DE102014201203A1 - Agricultural work vehicle with an aircraft and associated power supply - Google Patents
Agricultural work vehicle with an aircraft and associated power supply Download PDFInfo
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- DE102014201203A1 DE102014201203A1 DE102014201203.1A DE102014201203A DE102014201203A1 DE 102014201203 A1 DE102014201203 A1 DE 102014201203A1 DE 102014201203 A DE102014201203 A DE 102014201203A DE 102014201203 A1 DE102014201203 A1 DE 102014201203A1
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Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/007—Determining fertilization requirements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
- A01D43/085—Control or measuring arrangements specially adapted therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/37—Charging when not in flight
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Ein landwirtschaftliches Arbeitsfahrzeug (10) wirkt mit einem Fluggerät (100, 100’) mit einem Sensor (106) zur Erkundung eines Felds zusammen, dessen Signale auf das landwirtschaftliche Arbeitsfahrzeug (10) übertragbar sind. Das Arbeitsfahrzeug (10) ist mit einer Einrichtung zur Übertragung von elektrischer Energie auf das Fluggerät (100, 100’) ausgestattet.An agricultural work vehicle (10) cooperates with an aircraft (100, 100 ') with a sensor (106) for exploring a field whose signals are transferable to the agricultural work vehicle (10). The work vehicle (10) is equipped with means for transmitting electrical energy to the aircraft (100, 100 ').
Description
Die Erfindung betrifft eine Kombination aus einem landwirtschaftlichen Arbeitsfahrzeug und einem damit zusammenwirkenden Fluggerät mit einem Sensor zur Erkundung eines Felds, dessen Signale auf das landwirtschaftliche Arbeitsfahrzeug übertragbar sind.The invention relates to a combination of an agricultural work vehicle and a cooperating aircraft with a sensor for exploring a field whose signals are transferable to the agricultural work vehicle.
Technologischer Hintergrund Die moderne Landwirtschaft ist bestrebt, sparsam mit Ressourcen umzugehen, wie Dünger, Betriebsstoffen und Wasser. Der jeweilige Bedarf an einzusetzenden Mitteln wird durch Sensoren ermittelt, die Eigenschaften eines zu bearbeitenden Feldes bzw. des darauf wachsenden Pflanzenbestands ermitteln, und dient zur selbsttätigen Ansteuerung von Aktoren. In vielen Fällen erfolgt diese Erfassung während des laufenden Arbeitsvorgangs durch an einem Arbeitsfahrzeug angebrachte Sensoren, was den Vorteil hat, dass sich ein zusätzlicher Arbeitsgang zur Datenaufnahme erübrigt und die erfassten Daten aktuell sind. Allerdings haben viele Aktoren gewisse Reaktionszeiten, sodass es vorteilhaft ist, die Sensoren vorausschauend zu gestalten, damit sie das Feld in hinreichend großem Abstand vom Arbeitsfahrzeug sensieren können. Technological background Modern agriculture strives to use resources sparingly, such as fertilizers, supplies and water. The respective need for resources to be used is determined by sensors which determine the properties of a field to be processed or the plant stock growing thereon, and serves for the automatic control of actuators. In many cases, this detection is done during the current operation by sensors mounted on a work vehicle, which has the advantage that an additional operation for data acquisition is unnecessary and the data collected is current. However, many actuators have some response times, so it is advantageous to design the sensors in advance so that they can sense the field at a sufficient distance from the work vehicle.
Die
Derzeit ist die Flugzeit eines handelsüblichen, mit Akkumulatoren betriebenen Fluggeräts jedenfalls nicht hinreichend für landwirtschaftliche Anwendungen, die bei großen Feldern mehrere Stunden dauern können.At present, however, the time of flight of a commercial, battery-operated aircraft is in any case not sufficient for agricultural applications, which can take several hours in large fields.
Aufgabetask
Die vorliegende Erfindung hat sich zur Aufgabe gesetzt, eine Kombination aus einem landwirtschaftlichen Arbeitsfahrzeug und einem damit zusammenwirkenden Fluggerät zur Erkundung eines Felds bereitzustellen, die eine hinreichende Betriebsdauer des Fluggeräts ermöglicht.The present invention has set itself the task of providing a combination of an agricultural work vehicle and a cooperating aircraft for exploration of a field that allows a sufficient service life of the aircraft.
