territory with the first machine system and the second machine system in parallel, at least part of the time.
6. A method as defined in claim 1 ; and further comprising determining by the first machine system several reference lines and transmitting the determined several reference lines to the second machine system.
7. A method as defined 1 ; and further comprising, in addition to the reference line, transmitting additional information by the first machine system to the second machine system.
8. A method as defined in claim 1 ; and further comprising, if a new reference line is determined using the first machine system, transmitting the new reference line immediately to the second machine system.
9. A control system for controlling several agricultural machine systems during operation on a territory, comprising a reference line determination device locatable on a first machine system for determining initially only by a first machine system a reference line by recording a reference path that was driven along with the first machine system and also a further reference line; a transmitter located on the first machine system for transmitting the initially determined by the first machine system reference line and the further reference line determined by to at least one second machine system; a receiver located on the at least one second machine system for receiving the initially determined by the first machine system reference line and the further reference line of the first machine system; a route planning device for the second machine system, for determining-based on the original reference line received with consideration for working conditions of the second machine system including crop properties and related consequences—an optimized route for working the territory for the second machine system.
10. A control system as defined in claim 9 ; and further comprising a reference line determination device locatable on the second machine system for determining a reference line by receiving a reference path driven along with the second machine system; a transmitter for transmitting the reference line to at least one further machine system; and a receiver provided in the first machine system for receiving a reference line from the further machine system.