EP3591636A1 - System and method for influencing machine functions of an agricultural machine, and agricultural machine comprising such a system - Google Patents

Abstract

A system (10) for influencing machine functions of an agricultural machine is disclosed, comprising at least one electrically and / or pneumatically and / or hydraulically operated actuator (16) for executing the machine function, also comprising a control device (14) that is used for indirect or direct control of the actuator (16) is formed, wherein the control device (14) can be connected to a mobile terminal (12) via a first communication channel (20) and a second communication channel (22) for the transmission of signals, wherein the mobile terminal (12) is designed to carry out administrative processes and / or to enter commands into the control device (14) in order to provide a system by means of which machine functions of agricultural machines can be influenced by means of a mobile terminal even if a communication channel fails, and the system also is designed in such a way that this also applies to safety-relevant machine radio It is provided that the control device (14) is designed to perform a signal comparison of the signals between the mobile terminal (12) and the first communication channel (20) and between the mobile terminal as a function of the command input by means of the mobile terminal (12) (12) and the second communication channel (22), the control device (14) also being designed to vary and / or activate or deactivate a machine function depending on the signals determined by the signal comparison. The invention also relates to a method for influencing of machine functions, as well as an agricultural machine with such a system and / or method.

Description

The present invention relates to a system for influencing machine functions of an agricultural machine with the features of independent claim 1. The invention also relates to a method for influencing machine functions with the features of method claim 19. Furthermore, the invention relates to an agricultural machine with the features of claim 22 ,

For influencing, e.g. Mobile devices, such as smartphones or tablet computers or similar devices, are increasingly being used to control and / or parameterize machine functions of agricultural machines. Such mobile devices are generally much cheaper than previously used control panels and can also mostly be used without wired communication channels. However, mobile devices are for influencing, i.e. Particularly of limited use, particularly for controlling and parameterizing machine functions.

In order to be able to influence safety-relevant machine functions on an agricultural machine, the control devices and their components on the agricultural machinery must meet the requirements of the so-called "functional safety". These requirements are specified in a number of technical standards, such as ISO 26262 or ISO 13849 or ISO 25119. Based on these standards, so-called performance levels can be defined, on the basis of which the respective systems for influencing machine functions make corresponding requirements or safety requirements necessary.

A system for influencing machine functions by means of a mobile device emerges from the DE 102 17 398 A1 already emerged. A mobile terminal is used for entering commands into a control device. With this system, both safety-relevant machine functions and non-safety-relevant machine functions are controlled without any checks or monitoring required by safety requirements or performance levels, so that a sufficient level of safety cannot be achieved by means of the system described here.

In addition to the aspects of functional safety, a further problem with the use of mobile end devices is that the signal transmission carried out by wireless communication channels between a control device and the mobile end device can be interrupted, which in turn hinders the influencing of the machine functions and sometimes malfunctions of the machine functions can be caused.

In view of the known state of the art, the object of the present invention can be seen in providing a system by means of which machine functions of agricultural machines can be influenced by means of a mobile terminal even if a communication channel fails and the system is also designed in such a way that it too can be used for safety-relevant machine functions.

These objects are achieved by a system for influencing machine functions of an agricultural machine with the features of independent claim 1, and by a method for influencing machine functions with the features of method claim 19, and by an agricultural machine with the features of claim 22. Advantageous further developments are specified in the dependent claims and the description.

To achieve the above-mentioned objects, the invention proposes a system for influencing machine functions of an agricultural machine, comprising at least one electrically and / or pneumatically and / or hydraulically operated actuator, for executing the machine function, also comprising a control device which is used for the indirect or direct control of the at least one actuator is formed, wherein the control device can be connected to at least one mobile terminal via at least a first communication channel and a second communication channel, for the transmission of signals, and wherein the at least one mobile terminal for carrying out administrative processes and / or for entering commands into the Control device is formed.

In order to provide a system by means of which machine functions of agricultural machines can be influenced by means of a mobile terminal even if a communication channel fails, and the system is also designed in such a way that it can also be used for safety-relevant machine functions, the control device is designed , depending on the command input by means of the at least one mobile terminal, to carry out a signal comparison of the signals between the mobile terminal and the at least one first communication channel and between the mobile terminal and the second communication channel, the control device also being designed to perform a machine function as a function of the Signal comparison determined signals to vary and / or to activate or deactivate.

The system according to the invention can be used in particular in agricultural machinery used in agriculture. The agricultural machines can in particular be agricultural implements (e.g. seed drill and / or soil tillage machine and / or field sprayer and / or fertilizer spreader). The agricultural machinery can also be self-propelled implements (e.g. self-propelled sprayer and / or self-propelled fertilizer spreader) or tractors. Autonomous vehicles designed for agricultural use are also conceivable. Examples of agricultural machines are, for example, soil cultivation devices, sowing devices, sprayers or fertilizer spreaders.

