Method for detecting interferences in a crop collection system
A self-propelled agricultural working machine has at least one working unit such as a ground drive, a driver assistance system for generating control actions within the working machine, and a sensor system for generating pieces of environmental information. The driver assistance system generates the control actions on the basis of the pieces of environmental information. The driver assistance system assigns an urgency level to each of the pieces of environmental information and generates the control actions on the basis of the pieces of environmental information and the particular assigned urgency levels.
1 . A self-propelled agricultural working machine, comprising:
at least one working unit;
a ground drive;
a driver assistance system for generating control actions within the working machine;
a sensor system for generating pieces of environmental information;
wherein the driver assistance system assigns an urgency level to each piece of environmental information and generates the control actions on a basis of the pieces of environmental information and on a basis of particular assigned urgency levels.
2 . The self-propelled agricultural working machine according to claim 1 , wherein the at least one working unit is a ground drive
3 . The self-propelled agricultural working machine according to claim 1 , wherein the sensor system comprises a first sensor that which gathers a first piece of sensor information on a basis of a first physical property of a peripheral object in the environment of the working machine.
4 . The self-propelled agricultural working machine according to claim 3 , wherein the sensor system comprises at least one further sensor that gathers a further piece of sensor information on a basis of a further physical property of the peripheral object and wherein the driver assistance system generates, on the basis of the first piece of sensor information and the further piece of sensor information, a piece of environmental information regarding the peripheral object.
5 . The self-propelled agricultural working machine according to claim 1 , wherein the driver assistance system implements the control actions based on the pieces of environmental information with higher or lower priority than other pending control actions depending on the particular assigned urgency level.
6 . The self-propelled agricultural working machine according to claim 1 , wherein the driver assistance system assigns an object category from the object categories “living” and “not living” to the peripheral object on a basis of the pieces of environmental information.
7 . The self-propelled agricultural working machine according claim 1 , wherein the driver assistance system assigns an object type, such as “animal,” “person,” “rigid object” or “vehicle with engine,” to the peripheral object on a basis of the generated pieces of environmental information.
8 . The self-propelled agricultural working machine according to claim 1 , wherein the driver assistance system makes the assignment of the object category an object type dependent on whether a first necessary condition relating to the first piece of sensor information and a second necessary condition relating to the further piece of sensor information, or both have been met.
9 . The self-propelled agricultural working machine according to claim 8 , wherein the object type dependent on whether a first necessary condition relating to the first piece of sensor information is a predetermined shape.
10 . The self-propelled agricultural working machine according to claim 8 , wherein the second necessary condition relating to the further piece of sensor information is a predetermined temperature range.
11 . The self-propelled agricultural working machine according to claim 1 , wherein the control actions generated by the driver assistance system on a basis of the pieces of environmental information include a warning action for the operator issued via any of the following: a human-machine interface, a braking carried out by activating a brake system, a steering action carried out by activating a steering system and an action to adjust a working unit.
12 . The self-propelled agricultural working machine according to claim 1 , wherein at least one urgency level is assigned to a predetermined control action.
13 . The self-propelled agricultural working machine according to claim 1 , wherein the driver assistance system derives the urgency level from the distance of the peripheral object from the working machine, from a ground speed of the working machine or both.
14 . The self-propelled agricultural working machine according to claim 1 , wherein in that the driver assistance system derives the urgency level from an object category, and object type or both.
15 . The self-propelled agricultural working machine according claim 1 , wherein a predetermined urgency level is assigned to at least one sensor of the sensor system.
16 . The self-propelled agricultural working machine according to claim 1 , wherein the driver assistance system implements the control actions based on the pieces of environmental information using different control parameters depending on the particular urgency level.