Abstract:
A device for visualizing control operations of an agricultural working machine includes a visualization device that visualizes at least one driving path to be traveled is assigned to the agricultural working machine. Control operations are stored in graphic images and the graphic images are displayed in the visualization device along the driving path to be traveled in the order in which they are carried out, to maintain an operator in an informed state with respect to the control processes that are taking place.

Description:
CROSS-REFERENCE TO A RELATED APPLICATION 
       [0001]    The invention described and claimed hereinbelow is also described in German Patent Application DE 10 2011 054 630.8 filed on Oct. 20, 2011. This German Patent Application, subject matter of which is incorporated herein by reference, provides the basis for a claim of priority of invention under 35 U.S.C. 119(a)-(d). 
       BACKGROUND OF THE INVENTION 
       [0002]    The invention relates to a device for visualizing control operations of an agricultural working machine. 
         [0003]    Document EP 0 820 688 made known a device for controlling actuating components of a utility vehicle, in which the driver of the utility vehicle can freely program a control sequence for the utility vehicle and activate the programmed control sequence by actuating a control button. Such systems have the advantage that complicated control operations can be automated, thereby relieving the driver of the working machine of complex control processes. Such automated control routines are used primarily when agricultural working machines are driven in the so-called headland of a territory to be worked. There, upon driving out of the territory to be worked, the first step is typically to reduce the ground speed and to then disengage the working units and raise the working tool. Once the agricultural harvesting machine has turned around in the headland, the sequence is reversed and the working tool must be lowered again, the working units must be engaged, and the ground speed must be increased once more. 
         [0004]    Such control processes, which are highly complex over all, can be automated very conveniently using freely programmable control sequences. To ensure that the driver of the agricultural working machine receives information on which control operations are included in the control sequence that was created, a display unit designed as an LC display is provided for visualizing the activated control operations. Such display systems are sufficient primarily in the case of agricultural working machines that are steered by the driver since, in these cases, the driver is directly involved in the vehicle control process. 
         [0005]    Such visualization systems reach their limits, however, when the agricultural working machine works automatically determined, predefined driving routes. In these cases, the vehicle operator is no longer directly integrated in the control process and is not entirely able to determine whether the control operations of the activated control sequence correspond with the momentary position of the vehicle. To provide assistance therefor, document EP 2 020 170 provides, among other things, a display device that visualizes the control operations of a preprogrammed control sequence. The visualization ensures that the driver of the agricultural working machine is informed of the control processes to be carried out. In addition to limited operating comfort, however, such systems have the disadvantage in particular that there is no direct link between the control operations to be carried out and the momentary position of the agricultural vehicle on the territory to be worked. 
       SUMMARY OF THE INVENTION 
       [0006]    The present invention overcomes the shortcomings of known arts, such as those mentioned above. 
         [0007]    For example, the invention includes a device that establishes a direct link between the position of the agricultural vehicle on the territory to be worked and the particular control operation be carried out, thereby ensuring that even an operator who is not directly integrated in the control process of the agricultural working machine is always informed about the control processes that are taking place. 
         [0008]    In an embodiment, a device for visualizing control operations of an agricultural working machine comprises a visualization device assigned to the agricultural working machine that visualizes at least one driving path to be traveled by the agricultural working machine, wherein the control operations are stored in graphic images and the graphic images are displayed in the visualization device along the driving path to be traveled in the order in which they are carried out. Such operation ensures that even an operator who is not directly integrated in the control process of the agricultural working machine is always informed of the control processes that are taking place. 
         [0009]    In an embodiment of the invention, the driving path to be traveled is formed by the turnaround path of an agricultural working machine in the headland of a territory to be worked. The headland path preferably comprises a driving route section leading out of the territory to be worked, a headland section and a driving route section leading into the territory to be worked. This has the advantage that the control processes taking place during this time during travel of the agricultural working machine in the so-called headland can be depicted very clearly in the visualization device. 
         [0010]    A highly flexible use of the agricultural working machine is achieved in a further advantageous embodiment of the invention when a plurality of control operations forms one control sequence. 
         [0011]    To ensure that the operator of the agricultural working machine can precisely and rapidly determine which control operation is currently activated and which control operations still need to be activated, the invention provides that every control operation of a control sequence is visualized by way of an icon comprising image and/or text elements. 
         [0012]    An icon representing a control operation is displayed before the particular control operation is carried out, thereby enabling the operator of the agricultural working machine to abort or delay the execution of the upcoming control operation, for example, if external circumstances make this necessary. 
