US 11,716,930 B2
Surroundings detection device for agricultural work machines
Rene Middelberg, Osnabrück (DE); and Thilo Krause, Glinde (DE)
Assigned to CLAAS Selbstfahrende Erntemaschinen GmbH, Harsewinkel (DE)
Filed by CLAAS Selbstfahrende Erntemaschinen GmbH, Harsewinkel (DE)
Filed on Sep. 20, 2021, as Appl. No. 17/479,446.
Application 17/479,446 is a continuation of application No. 15/342,649, filed on Nov. 3, 2016, granted, now 11,122,740.
Claims priority of application No. 102015118767.1 (DE), filed on Nov. 3, 2015.
Prior Publication US 2022/0000025 A1, Jan. 6, 2022
Int. Cl. A01D 41/127 (2006.01); A01D 57/02 (2006.01); A01D 69/03 (2006.01); A01D 34/13 (2006.01); A01B 69/04 (2006.01); G01S 17/931 (2020.01); A01D 34/00 (2006.01); A01D 34/04 (2006.01); A01D 101/00 (2006.01)
CPC A01D 41/1274 (2013.01) [A01B 69/008 (2013.01); A01D 34/006 (2013.01); A01D 41/1278 (2013.01); A01D 57/02 (2013.01); A01D 69/03 (2013.01); G01S 17/931 (2020.01); A01D 34/04 (2013.01); A01D 34/13 (2013.01); A01D 2101/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An agricultural work machine comprising
at least one working element positioned at a front of the agricultural work machine and including a width;
a surroundings detection device configured to detect objects in a plurality of sections by:
scanning a close-range scanning plane for detecting objects in a first section that is in a forward direction of the agricultural work machine and includes at least a part of the width of the at least one working element;
scanning at least one farther-range scanning plane for detecting the objects in at least second section, the at least second section being farther in the forward direction from the agricultural work machine than the first section and includes the at least a part of the width of the at least one working element;
a control and regulating device in communication with the surroundings detection device and one or more working elements, wherein the control and regulating device is configured to:
analyze a scan of the close-range scanning plane in order to detect whether at least one object is in the first section;
analyze a scan of the at least one farther-range scanning plane in order to detect whether the at least one object is in the at least second section, wherein the analysis of the scan of the close-range scanning plane is different from the analysis of the at least one farther-range scanning plane; and
control the at least one working element based on the analysis of the scans from the close-range scanning plane and the at least one farther-range scanning plane.