Erfindunginvention
Die vorliegende Erfindung wird durch die Patentansprüche definiert.The present invention is defined by the claims.
Ein landwirtschaftliches Arbeitsfahrzeug wirkt mit einem Fluggerät mit einem Sensor zur Erkundung eines Felds zusammen, dessen Signale insbesondere in Echtzeit und online auf das landwirtschaftliche Arbeitsfahrzeug übertragbar sind. Das Arbeitsfahrzeug ist mit einer Einrichtung zur Übertragung von elektrischer Energie auf das Fluggerät ausgestattet, um eine hinreichende Flugzeit des Fluggeräts zu erzielen.An agricultural work vehicle interacts with an aircraft with a sensor to explore a field whose signals are transferable in particular in real time and online to the agricultural work vehicle. The work vehicle is equipped with a device for transmitting electrical energy to the aircraft in order to achieve a sufficient flight time of the aircraft.
Bei einer möglichen Ausführungsform umfasst die Einrichtung zur Übertragung von elektrischer Energie auf das Fluggerät eine Andockstation, in welcher der Akkumulator des Fluggeräts aufgeladen werden kann. Dabei kann das Arbeitsfahrzeug mit zwei Andockstationen versehen sein, an denen jeweils eine vom Fluggerät trennbare Akkumulatoreneinheit des Fluggeräts andockbar ist. Somit kann das Fluggerät mit einem fast leeren Akkumulator seine Akkumulatoreneinheit an eine erste Andockstation ankoppeln, sich dann von seiner Akkumulatoreneinheit trennen und mit einer anderen, in der zweiten Andockstation zwischenzeitlich aufgeladenen Akkumulatoreneinheit gekoppelt werden. Anschließend wird die Akkumulatoreneinheit in der ersten Andockstation aufgeladen, um später wieder mit dem Fluggerät gekoppelt zu werden. Es wäre aber auch möglich, dass das Fluggerät in der (insbesondere einzigen) Andockstation verbleibt und nur die Akkumulatoreneinheit durch eine geeignete Mechanik des Arbeitsfahrzeugs getauscht wird.In one possible embodiment, the device for transmitting electrical energy to the aircraft comprises a docking station, in which the accumulator of the aircraft can be charged. In this case, the work vehicle can be provided with two docking stations, to each of which an airframe separable accumulator unit of the aircraft can be docked. Thus, the aircraft with an almost empty accumulator can couple its accumulator unit to a first docking station, then disconnect from its accumulator unit and coupled with another accumulator unit temporarily charged in the second docking station. Subsequently, the accumulator unit is charged in the first docking station, to be later re-coupled to the aircraft. However, it would also be possible for the aircraft to remain in the (especially single) docking station and only the accumulator unit to be replaced by a suitable mechanism of the work vehicle.
Bei einer anderen Ausführungsform umfasst die Einrichtung zur Übertragung von elektrischer Energie auf das Fluggerät ein Kabel. Durch das können Kabel auch Signale des Sensors und/oder Anweisungen vom Arbeitsfahrzeug an das Fluggerät übertragen werden. Das Kabel kann auf einer Haspel aufgewickelt werden. Insbesondere das Kabel mit einem Kraft- und/oder Winkelsensor zusammenwirken, aus dessen Signalen Rückschlüsse auf die Windrichtung und/oder -stärke getroffen werden. Aus diesen Winkeln und der Länge des abgewickelten Kabels kann auch ein Rückschluss über die Position des Fluggeräts getroffen werden.In another embodiment, the means for transmitting electrical energy to the aircraft comprises a cable. Cables can also be used to transmit signals from the sensor and / or instructions from the work vehicle to the aircraft. The cable can be wound up on a reel. In particular, the cable cooperate with a force and / or angle sensor, from whose signals conclusions about the wind direction and / or strength are taken. From these angles and the length of the unwound cable, a conclusion about the position of the aircraft can be made.