• ein Klappen von einzelnen Maschinenabschnitten zueinander,
• ein Heben und Absenken von an den Maschinen angebrachten Komponenten, bzw. der Landmaschine an sich,
• ein aktivieren- und deaktivieren von Antrieben,
• ein Lenken der Landmaschine bzw. dessen Räder,
• eine Parametrisierung von Abschalt- und Einschaltzeiten bei Section-Control Systemen,
• eine Parametrisierung von Abschalt- und Einschaltpositionen für Aktoren bei Section-Control Systemen,
• eine Variation von Ausbringmengen,

Darüber hinaus wäre jedoch noch eine Vielzahl von weiteren Maschinenfunktionen denkbar.The influencing of the machine functions can include a control and / or a regulation and / or a parameterization, in particular a control and / or regulation and / or a parameterization of actuators performing or executing the machine functions. Examples of such machine functions are, for example.

• folding individual machine sections towards each other,
• a lifting and lowering of components attached to the machines, or the agricultural machine itself,
• an activation and deactivation of drives,
• steering the agricultural machine or its wheels,
• a parameterization of switch-off and switch-on times for section control systems,
• a parameterization of switch-off and switch-on positions for actuators in section control systems,
• a variation of application rates,

In addition, however, a variety of other machine functions would also be conceivable.

The actuators or the at least one actuator can in particular be electrically and / or pneumatically and / or hydraulically operated or controllable elements, for example motors, cylinders, linear drives, actuators or any elements having at least two working states (e.g. Light) or the like. The actuators are preferably designed such that they perform movements accordingly and can thus influence or vary machine functions. In particular, the actuators are designed so that they can also perform safety-relevant machine functions or machine movements, which means that the actuators are each designed in such a way that a required safety level or a required performance level can be achieved by means of them.

The control device comprises or can, in particular, be operatively connected to an electrical and / or pneumatic and / or hydraulic and / or a combination of these energy and signal transmission types based control and / or circuit or include or include them.

It is also possible that wired cable connections are provided to influence the actuators or the machine functions of the agricultural machine, e.g. a BUS system such as an ISO bus system (e.g. according to ISO 11783) or a CAN bus system, by means of which wired cable connection in particular the modules and / or components of the control device and the actuator (s) can be connected. Wireless communication interfaces would also be conceivable (e.g. wireless radio connections such as WLAN, Bluetooth, infrared, or comparable).

It is possible for the control device to include both wired and wireless connections or communication interfaces. In particular, it is possible for the control device to comprise several modules (e.g. valves, computer units, or the like), which can be connected to one another by means of wired and wireless connections, or are connected during operation.

It should also be pointed out that the terms “control device” and “regulating device” can refer to electronic and / or mechanical and / or pneumatic and / or hydraulic controls which, depending on the training, can take on control tasks and / or regulating tasks. Even if the term “taxes” is used here, “rules” can also be used as appropriate. Likewise, when the term "rules" is used, "control" can also be included.

The control device is in particular designed such that the respective actuators can be controlled and / or parameterized indirectly or directly, or that they can be controlled and / or parameterized indirectly or directly.

For communication and / or signal transmission, the control device is designed to be connectable to at least one mobile terminal (for example a mobile device, handheld, smartphone, tablet PC, or similar). A connection that is also required for safety-related functions To achieve or transmit signals, the mobile terminal and the control device can be connected via at least one first communication channel and a second communication channel or are connected during operation.

It is possible for at least one communication channel or the two communication channels to be wireless. Examples of such a design as wireless communication channels are, for example, any type of radio network in which communication takes place in particular by means of electromagnetic waves (e.g. wireless radio connections such as WLAN, Bluetooth, infrared, or comparable). These communication channels can each be provided by the mobile terminal and the control device can in each case comprise at least one corresponding signal converter.

It is also possible for at least one communication channel or the two communication channels to be implemented via a wired cable connection. Examples of such wired communication channels are, for example, all types of wired cable connections (e.g. a BUS system such as an ISO bus system according to ISO 11783 or a CAN bus system, or a comparable connection).

In particular, it can be provided that at least one communication channel is wireless, but also that two communication channels are wireless.

In a development of the invention, it would also be conceivable for three or more communication channels to be present between the at least one mobile terminal and the control device.

In addition, the at least one mobile terminal is designed to carry out administrative processes by means of this, i.e. Using the mobile device, current machine data can be documented and saved accordingly. The mobile terminal can also be connected to a data cloud or other storage device for this purpose. In particular, the mobile terminal can in turn be connectable to the data cloud by means of a radio network, preferably a mobile radio network, or can be connected during operation of the system.

In addition, the mobile terminal is designed so that it can be used to carry out a command input. The commands here can in particular be commands for influencing machine functions. A corresponding user interface can also be displayed on the mobile device for entering commands. Depending on the type of agricultural machine and the respective machine functions, a user interface can also be displayed on the mobile device. The user interface can be executed, for example, using a corresponding app on the mobile device.

