Abstract: A method for determining a terrain contour lying ahead in the direction of travel of an agricultural distribution machine includes determining a reference distance of a distribution boom from a reference measuring point of a target area, for example, a ground or crop surface, and determining a distance of the distribution boom from a measuring point of the target area arranged ahead of the reference measuring point in the direction of travel of the distribution machine. The method further includes referencing, preferably by comparing and/or relating the determined distance to the determined reference distance, to determine a change in the terrain contour at the measuring point relative to the reference measuring point. An agricultural distribution machine has a distribution boom and a control device for controlling the height of a distribution boom of such a distribution machine.

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: A method for travel lane planning of a plurality of agricultural working machines, on a usable agricultural area where the machines at least partially comprise different turning radii. The method comprises a computer-assisted planning of a travel lane infrastructure relative to the usable agricultural area for travel over the usable agricultural area by the plurality of agricultural working machines, wherein the travel lane infrastructure comprises at least one curve section which is planned on the basis of the different turning radii of the plurality of agricultural working machines.

Abstract: A control system for an agricultural machine including at least one working implement for performing agricultural work processes includes a location determination module and a machine management module. The work processes can be planned by a planning module and transmitted to the machine management module or can be retrieved from a memory of the machine management module. In the control system, operational speeds are managed such that machine-specific load limits and environment-specific load limits are not exceeded.

Abstract: A compensation system for an agricultural machine comprises 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: An agricultural distribution machine that includes a carrier vehicle with a distributor boom that is movable at least about a pivot axis is described. The machine also includes a controlling apparatus that generates a controlling force to move the distributor boom about the pivot axis. A first sensor apparatus detects an angular rate (?) of the distributor boom. The control apparatus implements a first operating mode to hold the distributor boom in a currently set target rotational position in which disturbance torques acting on the distributor boom, resulting from movements of the carrier vehicle about the longitudinal axis, are compensated. In the first operating mode, the control apparatus is configured to regulate the angular rate (?) detected by the first sensor apparatus as a controlled variable to a target value which has an absolute value of between zero and a threshold value (?0).

Abstract: The invention relates to an agricultural distribution machinehaving a distribution linkage for applying agricultural material with two lateral booms, each having a plurality of application elements for applying the material, and a method of operation thereof. The distribution machine includes a controllable actuating device for altering a position of the distribution linkage relative to a target agricultural area to be worked, a sensor device configured to sense in anticipation changing vertical distances between the distribution linkage and the target area and/or upcoming changes in contour of the target area, and a control device that, for the purpose of controlling the position, preferably controlling the height, of the distribution linkage, is configured to generate actuating signals for the actuating means based upon the changing vertical distances sensed in anticipation and/or changes in contour, in order to at least partially reduce a response time in the position control device.

Abstract: The invention relates inter alia to a steerable independent wheel suspension for a mobile agricultural machine. A support device serves for the pivotable mounting of the independent wheel suspension on a frame part of the agricultural machine. At least one guide column is mounted displaceably in the support device. A wheel hub is guided displaceably along the at least one guide column. A bracket is connected fixedly to the at least one guide column so as to move with the at least one guide column. The bracket can allow a flexible and improved arrangement of height adjustment means, damping means and spring-mounting means of the independent wheel suspension.

Abstract: A method for travel lane planning of a plurality of agricultural working machines, on a usable agricultural area where the machines at least partially comprise different turning radii. The method comprises a computer-assisted planning of a travel lane infrastructure relative to the usable agricultural area for travel over the usable agricultural area by the plurality of agricultural working machines, wherein the travel lane infrastructure comprises at least one curve section which is planned on the basis of the different turning radii of the plurality of agricultural working machines.

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: The invention relates inter alia to a steerable independent wheel suspension for a mobile agricultural machine. A support device serves for the pivotable mounting of the independent wheel suspension on a frame part of the agricultural machine. At least one guide column is mounted displaceably in the support device. A wheel hub is guided displaceably along the at least one guide column. A bracket is connected fixedly to the at least one guide column so as to move with the at least one guide column. The bracket can allow a flexible and improved arrangement of height adjustment means, damping means and spring-mounting means of the independent wheel suspension.

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: An agricultural distribution machine that includes a carrier vehicle with a distributor boom that is movable at least about a pivot axis is described. The machine also includes a controlling apparatus that generates a controlling force to move the distributor boom about the pivot axis. A first sensor apparatus detects an angular rate (?) of the distributor boom. The control apparatus implements a first operating mode to hold the distributor boom in a currently set target rotational position in which disturbance torques acting on the distributor boom, resulting from movements of the carrier vehicle about the longitudinal axis, are compensated. In the first operating mode, the control apparatus is configured to regulate the angular rate (?) detected by the first sensor apparatus as a controlled variable to a target value which has an absolute value of between zero and a threshold value (?0).

Abstract: An agricultural distribution machine, such as a field sprayer or a pneumatic fertilizer spreader is described. The agricultural distribution machine includes a carrier vehicle and a distributor boom for spreading material, such as a fertilizer, a plant protection agent, or seed. The boom is indirectly or directly arranged on the carrier vehicle so as to be movable at least about a pivot axis running in the direction of travel. The boom has segments which are pivotable relative to one another about upright axes and/or in a plane arranged perpendicular to the direction of travel of the agricultural distribution machine. The boom includes an acceleration-compensated inclinometer apparatus for determining a rotational position of the distributor boom.

Abstract: A control system for an agricultural machine for performing agricultural work processes includes a location determination module and a machine management system.) The work processes are plannably retrievable by means of a planning system from a memory of the machine management system. In the control system, operational speeds are defined allowing for machine-specific and environment-specific load limits.

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.