         [0013]    Since the icon representing a control operation that has been carried out remains visible in the display unit while subsequent control operations are carried out, the operator of the agricultural working machine always has a complete overview of the control sequence to be carried out. 
         [0014]    When a control sequence is activated, all control operations of said control sequence are displayed via visualization of the particular icon, and the icon of the particular control operation to be carried out is emphasized before the particular control operation is carried out. This has the effect, in particular, that the operator can determine quickly, quasi at a glance, which control operation is currently activated and which will be activated next. This effect also is supported in that the particular icon is emphasized via flashing or a color change. 
         [0015]    A highly flexible and universal use of the visualization device according to the invention is obtained primarily in that the agricultural working machine is designed as a towing vehicle having at least one adapted working device or is designed as an agricultural harvesting machine comprising a front harvesting attachment. The control operations forming the control sequence result in the working device or front harvesting attachment being moved into a non-working position upon leaving the territory to be worked and result in the working device or front harvesting attachment being moved into a working position upon entering the territory to be worked. In this manner it becomes possible to apply the visualization principle according to the invention in a machine-independent manner. 
         [0016]    The control sequence to be carried out can be freely programmable. The control sequence is made freely programmable by an operator via actuation of the control buttons that trigger the particular control operation and/or via editing at the visualization device. A particularly user-friendly free programmability of the control sequence is achieved when the visualization device comprises a touchscreen monitor that has a menu field in which the icons representing the possible control operations are stored, wherein the control sequence is programmed by dragging the particular icon into the visualized driving path to be traveled. 
         [0017]    The operator of the agricultural working machine is also greatly relieved when a route plan that is at least partially visualized in the visualization device and at least one track-following system are assigned of the agricultural working machine in such a way that the agricultural working machine automatically follows the predefined driving routes that have been stored in the route plan. Preferably, the route plan also comprises the driving path to be traveled in the headland and the track-following system automatically guides the agricultural working machine along the driving path. The agricultural working machine automatically implements the preprogrammed control sequence comprising the selected control operations. 
         [0018]    The track-following system assigned to the agricultural working machine can operate in a manner that is GPS-based and/or camera-based and/or sensor-based. The sensor is designed as a laser sensor. In this manner, a proven technology for the autonomous driving of agricultural working machines is combined with a visualization technology that relieves the operator of the agricultural working machine of the direct control process of the agricultural working machine in the headland to the greatest extent possible. The combination allows the operator to devote more attention to the surrounding conditions during travel in the headland, markedly reducing the risks of accident and collision. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0019]    Further features and advantages of the invention will become apparent from the description of embodiments that follows, with reference to the attached figures, wherein: 
           [0020]      FIGS. 1   a - c  together show a schematic overview of headland management when an agricultural working machine leaves the territory to be worked; 
           [0021]      FIG. 2  shows a schematic overview of headland management when an agricultural working machine enters the territory to be worked; 
           [0022]      FIG. 3  shows a schematic depiction of the visualization device according to the present invention; and 
           [0023]      FIG. 4  shows a further detailed view of the visualization device according to the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0024]    The following is a detailed description of example embodiments of the invention depicted in the accompanying drawings. The example embodiments are presented in such detail as to clearly communicate the invention and are designed to make such embodiments obvious to a person of ordinary skill in the art. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention, as defined by the appended claims. 
         [0025]      FIGS. 1   a - c  provide shows a schematic depiction of headland management  1  using the example of an agricultural working machine  5  designed as a tractor ( 2 )—cutting mechanism ( 3 ,  4 ) combination. The agricultural working machine  5  moves on the territory  6  to be worked, i.e. the field, along driving paths  7  to be traveled. The driving paths  7  to be traveled are stored in a route plan  8  (to be described in greater detail below), in a control/regulating device  9  assigned to the tractor  2 . A mower unit  3  assigned to the tractor on the front side and a mower unit  4  assigned thereto on the rear side are driven via the front and rear P.T.O. shafts  10 ,  11  of the tractor  2 . When the tractor  2  approaches a boundary line  12  that separates the territory  6  to be worked from the so-called headland region  13 , the headland management  1  is either automatically activated or is triggered by the operator  14  of the agricultural working machine  5 . 
         [0026]    In the example depicted, a control sequence  15  stored in the control/regulating device  9  is activated before the boundary line  13  is reached. The control sequence triggers one or more control operations  16  depending on time, travel or event. A first activated control operation  16 . 1  results in deactivation of the differential lock at one or more of the vehicle axles  17 ,  18 , thereby improving the steerability of the vehicle during the change in direction of motion that is necessary in the headland  13 . 
