DE102019201908A1 - Sensor-based movement limitation of agricultural machinery - Google Patents

Abstract

A method for controlling an agricultural machine (50), comprising obtaining a current position of the agricultural machine (50) at a first point in time, a first geographical parameter of the current position of the agricultural machine (50) measured at the first point in time, and one at a point before the first point in time second time stored second geographical parameter based on the current location, and comparing the first geographical parameter with the second geographical parameter to generate a control signal for the agricultural machine (50).

Description

TECHNICAL AREA

The present invention relates to the field of autonomously or partially autonomously driving agricultural machines. In particular, the present invention relates to a device, a method, a computer program product, a computer-readable storage medium and a data carrier signal for controlling such an agricultural machine.

TECHNICAL BACKGROUND

When working on agricultural areas such as fields, it is particularly important that the means used for this purpose, in particular an agricultural machine, is only used for a certain working process on a certain area. Unintentional crossing of the limit by the agricultural machine can lead to harvests being damaged or to collisions with other agricultural machines with fatal consequences. The limitation of a usable agricultural area to be processed also serves to improve efficiency, since faulty travel routes, which would have led to a waste of energy and time, can thereby be avoided.

In this context, various systems for sensor-based detection of agricultural areas are known from the prior art, a control signal for controlling the agricultural machine being generated based on the detection and being output to an actuator of the agricultural machine, for example.

For example is off DE 10 2012 201 333 A1 an agricultural machine is known in which the actuator can be controlled based on signals from a soil property sensor and a plant property sensor.

However, these systems known from the prior art have the disadvantage that the detection of the objects on the usable area does not function with sufficient accuracy and without interference. For example, boundary lines between different field pieces can be insufficiently recognized after a certain period of use due to a decrease in the reflectivity of the material marking the boundary lines, which can lead to incorrect control of the agricultural machine. However, sensors with a higher resolution that can circumvent this disturbance are usually very expensive.

The present invention is therefore based on the object of performing a sensor-based movement limitation of agricultural machines on agricultural areas with increased accuracy while at the same time at least the same effort.

The object is achieved by a device, a method, a computer program product, a computer-readable storage medium and a data carrier signal according to the independent claims.

The agricultural machine can be designed as a one-piece vehicle or articulated vehicle. It can include a rake, hay machine, combine harvester, or any other agricultural vehicle. The agricultural machine is an autonomous or semi-autonomous vehicle. This means that the agricultural machine can act entirely (in the case of a fully autonomous vehicle) or partially (in the case of a partially autonomous vehicle) without the influence of a human driver.

The device for controlling the agricultural machine can be, for example, an electronic control or regulating unit (ECU), an electronic control or regulating module (ECM = Electronic Control Module) or a control / regulating unit for autonomous driving (e.g. an "autopilot"). The evaluation unit used / built into the control device can comprise a central processing unit (CPU) or a graphic processing unit (GPU). Alternatively, the evaluation unit can be an ECU or an ECM. In this case, the control device is a device / arrangement that is superordinate to the ECU or the ECM. The control device can be located in the agricultural machine, or outside or partially outside the agricultural machine. For example, the control device can be part of a central monitoring device for the agricultural area that communicates with the agricultural machine and the RFID transmitter unit. Communication can take place wirelessly, for example via BlueTooth, infrared, near-field communication (NFC), radio, internet, intranet, cloud systems and / or wired systems.

The current position of the agricultural machine is, for example, the position on an agricultural area or a neighboring property area on which the agricultural machine is located at a current (first) point in time. When the agricultural machine is carrying out an agricultural processing operation, the position of the agricultural machine can thus be detected in real time and made available to the control device according to the invention.

In addition, a first geographical parameter of the current position of the agricultural machine is measured and made available to the control device posed. This measurement can be carried out by a sensor, which is preferably attached to the agricultural machine. The sensor is advantageously a soil property sensor for detecting a soil property, in particular a material composition, a layer depth, a surface quality, a layer sequence and / or a water content of the piece of soil in the current position of the agricultural machine. The sensor is further preferably a radar sensor, for example a ground penerating radar (GPR) sensor.

The first geographical parameter of the current position of the agricultural machine obtained in this way is compared with a second geographical parameter. The second geographic parameter has been stored at a (second) point in time before the measurement point in time (first point in time) of the first geographic parameter. A control signal for the agricultural machine can be generated based on the comparison result. It goes without saying that the generation of the control signal is only an indication of the purpose of the original main claim and does not restrict its subject matter beyond the suitability of the method or the device for this purpose.

The second geographical parameter preferably relates to the current position of the agricultural machine. For example, at the earlier (second point in time) where the agricultural machine is at the current point in time, a geographic parameter was already measured and stored.

