Abstract: An agricultural working machine, in particular a tractor, has at least one agricultural working unit for working a crop field including a multitude of useful plants, and a camera system which includes a 3D camera. The camera system is configured for generating with the 3D camera 3D information regarding the crop field by recording stereoscopic image pairs along two different viewing axes. The viewing axes proceed from optical centers of the 3D camera, which are connected to each other by a baseline that is inclined relative to the horizontal.

Abstract: An agricultural working machine, in particular a tractor, has at least one agricultural working unit for working a crop field including a multitude of useful plants, and a camera system which includes a 3D camera. The camera system is configured for generating with the 3D camera 3D information regarding the crop field by recording stereoscopic image pairs along two different viewing axes. The viewing axes proceed from optical centers of the 3D camera, which are connected to each other by a baseline that is inclined relative to the horizontal.

Abstract: A crop harvesting machine has a machine body and a discharge spout attached to the machine body for overloading crop via a crop stream to a trailer. And electronic spout control and a discharge spout drive arrangement displaces the discharge spout relative to the machine body based on drive commands of the electronic spout control for guiding the crop stream to a target hit point at the trailer. A first sensor arrangement generates sensor information by optically identifying a reference feature at the trailer and detecting the position of the reference feature and/or space orientation of the reference feature. The second sensor arrangement generates sensor information by detecting a space orientation of the machine body, the discharge spout or both. The electronic spout control generates its drive commands for guiding the crop stream based on the sensor information.

Abstract: A crop tank system has a crop tank for receiving harvested crop and a fill level sensor arrangement for detecting fill level information regarding the crop tank. The fill level sensor arrangement includes a radar sensor, which sends out and receives radar rays that, depending on the fill level of the crop contained in the crop tank, penetrate the crop contained in the crop tank and/or are reflected by the crop contained in the crop tank. The fill level sensor arrangement also includes an electronic sensor control, which determines the fill level information based on the received radar rays.

Abstract: A crop harvesting machine has a machine body and a discharge spout attached to the machine body for overloading crop via a crop stream to a trailer. And electronic spout control and a discharge spout drive arrangement displaces the discharge spout relative to the machine body based on drive commands of the electronic spout control for guiding the crop stream to a target hit point at the trailer. A first sensor arrangement generates sensor information by optically identifying a reference feature at the trailer and detecting the position of the reference feature and/or space orientation of the reference feature. The second sensor arrangement generates sensor information by detecting a space orientation of the machine body, the discharge spout or both. The electronic spout control generates its drive commands for guiding the crop stream based on the sensor information.

Abstract: 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.

Abstract: A control system controlling a goods carrier of an agricultural vehicle for conveying goods to a target area, has a 3D imaging device providing frames imaging the target area, a data processor and a memory. The control system derives information from the frames and operates to obtain a reference frame comprising 3D information about the pose of the target area, identify a plurality of characteristic points of the target area in the reference frame, obtain a new frame, analyze the new frame to identify a plurality of characteristic points, search and match characteristic points in the reference frame and the new frame, analyze pairs of matched characteristic points to establish a group of pairs showing a common change of pose between the reference frame and the new frame, and provide a signal taking into account results of the latter analysis.

Abstract: An agricultural vehicle has a steering system providing steering signals and including an imaging device for imaging surroundings of the vehicle and an image processing device, the steering system operates to provide by the imaging device an image of the field, analyze the image to obtain texture information, assign to a plurality of areas of the image probability-values reflecting the likelihood that the respective area relates to a specific structure, assume at least one geometric property of the specific structure, and establish a most possible position parameter of the specific structure taking into account the probability-values and the assumed geometric property; and to provide a steering signal in accordance with the position parameter thus established.

Abstract: A filling degree gauge for measuring and displaying a residual filling potential of a target area, such as a container, being filled through a target, such as an open top, with goods by a goods carrier, such as a discharge spout, of an agricultural vehicle, such as a harvester, has a 3D sensor for observing at least a part of the target area including at least a part of the target, a data control system and a visual display unit. The data control system operates to provide on the visual display unit a visual display indicating residual filling potential by indicating the current one of at least three different levels of residual filling potential.

