EP2278869A1 - Verfahren und vorrichtung zur lenkung einer zweiten landwirtschaftlichen maschine, die parallel fahrend zu einer ersten landwirtschaftlichen maschine über ein feld lenkbar ist - Google Patents

Verfahren und vorrichtung zur lenkung einer zweiten landwirtschaftlichen maschine, die parallel fahrend zu einer ersten landwirtschaftlichen maschine über ein feld lenkbar ist

Info

Publication number
EP2278869A1
EP2278869A1 EP09723414A EP09723414A EP2278869A1 EP 2278869 A1 EP2278869 A1 EP 2278869A1 EP 09723414 A EP09723414 A EP 09723414A EP 09723414 A EP09723414 A EP 09723414A EP 2278869 A1 EP2278869 A1 EP 2278869A1
Authority
EP
European Patent Office
Prior art keywords
machine
rangefinder
measured values
steering
distance
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Withdrawn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
EP09723414A
Other languages
German (de)
English (en)
French (fr)
Inventor
Ole Peters
Nicolai Tarasinski
Klaus Hahn
Peter Pickel
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP2278869A1 publication Critical patent/EP2278869A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling

Definitions

  • the invention relates to a method and apparatus for steering a second agricultural machine that is steerable over a field relative to a first agricultural machine, comprising: a rangefinder mounted on one of the machines and operable to measure directional values over a horizontal range and the distance to the range finder of adjacent objects, and an evaluation device connected to the rangefinder, which is set up to output a guidance signal of the second machine relative to the first machine based on the measured values of the range finder.
  • the parallel driving was done purely manually by the drivers of the machines.
  • the driver of the second machine has therefore the task of steering it parallel to the first machine.
  • the driver of the first machine again steers it along an existing processing limit.
  • To relieve the driver of the first machine steering aids are known, which interact in particular mechanically, acoustically (ultrasound) or by means of electromagnetic waves (in particular optically) with the processing limit and the front of the machine field and steer the first machine automatically.
  • steering data in the form of speed and direction data can be transmitted from the first machine to the second machine (see DE 10064 860 A and JP 04 101 206 A), which has the disadvantage that any errors in directional and speed specifications occur Over time, the second machine adds up to large errors in the position, so that parallel driving is not always guaranteed.
  • the object underlying the invention is seen to provide an apparatus and method for reliable steering of a second machine, which is steered in parallel to a first machine based on signals from a range finder.
  • a device serves to steer a second agricultural machine, which moves relative to a first agricultural machine over a field, in particular parallel to it.
  • Attached to one of the machines is a range finder which outputs readings over a horizontally extending area, each containing information about the direction and the distance of the sensed distance from detected objects adjacent to the range finder and thus to the machine carrying it, d. H. represent a two-dimensional, horizontally extending, so-called distance image.
  • the measured values are fed to an evaluation device, which processes them and identifies measured values associated with the machine not equipped with the rangefinder by comparing measured values which are recorded in chronological succession. For example, distance values associated with a particular direction, which remain the same in time or change only slightly, can be assigned to the other machine.
  • the evaluation device thus automatically recognizes the measured values which can not be assigned to the machine that is not equipped with the rangefinder on the basis of the detected measured values. Only these selected measured values are used to generate the steering signal. As a result, the second machine always runs in a desired manner - in particular parallel - next to the first machine.
  • the device according to the invention works also in the harsh agricultural environment in which it is exposed to vibrations and obstructions by airborne crop particles and the like, sufficiently reliable, since not only a single distance, but several distances are detected over a horizontal area, so that single, useless distance values can be ignored.
  • the evaluation device identifies different objects that are adjacent to the machine equipped with the rangefinder.
  • the disclosure of DE 10 2004 018 813 A which is incorporated by reference into the present documents. Accordingly, measured values of the range finder representing a common object are identified, which is easily possible on the basis of the direction of approximately independent or not abruptly changing distances, and assigned to the respective object.
  • the objects may then be divided into classes depending on whether or not they move relative to the rangefinder-equipped machine. An object not or only slightly moving with respect to the range-equipped machine, which is also within an expected distance range, is expediently identified or classified as the machine not equipped with the rangefinder.
  • the lateral displacement of the objects relative to the machine equipped with the rangefinder can offset the objects in the forward direction and / or direction of movement of the agricultural machine equipped with the rangefinder the objects are identified.