The first communication channel and the second communication channel are in particular connected in parallel between the mobile terminal and the control device. The first and / or the second communication channel can also communicate directly between the mobile terminal and the control device, or other components can be connected in between. For example. Signal amplifier or repeater or the like.

It is possible for at least one communication channel to be composed of at least one wireless and one wired connection, for example the communication channel. be carried out in such a way that there is first a wireless connection or a wireless signal transmission between a mobile terminal and a component assigned to the communication channel, and a wired connection or a wired signal transmission takes place between the component assigned to the communication channel and the control device, a reverse design is also conceivable here.

In order to further increase the level of security achieved, it can in particular be provided that the first communication channel and the second communication channel are designed differently, for example are also formed by different radio transmission systems (e.g. WLAN and Bluetooth). The signals of these radio transmission systems are also checked accordingly by means of a signal comparison, or a corresponding plausibility check can also be carried out for these radio transmission systems.

It is possible that the signal comparison of the signals between the at least one mobile terminal and the at least one first communication channel and between the mobile terminal and the second communication channel by means of the control device by means of a computer unit and / or another signal comparison unit, in particular forming part of the control device he follows. In this case, corresponding target specifications for the respective required signals of the first communication channel and / or of the second communication channel can also be stored in the computer unit and / or in the signal comparison unit. Insofar as these correspond to the actually transmitted signals, the respective machine function can be influenced accordingly, i.e. are varied and / or activated or deactivated, insofar as these do not match, influencing the machine function is prevented or interrupted accordingly. In particular, the control device or the computer unit is designed to vary and / or to activate or deactivate the machine functions depending on the signals determined by the signal comparison.

It is possible that the signal comparison or the target specifications for the signal comparison each require the same signals (redundant signals). It is also possible for the target specifications to be defined in such a way that, for example, a permanent signal is present on a communication channel and a periodic signal (pulsating signal) is present on the communication channel arranged parallel to this, which can ensure that the mobile terminal device in Connection to the control device is established. In addition, times can be definable for the respective signals of the communication channels or can be stored in the mobile terminal and / or in the control device, in which time intervals the signals must be present or for how long the respective command on the mobile terminal must at least be activated in order to influence it to initiate the machine function.

In a development of the invention it is provided that the system for influencing machine functions forms a dead man's switch or a dead man's device. That is, on the basis of the signal comparison of the signals between the at least one mobile terminal and the at least one first communication channel and the mobile terminal and the second communication channel, the control device in each case evaluates or analyzes whether communication between the mobile terminal and the control device meets the required security requirements enough. It can thus be ensured on the basis of the signal comparison in each case that no false signals are transmitted from the mobile terminal to the control device, as a result of which the system according to the invention is also relevant to security by means of a mobile terminal Machine functions can be controlled and / or parameterized. Again, this dead man device can be improved by corresponding definable times and / or time intervals.

It is also possible that the target specifications for the signal comparison are different and in particular definable depending on the respective machine function. For example, depending on the safety requirements defined by the functional safety, a signal comparison can also be carried out or target specifications can be or are defined in accordance with the safety requirements. In particular, the target specifications can be stored in the control device, or they can be stored in a computer unit assigned to the control device.

The system according to the invention can provide that in the case of machine functions that are not safety-relevant, there is no signal comparison between the first communication channel and the second communication channel, so that it can be sufficient for such machine functions if a signal transmission takes place by means of only one communication channel, an at least partial redundancy of the signals of the first communication channel and the second communication channel is not absolutely necessary.

In addition, the system according to the invention can provide that in the case of safety-relevant machine functions, which, however, due to functional safety only require low safety requirements (low and medium performance levels, for example QM, A; B; C), a signal comparison between the first communication channel and the second communication channel takes place, however, the target specifications can be defined in such a way that, for example, an identical signal (redundant signal) is only present for a short time or has to be present in order to influence or initiate a respective influence on the machine function.

In addition, the system according to the invention can provide for a signal comparison between the first communication channel and the second communication channel in the case of safety-relevant machine functions which, however, require high safety requirements due to functional safety (high performance level, for example B; C, D, E), however, the target specifications can be defined in such a way that, for example, an identical signal (redundant signal) is permanently present. In a further development of the invention, a third communication channel could also be provided. In such an embodiment variant, it can in turn be provided that at least the signals from two communication channels are identical or correspond to the target specification.

It is possible that, depending on the signal comparison, the agricultural machine can also be brought into a safe state, i.e. If, for example, the signal comparison does not meet the requirements required for the particular machine function, the control device can be used to bring the machine into such a state that it no longer carries out any dangerous movements. For example, actuator movements can be stopped.

Again, safe states for the respective machine functions can also be stored or defined in the control device, ie a corresponding position can be stored for the actuators.

