DE102011120886A1 - Method and control device for driving an agricultural machine - Google Patents

Abstract

The present invention relates to a method (700) and a device (104) for guiding an agricultural machine (104). The method (700) comprises a step of detecting (702), a step of determining (704), a step of reading (706), and a step of determining (708). In the step of detecting (702), a reference trajectory (102a) of the agricultural machine (104) is detected while the agricultural machine (104) is moving on a reference trajectory (108). In the step of determining (704), a distance (110) of the agricultural machine (104) from the reference trajectory (102a) after a turning maneuver of the agricultural machine (104) is detected to obtain distance information. In the reading-in step (706), a changed distance value input by an operator of the agricultural machine (104) is read in, representing a changed distance (112) of the agricultural machine (104) to the reference trajectory (102a). In the step of providing (708), a control signal for guiding the agricultural machine (104) on a guideway is provided, wherein the guideway runs in the changed distance (112) to the reference trajectory (102a).

Description

The present invention relates to a method for guiding an agricultural machine, to a control device for guiding an agricultural machine and to a corresponding computer program product.

In conventional fieldwork, an implement is towed by a tractor which is then manually steered to an already-processed track. In this case, an operator of the tractor follows a scratched mark in the ground, which has been scored by means of a marking device on the work machine during the last run.

It is the object of the present invention to provide an improved method for guiding an agricultural machine, an improved control device for guiding an agricultural machine and an improved computer program product.

This object is achieved by a method for guiding an agricultural machine, a control device for guiding an agricultural machine and a corresponding computer program product according to the main claims.

The present invention is based on the finding that by detecting a position of a web on a field, for example by means of position signals, it is possible to travel down the detected web at a desired distance. An operator only intervenes in corrections due to, for example, terrain characteristics in the tracking.

Advantageously, a processing of a field by an automated tracking can be done faster and more economically. The operator can be relieved and immediately monitor a machining success. The tracking presented here can be realized at low cost, since no special precision of the sensors involved is required. Corrections to the tracking can be brought in intuitively by the operator.

A method of driving an agricultural machine includes the following steps:
Detecting a reference trajectory of the agricultural machine while the agricultural machine is being moved on a reference trajectory;
Determining a distance of the agricultural machine from the reference trajectory after a turning maneuver of the agricultural machine to obtain distance information;
Reading in a changed distance value input by an operator of the agricultural machine representing a changed distance of the agricultural machine to the reference trajectory; and
Providing a control signal for guiding the agricultural machine on a guideway, wherein the guideway is in the changed distance to the reference trajectory.

The present invention further provides a control device which is designed to implement or implement the steps of the method according to the invention in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.

In the present case, a control device can be understood as meaning an electrical device which processes sensor and / or input signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

A computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above if the program product is installed on a computer or a device is also of advantage is performed.

An agricultural machine may, for example, be understood to mean a harvester or an agricultural tractor. The farm tractor can pull a working implement. The implement or harvester may have a structurally defined working width. In order to completely process a field or a field, it is necessary to move the agricultural machine over the field or the field in adjacently arranged paths which are at most the working width. A reference trajectory may be a first of the trajectories over which the agricultural machine is manually steered by an operator of the agricultural machine. The reference trajectory may, for example, run along an edge of the field. For example, a reference trajectory may be a trajectory of a point of the agricultural machine while the agricultural machine is moving on the reference trajectory. At the beginning of the reference track a starting point of the reference trajectory can be detected. After the agricultural machine has reached an end of the reference trajectory, an end point of the reference trajectory can be detected. Following the reference trajectory, the agricultural machine may be steered by the operator in a turning maneuver to reverse a direction of travel of the agricultural machine. The operator can steer the agricultural machine so that the lane in front of the agricultural machine is directly adjacent to the reference lane. At the beginning of the path, a distance of the agricultural machine to the reference trajectory can be determined. The distance can be a vertical distance to the reference trajectory. A distance information may be a numerical value of the distance (distance value). If the working width of the agricultural machine overlaps the reference trajectory or an unprocessed area remains between the working width and the reference trajectory, the operator may alter the distance value to minimize the overlap or to minimize the unprocessed area between the trajectories. A control signal may be designed to influence at least one steering of the agricultural machine, so that the agricultural machine is guided at the changed distance to the reference trajectory. The self-driven train can be referred to as a guideway.

The changed distance value can be detected by reading a signal of an additional control lever. An additional control lever may be a joystick that can be operated by the operator in addition to the steering wheel to change the distance. The distance can also be changed by means of buttons, a rotary or slide control or another man-machine interface. By an additional control element, the distance can be sensitively changed without seriously changing the orientation of the agricultural machine on the track. Drastic curves of the web can be avoided.

