# US 9,433,140 B2 · Visualization device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,433,140 B2 - Document ID: US9433140B2 - Status: Granted - Kind: B2 - Application number: 13/648,326 - Filed: 2012-10-10 - Published: 2013-04-25 - Granted: 2016-09-06 - Earliest claimed: 2012-10-10 - Assignees: CLAAS E-Systems KGaA mbH & Co KG - Applicants: Lars Peter Meyer Zu Helligen; Kalle Weiland - Inventors: Lars Peter Meyer Zu Helligen; Kalle Weiland - Web page: https://patentgrep.com/patent/US9433140B2 ## CPC - A01B 79/005: {Precision agriculture} - A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)} - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) ## 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. ## Claims ### Claim 1 A device for visualizing control operations of an agricultural working machine in a headland, comprising: a visualization device (21) arranged in the agricultural working machine, wherein a position of the agricultural working machine is determined using a GPS system, and wherein the visualization device (21) visualizes the agricultural working machine and at least one driving path (7) to be traveled by the agricultural working machine that is formed by a turning path (26) of the agricultural working machine (5) in the headland (13) of a territory (6) to be worked, the turning path (26) comprising a driving route section (8a) leading out of the territory (6) to be worked, a headland section (8b) and a driving route section (8c) leading into the territory (6) to be worked; and a control/regulating device (9) arranged in the agricultural working machine that stores the at least one driving path (7) formed by the turning path (26) and a control sequence (15) of control operations (16) that are implemented to control the agricultural working machine during travel along the driving path (7) formed by the turning path (26) in the headland; wherein graphic images (25) of the control operations (16) are assigned to the driving path (7) to be traveled ahead of execution of the control operations (16) that the graphic images (25) represent and are displayed in the visualization device (21) along the driving path (7) to be traveled in an order in which the control operations (16) are carried out; wherein the visualization device (21) comprises a touchscreen monitor (24) that has a menu field (29) in which icons (27) representing the possible control operations (16) are stored, and wherein the control sequence (15) of the control operations is programmed by dragging (30) a particular icon (27) from the menu field (29) into the visualized driving path (7) formed by the turning path (26) to be traveled in the headland. ### Claim 2 (depends on 1) The device for visualizing control operations of an agricultural working machine according to claim 1, wherein a plurality of control operations (16.1-16.5) forms the control sequence (15). ### Claim 3 (depends on 2) The device for visualizing control operations of an agricultural working machine according to claim 2, wherein each control operation (16) of the control sequence (15) is visualized by an icon (27) comprising image elements, text elements or both. ### Claim 4 (depends on 3) The device for visualizing control operations of an agricultural working machine according to claim 3, wherein an icon (27) representing a particular control operation (16) is displayed before the execution of the particular control operation (16). ### Claim 5 (depends on 4) The device for visualizing control operations of an agricultural working machine according to claim 4, wherein the icon (27) representing a control operation (16) that has been carried out remains visible in the visualization device (21) while subsequent control operations (16) are carried out. ### Claim 6 (depends on 3) The device for visualizing control operations of an agricultural working machine according to claim 3, wherein, when a control sequence (15) is activated, all control operations (16) of said control sequence (15) are displayed via visualization of the particular icon (27), and the icon (27) of the particular control operation (16) to be carried out is emphasized before the particular control operation (16) is carried out. ### Claim 7 (depends on 6) The device for visualization of control operations of an agricultural working machine according to claim 6, wherein the particular icon (27) is emphasized via flashing or a color change. ### Claim 8 (depends on 1) The device for visualizing control operations of an agricultural working machine according to claim 1, wherein the agricultural working machine (5) comprises a towing vehicle (2) having at least one adapted working device (3, 4) or an agricultural harvesting machine having a front harvesting attachment, and wherein the control operations (16) forming the control sequence (15) result in the working device (3, 4) or the front harvesting attachment being brought into a non-working position (19) upon leaving the territory (6) to be worked, and result in the working device (3, 4) or the front harvesting attachment being moved into a working position (20) upon entering the territory (6) to be worked. ### Claim 9 (depends on 1) The device for visualizing control operations of an agricultural working machine according to claim 1, wherein the control sequence (15) is freely programmable. ### Claim 10 (depends on 9) The device for visualizing control operations of an agricultural working machine according to claim 9, wherein the control sequence (15) is made freely programmable by an operator (14) via actuation of control buttons (28) that trigger a particular control operation (16), via editing at the visualization device (21), or both. ### Claim 11 (depends on 1) The device for visualizing control operations of an agricultural working machine according to claim 1, wherein a route plan (8) that is at least partially visualized in the visualization device (21) and at least one track-following system (31) are assigned to the agricultural working machine (5) in such a way that the agricultural working machine (5) automatically follows the predefined driving routes (7) stored in the route plan (8). ### Claim 12 (depends on 11) The device for visualizing control operations of an agricultural working machine according to claim 11, wherein the route plan (8) includes the driving path (7) formed by the turning path (26) to be traveled in the headland region (13), the track-following system (31) automatically guides the agricultural working machine (5) along said driving path (7) formed by the turning path (26) and the agricultural working machine (5) automatically implements the preprogrammed control sequence (15) comprising the selected control operations (16). ### Claim 13 (depends on 11) The device for visualizing control operations of an agricultural working machine according to claim 11, wherein the track-following system (31) operates in one or more manners selected from the group consisting of: a GPS-based (32) manner, a camera-based (33) manner and a sensor-based (34) manner. ### Claim 14 (depends on 13) A device for visualizing control operations of an agricultural working machine according to claim 13, wherein the track-following system operation that operates in a sensor-based manner includes a laser sensor. ### Claim 15 (depends on 11) The device according to claim 11, wherein the icons (27) comprising the programmed control sequence (15) are linked to the route plan (8) in a particular order. ### Claim 16 (depends on 1) The device according to claim 1, wherein a headland routine for implementing the control sequence (15) as the agricultural working machine travels the turning path (26) is user activated. ### Claim 17 (depends on 16) The device according to claim 16, wherein during the agricultural working machine travel upon the turning path (26), as each control operation (16) in the sequence of stored control operations is implemented, a visibility of the icons (27) representing each of the implemented control operations changes to distinguish same from a control operation the sequence of stored control operations not yet implemented. ### Claim 18 A device for visualizing control operations of an agricultural working machine in a headland, comprising: a touchscreen monitor (24) arranged in the agricultural working machine, wherein a position of the agricultural working machine is determined using a GPS system, and wherein the touchscreen monitor (24) visualizes at least one driving path (7) to be traveled by the agricultural working machine including a turning path (26) of the agricultural working machine (5) in the headland (13) of a territory (6) to be worked, the turning path (26) comprising a driving route section (8a) leading out of the territory (6) to be worked, a headland section (8b) and a driving route section (8c) leading into the territory (6) to be worked; and a control/regulating device (9) arranged in the agricultural working machine that stores the at least one driving path and a control sequence (15) of control operations (16) that are implemented as the agricultural working machine travels at least along the turning path (26) to be traveled in the headland (13); wherein graphic images (25) of the control operations (16) are assigned to the driving path (7) to be traveled ahead of execution of the control operations (16) that the graphic images (25) represent and are displayed by the touchscreen monitor (24) at least along the turning path (26) to be traveled in the headland (13) in an order in which the control operations (16) are carried out; wherein the touchscreen monitor (24) that has a menu field (29) in which icons (27) representing the possible control operations (16) are stored, and wherein the control sequence (15) is programmed using the touchscreen monitor (24) by dragging (30) a particular icon (27) into at least the visualized turning path (26) to be traveled in the headland from the menu field (29).