Abstract: An agricultural machine, in particular self-propelled and/or towed agricultural machine and methods for proactively controlling an agricultural machine to maintain a positioning of a boom coupled to the machine over uneven terrain are described. The agricultural machine includes a chassis that bears components of the agricultural machine, a data processing apparatus, a sensor unit for detecting an inclination angle of the chassis relative to a reference plane, and a detection apparatus for detecting a travel speed and/or a travelled route, per time unit. Proactive control of the machine is achieved using the data processing apparatus which is configured to calculate a travelled route, in particular per time unit, using a travel speed and/or to calculate a terrain relief using a travelled route, per time unit, and using an inclination angle of the chassis which changes or remains constant along the route.

Abstract: The present invention relates to a device (14) for safely operating an autonomously operable agricultural machine (12), said device comprising: an input interface (30) for receiving a sensor signal from an environment sensor (18) on the agricultural machine, said signal comprising information about objects in the surroundings of the agricultural machine; a processing unit (32) for recognizing a fault situation based on the sensor signal; a classification unit (34) for assigning the recognized fault situation to a fault class based on a predefined assignment rule; and a transmission interface (36) for periodically transmitting a message to a control device (16) of the agricultural machine via a vehicle bus system (20) of the agricultural machine, said message comprising the fault class if the fault situation was recognized. The present invention also relates to a method and a system (10) for safely operating an autonomously operable agricultural machine (12).

Abstract: Disclosed is a compensation system for an agricultural machine comprising a distributor boom mounted on a chassis in a height-adjustable manner. The distributor boom has side parts which are pivotably arranged to the left and right on a central part, and a plurality of distribution elements arranged thereon which are connected to a storage container for material to be distributed. A vertical position of the distributor may be changed by an actuating device. A data processer is configured to generate actuating signals for the actuating device for changing the vertical position. To prevent collisions of the distributor boom with the ground while at the same time minimizing drift, a sensor device is configured to detect rotation of the chassis or the distributor boom in the direction of travel and the data processer is configured to generate actuating signals for the actuating device based upon the rotation.

Abstract: An agricultural machine, in particular self-propelled and/or towed agricultural machine and methods for proactively controlling an agricultural machine to maintain a positioning of a boom coupled to the machine over uneven terrain are described. The agricultural machine includes a chassis that bears components of the agricultural machine, a data processing apparatus, a sensor unit for detecting an inclination angle of the chassis relative to a reference plane, and a detection apparatus for detecting a travel speed and/or a travelled route, per time unit. Proactive control of the machine is achieved using the data processing apparatus which is configured to calculate a travelled route, in particular per time unit, using a travel speed and/or to calculate a terrain relief using a travelled route, per time unit, and using an inclination angle of the chassis which changes or remains constant along the route.

Abstract: The invention relates, inter alia, to a method for operating an autonomous agricultural work machine. A first current position of the agricultural work machine is determined by means of a first position-determining device. A second current position of the agricultural work machine is determined by means of a second position-determining device. A difference value which relates to a difference between the first current position and the second current position is determined. The work machine is operated autonomously as a function of the determined difference value.

Abstract: Disclosed is a device for spreading liquid and/or solid active agents as well as a method for controlling the device. The device comprises a carrier vehicle, at least one boom arranged pivotably about a rotation axis, and at least one sensor arrangement for detecting an angular velocity and/or an angular position of the boom about the rotation axis in relation to a reference plane. A control unit processes output signals of the sensor arrangements to control signals for an actuator for the purpose of pivoting the boom. Two actuators or a double acting actuator provide an actuating connection between the carrier vehicle and the pivotable boom, wherein the actuator has one active actuating side for each of the two pivoting directions of the boom, which active actuating side is electromagnetically or electromotively actuatable.

Abstract: A device for spreading active agents comprising: a boom, which is arranged pivotably about a rotation axis; a sensor arrangement for the detection of an angular velocity of the boom about the rotation axis; a sensor for the detection of an angular position of the boom; a control unit processing output signals from the sensor; and an actuator, acting on the present angular position of the boom based on control signals from the control unit. For the determination of an angular position of the boom, the control unit calculates an angular position of the boom in relation to a reference plane by integration of the angular velocity and merges the angular position calculated by means of the angular velocity, with the detected angular position to determine the present angular position of the boom to return the boom to a desired angular position.

Abstract: A device for spreading active agents comprising: a boom, which is arranged pivotably about a rotation axis; a sensor arrangement for the detection of an angular velocity of the boom about the rotation axis; a sensor for the detection of an angular position of the boom; a control unit processing output signals from the sensor; and an actuator, acting on the present angular position of the boom based on control signals from the control unit. For the determination of an angular position of the boom, the control unit calculates an angular position of the boom in relation to a reference plane by integration of the angular velocity and merges the angular position calculated by means of the angular velocity, with the detected angular position to determine the present angular position of the boom to return the boom to a desired angular position.

Abstract: Disclosed is an apparatus for spreading solid active agents and a method for controlling the apparatus. A boom is pivotably mounted on a vehicle. A sensor arrangement detects an angular velocity and/or an angular position of the boom about a pivot axis. A control unit processes output signals of the sensor arrangement to control signals for an actuator to adjust the boom. The actuator has an active pressure side for each of the two adjustment directions of the boom. Approximately equal pressure levels prevail in the active pressure sides of two actuators operating in opposition or of a double-acting actuator, when the boom is stationary or moves only slightly in relation to the carrier vehicle. A defined differential pressure is adjustable between the active pressure sides of the actuators when the boom is shifted in relation to the carrier vehicle.