  • the detected distance values may be compared with a transverse direction target value between both machines, and the difference may be supplied as a steering signal of a steering device of the second machine (or a display device or the like from which the operator of the second machine can steer it).
  • This direction of movement can additionally serve to generate the steering signal of the second machine in order to be able to follow possible changes in direction of the first machine more quickly.
  • the detected moving direction of the non-range-equipped machine can be compared with the moving direction of the rangefinder-equipped machine, and the steering signal is generated such that the moving direction of the second machine is at least approximately identical to the moving direction of the first machine or not parallel driving, z. B. in curves or in the headland - a setpoint corresponds.
  • the comparison of the directions of movement of the two machines is particularly advantageous when the second machine leads the first machine, since then the consideration of the direction deviation allows a better steering performance of the second machine.
  • the device according to the invention is also suitable for detecting the offset between the first machine and the second machine in its forward direction, since it can determine, for example, the direction of a leading edge and / or a trailing edge of the machine not equipped with the rangefinder. It makes sense to compare this measured value with a desired value and to control a speed setting device of the second machine such that the offset between the two machines always remains at least approximately the same in its forward direction and, in particular, corresponds to the desired value.
  • the setpoint for the distance in the transverse direction between the two machines can be retrieved as a fixed value from a memory device.
  • a setpoint that can be recalled from the memory device can also be changed by the operator or can be entered by him into the memory device.
  • an operator can bring the second machine into a desired position relative to the second machine and cause by a suitable input to an input device, that the current distance is taken from the evaluation device as the setpoint.
  • the orientation of the rangefinder relative to the machine carrying it can be varied in order to adapt to different tasks.
  • the second machine moves forward relative to the first machine, for example, when taking over crop, so that the sensitive area of the rangefinder obliquely backwards (or, if the rangefinder is attached to the first machine, oblique forward), while in other applications, the two machines drive right next to each other, z.
  • the sensitive area of the rangefinder must be directed to the side.
  • the rangefinder can scan the horizontal area by sweeping a suitable angular range about the vertical axis or simultaneously by means of a plurality of individual, at different angles sensitive or at appropriate intervals successively arranged rangefinder simultaneously. It should also be noted that the range finder can detect an area not only in the horizontal direction but additionally also in the vertical direction in order to provide a three-dimensional distance image whose evaluation decouples a more precise or from any movements of the second machine about the axis extending in the forward direction Determining the distance to the second machine allows.
  • a radar sensor can be used, which successively radiates electromagnetic waves in different directions and detects the distance of the objects based on the transit time of reflected waves.
  • an ultrasonic sensor could be used which emits acoustic waves and recognizes the distance of the objects based on the transit time of detected, reflected waves.
  • multiple ultrasonic sensors angularly offset about the vertical axis may be used, or a single ultrasonic sensor may rotate about the vertical axis.
  • a laser scanner can be used, which is rotated about the vertical axis and successively radiates light in different directions, in the visible wavelength range or above (ultraviolet) or below
  • 09917 EN doc (Infrared) is located. On the basis of the transit time and / or a beam expansion detected light reflected from an object, the distance of the object is evaluated. It would also be possible to use a plurality of lasers emitting in different directions, which emit the light simultaneously or successively successively.
  • the evaluation device is operable to generate a signal for collision avoidance with neighboring objects on the basis of the selected measured values of the distance meter.
  • This signal may be a steering signal for bypassing the object or it may be a stop signal for automatically stopping the propulsion of the second machine.
  • the evaluation device in order to recognize a configuration of the first agricultural machine from the measured values of the range finder and to deduce therefrom an allowed and / or preferred range of direction and distance of the first agricultural machine to the second agricultural machine. Thus it can be concluded on the basis of the size, in particular the width of the first machine or its header to the distance to be maintained.
  • the device according to the invention is suitable for any combination of agricultural machines.