In the providing step, a warning signal may be provided when the guideway is out of tolerance. A warning signal may be, for example, an acoustic stimulus or an optical stimulus. The operator can be informed of a maloperation.

The control signal may guide the agricultural machine at an angle to the reference trajectory that is within an angular tolerance. At an angle to the reference trajectory, a steepness of the path to the reference track can be understood. By limiting the angle to an angular tolerance, the web can be driven with small lateral deviations and the orientation of the agricultural machine in the field can be substantially maintained.

The method may include a step of receiving an image information from a sensor for detecting an environment of the agricultural machine, which images an edge of the guideway in the area of the agricultural machine, wherein the image information is provided to the operator in the step of reading. Such a sensor may be an imaging sensor or, more generally, a sensor for detecting the environment (or environmental contour) around the agricultural machine. This may, for example, a camera, a PMD, stereo video, laser (scanner), etc. understood. The sensor can be attached to the agricultural machine and depict a lateral boundary of the working width of the agricultural machine. A camera allows the operator to monitor one edge of the web without dislocations and in ergonomic working posture.

The image information can be overlaid with a virtual image information, wherein the virtual image information represents the changed distance. A marker or a corrupted image representing a result of a desired change in distance may be superimposed on the camera image. Superimposed images allow the operator to intuitively plan how the agricultural machine will be managed.

The providing step may be performed in response to an acknowledgment signal. An acknowledgment signal can be read in by means of another input device. By delaying the tracking up to the confirmation signal, errors in the changed distance can be corrected without the agricultural machine being guided, for example, in serpentine lines until the distance is correct.

A new reference trajectory may be detected while the control signal is provided, and the reference trajectory may be replaced with the new reference trajectory in response to a next turning maneuver of the agricultural machine. By progressively using the last fully traveled lane of the agricultural machine, an error in the lane guidance can be minimized because deviations can not accumulate.

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

1 a representation of a field on which a trajectory is mapped according to an embodiment of the invention;

2 a representation of a trajectory of an agricultural machine during a distance change according to an embodiment of the invention;

3 a representation of a guided track of an agricultural machine with a change in distance according to an embodiment of the present invention;

4 a schematic representation of an image information presentation according to an embodiment of the present invention;

5 a schematic representation of an image overlay according to an embodiment of the present invention;

6 a block diagram of a control device for driving an agricultural machine according to an embodiment of the present invention; and

7 a flowchart of a method for guiding an agricultural machine according to an embodiment of the present invention.

The same or similar elements may be provided in the following figures by the same or similar reference numerals. Furthermore, the figures of the drawings, the description and the claims contain numerous features in combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations not explicitly described here.

1 shows a representation of a field 100 , On the field 100 is a trajectory 102 a farm machine 104 shown. The agricultural machine 104 has a controller for guiding 106 the agricultural machine 104 according to an embodiment of the present invention, with a steering device of the agricultural machine 104 connected is. The control unit 106 is adapted to a method for guiding the agricultural machine 104 according to an embodiment of the present invention. In the illustrated embodiment, the agricultural machine drives 104 a train as reference train 108 starting parallel to an edge of the field 100 is aligned. The reference track 108 can also be free on the field 100 be arranged and, for example, the same height, to reduce erosion. The trajectory 102 the agricultural machine 104 while on the reference track 108 drives is called reference trajectory 102 detected. For this purpose, a signal current of a position sensor can be evaluated. If the agricultural machine 100 an end to the reference track 108 the capturing is finished and the agricultural machine is finished 104 is turned to a next lane next to the reference lane 108 to depart. The agricultural machine 104 will be on the next lane from the controller 106 parallel to the reference trajectory 102 guided. During the turning describes the trajectory 102 for example, a semicircle 102b , In the case shown is a distance 110 between a starting point and an end point of the semicircle 102b too large. Due to the rumble semicircle 102b results in a distance between the tracks, and the field 100 is not completely processed while the agricultural machine 104 along the reference trajectory 102 to be led. Therefore, a driver intervenes and operates an input device, such as a joystick, and sets a distance change. The predetermined distance change can be released by means of a confirmation signal, whereupon the control unit 106 the agricultural machine 104 on a given angle trajectory 102c to the reference trajectory 102 too moved to the distance 110 to reduce. If the tracks are directly adjacent to each other, the agricultural machine has 104 the correct distance 112 reached. The control unit 106 leads the agricultural machine 106 continue at the correct distance 112 parallel to the reference trajectory 102 on a final trajectory 102d ,

2 shows a section of the trajectory 102 in the range of the change in distance according to an embodiment of the present invention. The agricultural machine travels on the trajectory 102 in the far distance parallel to the reference trajectory. The control signal of the controller triggers a steering movement until the agricultural machine at a predetermined angle 200 on a slope 202 to drive to the reference trajectory. The control signal triggers a steering movement in an opposite direction to the angle trajectory 102c at the correct distance to lead the agricultural machine parallel to the reference trajectory. In this case, a rash of the steering movement may be limited. By limiting a turning radius of the agricultural machine is known and the agricultural machine can be tangential on the right trajectory without overshoot and further corrections 102d Engage. Likewise, the controller may run the agricultural machine if the initial distance is too small. Then the control unit leads the agricultural machine on the slope 202 away from the reference trajectory to increase the distance.