         [0027]    When the mower unit  3  driven by the front P.T.O shaft  10  reaches the boundary line  13 , a control operation  16 . 2  is triggered. Control operation  16 . 2  results in the front mower unit  3  being swiveled in the vertical direction into a non-working position  19  ( FIG. 1   b ). 
         [0028]    According to  FIG. 1   c , a control operation  16 . 3  is triggered when the rear-adapted mower unit  4  has reached the boundary line  12 . Control operation  16 . 3  results in the rear mower unit  4  being raised into a non-working position  19 . Depending on the structure of the control sequence  15 , a control operation  16 . 4  results in deactivation of the front and rear P.T.O shafts  10 ,  11 , and so the mower units  3 ,  4  are shut off before the agricultural working machine  5  is turned. In a control operation  16 . 5 , the ground speed of the agricultural working machine  5  is adapted to the travel in the headland region  13 . This ground speed adapting can be either a reduction or an increase in the ground speed. 
         [0029]    According to  FIG. 2 , when the agricultural working machine  5  has finally passed through the headland region  13  and is moving along a predefined driving route  5  back toward the boundary line  12  that separates the headland region  13  from the territory  6  to be worked, the previously activated control operations  16 . 1 - 16 . 5  are implemented once more, in a different order. That is, the ground speed of the agricultural working machine is adjusted first (control operation  16 . 5 ). Next, the front and rear P.T.O. shafts  10 ,  11  are actuated (control operation  16 . 4 ) and the front mower unit  3  is lowered back into a working position  20  until the boundary line  12  is reached (control operation  16 . 2 ). When the rear mower unit  4  reaches the boundary line  12 , it is also lowered back into a working position  20 , which is not shown (control operation  16 . 3 ). Finally, if all mower units  3 ,  4  are in the working position  20  and the agricultural working machine  5  travels on the driving path  7  to be traveled (determined by a route plan  8 ), the differential lock is reactivated (control operation  16 . 1 ). 
         [0030]    To ensure that the driver  14  of the agricultural working machine  5  is precisely instructed about the execution of the selected control sequence  15 , the agricultural working machine  5  comprises a visualization device  21 , as shown in  FIG. 3 . The visualization device  21  can either be a component of the previously described control/regulating device  9  or can be disposed separately in the driver&#39;s cab  22  of the agricultural working machine  5 . 
         [0031]    The visualization device  21  comprises a display  23 , which is preferably designed as a touchscreen monitor  24 . In the display  23 , the territory  6  to be worked and the headland region  13  are depicted at least in sections or, optionally, in entirety. Furthermore, the agricultural working machine  5 , which is the tractor ( 2 ), cutting mechanism ( 3 ,  4 ) combination in this case, and the driving path  7  to be traveled by the agricultural working machine  5  are visualized. The position of the visualized agricultural working machine  5  is determined by way of GPS systems, which are known per se. The driving path  7  to be traveled is called up from a preprogrammed route plan  8 . The control operations  16 . 1 - 16 . 5  to be carried out by the agricultural working machine  5  also are visualized (depicted) in the display  23  of the visualization device  21  by way of graphic images  25 , which are assigned directly to the driving path  7  to be traveled by the agricultural working machine  5  and are positioned in the order in which they are carried out. 
         [0032]    In analogy to the headland management  1  depicted in  FIGS. 1 and 2 , the driving path  7  visualized in the display  23  forms the so-called visualization device  21 . The visualization device  21  comprises a driving route section  8   a  leading out of the territory  6  to be worked, a headland section  8   b  and a driving route section  8   c  leading into the territory  6  to be worked. The example shown is merely one of a plurality of possible control sequences  15  that depend on the type of particular agricultural working machine  5  and the shape of the driving path  7  to be traveled, which control sequence  15  comprises a plurality of control operations  16  visualized in the display. 
         [0033]    To ensure that the graphic images  25  representing the particular control operation  16 . 1 - 16 . 5  are easily understood by the operator  14  of the agricultural working machine  5 , the graphic images  25  are designed as icons  27  comprising image and/or text elements. Word elements are not used in the exemplary embodiment shown according to  FIG. 3 . 
         [0034]    In addition, the icons  27  are assigned to the driving path  7  to be traveled ahead of the execution of the control operation  16  they represent. That is, the particular icon  27  is assigned to a geographic point of the driving path  7  to be traveled at which the particular control operation  16 . 1 - 16 . 5  has not yet been activated. The icon  27  representing a control operation  16 . 1 - 16 . 5  also remains visible after the particular control operation  16 . 1 - 16 . 5  has been carried out. This ensures that the operator  14  of the agricultural working machine  5  always has an overview of the entire control sequence  15  to be carried out. 