It is possible that the signal comparison is also carried out taking into account the times of the signal transmission, i.e. it can also be provided that, depending on the machine function, the target specification is defined in such a way that defined signals between the mobile terminal and the first communication channel and the mobile terminal and the second communication channel must be present or have to be present.

In a further embodiment variant, it is also possible for the signals of the first communication channel and / or of the second communication channel to be appropriately buffered by means of a buffer, for example in the mobile terminal and / or in the control device. This means that, for example, a brief actuation of a command key on a user interface is stored in the buffer memory in such a way that the command is considered actuated for a defined or definable period of time or outputs a corresponding signal. This intermediate storage can, in particular in the case of machine functions which require a corresponding, permanent actuation, in turn increase the security level, since the command can therefore still be actuated by the control device even in the event of a failure of the mobile terminal device, since all the necessary requirements for influencing the machine function are met are.

In a development of the invention, at least one input device can be provided in addition to the at least one mobile terminal. The input device can in turn be connectable to the control device or is connected during operation. For this purpose, the control device and the input device can in turn have a corresponding interface. The input device can, for example, be an operating panel, which in turn can be spatially assigned to the agricultural machine. Likewise, the control panel can also be assigned to a tractor (tractor) of the agricultural machine (in this case, an agricultural machine towed by a tractor). The interface of the input device can be designed as a wireless or wired interface. In particular, the input device can be connected to the control device by means of a BUS system (for example ISO bus system).

It is possible that commands for influencing machine functions can in turn be entered by means of the input device, so that the machine functions of the agricultural machine can be controlled and / or parameterized both by means of the input device and with the mobile terminal. Here, a priority function can also be implemented by means of the control device, i.e. it can be definable in each case whether the machine functions are controlled and / or parameterized by means of the mobile terminal device or by means of the input device, so that double command input is again prevented. The priority control is implemented in such a way that after preselection or definition of the mobile terminal or the input device by means of the respective other device, input of control and / or parameterization commands have no or only limited effects.

Again, the priority function in a further development can be designed in such a way, or the priority function can be limited in such a way that, for example, an emergency stop, i.e. of security-relevant commands can be overridden.

It is possible for the computer unit assigned to the control device or a module of the control device to be assigned an element for signal conversion, by means of which signal converter the signals transmitted through the first communication channel and / or through the second communication channel Signals transmitted by radio can be converted into such a signal so that appropriate control and / or parameterization commands can in turn be generated and generated by means of the control device.

It is possible that the mobile terminal can be connected to a data cloud, or is connected in operation, by means of which data cloud, in particular, the management data are stored or backed up. Whereby sensors or similar measuring devices are attached to the acquisition of the administrative data on the agricultural machine and / or on the actuators performing the machine function. In addition, it is also possible for the control device to be connectable to a corresponding data cloud or to be connected during operation.

The invention can also provide that a wide variety of actuators are attached to the machine, or that a plurality of actuators are attached to the machine, each of which can perform a wide variety of machine functions. Again, depending on the respective machine function and the respective actuator, the signal comparison or the plausibility check of the signals are carried out differently. This means that a signal comparison is made in particular depending on the safety requirements required for the machine function.

It is possible that the connection between the mobile terminal and the control device comprises a third or additional communication channel, by means of which the administration processes are carried out, for example. It can be provided that the first communication channel and the second communication channel are used to influence machine functions and a third communication channel is used for signal transmission of administrative data, which can further improve secure signal and data transmission and in particular prevent the signals from influencing each other.

The system for influencing machine functions can also form a sequence control, i.e. the system or in particular its control device can be designed such that a variation and / or activation or deactivation of a machine function is only made possible or implemented as soon as a previous machine function or a previous command has been executed and ended accordingly. It can also be provided that a variation and / or activation or deactivation of a machine function is only enabled or implemented as soon as the signal transmission for a previous machine function has been completed.

It is possible for the mobile terminal and / or the control device and / or the input device to provide further signals, for example GPS signals (for example the current position). In this way, control and / or parameterization of the machine functions can be further improved by the additional signals provided, or control and / or parameterization based on these additionally provided signals, such as position signals.

It can also be provided that the control device can be designed so that it can be connected to a wide variety of sensors, or is connected during operation. Again, in a further development of the invention, the control device influences machine functions as a function of the knife values or signals detected by the sensors. It can be provided that machine functions are not only influenced as a function of the signal transmissions of the first communication channel and the second communication channel takes place, but also as a function of sensor signals. The sensor signals can be signals relating to positions of the actuator (s), for example.

If the system according to the invention for influencing machine functions was previously described, it should be expressly emphasized here that all aspects and design variants which were explained in connection with the system for influencing machine functions are equally partial aspects of the method according to the invention and the agricultural machine described below concern or can be. If, therefore, at one point in the description or also in the definition of claims, the system according to the invention for influencing machine functions is mentioned, this applies equally to the method according to the invention and the agricultural machine according to the invention. Conversely, the same applies, so that all aspects that are explained in connection with the method according to the invention or the agricultural machine according to the invention can equally be partial aspects of the system for influencing machine functions.