  • the first machine is a harvesting machine and the second machine is a transport vehicle suitable for picking up and transporting the crop harvested by the first machine, or the second machine is a transport vehicle and the first machine is or pulls a seed drill for picking up the seed.
  • both machines are similar and, for example, offset or exactly side by side moving harvesters or as staggered or exactly side by side moving machines for tillage or for ordering, fertilizing or spraying.
  • the two machines can also be different, for. B. when a tillage machine laterally displaced right next to or behind or behind a harvester.
  • FIG. 1 is a side view of a combination of a first and second agricultural machine, which consists of a forage harvester and a tractor with a trailer with a container,
  • FIG. 3 shows a schematic diagram in which the automatic steering device of the second machine is shown
  • FIG. 4 shows an example of a two-dimensional distance image emitted by the rangefinder, which is assigned to the situation from FIGS. 1 and 2, and FIG.
  • FIG. 5 shows a flowchart according to which the evaluation device operates.
  • a combination of two agricultural machines illustrated in FIG. 1 comprises a self-propelled forage harvester 10, which constitutes a first agricultural machine, a self-propelled tractor 12, which constitutes a second agricultural machine, and a trailer 16, towed by the tractor 12 by means of a drawbar 14
  • Container 18 includes.
  • the self-propelled forage harvester 10 is built on a frame 20 supported by front driven wheels 22 and steerable rear wheels 24.
  • the operation of the forage harvester 10 is carried out by a driver's cab 26, from which a harvesting attachment 28 in the form of a corn cutting attachment is visible, which is attached to a feeder channel 30 on the front side of the forage harvester 10.
  • a feed channel 30 arranged in the feed conveyor with pre-press rollers a chopper drum 36, which chops it into small pieces and gives it a blower 38.
  • the tractor 12 and the trailer 16 are conventional and therefore need no further discussion.
  • the combination of the two machines 10, 12 is shown in a plan view. It will be appreciated that the forage harvester 10 travels along a crop edge 46 that forms a boundary between the harvested area 48 of the field 34 and the still standing corn 52 stock 52 of the field 34. The operator of the forage harvester 10 manually steers it along the crop edge 46, or the forage harvester 10 is automatically guided along the row of crops 50 by means of a row sensor which has two feeler bars 54 attached to a divider tip of the header Erntegutkante 46 steered.
  • a rangefinder 60 is disposed on a fender 58 of the tractor 12 above a steerable front wheel 56, which is a laser scanner in the illustrated embodiment.
  • the rangefinder comprises a pulsed laser 62 operating in the visible wavelength range or above or below which radiates its light in a horizontal direction and a light sensor 64 which is sensitive to the light of the laser 62 and which is based on the transit time of the laser 62 originating from reflected light (and / or dependent on the distance of the object angular expansion of the light) the respective distance of the objects from the rangefinder 60 detected next to the tractor 12 positioned objects.
  • the laser 62 and preferably but not necessarily the light sensor 64, is successively rotated about the vertical axis by a motor (not shown) to scan an angular range 66 gradually over a certain, sufficiently short time.
  • Range finder 60 is mounted at a height above the standing plants 50. To avoid erroneous measurements when driving on bumps, an automatic horizontal alignment of the rangefinder 60 may be provided.
  • the rangefinder 60 z. B. to adapt to the height of the plants 50 (each manually or by motor) height adjustable and / or be rotated about the vertical axis in order to adjust the position of the swept angle range 66 to the respective task of the tractor 12. For example, when two tractors travel side by side in tillage or mowing, the range finder 60 is rotated forward by hand or by a motor such that the center of the angle portion 66 extends transversely to the forward direction of the tractor 12. The rangefinder 60 may also be rotated further forward to detect a processing limit of the field 34, e.g. B. in tillage or mowing or harvesting.
  • an output of the rangefinder 60 is connected to an evaluation device 68, which in turn is coupled to a steering device 70 and a speed setting device of the tractor 12.
  • FIG. 4 a typical two-dimensional distance image is reproduced as it is transferred from the rangefinder 60 in the situation according to FIG. 2 to the evaluation device.
  • the X-axis plots the angle of the rangefinder around the vertical axis and the y-axis plots the duration of the light.
  • the evaluation device 68 thus receives measured values from the range finder, which provide information about the direction (angle about the vertical axis) and the associated transit time of the light (or the associated distance of the object, which is obtained by multiplying the transit time by half the speed of light). contain.
  • - in the plan view of Figure 2 in a clockwise direction, d. H. from left to right - rising angle first to expect a relatively high runtime, since there are no objects.
  • a first decrease in the duration is caused by a power pole 74, after which the duration increases again and continuously decreases when the rangefinder