         [0035]    As shown in  FIG. 4 , the visualization of the control operations  16 . 1 - 16 . 5  is structured in such a way that, when a control sequence  15  is activated, all control operations  16 . 1 - 16 . 5  of the control sequence  15  are displayed via visualization of the particular icon  27 , and the icon  27  of the particular control operation  16 . 1  to be carried out is emphasized before the particular control operation  16 . 1 - 16 . 5  is carried out. In  FIG. 4 , the applicable icon  27  is shown enlarged. It should be clear, however, that the particular icon  27  also can be emphasized by way of flashing or a color change. For that matter, it also is within the scope of the invention for the agricultural working machine  5  to be designed as any type of towing vehicle comprising at least one adapted working device or as an agricultural harvesting machine comprising a front harvesting attachment. The invention also anticipates that the control operations  16  forming the control sequence  15  can result in the working device or the front harvesting attachment being moved into a non-working position  19  upon leaving the territory  6  to be worked and to result in the working device or the front harvesting attachment being moved into a working position  20  upon entering the territory  6  to be worked. 
         [0036]    It is also within the scope of the invention for the control sequences  15  stored in the control/regulating device  9  to be freely programmable, i.e. the control operations  16  to be implemented in the particular control sequence  15  can be freely selected, stored and called up. The control sequences  15  are freely programmable by an operator  14  via actuation of the control buttons  28  that trigger the particular control operation  16  and/or via editing at the visualization device  21 . If the visualization device  21  is also designed as a touchscreen monitor  24  that comprises a menu field  29  in which the icons  27  representing the possible control operations  16 . 1 - 16 . 5  are stored, the control sequence  15  can be programmed, for example, by moving the particular icon  27  into the visualized driving path  7  to be traveled via dragging  30 . 
         [0037]    It is also within the scope of the invention for a route plan  8  that is at least partially visualized in the visualization device  21  and at least one track-following system  31  to be assigned to the agricultural working machine  5  in such a way that the agricultural working machine  5  automatically follows the predefined driving routes  7  that are stored in the route plan  8 . Fully autonomous driving of the agricultural working machine  5  on the territory  6  to be worked and in the headland region  13  is achieved when the route plan  8  also includes the driving path  8   b  to be traveled in the headland region  13  and the track-following system  31  automatically guides the agricultural working machine  5  along said driving path  8   b  and the agricultural working machine  5  automatically implements the preprogrammed control sequence  15  that comprises the selected control operations  16 . The track-following system  31  assigned to the agricultural working machine  5  is preferably a GPS-based track-following system  32 , a camera-based track-following system  33  or a sensor-based track-following system  34 , wherein infrared or laser sensors are utilized. Alternatively, the track-following system may comprise a combination of said track-following systems  32 - 34 . 
         [0038]    The following list of reference signs of various elements mentioned above is included (as follows), for ease of explanation: 
       LIST OF REFERENCE CHARACTERS 
       [0039]      1  headland management 
         [0040]      2  tractor 
         [0041]      3  cutting mechanism 
         [0042]      4  cutting mechanism 
         [0043]      5  agricultural working machine 
         [0044]      6  territory 
         [0045]      7  driving path to be traveled 
         [0046]      8  route plan 
         [0047]      9  control/regulating unit 
         [0048]      10  front P.T.O shaft 
         [0049]      11  rear P.T.O shaft 
         [0050]      12  boundary line 
         [0051]      13  headland region 
         [0052]      14  operator 
         [0053]      15  control sequence 
         [0054]      16 . 1 —control operation 
         [0055]      16 . 5   
         [0056]      17  vehicle axle 
         [0057]      18  vehicle axle 
         [0058]      19  non-working position 
         [0059]      20  working position 
         [0060]      21  visualization device 
         [0061]      22  driver&#39;s cab 
         [0062]      23  display 
         [0063]      24  touchscreen monitor 
         [0064]      25  graphic images 
         [0065]      26  turning path 
         [0066]      27  icon 
         [0067]      28  operating buttons 
         [0068]      29  menu field 
         [0069]      30  dragging the icon 
         [0070]      31  track-following system 
         [0071]      32  GPS-based track-following system 
         [0072]      33  camera-based track-following system 
         [0073]      34  sensor-based track-following system 
         [0074]    As will be evident to persons skilled in the art, the foregoing detailed description and figures are presented as examples of the invention, and that variations are contemplated that do not depart from the fair scope of the teachings and descriptions set forth in this disclosure. The foregoing is not intended to limit what has been invented, except to the extent that the following claims so limit that.