• die Bereitstellung einer Landmaschine, wobei die landwirtschaftliche Maschine zudem umfasst:
• zumindest einen elektrisch und/oder pneumatisch und/oder hydraulisch betriebenen Aktor, zur Ausführung der Maschinenfunktion,
• eine Steuereinrichtung, die zur mittelbaren oder unmittelbaren Steuerung des zumindest einen Aktors ausgebildet ist, wobei die Steuereinrichtung mit zumindest einem mobilen Endgerät über einen ersten Kommunikationskanal sowie einem zweiten Kommunikationskanal, zur Übertragung von Signalen, verbindbar ist, und wobei das mobile Endgerät zur Durchführung von Verwaltungsprozessen und/oder zur Befehlseingabe in die Steuereinrichtung ausgebildet ist.

To achieve the objects, the invention also proposes a method for influencing machine functions of an agricultural machine. The method at least includes:

• the provision of an agricultural machine, the agricultural machine also comprising:
• at least one electrically and / or pneumatically and / or hydraulically operated actuator for performing the machine function,
• a control device which is designed for the indirect or direct control of the at least one actuator, the control device being connectable to at least one mobile terminal via a first communication channel and a second communication channel for transmitting signals, and the mobile terminal for carrying out administrative processes and / or is designed to input commands into the control device.

In order to provide a method by means of which machine functions of agricultural machines can be influenced by means of a mobile terminal even if a communication channel fails, the method provides for a signal comparison of signals between the mobile terminal and the first communication channel and between the mobile terminal and the second communication channel and that a variation and / or activation or deactivation of a machine function takes place as a function of the signal comparison carried out by the control device.

The control device is designed such that it can be used to directly and / or parameterize the respective actuators indirectly or directly, or to directly and / or parameterize them indirectly or directly during operation of the agricultural machine.

The method can also provide that the signal comparison of the signals between the at least one mobile terminal and the at least one first communication channel and between the mobile terminal and the second communication channel by means of the control device by means of a computer unit, and in particular forming part of the control device, and / or other signal comparison unit. In this case, corresponding target specifications for the respective required signals of the first communication channel and / or of the second communication channel can also be stored in the computer unit and / or in the signal comparison unit. Insofar as these correspond to the actually transmitted signals, the respective one Machine function is influenced accordingly, ie varied and / or activated or deactivated, insofar as these do not match, influencing the machine function is prevented or interrupted accordingly. In particular, the control device or the computer unit is designed to vary and / or to activate or deactivate the machine functions depending on the signals determined by the signal comparison.

The invention further relates to an agricultural machine, comprising a system and / or a method for influencing a machine function, in particular an actuator of an agricultural machine, as described in this document.

The agricultural machine can in particular be designed such that it can be used in agriculture. The agricultural machine can in particular be an agricultural implement (e.g. a seeder pulled by a towing vehicle and / or a tillage machine and / or a sprayer and / or fertilizer spreader). The agricultural machine can also be a self-propelled implement (e.g. self-propelled sprayer and / or self-propelled fertilizer spreader) or tractors. Autonomous vehicles designed for agricultural use are also conceivable. Examples of agricultural machines are, for example, soil cultivation devices, sowing devices, sprayers or fertilizer spreaders.

Figur 1

ein Blockschaltbild eines Systems zur Beeinflussung einer Maschinenfunktion mit einem mobilen Endgerät, einer Steuereinrichtung sowie einem Aktor,

Figur 2

ein Blockschaltbild eines Systems zur Beeinflussung einer Maschinenfunktion mit einem mobilen Endgerät, einer Steuereinrichtung sowie einem Aktor, wobei die Steuereinrichtung sich aus mehreren Modulen zusammensetzt,

Figur 3

ein Blockschaltbild eines Systems zur Beeinflussung einer Maschinenfunktion mit einem mobilen Endgerät, einer Steuereinrichtung, einem Aktor sowie einem zusätzlichen, insbesondere an der landwirtschaftlichen Maschine vorhandenen Eingabegerät,

Figur 4

ein Blockschaltbild eines Systems zur Beeinflussung einer Maschinenfunktion gemäß der Figur 3, wobei das mobile Endgerät zudem mit einer Daten-Cloud verbunden ist.

Figur 5

ein Blockschaltbild eines Systems zur Beeinflussung einer Maschinenfunktion gemäß der Figuren 3 und 4 wobei zusätzlich die Steuereinrichtung mit einer Daten-Cloud verbunden ist.