  • the evaluation device 68 uses a plurality of temporally sequentially acquired distance images to identify the measured values that can be assigned to the forage harvester 10 and to use these to generate a steering signal for the steering device 70 and a speed specification signal for the speed specification device 72.
  • For the next distance image only the run-time drop attributable to the power pole 74 would have moved to the right, while the measurements associated with the forage harvester 10 will remain approximately the same with respect to direction and distance, as long as the two machines 10, 12 travel equally fast and parallel to each other.
  • step 102 a first distance image is taken, as shown by way of example in FIG.
  • step 104 a further distance image is recorded.
  • step 106 the last taken distance image and the previously taken distance image are compared in order to identify the objects adjacent to the tractor 12.
  • the power pole 74 is identified as a stationary object that moves relative to the tractor 12, with the current propulsion speed of the tractor 12, which can be fed to the evaluation device 68 as further information.
  • the forage harvester 10 is identified as not moving relative to the tractor 12 or only relatively little moving object.
  • the evaluation device 68 then generates a steering signal for the steering device 70 in step 108 on the basis of the distance values assigned to the forage harvester 10, which in turn steers the steerable front wheels of the tractor 56.
  • the evaluation device 68 compares these distance values with a setpoint value which is called up from a memory device 76 and generates the steering signal on the basis of a difference between the setpoint value and a distance value, eg. B. the smallest detected distance value between the forage harvester 10 and the tractor
  • This distance value may be corrected for the particular angle at which it was detected to compensate for the geometric effects caused by skewing of the tractor 12 relative to the forage harvester 10 and only the shortest distance measured transversely to the forward direction between tractor 12 and trailer 16 and the forage harvester 10 to be considered.
  • the desired value can be fixed in the memory device 76 or can be introduced and / or changed by means of an operator input device 78 arranged at the workstation of the operator of the tractor 12. It can also be a key o. ⁇ .
  • the operator input device 78 are depressed to take a current distance between the tractor 12 and trailer 16 and the forage harvester 10 as a desired setpoint.
  • step 108 furthermore, the forward direction of the first machine 10 can be detected and used to correct the steering signal, which can be done by comparing two temporally successive distance images.
  • the steering signal can be corrected such that the second machine 12 follows the first machine 10 more quickly after possible changes in direction of the first machine 10, as if only trying to keep the lateral distance between both machines 10, 12 constant.
  • the evaluation device 68 generates in step 110 a speed signal for the speed setting device 72, which is based on the measured position of the forage harvester 10 relative to the tractor 12 in the forward direction and is selected such that this distance corresponds to a desired value.
  • the desired value can be fixed in the memory device 76 or can be introduced and / or changed by means of an operator input device 78 arranged at the workstation of the operator of the tractor 12. It can also be a key o. ⁇ .
  • the operator input device 78 are depressed to take a current distance between the tractor 12 and trailer 16 and the forage harvester 10 as a desired setpoint.
  • Step 110 is followed by step 104 again.
  • step 106 the two most recent distance images are again compared.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP09723414A 2008-03-20 2009-02-27 Verfahren und vorrichtung zur lenkung einer zweiten landwirtschaftlichen maschine, die parallel fahrend zu einer ersten landwirtschaftlichen maschine über ein feld lenkbar ist Withdrawn EP2278869A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008015277A DE102008015277A1 (de) 2008-03-20 2008-03-20 Verfahren und Vorrichtung zur Lenkung einer zweiten landwirtschaftlichen Maschine, die relativ zu einer ersten landwirtschaftlichen Maschine über ein Feld lenkbar ist
PCT/EP2009/052387 WO2009115404A1 (de) 2008-03-20 2009-02-27 Verfahren und vorrichtung zur lenkung einer zweiten landwirtschaftlichen maschine, die parallel fahrend zu einer ersten landwirtschaftlichen maschine über ein feld lenkbar ist

Publications (1)

Publication Number Publication Date
EP2278869A1 true EP2278869A1 (de) 2011-02-02

Family

ID=40561861

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09723414A Withdrawn EP2278869A1 (de) 2008-03-20 2009-02-27 Verfahren und vorrichtung zur lenkung einer zweiten landwirtschaftlichen maschine, die parallel fahrend zu einer ersten landwirtschaftlichen maschine über ein feld lenkbar ist

Country Status (8)

Country Link
US (1) US8755976B2 (zh)
EP (1) EP2278869A1 (zh)
JP (1) JP5575738B2 (zh)
CN (1) CN101977491B (zh)
BR (1) BRPI0906837A2 (zh)
DE (1) DE102008015277A1 (zh)
EA (1) EA017165B1 (zh)
WO (1) WO2009115404A1 (zh)

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WO2009115404A1 (de) 2009-09-24
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US20110022273A1 (en) 2011-01-27
CN101977491A (zh) 2011-02-16
BRPI0906837A2 (pt) 2015-07-14
JP5575738B2 (ja) 2014-08-20
US8755976B2 (en) 2014-06-17
EA017165B1 (ru) 2012-10-30
CN101977491B (zh) 2013-12-25
EA201071037A1 (ru) 2011-02-28

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