Ausführungsbeispielembodiment
In den Zeichnungen sind zwei nachfolgend näher beschriebene Ausführungsbeispiele der Erfindung dargestellt, wobei die Bezugszeichen nicht zu einer einschränkenden Auslegung der Patentansprüche herangezogen werden dürfen. Es zeigt:In the drawings, two embodiments of the invention described in more detail below are shown, wherein the reference numerals not to a restrictive interpretation of the claims may be used. It shows:
Arbeitsfahrzeug und FluggerätWork vehicle and aircraft
In der
Das Arbeitsfahrzeug
Das Arbeitsfahrzeug
Das Fluggerät
Der Sensor
Erste Ausführungsform der Einrichtung zur Übertragung von elektrischer Energie auf das FluggerätFirst embodiment of the device for transmitting electrical energy to the aircraft
Die Akkumulatoreneinheit
Die Vorgehensweise ist derart, dass das Fluggerät
Bei der in
Bei einer anderen Ausführungsform (nicht gezeigt) wäre es auch denkbar, dass nicht das Fluggerät
Auch könnten zwei Fluggeräte
Falls nur ein einziges Fluggerät
Zweite Ausführungsform der Einrichtung zur Übertragung von elektrischer Energie auf das FluggerätSecond embodiment of the device for transmitting electrical energy to the aircraft
Bei der zweiten Ausführungsform sind mit der ersten Ausführungsform übereinstimmende Elemente mit gleichen Bezugszeichen versehen. Im Unterschied zur ersten Ausführungsform erfolgt die Energieübertragung bei der zweiten Ausführungsform vom Arbeitsfahrzeug
Die Haspel
Am oberen Ende der Halterung
Einsatzmöglichkeitenapplications
Beide Lösungsvorschläge bieten den Vorteil, dass man die Nutzlast der unbemannten Fluggeräte
Durch den Einsatz vorausschauender Sensoren
Das Fluggerät
Die Signale des Sensors
Die gewonnenen Informationen können verwendet werden, um die Geschwindigkeit, Fahrtrichtung und Maschineneinstellungen vorzunehmen. Im Speziellen ist damit gemeint, dass man z.B. die Fahrgassenschaltung (Section Control) und Ausbringmenge von Sä- und Düngemaschinen steuert. Außerdem kann ein Traktor entlang von Konturen geführt werden: Schwade, Furchen, Bestandskannten, Plantagen oder Reihenkulturen. Speziell im Pflanzenschutz und der Düngung kann man durch eine direkte Verbindung vom Sensor des Fluggeräts zur Maschinensteuerung sogenannte „Prescription Maps“ und Ausbring-Muster steuern.The information obtained can be used to determine the speed, direction of travel and machine settings. Specifically, it is meant that e.g. controls the tramline control (section control) and application rate of sowing and fertilizer machines. In addition, a tractor can be guided along contours: swaths, furrows, crop stands, plantations or row crops. Especially in crop protection and fertilization you can control so-called "Prescription Maps" and application patterns by a direct connection from the sensor of the aircraft to the machine control.
Falls nacheinander unterschiedliche Aufgaben mit dem Fluggerät
Das Arbeitsfahrzeug
Insbesondere in der Forstwirtschaft kommen Überfliegungen, auch mit bemannten Flugzeugen, mit Laserscannern zum Einsatz, um die Geländeform, Position, Baumart und Stammdicke vorab zu ermitteln. Diese Informationen können im Nachhinein oder auch während des Flugs für Algorithmen zur Routenoptimierung herangezogen werden. Vorzugsweise wird die Route so gewählt, dass ein Traktor oder Forstfahrzeug immer Bäume derselben Sorte und ähnlicher Stammdicke anfährt, so dass ein nachträgliches Sortieren der Stämme entfallen kann. Außerdem sollte der Algorithmus die Geländestruktur in die Berechnung miteinbeziehen und vorzugsweise Berg aufwärts leer fahren und im Gefälle abwärts nach und nach die Stämme aufladen, um Kraftstoff zu sparen.In forestry in particular, overflights, even with manned aircraft, are used with laser scanners to determine the terrain, position, tree species and trunk thickness in advance. This information can be used in retrospect or during the flight for algorithm for route optimization. Preferably, the route is chosen so that a tractor or forest vehicle always anfährt trees of the same variety and similar trunk thickness, so that a subsequent sorting of the logs can be omitted. In addition, the algorithm should include the terrain structure in the calculation, preferably driving uphill and downhill, gradually charging the logs to save fuel.
