EP3648564A1

EP3648564A1 - System and method for close-range and/or remote monitoring and/or control of vehicles

Info

Publication number: EP3648564A1
Application number: EP18734812.3A
Authority: EP
Inventors: Michael Horsch
Original assignee: Horsch Maschinen GmbH
Current assignee: Horsch Maschinen GmbH
Priority date: 2017-07-06
Filing date: 2018-06-28
Publication date: 2020-05-13
Also published as: DE102017115150A1; WO2019007801A1

Abstract

The invention relates to a system (10) and a method for close-range and/or remote monitoring and/or control of individual or simultaneously a plurality of self-driving vehicles (F₁; F₂, F₃), work machines or other movable vehicles or aircraft, wherein at least one vehicle to be monitored, to be located and/or to be controlled (F₁; F₂, F₃) comprises a device for locating said vehicle within a known physical environment, which device is equipped in particular to produce location coordinates obtained by satellite support with regard to the known physical environment in electronically processable form. The system (10) comprises: an electronic data record (D) which within a physical environment is assigned arbitrary location coordinates which specify the location of the vehicle (F₁; F₂, F₃), in each case a defined position within the physical environment; an assignment specification (Z), which links the electronic data record for assignment of location coordinates within the physical environment to movable location coordinates of the vehicle (F₁; F₂, F₃) which is located and/or movable within the environment; a communication device (K) which, at regular or irregular time intervals or almost in real time, provides the linked location coordinates of the vehicle (F₁; F₂, F₃) which is located and/or which is movable and/or is moving within the environment to a computer unit (R) which is positioned in the vehicle (F₁; F₂, F₃) itself or at a location remote from the vehicle (F₁; F₂, F₃); and a user interface (B) communicating with the computer unit (R) for presenting and in particular for visualising at least portions of the physical environment which are disposed in the surroundings of the vehicle (F₁; F₂, F₃). The user interface (B) can be available and accessible to the vehicle driver located in the vehicle (F₁; F₂, F₃) and/or to a remote monitoring and/or remote control position located at a distance from the vehicle (F₁; F₂, F₃).

Description

System and method for local and / or remote monitoring and / or control of vehicles

The present invention relates to a system for near and / or remote monitoring and / or control of self-propelled vehicles, work machines or other mobile vehicles or aircraft with the features of independent claim 1. In addition, the invention relates to a method for close and / or remote monitoring and / or control of self-propelled vehicles, work machines or other movable vehicles or aircraft with the features of independent claim 12.

In the organization of larger farms, application planning systems have long been established with the aim of increasing the effectiveness of the use of machines. Especially when using large and

Efficient work vehicles require an effective deployment planning to amortize the investments associated with the purchase of such large machines in the shortest possible time. However, a short payback period requires maximum operating times and correspondingly minimum times when the machines are at a standstill, for example because successive work assignments at neighboring or, if appropriate, locations farther apart from each other are not optimally matched to one another. In this

In this context, driving management can also gain in importance, which can shorten the transfer trips between successive missions with regard to the distances between the places of deployment.

EP 0 821 296 B1 discloses a route planning system for agricultural work vehicles such as combine harvesters having a defined working width on the field. With the route planning system processing path profiles are to be generated on a field, thereby improving the utilization of the

To achieve agricultural work vehicles and so, for example, to make better use of limited mower threshing or to come as close as possible to a theoretical performance of the machines through optimal infrastructure planning. To achieve these goals, the system proposes to capture field-specific data,

in particular co-ordinates for the field border, and work vehicle-specific data, wherein the latter data may include, for example, work, chassis or tire width, weights, tank volumes, marginal incline and bank angle. Due to the field-specific and the work vehicle-specific data is in the electronic data processing device based on a

Computation algorithm, the at least one optimization criterion for the

Having processing route, the Bearbeitungsfahrweg course generated in the form of a digitized processing route and on a graphical display in a

agricultural work vehicle shown.

