DEVICE AND METHOD FOR SAFELY OPERATING A TOOL MOUNTED ADJUSTABLY ON AN AGRICULTURAL MACHINE THAT CAN BE OPERATED AUTONOMOUSLY

摘要

The present invention relates to a device (12) for safely operating a tool (14) that is mounted adjustably on an agricultural machine (10) that can be operated autonomously, having: an inbound interface (34) for receiving (S10) environment sensor data from an environment sensor unit (18) on the agricultural machine with information about objects (20) in the surroundings of the agricultural machine; a processing unit (36) for detecting (S12) an object in a region likely to be travelled over by the agricultural machine and by the tool on the basis of the environment sensor data; and a control unit (38) for controlling (S14) a self-drive unit (16) of the agricultural machine, in order to change a speed and/or direction of motion of the agricultural machine, and an adjusting unit (30) of the tool in order to change an orientation of the tool, on the basis of the detected object, so that a collision of the agricultural machine and the tool with the detected object is prevented. The present invention also relates to a method for safely operating a tool (14) that is mounted adjustably on an agricultural machine (10) that can be operated autonomously, and an agricultural machine (10) that can be operated autonomously.