Abstract: A transferring device includes controllable goods carrier conveying goods to a target area, a stereo camera for providing images of the target area and a control system for deriving information from the images and controlling the goods carrier taking into account the information derived from the images. The stereo camera has two objective lenses and defines a common base line with a tilt angle relative to a horizontal. The common base line is placed in a vertical plane. The transferring device also includes floodlight projectors that are placed at a distance of at least 0.5 m from the stereo camera. Preferably, the controllable goods carrier is an ejecting spout.

Abstract: A method of navigating an agricultural vehicle, which is equipped with a 3D imaging device for imaging surroundings of the vehicle, and an image processing device, includes obtaining from the 3D imaging device frames imaging at least a part of the surroundings of the vehicle at different points of time while the vehicle is moving thus providing a chronological sequence of frames, analysing the frames, and establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames.

Abstract: An agricultural vehicle has a steering system providing steering signals and including an imaging device for imaging surroundings of the vehicle and an image processing device, the steering system operates to provide by the imaging device an image of the field, analyse the image to obtain texture information, assign to a plurality of areas of the image probability-values reflecting the likelihood that the respective area relates to a specific structure, assume at least one geometric property of the specific structure, and establish a most possible position parameter of the specific structure taking into account the probability-values and the assumed geometric property; and to provide a steering signal in accordance with the position parameter thus established.

Abstract: A control system controlling a goods carrier of an agricultural vehicle for conveying goods to a target area, has a 3D imaging device providing frames imaging the target area, a data processor and a memory. The control system derives information from the frames and operates to obtain a reference frame comprising 3D information about the pose of the target area, identify a plurality of characteristic points of the target area in the reference frame, obtain a new frame, analyse the new frame to identify a plurality of characteristic points, search and match characteristic points in the reference frame and the new frame, analyse pairs of matched characteristic points to establish a group of pairs showing a common change of pose between the reference frame and the new frame, and provide a signal taking into account results of the latter analysis.

Abstract: A filling degree gauge for measuring and displaying a residual filling potential of a target area, such as a container, being filled through a target, such as an open top, with goods by a goods carrier, such as a discharge spout, of an agricultural vehicle, such as a harvester, has a 3D sensor for observing at least a part of the target area including at least a part of the target, a data control system and a visual display unit. The data control system operates to provide on the visual display unit a visual display indicating residual filling potential by indicating the current one of at least three different levels of residual filling potential.

Abstract: A transferring device comprises a controllable goods carrier such as an ejecting spout (9) for conveying goods to a target area (19), a stereo camera (29) for providing images of the target area, and a control system (46) for deriving information from the images and controlling the goods carrier (9) taking into account the information derived from the images. The stereo camera (29) has objective lenses (36a, 36b) defining a base line (43) with a tilt angle relative to horizontal (45). Preferably the base line is placed in a vertical plane. The transfer devise has floodlight projectors (31, 33) placed at lease 0.5 m from the stereo camera (29).

Abstract: A method of navigating an agricultural vehicle, which is equipped with a 3D imaging device for imaging surroundings of the vehicle, and an image processing device, includes obtaining from the 3D imaging device frames imaging at least a part of the surroundings of the vehicle at different points of time while the vehicle is moving thus providing a chronological sequence of frames, analysing the frames, and establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames.

Abstract: The invention relates to an agricultural working machine (1), in particular a forage harvester (2), with at least one spout (4) for conveying received and processed crop (7) to a transport vehicle (6, 25), wherein an electro-optical device (18) is provided for the direction control of the spout (4) at least during the process of conveying to the transport vehicle (6, 25), and wherein the electro-optical device (18) detects characteristic parameters (30) of the spout (4) and characteristic parameters (30) of the transport vehicle (6) and/or the agricultural working machine (1). This ensures that a control of a spout (4) of agricultural working machines (1, 2) is provided which almost completely relieves the operator of the agricultural working machine (1, 2) of the task of monitoring the spout.

Abstract: The invention relates to a control system for agricultural working vehicles with at least two sensor systems which generate sensor signals (A, B), wherein the sensor signals (A, B) are vehicle-dependent or dependent on the crop characteristics or a combination of both. The object of this invention is to develop a control system for agricultural working vehicles in such a manner that a suitable fusion of the sensor signals (A, B) of the sensor systems is achieved, in particular. This object is achieved according to the invention in that at least one first and at least one second sensor signal processing algorithm (I,II,III,IV,V) is provided in the control system, and in that a selection is made as to which sensor signal processing algorithm (I,II,III,IV,V) is to be used as a function of at least one characteristic parameter (P).