DE4134820A1 - Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals - Google Patents

Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals

Info

Publication number
DE4134820A1
DE4134820A1 DE4134820A DE4134820A DE4134820A1 DE 4134820 A1 DE4134820 A1 DE 4134820A1 DE 4134820 A DE4134820 A DE 4134820A DE 4134820 A DE4134820 A DE 4134820A DE 4134820 A1 DE4134820 A1 DE 4134820A1
Authority
DE
Germany
Prior art keywords
plants
row
sensors
sensor
ultra
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE4134820A
Other languages
German (de)
Inventor
Gerd E F Dipl Ing Steffen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STEFFEN, CHRISTINE, 96117 MEMMELSDORF, DE
Original Assignee
Gerd E F Dipl Ing Steffen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gerd E F Dipl Ing Steffen filed Critical Gerd E F Dipl Ing Steffen
Priority to DE4134820A priority Critical patent/DE4134820A1/en
Priority to DE4140254A priority patent/DE4140254A1/en
Publication of DE4134820A1 publication Critical patent/DE4134820A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M1/00—Stationary means for catching or killing insects
    • A01M1/02—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects
    • A01M1/026—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects combined with devices for monitoring insect presence, e.g. termites
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/08—Agricultural vehicles
    • B60G2300/083—Boom carrying vehicles, e.g. for crop spraying

Abstract

The ultrasonic sensing system is used to detect a line of plants and provides guidance for a tractor. Mounted on the tractor are a pair of sensors (51, 52) that are set apart by a distance to suit the width of the row of plants (11). The sensor outputs are processed by a logic unit (12) that indicates whether the tractor is centred over the row or is to the left or right. ADVANTAGE - Provides automatic measurement of alignment.

Description

Um einen Traktor oder ein Arbeitsgerät auf dem Feld entlang von vorgegebenen Reihen zu führen, wird der Traktor meist von einem Mann gefahren, der damit seine Aufmerksamkeit nur noch zum Teil auf das Arbeitsgerät richten kann.Around a tractor or implement on the field the tractor is usually led by one Man drove his attention only partially can point at the implement.

Erfordert das Arbeitsgerät jedoch die gesamte Aufmerksamkeit von einer oder mehreren Personen. muß ein eigener Fahrer da sein, der den Traktor mit dem Arbeitsgerät in der Spur hält.However, the implement requires all of the attention from one or more people. there must be a driver of his own who keeps the tractor on track with the implement.

Es sind Tasthilfen oder Leitbleche die in Furchen entlang laufen bekannt, sie konnten sich auf Grund ihrer Unzulänglichkeit jedoch nicht durchsetzen.They are tactile aids or baffles that run along furrows known, however, due to their inadequacy do not enforce.

In der neuesten Zeit wird mit Bildverarbeitung experimentiert.Image processing is currently being experimented with.

Das hier vorgestellte Verfahren benutzt zwei Ultra-Schall- Sensoren, die beide auf je einen Rand der Pflanzenreihe sehen. Meldet der rechte Sensor "Pflanzen vorhanden" und der linke Sensor nichts, so schließt die Elektronik daraus, daß das Arbeitsgerät nach rechts gefahren werden muß. Dasselbe ist analog dazu auf der linken Seite.The method presented here uses two ultra-sonic Sensors that both look at one edge of the row of plants. The right sensor reports "Plants present" and the left sensor nothing, so the electronics concludes that the implement must be driven to the right. The same is analogous to that on the left side.

Sehen beide Sensoren nichts, ist die Pflanzenreihe zu schmal. Sehen beide Sensoren die Pflanzenreihe, so ist die Pflanzenreihe zu breit. Diese beide Signale können genommen werden, um das Arbeitsgerät wieder geradeaus zu lenken und/oder die Sensoren bei Beibehaltung der Mitte auseinander oder zusammen zu schieben. So kann die Sensorik sich automatisch an die unterschiedliche Reihenbreite anpassen.If neither sensor sees anything, the row of plants is too narrow. If both sensors see the row of plants, then the row of plants is to wide. These two signals can be taken to the Steer the implement straight ahead and / or the sensors Keeping the middle apart or sliding together. So the sensors can automatically adapt to the different Adjust row width.

Fahren die Sensoren bis auf ein Minimum (Überdeckung der beiden Meßfelder) zusammen, zeigt dieses daß das Ende der Pflanzenreihe erreicht ist.Drive the sensors to a minimum (coverage of the two Measuring fields) together, this shows that the end of the row of plants is reached.

Dieses Verfahren kann auch benutzt werden um Traktoren entlang einer Reihe über das Feld ohne Fahrer zu führen.This method can also be used to walk along tractors in a row across the field without a driver.

Die Pflanzenreihe kann auch simuliert werden, da die Ultra-Schall- Sensoren keine direkte Erkennung machen.The plant row can also be simulated because the ultra-sonic Sensors do not make direct detection.

BildbeschreibungImage description

An einer Maschinenhalterung (15) sind in einem Abstand zwei Sensoren (S1 + S2) montiert. Der Meßbereich (M) der Sensoren ist so eingestellt, daß der obere Punkt über der Pflanzenreihe (11), der untere über der Erde liegt. Der Abstand ist so gewählt, daß der Meßfleck von Sensor 1 (M1) und der Meßfleck von Sensor 2 (M2) gerade außerhalb, beiderseitig der Pflanzenreihe (11) zu liegen kommt.Two sensors (S 1 + S 2 ) are mounted on a machine holder ( 15 ) at a distance. The measuring range (M) of the sensors is set so that the upper point is above the row of plants ( 11 ), the lower point above the earth. The distance is chosen so that the measuring spot from sensor 1 (M 1 ) and the measuring spot from sensor 2 (M 2 ) come to lie just outside, on both sides of the row of plants ( 11 ).