The preferred embodiments and features of the invention described above can be combined with one another as desired. Further details and advantages of the invention are described below with reference to the accompanying drawings. The size relationships of the individual elements to one another in the figures do not always correspond to the real size relationships, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration. Show it:

Figure 1

1 shows a block diagram of a system for influencing a machine function with a mobile terminal, a control device and an actuator,

Figure 2

2 shows a block diagram of a system for influencing a machine function with a mobile terminal, a control device and an actuator, the control device being composed of several modules,

Figure 3

2 shows a block diagram of a system for influencing a machine function with a mobile terminal, a control device, an actuator and an additional input device, in particular on the agricultural machine,

Figure 4

a block diagram of a system for influencing a machine function according to the Figure 3 , wherein the mobile device is also connected to a data cloud.

Figure 5

a block diagram of a system for influencing a machine function according to the Figures 3 and 4 the control device is additionally connected to a data cloud.

The in the Figures 1 to 5 The embodiments shown agree at least partially, so that similar or identical parts are provided with the same reference numerals and for the explanation of which reference is also made to the description of the other embodiments or figures in order to avoid repetitions. The illustrated embodiments merely represent examples of how the system according to the invention for influencing machine functions and the method according to the invention can be designed and do not constitute a final limitation.

A simple embodiment variant of a system 10 according to the invention for influencing a machine function is shown in FIG Figure 1 out. The system 10 comprises a mobile terminal device 12 (handheld, tablet PC, smartphone, or the like), a control device 14 and an actuator 16 which performs the machine function. The control device 14 according to FIG Figure 1 is represented by dotted lines and according to the Figure 1 composed of two components or modules 18. The modules 18 can be, for example, a computer unit and a valve. However, other components and modules would also be conceivable.

The mobile terminal 12 is connected to the control device 14 by means of a first communication channel 20 and a second communication channel 22, or a first communication channel 20 and a second communication channel 22 are provided between the mobile terminal 12 and the control device 14 for signal transmission.

The actuator 16 is according to the Figure 1 around a pneumatically or hydraulically operated cylinder. Other actuators would also be conceivable, in particular those that can be operated or controlled electrically and / or pneumatically and / or hydraulically, for example around motors, cylinders, actuators or the like. Whereby the actuator (s) 16 are in particular designed such that they Carry out movements accordingly and thus influence or vary machine functions. In particular, the actuators 16 are designed so that they can also perform safety-relevant machine functions or machine movements.

The control device 14 is also composed of a plurality of modules 18, which modules 18 are operatively connected to or include or include a control and / or circuit based on an electrical and / or pneumatic and / or hydraulic and / or a combination of these types of energy and signal transmission , For example. a BUS system such as an ISO bus system can be provided to influence the actuator 16 or the machine functions of the agricultural machine. Wireless communication interfaces would also be conceivable.

Opposite the Figure 1 was at the Figure 2 the control device 14 is supplemented by an additional module 18, the module 18 being a signal converter 24, for example. That is, by means of the signal converter 24, radio signals (wireless signals) transmitted by the mobile terminal 12 can be converted in such a way that they can be transmitted to a bus system, for example, or vice versa.

Opposite the Figure 2 was the system 10 for influencing a machine function according to the Figure 3 extended by an additional input device 26. The input device 26, for example The control panel can be which can be assigned in particular to the agricultural machine and / or a tractor pulling the agricultural machine. The input device 26 is preferably connected to the control device 14 via an additional interface 28. The interface 28 can in particular be designed as a wired connection and can be, for example, a BUS system. In turn, the input device 26 can be used to enter commands for influencing machine functions.

Opposite the Figure 3 was at the Figure 4 the system 10 for influencing a machine function is supplemented such that the mobile terminal 12 can be connected to a data cloud 30. Furthermore, the system was designed according to the Figure 4 in the Figure 5 in such a way that the control device 14 is also supplemented, in particular, for example, a computer unit assigned to the control device 14 can be connected to a data cloud 30.

The embodiments of the Figures 1 to 5 each show possible block diagrams of a system 10 for influencing machine functions of an agricultural machine. The system 10 in each case comprises an electrically and / or pneumatically and / or hydraulically operated actuator 16 for executing the machine function, and a control device 14 which is designed for the indirect or direct control of the actuator 16, the control device 14 having a mobile terminal 12 can be connected via a first communication channel 20 and a second communication channel 22, for the transmission of signals, and the mobile terminal 12 is designed to carry out administrative processes and / or to enter commands into the control device 14. The invention provides that the control device 14 is also designed to perform a signal comparison of the signals between the mobile terminal 12 and the first communication channel 20 and between the mobile terminal 12 and the second communication channel 22, depending on the command input by means of the mobile terminal 12, wherein the control device 14 is also designed to vary and / or to activate or deactivate at least one machine function depending on the signals determined by the signal comparison.

The control device 14 comprises or can, in particular, be operatively connected to an electrical and / or pneumatic and / or hydraulic and / or a combination of these energy and signal transmission types based control and / or circuit or include or include them.