Abstract: The present invention relates to a method for the position-controlled guidance of at least two pivotably movable cantilevered arms of an agricultural distribution machine over a ground surface wherein a relative position of the at least two pivotably movable cantilevered arms in relation to the ground surface is respectively detected and a realignment of the at least two cantilever arms is carried out via autonomous regulation based on the detected relative position of each cantilevered arm in response to a pivoting motion in relation to the ground surface. The method provides that the autonomous regulation is temporarily interrupted for at least one of the two pivotably movable cantilevered arms, wherein a positioning of one of the two pivotably movable cantilevered arms is carried out in a manually controlled manner during the interruption.

Abstract: An agricultural distribution machine for spreading liquid and/or solid plant protection products by means of a distribution apparatus which is height-adjustably arranged on a frame of the distribution machine having a plurality of nozzle holders with spray nozzles mounted thereon arranged spaced apart from each other for the purpose of distributing the plant protection product to be spread. Activation of the distribution apparatus is carried out based on at 10 least two spray profiles stored in a computer unit, each spray profile composed of a plurality of parameters. In order to achieve a consistent distribution quality of the plant protection product, different spray profiles can be stored in a computer unit and, in the instance of a deviation of the parameters of a spray profile, an automated activation of the distribution machine or of the distribution 15 apparatus to the parameters of a second spray profile is carried out.

Abstract: A device for spreading liquids in an agricultural field includes at least two cantilever arms, each having multiple means for distributing the liquid. The two cantilever arms are pivotable about one or more axes running approximately parallel to a driving direction of the device, and each arm includes one or more attached actuators that transmit an actuating force to produce a pivoting movement onto the cantilever arms. First sensors for determining a relative actual spacing of the cantilever arms and second sensors for detecting an environmental profile provide signals to a control apparatus which controls the actuators to achieve a desired movement and spacing of the cantilever arms. An associated method is also described.

Abstract: A device for spreading liquid and/or solid active agents comprises a carrier vehicle, at least one pivotable boom, and sensors for detecting an angular velocity and/or an angular position of the boom. A control unit processes output signals of the sensors to control signals for an actuator to adjust the boom. The actuator produces an actuating connection between the carrier vehicle and the pivotable boom, and has one active pressure side, which is engageable by fluidic actuating pressure, for each of the two adjustment directions of the boom. An approximately equal pressure prevails on the active pressure sides of two actuators operating in opposition or of a double-acting actuator, respectively, when the boom is stationary or moves only slightly in relation to the carrier vehicle. A defined differential pressure is adjustable between the active pressure sides of the two actuators or of a double-acting actuator, when the boom is shifted.

Abstract: An agricultural distribution machine for spreading liquid and/or solid plant protection products by means of a distribution apparatus which is height-adjustably arranged on a frame of the distribution machine having a plurality of nozzle holders with spray nozzles mounted thereon arranged spaced apart from each other for the purpose of distributing the plant protection product to be spread. Activation of the distribution apparatus is carried out based on at 10 least two spray profiles stored in a computer unit, each spray profile composed of a plurality of parameters. In order to achieve a consistent distribution quality of the plant protection product, different spray profiles can be stored in a computer unit and, in the instance of a deviation of the parameters of a spray profile, an automated activation of the distribution machine or of the distribution 15 apparatus to the parameters of a second spray profile is carried out.

Abstract: A device for spreading active agents comprising: a boom, which is arranged pivotably about a rotation axis; a sensor arrangement for the detection of an angular velocity of the boom about the rotation axis; a sensor for the detection of an angular position of the boom; a control unit processing output signals from the sensor; and an actuator, acting on the present angular position of the boom based on control signals from the control unit. For the determination of an angular position of the boom, the control unit calculates an angular position of the boom in relation to a reference plane by integration of the angular velocity and merges the angular position calculated by means of the angular velocity, with the detected angular position to determine the present angular position of the boom to return the boom to a desired angular position.

Abstract: Disclosed is an apparatus for spreading solid active agents and a method for controlling the apparatus. A boom is pivotably mounted on a vehicle. A sensor arrangement detects an angular velocity and/or an angular position of the boom about a pivot axis. A control unit processes output signals of the sensor arrangement to control signals for an actuator to adjust the boom. The actuator has an active pressure side for each of the two adjustment directions of the boom. Approximately equal pressure levels prevail in the active pressure sides of two actuators operating in opposition or of a double-acting actuator, when the boom is stationary or moves only slightly in relation to the carrier vehicle. A defined differential pressure is adjustable between the active pressure sides of the actuators when the boom is shifted in relation to the carrier vehicle.

Abstract: The present invention relates to a method for the position-controlled guidance of at least two pivotably movable cantilevered arms of an agricultural distribution machine over a ground surface wherein a relative position of the at least two pivotably movable cantilevered arms in relation to the ground surface is respectively detected and a realignment of the at least two cantilever arms is carried out via autonomous regulation based on the detected relative position of each cantilevered arm in response to a pivoting motion in relation to the ground surface. The method provides that the autonomous regulation is temporarily interrupted for at least one of the two pivotably movable cantilevered arms, wherein a positioning of one of the two pivotably movable cantilevered arms is carried out in a manually controlled manner during the interruption.