3 shows a representation of the course of the trajectory 102 the track of the agricultural machine, as in 2 is shown. Due to the oblique approach reaches the trajectory 102d a lateral offset 300 to a projected extension 300 the trajectory 102 ,

4 shows a schematic representation of an image information 400 that according to one embodiment, an edge 402 a track of a farm machine maps. If the image information is displayed in a field of view of an operator of the agricultural machine, the operator can decide whether the margin 402 as desired, without having to avert his attention. The image information 400 can map a section of the web, which is already processed and located in the field of agricultural machinery. The picture information 400 can also map an area in front of the farm machine, with the edge 402 then as an auxiliary line 402 in the picture information 400 can be displayed.

5 shows a schematic representation of the image information 400 out 4 , In addition to the illustration in 4 is the picture information 400 with the edge 402 a virtual representation of a moved edge 500 superimposed. The virtual representation 500 represents an arrangement of the edge 402 if it were shifted by a lateral offset preselected by the operator. Through the virtual representation 500 the operator can pre-check and evaluate the effectiveness of his change input. This allows the agricultural machine to be controlled more precisely because the change input is no longer based on an estimate of the operator.

6 shows a block diagram of a control device for guiding 106 an agricultural machine according to an embodiment of the present invention. The control unit 106 corresponds to the control unit 106 out 1 , The control unit 106 has a means for detecting 600 , a means for determining 602 , an interface for reading 604 and means for providing 606 on. The means for detecting is adapted to a waveform of a position signal of a position detection device 608 to capture a reference trajectory of the agricultural machine while the agricultural machine is moving on a reference trajectory. The position detection device 608 is designed based on a signal from a GPS receiver 610 and a direction detecting device 612 to provide the position signal. The direction detection device 612 can have three rotation rate sensors and three acceleration sensors. The device for determining 602 is adapted to determine a distance of the agricultural machine from the reference trajectory after a turning maneuver of the agricultural machine to obtain a distance information. To determine the device 602 use a position of the agricultural machine after the turning maneuver relative to an end of the reference trajectory. The interface for reading 604 is adapted to read in an altered distance value input by an operator of the agricultural machine. The changed distance value represents a changed distance of the agricultural machine to the reference trajectory. The changed distance value is from an additional input device 614 receive. The additional input device 614 For example, it can be a joystick. The device for providing 606 is adapted to provide a control signal for guiding the agricultural machine on a guideway, wherein the guideway is in the changed distance to the reference trajectory. The device for providing 606 is trained. For example, a steering angle for an electro-hydraulic steering 616 provide.

7 shows a flowchart of a method 700 for guiding an agricultural machine according to an embodiment of the present invention. The method is suitable for use on a control unit, as in the 1 and 6 is shown to be executed. The procedure 700 has a step of detecting 702 , a step of determining 704 , a step of reading in 706 and a step of providing 708 on. In the step of comprehending 702 For example, a reference trajectory of the agricultural machine is detected while the agricultural machine is moving on a reference trajectory. In the step of determining 704 For example, a distance of the agricultural machine from the reference trajectory after a turning maneuver of the agricultural machine is determined to obtain a distance information. In the step of reading in 706 a modified distance value entered by an operator of the agricultural machine is read in, which represents a changed distance of the agricultural machine to the reference trajectory. In the step of providing 708 a control signal is provided for guiding the agricultural machine on a guideway to guide the agricultural machine, wherein the guideway is at the changed distance to the reference trajectory.

In other words, the approach presented here describes a novel steering method for agricultural machinery. A flow of the steering method can be summarized as follows. A reference path is given. Subsequently, it is turned manually. The automatic tracking according to the approach presented here is turned on. A driver of the agricultural machine changes a lateral offset while maintaining alignment with the reference track.