Ein weiteres Anwendungsgebiet von unbemannten Fluggeräten
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102010038661 A1 [0003, 0017] DE 102010038661 A1 [0003, 0017]
Claims (9)
Priority Applications (1)
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DE102014201203.1A DE102014201203A1 (en) | 2014-01-23 | 2014-01-23 | Agricultural work vehicle with an aircraft and associated power supply |
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DE102014201203.1A DE102014201203A1 (en) | 2014-01-23 | 2014-01-23 | Agricultural work vehicle with an aircraft and associated power supply |
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DE102014201203A1 true DE102014201203A1 (en) | 2015-07-23 |
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DE102014201203.1A Pending DE102014201203A1 (en) | 2014-01-23 | 2014-01-23 | Agricultural work vehicle with an aircraft and associated power supply |
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Cited By (58)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3150037A1 (en) | 2015-10-02 | 2017-04-05 | CLAAS Selbstfahrende Erntemaschinen GmbH | Method and system for sensor-supported management of an agricultural field |
DE102015224175B3 (en) * | 2015-12-03 | 2017-04-13 | Hochschule für Technik und Wirtschaft Dresden | System and method for determining grain losses in a combine harvester harvest |
WO2017083128A1 (en) * | 2015-11-10 | 2017-05-18 | Digi-Star, Llc | Agricultural drone for use in controlling the directon of tillage and applying matter to a field |
DE102016202627A1 (en) | 2016-02-19 | 2017-08-24 | Deere & Company | Aircraft arrangement for sensory investigation and / or monitoring of agricultural areas and / or operations |
US9745060B2 (en) | 2015-07-17 | 2017-08-29 | Topcon Positioning Systems, Inc. | Agricultural crop analysis drone |
US9930834B2 (en) | 2015-10-29 | 2018-04-03 | Deere & Company | Agricultural baler control system |
FR3063070A1 (en) * | 2017-02-23 | 2018-08-24 | Centre National D'etudes Spatiales | DEPLOYMENT SYSTEM COMPRISING A MOBILE PLATFORM AND AN OBSERVATION ASSEMBLY HAVING A WINCH |
DE102017204511A1 (en) | 2017-03-17 | 2018-09-20 | Deere & Company | Agricultural harvester for processing and conveying crop with a sensor assembly for detecting unwanted hazardous substances and ingredients in the crop |
DE102017205293A1 (en) | 2017-03-29 | 2018-10-04 | Deere & Company | Method and device for controlling unwanted organisms in a field |
WO2018177873A1 (en) | 2017-03-31 | 2018-10-04 | Beckhoff Automation Gmbh | Automation system and method for operating an automation system |
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US11240961B2 (en) | 2018-10-26 | 2022-02-08 | Deere & Company | Controlling a harvesting machine based on a geo-spatial representation indicating where the harvesting machine is likely to reach capacity |
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US20220110251A1 (en) | 2020-10-09 | 2022-04-14 | Deere & Company | Crop moisture map generation and control system |
US11467605B2 (en) | 2019-04-10 | 2022-10-11 | Deere & Company | Zonal machine control |
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US11477940B2 (en) | 2020-03-26 | 2022-10-25 | Deere & Company | Mobile work machine control based on zone parameter modification |
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US11635765B2 (en) | 2020-10-09 | 2023-04-25 | Deere & Company | Crop state map generation and control system |
US11641800B2 (en) | 2020-02-06 | 2023-05-09 | Deere & Company | Agricultural harvesting machine with pre-emergence weed detection and mitigation system |
US11650587B2 (en) | 2020-10-09 | 2023-05-16 | Deere & Company | Predictive power map generation and control system |
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