Alternatively or additionally, it is conceivable that no measurement data of the geographical parameter are available for the current position of the agricultural machine. In this, the second geographical parameter can refer to a position deviating from the current position of the agricultural machine, for which measurement data are available and which is on a pre-planned route for the agricultural machine. For example, this is a location on the pre-planned route that is closest to the current location of the agricultural machine. Alternatively, the second geographic parameter can have a predefined value, such as zero.

In this way, the currently measured geographical parameter or the current soil property can be compared with an already pre-stored geographical parameter or a pre-stored soil property. Depending on the result of the comparison, different control signals can be generated which bring about different measures to ensure that the movement of the agricultural machine is limited in a designated area of the usable area, for example along a pre-planned route. Collisions with other vehicles or agricultural machinery, people, buildings, plantings, ... etc. can be avoided more effectively or at least reduced.

Advantageous refinements and developments are specified in the subclaims.

According to one embodiment, the current position of the agricultural machine is determined by a localization system, such as a navigation satellite system (e.g. Global Navigation Satellite System, GNSS), an odometry system, a radio frequency identification system (RFID system), a system for simultaneous localization and map creation (SLAM system) and / or a lane detection system.

The navigation satellite system (for example the GNSS or another navigation system that is independent of the GNSS) is preferably an external system which is arranged outside the agricultural machine. The odometry system preferably comprises an odometry sensor for detecting an odometric parameter of the agricultural machine, for example one or more wheel speeds. The RFID system preferably comprises a plurality of RFID transmitter units which transmit an RFID signal. The RFID signal can contain a position index, for example a global position index in the context of GNSS, which can be read out by an RFID receiving unit. By detecting the RFID signal, the current position of the agricultural machine can be determined, for example when the RFID receiving unit is attached to the agricultural machine. The SLAM system is based on a SLAM algorithm, by means of which a vehicle can record its surroundings while driving, create a map from the surroundings data and at the same time determine its position on the map created. For example, the SLAM system comprises a SLAM radar sensor or a SLAM lidar sensor or a SLAM camera. The lane detection system includes, for example, a radar sensor, a lidar sensor and / or a camera, for example a surround view camera. The odometry system, the RFID system, the SLAM system and / or the lane detection system is preferably attached to the agricultural machine.

According to a further embodiment, the control signal is generated in the event of a discrepancy between the first and the second geographical parameter.

A deviation can occur, for example, if the agricultural machine deviates from a pre-planned route for which measurement data of the (second) geographical parameter are available. In this case, there are no measurement data from the (second) geographic location for the current position of the agricultural machine Parameters. As described above, the second geographical parameter in this case can relate to a location on the pre-planned route or have a predefined value (approximately zero). The control signal is preferably only generated when a discrepancy between the first and the second geographical parameter is detected, a predefined tolerance (which is approximately between 1% and 5%) can be taken into account. In this case, the control signal can cause the agricultural machine to carry out a route correction in order to return to its planned route. Further preferably, in the event that no such deviation is detected, no new control signal is generated, so that the agricultural machine approximately maintains its route of movement. The agricultural machine therefore continues to move on its planned route.

According to a further embodiment, the method according to the invention further comprises the use of a predefined object which is arranged underground within an agricultural area.

The predefined object can comprise one or more bodies (such as stone or metal bodies). The predefined object is preferably arranged underground at a depth that is less than 1 meter, more preferably from 20 cm to 50 cm. In addition to the relatively simple attachment at this depth, the detection of the first geographical parameter or the first ground property by means of the radar sensor, for example the ground radar sensor, is particularly accurate due to the strong radar signal at this depth. Alternatively or additionally, the density and / or the size of the predefined object can be adapted to the resolution and / or the frequency range of the radar sensor.

The computer program product according to the invention is designed to be loaded into a memory of a computer and comprises software code sections with which the method steps of the method according to the invention are carried out when the computer program product is running on the computer.

A program belongs to the software of a data processing system, for example an evaluation device or a computer. Software is a collective term for programs and associated data. The complement to software is hardware. Hardware describes the mechanical and electronic alignment of a data processing system. A computer is an evaluation device.

Computer program products generally comprise a sequence of instructions which, when the program is loaded, cause the hardware to carry out a specific method that leads to a specific result. When the program in question is used on a computer, the computer program product produces the inventive technical effect described above.

The computer program product according to the invention is platform independent. That means it can run on any computing platform. The computer program product is preferably executed on an evaluation device according to the invention for detecting the surroundings of the vehicle.

The software code sections are written in any programming language, for example Python.

The computer-readable storage medium is, for example, an electronic, magnetic, optical or magneto-optical storage medium.