Wenn nun die Maschine (nicht gezeichnet) in Richtung der Fahrtrichtung fährt und einer der Meßflecke (M1/M2) die Pflanzenreihe (11) berührt, erzeugt dieses ein Signal in dem betreffenden Sensor. Die Elektronik (12) gibt dann ein entsprechendes Signal (S1.1/S1.2) aus, um die Maschine nach rechts oder nach links zu steuern.If the machine (not shown) travels in the direction of travel and one of the measuring spots (M 1 / M 2 ) touches the row of plants ( 11 ), this generates a signal in the relevant sensor. The electronics ( 12 ) then output a corresponding signal (S 1.1 / S 1.2 ) to steer the machine to the right or to the left.

Eine zusätzliche und verfeinerte Steuerung wird dadurch erreicht, wenn die Signale S2.1 und S2.2 genutzt werden. Durch diese beiden Signale (S2.1/S2.2) können die Sensoren (S1/S2) aus einander oder zusammen gefahren werden, um sich der Pflanzenreihenbreite anzupassen. Das Signal (S2.1) - zusammen fahren der Sensoren (S1/S2) - kann auch dazu benutzt werden, das Ende der Pflanzenreihe anzuzeigen.Additional and refined control is achieved when the signals S 2.1 and S 2.2 are used. With these two signals (S 2.1 / S 2.2 ) the sensors (S 1 / S 2 ) can be moved apart or together to adapt to the width of the rows of plants. The signal (S 2.1 ) - driving together the sensors (S 1 / S 2 ) - can also be used to indicate the end of the row of plants.

Auflistung der PositionenList of positions

S1 - Sensor 1
S2 - Sensor 2
S1.1 - Steuersignal: nach rechts
S1.2 - Steuersignal: nach links
S2.1 - Steuersignal: geradeaus - und/oder Sensoren zusammen fahren - Pflanzenreihenende
S2.2 - Steuersignal: geradeaus - und/oder Sensoren auseinander fahren
M - Meßbereich
M1 - Meßfleck von Sensor 1
M2 - Meßfleck von Sensor 2
11 - Pflanzenreihe
12 - Elektronik
13 - Energiezuführung
14 - Fahrtrichtung
15 - MaschinenhalterungS 1 - sensor 1
S 2 - sensor 2
S 1.1 - control signal: to the right
S 1.2 - control signal: to the left
S 2.1 - Control signal: straight ahead - and / or move sensors together - end of row of plants
S 2.2 - Control signal: straight ahead - and / or move apart sensors
M - measuring range
M 1 - measurement spot from sensor 1
M 2 - measurement spot from sensor 2
11 - row of plants
12 - electronics
13 - Energy supply
14 - Direction of travel
15 - machine bracket

Claims (5)

1. Ultra-Schall-Sensor gesteuertes Führungssystem, dadurch gekennzeichnet, daß zwei Ultra-Schall-Sensoren sich gleichzeitig beiderseitig einer räumlich erhöhten Reihe entlangtasten und Signale erzeugen, mit denen eine Maschine dieser Reihe folgen kann.1. Ultra-sound sensor controlled guidance system, characterized in that two ultra-sound sensors simultaneously push along both sides of a spatially elevated row and generate signals with which a machine can follow this row. 2. Ultra-Schall-Sensor gesteuertes Führungssystem wie unter 1, dadurch gekennzeichnet, daß der Meßbereich der Sensoren definierbar eingestellt ist, oder werden kann.2. Ultra-sound sensor controlled guidance system as under 1, characterized in that the measuring range of the sensors is definable, or can be set. 3. Ultra-Schall-Sensor gesteuertes Führungssystem wie unter 1 und 2, dadurch gekennzeichnet, daß die Sensoren zusammen und auseinander gefahren werden können.3. Ultra-sound sensor controlled guidance system as under 1 and 2, characterized in that the sensors together and can be moved apart. 4. Ultra-Schall-Sensor gesteuertes Führungssystem wie unter 1 bis 3, dadurch gekennzeichnet, daß die Sensoren fest zueinander montiert sind.4. Ultra-sound sensor controlled guidance system as under 1 to 3, characterized in that the sensors are fixed to each other are mounted. 5. Ultra-Schall-Sensor gesteuertes Führungssystem wie unter 1 bis 4, dadurch gekennzeichnet, daß die Signale der Sensoren durch eine Elektronik nach dem Bedarf der zu führenden Maschine aufbereitet werden.5. Ultra-sound sensor controlled guidance system as under 1 to 4, characterized in that the signals from the sensors through electronics according to the needs of the machine to be guided be processed.
DE4134820A 1991-10-22 1991-10-22 Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals Withdrawn DE4134820A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE4134820A DE4134820A1 (en) 1991-10-22 1991-10-22 Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals
DE4140254A DE4140254A1 (en) 1991-10-22 1991-12-06 Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4134820A DE4134820A1 (en) 1991-10-22 1991-10-22 Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals

Publications (1)

Publication Number Publication Date
DE4134820A1 true DE4134820A1 (en) 1992-04-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE4134820A Withdrawn DE4134820A1 (en) 1991-10-22 1991-10-22 Ultrasonic sensing system for control of agricultural tractor - has pair of sensor to monitor row of plants and to give guidance signals

Country Status (1)

Country Link
DE (1) DE4134820A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008009753B3 (en) * 2008-02-18 2009-09-10 Yara International Asa Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008009753B3 (en) * 2008-02-18 2009-09-10 Yara International Asa Method for contactless determination of biomass and morphological parameter of plant populations, involves treating plants of populations with ultrasound by releasing acoustic pulses from ultrasound source

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