A method for controlling an agricultural utility vehicle which is intended to automate and make safer driving management and / or field management is disclosed in DE 102 50 694 B3. The agricultural utility vehicle is equipped with facilities for the determination, storage and controllable change of relevant driving data. The data of a coupled load or an attachment are determined and stored in the on-board computer and evaluated in terms of time, distance, position or event. The commercial vehicle is equipped with GPS, ultrasound device, radar and sensors for detecting and detecting fixed or movable obstacles. The individual driving and control data as well as operating functions are displayed optically or acoustically. By means of said devices, devices, sensors and systems, it should be possible to display, select, control or switch the route, driving style and operation of the agricultural utility vehicle including the coupled load or an attachment differently clocked. For safety reasons, the driving management in the public traffic area is automatically blocked. In addition, the attention of the operator should be constantly monitored.

A navigation system for forestry and agricultural machinery is known from DE 20 2010 01 1 1 18 U1. Here it is in the foreground, forestry machines in the interest of optimized soil protection as accurately as possible to drive predetermined lanes, especially within so-called. Rückegassen or Feinerschließungslinien. Since a driver in his machine control is so far essentially supported only by optical markers in the forest, such as color markers on trees, compliance with the specified routes by means of the combined use of a digital compass and a GNSS receiver to be improved by the digital compass the Direction information via a suitable interface to a digital navigation system provides and there is equally an actual price and a target price. An intended for agricultural machines electronic machine management system for accurately position initiation of switching and setting operations in agricultural machinery is still apparent from EP 1 692 928 A2. The agricultural equipped with the system

Work machines link geographic data of a current machine position with machine-specific data, so that on the basis of the respectively determined

geographic data and the current machine requirements machine-specific switching and setting operations are generated and corresponding signals can be sent to the respective switching and control elements. The geographic module provides information about position and correspondingly stored data such as striking field data, restricted areas, etc., for example from a stored

Farm Management Software. The machine-specific module is thereby enabled to initiate the required action at the right time or at the right place according to the stored data about the machine. The

Machine-specific module can do the necessary in this way

Generate machine switching operations such as switching on and / or adjusting dosing devices, folding or unfolding a distributor linkage, lifting or lowering the machine or its tools.

The German translation DE 1 1 2008 000 307 T5 based on WO 2008/09461 1 A1 discloses a machine simulation and control system with a

A user interface for displaying a simulated environment and a controller connected to the user interface and a remotely positioned machine in

Communication connection is. The controller receives real-time information from the machine regarding operation of the machine at a work site. In addition, based on the information, the controller simulates the work site, the operation of the machine and the movements of a tool of the machine, and makes this data available to the user interface. According to a proposed

In an embodiment variant, the controller may receive terrain information of a selected work site and generate a simulated 3D environment of the worksite, wherein the simulated 3D environment includes a surface of the terrain, obstacles thereon, and / or planlines associated with the worksite.

In particular, the user interface may be operatively connected to communicate with a terrain map of the worksite. Thus, the terrain map may include work surface data that includes a ground survey,

Soil composition and / or consistency at several, in spatial coordinates specify defined places of the work place. In addition, the terrain map may include location, size, shape, composition, and / or consistency or at or near the work site, such as roads, utility lines, storage tanks, buildings, property boundaries, trees, waters, and / or other obstacles ,

Finally, DE 199 14 829 A1 discloses a system for graphic

Monitoring or remote control of stationary or mobile devices such as vehicles or construction machines by means of a reporting device from a control center. In this disclosed system, the mobile device comprises a first function block for measurement acquisition, for monitoring and / or alarm output according to specifiable rules, and a second function block for storing application-specific data of the mobile device. The center and the mobile device have means for communicating over two or more communication channels. The first

Communication channel is provided for communication between a communication server of the center and the second functional block of the mobile device. The second communication channel is for communication between one

Visualization system of the control center and the second functional block of the mobile

Device provided. To implement fleet management, the mobile device may include a third functional block that includes location and / or fleet management functions and that is equipped to communicate with a user at the location of the mobile device.

US 2015/0199106 A1 discloses a so-called reality goggle by means of which movements, position and orientation of autonomously or remotely controlled machines can be monitored. In addition, a controller may be provided to remotely control each monitored by means of reality glasses machines.

The invention has for its object to provide a system and a method available, which is suitable for local and / or remote monitoring and / or control of self-propelled vehicles, machinery or other movable Fahroder aircraft and in which the spatial environment or or Extracts from the spatial environment are simulated and visualized.

These objects are achieved by a system having the features in claim 1 and by a method having the features in claim 12. advantageous Embodiments and further developments of the invention are specified in the respective dependent claims.