The data carrier signal is a signal which the computer program product from a storage medium on which the computer program product is stored to another entity, for example another storage medium, a server, a cloud system or a data processing facility , transmits.

• 1 eine schematische Darstellung einer erfindungsgemäßen Vorrichtung gemäß einer Ausführungsform;
• 2 eine schematische Darstellung einer Landmaschine mit der Steuervorrichtung aus 1, wobei sich die Landmaschine auf einer landwirtschaftlichen Nutzfläche befindet; und
• 3 eine weitere schematische Darstellung der Landmaschine in einer Seitenansicht.

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

• 1 a schematic representation of a device according to the invention according to one embodiment;
• 2 a schematic representation of an agricultural machine with the control device 1 , wherein the agricultural machine is located on an agricultural area; and
• 3 a further schematic representation of the agricultural machine in a side view.

In the figures, the same reference numerals relate to the same or functionally similar reference parts. The relevant reference parts are identified in the individual figures.

1 shows a schematic representation of a device according to the invention 10 for controlling an agricultural machine 50 according to one embodiment. The control device 10 has an input interface 12 which is designed to obtain the following data: a current position of the agricultural machine 50 at a first point in time, a first geographical parameter, measured at the first point in time, of the current position of the agricultural machine 50 , and one at a time before the first time lying second point in time stored second geographical parameter based on the current location.

The current situation of the agricultural machine 50 , ie the position in which the agricultural machine is 50 at a current (first) point in time is, for example, by a localization system 20th receive. The localization system 20th may include a navigation satellite system (eg Global Navigation Satellite System, GNSS), an odometry system, a radio frequency identification system (RFID system), a system for simultaneous localization and map creation (SLAM system) and / or a lane detection system.

The navigation satellite system (for example the GNSS or another navigation system that is independent of the GNSS) is preferably an external system which is outside the agricultural machine 50 is arranged. In this case the input interface is 12 suitable for receiving navigation satellite signals such as GNSS signals directly from the navigation satellite system such as GNSS system or indirectly via an interconnected satellite signal receiver that is connected to the control device 10 connected to receive.

The odometry system preferably comprises an odometry sensor for detecting an odometric parameter of the agricultural machine 50 , for example one or more wheel speeds. The RFID system preferably comprises a plurality of RFID transmitter units which transmit an RFID signal. The RFID signal can contain a position index, for example a global position index in the context of GNSS, which can be read out by an RFID receiving unit. By detecting the RFID signal, the current position of the agricultural machine 50 can be determined, for example when the RFID receiving unit on the agricultural machine 50 is appropriate. The SLAM system is based on a SLAM algorithm, by means of which a vehicle (agricultural machine 50 ) can capture its surroundings while driving, create a map from the surrounding data and at the same time determine its position on the map created. For example, the SLAM system comprises a SLAM radar sensor or a SLAM lidar sensor or a SLAM camera. The lane detection system includes, for example, a radar sensor, a lidar sensor and / or a camera, for example a surround view camera. The odometry system, the RFID system and / or the lane detection system is preferably on the agricultural machine 50 appropriate.

The first geographical parameter for the current location of the agricultural machine 50 is for example a soil property sensor 22nd , which is preferably a ground radar sensor 24 includes, received. The ground radar sensor 24 (Engl .: Ground Penetrating Radar, GPR) is trained to penetrate the underground 61 below a floor area 62 "Penetrate" and soil properties of different soil layers 64 , 66 , 68 that are within a detection area 242 of the ground penetrating radar sensor 24 lie to grasp. This is in 3 shown schematically. If the localization system 20th comprises a SLAM system, a map containing soil properties of the areas of the usable area traveled on can be created 60 that can be made available to another entity. The soil property sensor 22nd or the ground radar sensor 24 is preferably on the agricultural machine 50 arranged.

The second geographic parameter is, for example, from a storage medium 26th obtained in the previously measured or computer simulated data on soil properties of the usable area 60 are stored. The storage medium 26th can comprise an electronic, optical, optoelectronic, magnetic, magneto-optical, neural and / or a biological storage medium, the storage medium 26th on the agricultural machine 50 may be appropriate. Alternatively or additionally, the storage medium comprises 26th in the broader sense a server, an internet, an intranet and / or a cloud system.

The control device 10 also has an evaluation unit 14th for comparing the first geographic parameter with the second geographic parameter to obtain a control signal for the agricultural machine 50 to create. By means of an output interface 16 the generated control signal is sent to the agricultural machine 50 , for example an actuator, output. Alternatively or additionally, the control signal can be sent to one with the agricultural machine 50 connected control center, which is a central monitoring system for monitoring the agricultural area 60 includes and with several agricultural machines 50 can be connected.