For a technical implementation signals of a position sensor (odometry), which can be used for example gyroscopes, speed sensors and acceleration sensors, as well as signals of a satellite navigation system. Thereby, a velocity vector V _{calculated can be} provided. A steering control unit can therefrom calculate a yaw angle of the agricultural machine by means of a state observer (eg Kalman filter). Furthermore, using a user request, a steering angle for the agricultural machine can be calculated. The calculated steering angle can be sent as a default, for example, to an electro-hydraulic steering (EHL) of the agricultural machine. The user request can be made via an input device z. B. a joystick can be specified by the user as desire offset.

The desired offset can be defined as a lateral offset to a previous track of the agricultural machine. To determine the yaw angle (heading, alignment) can z. As the DCU and / or the GPS can be used. These sensors can be used to specify a reference path. The steering angle specification can be implemented via a means for steering such as EHL and / or an assisted steering system (AFS). As an input option, for example, a steering wheel, a joystick, a slider or a lever can be used.

While automatic lane guidance is activated, it is only necessary for the user to determine the lane offset. The agricultural machine essentially retains alignment. For example, the user activates the joystick to the right, whereupon the tractor steers to the right. When the user releases the joystick, the tractor automatically returns to the specified direction.

Optionally, a fixed offset can be preset step by step by tapping the joystick. A warning may be issued if the track deviates (eg this can be secured by an additional sensor). A stop of the input option (eg joystick / lever) can be used to specify a steepness of the correction maneuver. The steepness can be defined as an angle between the old track and a steering slope. The same angle can be specified between the steering slope and a corrected path.

In a nutshell, the approach presented here can automatically move parallel to a given direction. The driver determines the other degree of freedom.

The exemplary embodiments shown are chosen only by way of example and can be combined with one another.

LIST OF REFERENCE NUMBERS

100

field

102

trajectory

104

agricultural machinery

106

control unit

108

reference trajectory

110

distance

112

changed distance

200

angle

202

slope

300

lateral distance

302

projection

400

image information

402

edge

500

virtual representation

600

Device for detecting

602

Device for determining

604

Interface for reading

606

Device for providing

608

Position detection device

610

GPS receiver

612

Direction detector

614

input device

616

steering

700

Method of guiding

702

Step of grasping

704

Step of determining

706

Step of reading in

708

Step of determining

Claims (10)

Procedure ( 700 ) for driving an agricultural machine ( 104 ), the process ( 700 ) has the following steps: capture ( 702 ) of a reference trajectory ( 102 ) of the agricultural machine ( 104 ) while the agricultural machine ( 104 ) on a reference track ( 108 ) is moved; Determine ( 704 ) of a distance ( 110 ) of the agricultural machine ( 104 ) from the reference trajectory ( 102 ) after a turning maneuver of the agricultural machine ( 104 ) to obtain distance information; Read in ( 706 ) one by an operator of the agricultural machine ( 104 ) changed distance value, the changed distance ( 112 ) of the agricultural machine ( 104 ) to the reference trajectory ( 102 represents; and deploy ( 708 ) of a control signal for guiding the agricultural machine ( 104 ) on a guideway, wherein the guideway at the changed distance ( 112 ) to the reference trajectory ( 102 ) runs. Procedure ( 700 ) according to claim 1, wherein in the step of reading ( 706 ) the changed distance value is detected by reading a signal of an additional control lever. Procedure ( 700 ) according to one of the preceding claims, wherein in the step of providing ( 708 ) a warning signal is provided when the guideway is out of tolerance. Procedure ( 700 ) according to one of the preceding claims, wherein in the step of providing ( 708 ) the control signal the agricultural machine ( 104 ) at an angle ( 200 ) to the reference trajectory ( 102 ), which is within an angular tolerance. Procedure ( 700 ) according to one of the preceding claims, comprising a step of receiving image information ( 400 ) of a sensor for detecting an environment around the agricultural machine camera, which has an edge ( 402 ) of the guideway in Field of agricultural machine ( 104 ), wherein in the reading step ( 706 ) the image information ( 400 ) is provided to the operator. Procedure ( 700 ) according to claim 5, wherein in the reading step ( 706 ) the image information ( 400 ) with virtual image information ( 500 ), wherein the virtual image information ( 500 ) the changed distance ( 112 ). Procedure ( 700 ) according to any one of the preceding claims, wherein the step of providing ( 708 ) is executed in response to an acknowledgment signal. Procedure ( 700 ) according to one of the preceding claims, in which a new reference trajectory ( 102d ) is detected while the control signal is provided, and the reference trajectory ( 102 ) in response to a next turning maneuver of the agricultural machine ( 104 ) by the new reference trajectory ( 102d ) is replaced. Control unit ( 106 ) for driving an agricultural machine ( 104 ), which is adapted to the steps of a method ( 700 ) according to one of claims 1 to 8. Computer program product with program code for carrying out the method according to one of claims 1 to 8, when the program product is executed on a device.

Images