It is also possible that a BUS system such as an ISO bus system is provided for influencing the actuators 16 or the machine functions of the agricultural machine, by means of which bus system in particular the modules 18 and / or components of the control device 14 and the Actuators 16 can be connected. Wireless communication interfaces would also be conceivable. In addition, it is possible that the control device 14 is again a combination of at least one wireless communication interface and at least one BUS system.

It is possible for at least one or the two communication channels 20, 22 to be wireless. Examples of such a design as wireless communication channels 20, 22 are, for example, all types of radio networks in which communication takes place in particular by means of electromagnetic waves, with this wireless connection, according to Figures 1 to 5 is represented by broken lines.

In addition, the mobile terminal 12 is designed to carry out administrative processes by means of this, i.e. Current machine data can be documented and stored accordingly by means of the mobile terminal 12. The mobile terminal 12 can also be connected to a data cloud 30 or other storage device for this purpose.

The first communication channel 20 and the second communication channel 22 are, according to the Figures 1 to 5 in particular parallel to each other between the mobile terminal 12 and the control device 14. In addition, the first and second communication channels 20, 22 are arranged directly between the mobile terminal 12 and the control device 14, but other components could also be connected in between. For example. Signal amplifier or repeater or the like.

In order to further increase the security level achieved, it can in particular be provided that the first communication channel 20 and the second communication channel 22 are designed differently, for example are also formed by different radio transmission systems (for example WLAN and Bluetooth). The signals from these radio transmission systems are also checked accordingly by means of a signal comparison, or a corresponding plausibility check is also carried out for these radio transmission systems.

According to the Figures 3 to 5 A development of the invention provides that an input device 26 is provided in addition to the mobile terminal 12. The input device 26 can in turn be connected to the control device 14. For this purpose, the control device 14 and the input device 26 can in turn have a corresponding interface 28. The input device 26 can, for example, be an operating panel, which in turn can be spatially assigned to the agricultural machine. Likewise, the control panel can also be assigned to a tractor (tractor) of the agricultural machine (in this case, an agricultural machine towed by a tractor). The interface 28 of the input device 26 can be designed as a wireless or wired interface 28. In particular, the input device 26 can be connected to the control device 14 by means of a BUS system (for example an ISO bus system).

In turn, commands for influencing machine functions can be entered by means of the input device 26, so that control and / or parameterization of the machine functions of the agricultural machine can be implemented both by means of the input device 26 and with the mobile terminal 12.

It is possible for the computer unit assigned to the control device 14 or a module of the control device to be assigned a module for signal conversion, by means of which signal converter 24 the signals transmitted by the first communication channel 20 and / or the second communication channel 22 by radio into such a signal are converted so that corresponding control and / or parameterization commands can be generated by means of the control device 14.

It is possible that the mobile terminal 12 can be connected to a data cloud 30, or is connected in operation, by means of which data cloud 30, in particular, the management data is stored or backed up. Whereby sensors or similar measuring devices can be attached to the agricultural machine and / or to the actuators performing the machine function in order to record the administrative data. In addition, it is also possible for the control device 14 can be connected to a corresponding data cloud 30 or is connected in operation.

The in the Figures 1 to 5 block diagrams shown, or the system shown here can be used in particular in an agricultural machine. The agricultural machines according to the invention can be, in particular, agricultural implements (for example a seed drill and / or a tillage machine pulled by means of a towing vehicle and / or a field sprayer and / or fertilizer spreader). The agricultural machines can also be self-propelled implements (e.g. self-propelled sprayer, self-propelled fertilizer spreader) or tractors. Autonomous vehicles designed for agricultural use are also conceivable.

Although the invention has been described with reference to certain embodiments, it will be apparent to those skilled in the art that various changes can be made and equivalents can be used as substitutes without departing from the scope of the invention. In addition, many modifications can be made without leaving the associated area. Accordingly, the invention is not intended to be limited to the disclosed embodiments, but is intended to encompass all embodiments that fall within the scope of the appended claims. In particular, the invention also claims protection for the subject and the features of the subclaims independently of the claims referred to.

LIST OF REFERENCE NUMBERS

10

system

12

mobile device

14

control device

16

actuator

18

module

20

first communication channel

22

second communication channel

24

signal converter

26

input device

28

interface

30

Data Cloud

Claims (23)