2 shows schematically an example of the agricultural area 60 on which there is a pre-planned route 52 for the agricultural machine 50 is located. The pre-planned route 52 can be generated based on data from an environmental sensor system and stored in the agricultural machine's own storage medium 50 be pre-stored. The agricultural machine 50 leads the planned route 52 out. While driving according to the planned route 52 becomes the current position of the agricultural machine 50 from the localization system 20th receive. Also, the first geographic parameter is from the soil property sensor 22nd or from the ground radar sensor 24 receive. The second will also be based on the current situation geographical parameters of the storage medium 26th receive. The first and second geographic parameters are compared with one another.

If a discrepancy between the two geographical parameters is determined, a control signal is generated which, for example, effects a route correction. This is the case, for example, when the agricultural machine 51 accidentally from the pre-planned route 52 deviates (in 2 shown schematically with dashed lines). The current situation of the agricultural machine 51 by the pre-planned route 52 deviates, there are no data of the second geographical parameter in the storage medium 26th in front. Alternatively or additionally, in this case a default value, for example “zero”, can be stored in the storage medium 26th pre-stored. As an alternative or in addition, the second geographic parameter can also relate to a location on the pre-planned route 52 showing the current situation of the agricultural machine 50 closest to you. The control signal can then cause the agricultural machine 50 corrects your direction of travel, which is in 2 by the arrow 54 is indicated. So the agricultural machine arrives 50 to the pre-planned route 52 back.

There can be certain objects such as stone and / or metal bodies in the underground 61 ( 3 ) to the floor area 62 be arranged, for example in the first soil layer 64 . The first layer of soil 64 has a depth of less than 1 meter, preferably in a range of 20 centimeters to 50 centimeters. That way, that's from the soil property sensor 22nd or from the ground radar sensor 24 obtained signal, which contains the first geographical parameter, particularly low-noise. The size and / or density (ie average distance between the individual objects) of the objects can depend on the resolution and the frequency range used by the soil property sensor 22nd or the ground radar sensor 24 be adjusted.

List of reference symbols

10

Control device

12

Input interface

14th

Evaluation unit

16

Output interface

20th

Localization system

22nd

Soil property sensor

24

Ground radar sensor

242

Detection area

26th

Storage medium

50, 51

Agricultural machine

52

route

54

Route correction

60

Usable area

61

Underground

62

Floor area

64

first layer of soil

66

second soil layer

68

third layer of soil

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102012201333 A1 [0004]

Claims (12)

A method for controlling an agricultural machine (50) comprising: - Obtaining a current position of the agricultural machine (50) at a first point in time, a first geographical parameter of the current position of the agricultural machine (50) measured at the first point in time, and a second geographical parameter stored at a second point in time based on the current situation; and - Comparing the first geographic parameter with the second geographic parameter in order to generate a control signal for the agricultural machine (50). Procedure according to Claim 1 wherein the current location of the agricultural machine (50) is obtained from a global navigation satellite system, an odometry system, an RFID system and / or a lane detection system. Procedure according to Claim 1 or 2 , wherein the first geographic parameter is measured by a radar sensor (22), preferably a ground radar sensor (24). Procedure according to Claim 3 , wherein the radar sensor (22) is attached to the agricultural machine (50). Method according to one of the preceding claims, wherein the first and / or second geographical parameter comprises a material composition, a layer depth, a surface quality, a layer sequence and / or a water content of a piece of soil in the current position of the agricultural machine (50). Method according to one of the preceding claims, wherein the control signal is generated in the event of a discrepancy between the first and the second geographical parameter. Method according to one of the preceding claims, further comprising using a predefined object which is arranged underground within an agricultural area (60). Device (10) for controlling an agricultural machine (50), comprising: - an input interface (12) for receiving: - A current position of the agricultural machine (50) at a first point in time; - A first geographical parameter, measured at the first point in time, of the current position of the agricultural machine (50); and a second geographical parameter based on the current location and stored at a second time prior to the first time; and - An evaluation unit (14) for comparing the first geographical parameter with the second geographical parameter in order to generate a control signal for the agricultural machine (50). Agricultural machine (50), comprising a device (10) for controlling an agricultural machine (50) according to Claim 8 , wherein the agricultural machine (50) preferably comprises a sensor (22, 24) for measuring a geographic parameter of a current position of the agricultural machine (50). Computer program product, comprising instructions which, when the program is executed by a computer, cause the computer to perform the method according to Claim 1 execute. Computer-readable storage medium on which the computer program product is based Claim 10 is stored. Data carrier signal that the computer program product according to Claim 10 transmits.

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