To achieve the above objects, the present invention proposes a system for close and / or remote monitoring and / or control of individual or simultaneously several self-propelled vehicles, work machines or other moving vehicles or aircraft or any other vehicles having the features of independent claim 1 in front. In this system according to the invention, at least one vehicle to be monitored, to be located and / or to be controlled has one

Device for its localization within a known spatial environment, in particular for the production of satellite-supported

Location coordinates is equipped with respect to the known spatial environment in electronically processable form. By such means of localization is usually meant a satellite navigation such as a GPS system, optionally also another way of locating the vehicle normally associated with the vehicle in question to ensure proper functioning. For this purpose, one or more GPS sensors may be spatially associated with the vehicle and / or the hitch devices, which one or more GPS sensors can communicate with a satellite and are in communication. Therefore, the positions and / or locations of the at least one vehicle within a known spatial environment can be determined and / or detected at any desired time via the GPS system.

In addition, it is provided that the system according to the invention further comprises an electronic data record and / or works with an electronic data set, which assigns any spatial coordinates that locate the vehicle within a spatial environment to a defined position within the spatial environment. Such an electronic record normally refers to available room mapping that accesses existing electronic map material. This may be, for example, publicly available or otherwise available mapping data, possibly also self-generated data that can be used for the system. The term spatial environment may optionally mean a demarcated or delineated area of space. In principle, however, the spatial environment does not have to be limited to a delimited area, as long as the electronic data record can map the respectively processed environment and / or environment to be taken into account with electronic data processing. Because the size and scope of such records only few technical limitations In principle, this also applies to the size of the respective spatial environment considered in the system according to the invention. Nevertheless, it should be pointed out at this point that the term "spatial environment", which is usually used in the present context, can also be replaced by the somewhat narrower definition of the "defined spatial environment" as necessary or expedient.

In addition, a ZuOrdnungsvorschrift the electronic record for the assignment of location coordinates within the spatial environment (or the defined spatial environment) with movable location coordinates of the vehicle located within the environment and / or moving, which in particular embedding and In-relationship setting of the vehicle in The mapping may be meant to be temporary while immutable, but usually at

Movements of the vehicle over time variable location coordinates of the

Be related to the environment or the relevant landscape.

Furthermore, the system according to the invention comprises a suitable

Communication device, the associated spatial coordination of located within the environment (or the defined spatial environment) and / or moving and / or moving vehicle in regular or

irregular time intervals or almost in real time a computer unit for

Provided, which is positioned in the vehicle itself or at a remote location from the vehicle. As such communication device are particularly suitable wireless data transmission systems such as analog or digital radio communications. This communication device of the system according to the invention provides the associated local coordination of the vehicle located within the environment and / or moving and / or moving in regular or irregular

Time intervals or almost in real time a computer unit available in the

Vehicle itself or in a remote location from the vehicle is positioned.

Finally, a user interface communicating with the computer unit is provided and equipped for displaying and equipping at least portions of the spatial environment which are located in the surroundings of the vehicle, the user interface being located in the vehicle driver and / or remote monitoring vehicle. and or

Remote control location may be available and accessible when in this Context is spoken by an environment of the vehicle, so this can be a narrower environment, for example, an immediate front of a current

Main direction of movement of the vehicle. However, the environment may also be broader and include, for example, a wider range of angles around the vehicle or the entire nearer or wider environment around the vehicle. With the mentioned

Sections of the spatial environment are meant in particular the sections immediately around the moving vehicle, because these sections are supposed to be visualized using the system according to the invention and, for example, made accessible on screens or other suitable optical imaging devices. As the inventive system for close and / or remote monitoring and / or

Control of individual or at the same time several identical or different self-propelled vehicles is suitable and equipped, it can also be used in particular for monitoring and / or control of several vehicles

Vehicle fleet are suitable. For example, the system may allow simultaneous control and monitoring of many vehicles, including vehicle management

Fleet management in a larger operation. When in the

Related to the control and / or monitoring of several

different vehicles, so this means the independent monitoring and / or control, but not the type or type of vehicles. This may, of course, be several identical or identical vehicles, but which may move independently of one another within the monitored environment or may temporarily stand still there. Likewise, different vehicles, land vehicles, aircraft etc. can be controlled and / or monitored with the system according to the invention. The very general definition of the vehicles that can be monitored and / or controlled by the system according to the invention is intended to encompass not only vehicles of all kinds, but equally aircraft and