System (10) for influencing machine functions of an agricultural machine, comprising at least one electrically and / or pneumatically and / or hydraulically operated actuator (16) for executing the machine function, also comprising a control device (14) for the indirect or direct control of the actuator (16), the control device (14) being connectable to at least one mobile terminal (12) via at least a first communication channel (20) and a second communication channel (22) for transmitting signals, the at least one mobile terminal (12) is designed to carry out administrative processes and / or to enter commands into the control device (14), characterized in that the control device (14) is designed, depending on the command input by means of the mobile terminal (12), of a signal comparison of the signals between the mobile terminal (12) and the first communication channel (20) and between de m mobile terminal (12) and the second communication channel (22), wherein the control device (14) is also designed to vary and / or to activate or deactivate a machine function depending on the signals determined by the signal comparison. System (10) according to Claim 1, characterized in that the at least one actuator (16) is designed to use it to perform safety-relevant machine functions, with a signal comparison taking place as a function of the respective machine function. System (10) according to claim 1 or 2, characterized in that the control device (14) is in operative connection with an electrical and / or pneumatic and / or hydraulic and / or a combination of these energy and signal transmission types based control and / or circuit or this includes. System (10) according to claim 3, characterized in that the control device (14) is designed such that by means of it the at least one actuator (16) can be directly or indirectly controlled and / or parameterized. System (10) according to one of the preceding claims, characterized in that at least the first communication channel (20) or the second communication channel (22) is wireless, or that the first communication channel (20) and the second communication channel (22) are wireless , System (10) according to one of the preceding claims, characterized in that at least the first communication channel (20) or the second communication channel (22) is wired, or that the first communication channel (20) and the second communication channel (22) are wired , System (10) according to one of the preceding claims, characterized in that the first communication channel (20) and the second communication channel (22) are designed differently, in particular a communication channel (20; 22) wired and a communication channel (20; 22) wireless is executed. System (10) according to one of the preceding claims, characterized in that the first communication channel (20) and the second communication channel (22) are connected in parallel between the mobile terminal (12) and the control device (14), the first and / / or the second communication channel (20; 22) can communicate directly between the mobile terminal (12) and the control device (14) and / or that further components are connected between them. System (10) according to one of the preceding claims, characterized in that the first communication channel (20) and the second communication channel (22) are formed by different radio transmission systems. System (10) according to one of the preceding claims, characterized in that the signal comparison of the signals between the mobile terminal (12) and the first communication channel (20) and between the mobile terminal (12) and the second communication channel (22) by means of the control device (14) by means of a computer unit forming part of the control device (14) and / or another signal comparison unit. System (10) according to one of the preceding claims, characterized in that target specifications for the signals of the first communication channel (20) and / or the second communication channel (22) are stored in the computer unit and / or in the signal comparison unit. System (10) according to one of the preceding claims, characterized in that the target specifications define the same signals or that the target specifications are defined in such a way that a permanent signal is present on a communication channel (20; 22) and is arranged parallel to it Communication channel (20; 22) a periodic signal is present. System (10) according to one of the preceding claims, characterized in that for the signals of the first communication channel (20) and / or the signals of the second communication channel (22) corresponding times can be specified, in which time intervals the signals have to be present or for how long respective command on the mobile terminal (12) must at least be actuated. System (10) according to one of the preceding claims, characterized in that it forms a dead man's device. System (10) according to one of the preceding claims, characterized in that an additional input device (26) is assigned to it, the input device (26) in turn being connectable to the control device (14) and the input device (26) in turn for inputting Instructions for influencing machine functions is formed. System (10) according to claim 15, characterized in that it comprises a priority function for the input device (26) and the mobile terminal (12), wherein when preselecting the mobile terminal (12) or the input device (26) by means of the respectively unselected Device no or only a limited input of commands to influence machine functions is possible. System (10) according to one of the preceding claims, characterized in that the mobile terminal (12) can be connected to a data cloud (30) and / or in that the control device (14), in particular a computer unit associated with the control device (14) a data cloud (30) can be connected. System (10) according to at least one of the preceding claims, characterized in that the agricultural machine is an agricultural implement and / or a self-propelled implement and / or an autonomous vehicle which is designed for agricultural use. Method for influencing and / or performing machine functions of an agricultural machine comprising
the provision of an agricultural machine, the agricultural machine comprising: at least one electrically and / or pneumatically and / or hydraulically operated actuator (16) for performing the machine function, A control device which is designed for indirect or direct control of the actuator (16), the control device (14) having at least one mobile terminal (12) via a first communication channel (20) and a second communication channel (22) for the transmission of Signals, can be connected, the mobile terminal (12) being designed to carry out administrative processes and / or to enter commands into the control device (14), characterized by a signal comparison of signals between the mobile terminal (12) and the first communication channel (20) and between the mobile terminal (12) and the second communication channel (22) and, by varying and / or activating or deactivating a machine function as a function of the signal comparison carried out by means of the control device (14). Method according to Claim 19, characterized in that the control device (14) is designed in such a way that the at least one actuator (16) can be controlled and / or parameterized directly or indirectly. Method according to claim 19 or 20, characterized in that in a computer unit, in particular assigned to the control device (14), and / or in a signal comparison unit, target specifications for the signals of the first communication channel (20) and / or the second communication channel (22) are deposited. Agricultural machine, comprising a system (10) and / or a method according to one of the preceding claims. Agricultural machine according to claim 22, characterized in that it is an agricultural implement and / or a self-propelled implement and / or an autonomous vehicle which is designed for agricultural use.

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