Combination vehicles (such as amphibious vehicles), since it is conceivable in principle, all types of landscapes and environments in the system to capture, map and represent, even those with smaller or larger water surfaces or landscapes from the air. However, if in the context of the present description or the claims, for linguistic reasons only vehicles are mentioned, all definitions or variants mentioned above should be included. In the system according to the invention, the processed, electronically recorded and / or mapped spatial environment (or defined spatial environment) according to a first embodiment variant comprise agricultural areas at least to a substantial extent or be formed by agricultural areas. Optionally or in addition, the spatial environment may also include, and / or be at least partially constituted by such areas and avenues, agricultural farmland, connecting and / or rural roads and publicly accessible or public transport areas. In particular, when using the system according to the invention for a fleet management with multiple monitored and / or controlled vehicles, the more comprehensive definition of the environment, which also includes courtyard areas, connecting and / or farm roads, important.

It may be of particular advantage for the better system ergonomics if the agricultural areas and / or other areas and / or paths in their visualization are represented or displayed quasi-realistic. It may also be advantageous if height profiles and / or growth and / or colors of the viewed spatial or reproduced on screen displays o. The like

Environment are quasi-realistic representable or presented. In addition, in the visualization optionally or additionally weather data and / or

Daylight levels are taken into account. All of these aspects are able to improve the ergonomics for the users of the system, as they through the quasi-realistic rendering, the approach to the existing in reality

Brightness and / or color values and the weather events offer the user a high recognition effect, so that he can find himself without orientation problems directly in the imaged environment and can locate the vehicles there clearly.

In a further variant of the system according to the invention for local and / or remote monitoring and / or control of individual or at the same time several different self-propelled vehicles, machines or other mobile vehicles or aircraft or any other vehicles can advantageously visualize the sections of the spatial Environment, which are located in the vicinity of the vehicle and / or in the immediate forefront of a current main movement direction of the vehicle, provide a viewing direction from the vehicle during playback and / or depict its surroundings and / or its apron. In this context, it is particularly advantageous if the viewers at a location remote from the vehicle with no plan view of the landscape with is imaged and visualized in a specific environment moving vehicle, but a realistic perspective view of the vehicle itself is simulated, optionally also from a fictitious point in one

Distance exactly above the vehicle, this distance can usefully be a few meters (in the scale of each image reproduction).

While hitherto known telemetry applications usually provide a pure top view of the spatial environment to be imaged, the movements of the respective vehicle to be represented by lines or points o. The like. Be presented so that some movement situations are not realistic or clearly visible, the system of the invention provides a Possibility to display and depict real-time movements or quasi-real-time movements of vehicles and machines to scale and for a viewer in a very realistic reproduction. The system according to the invention thus implements the principle of inserting models which are as realistic as possible into so-called virtual environments, these being called virtual

Environments can be either a more or less realistic reproduction or representation of real landscapes and environments. However, it is also possible to modify these environments with their own modifications, information and / or

To complement or enrich elements or on the contrary to reduce the density of information in these virtual environments by removing individual components, elements, information, etc., or by meaningful simplifications, abstractions and / or smoothing and thus the viewer's capture of him

to facilitate essential information.

Not only to a viewer away from the vehicle, the thus generated images can be provided. Due to the possibility of duplicating or duplicating the data supplying the images, in the system by means of linking the movement data, the location coordinates and / or the surrounding data, the visualized view from the vehicle formed therefrom can also be made available to the driver by means of display displays or at least one display display , In this case, for example, the agricultural areas and / or other areas and / or paths and / or height profiles and / or fouling and / or colors of the spatial environment can be displayed quasi-realistic in their visualization, with optional current weather events and / or

Daylight levels can be considered. The driver may thereby be able to additionally monitor the environment of the respective vehicle. The Images generated in this way can advantageously also be transferred to mobile terminals, for example to so-called tablet computers or other portable computers.

It is also conceivable in a variant of the system or in a supplement, by means of linking the movement data, the location coordinates and the

Visual environment view formed visualized view from the vehicle to a stationary, quasi-stationary or at least temporary mobile monitoring station to transmit and display there by means of display displays and / or at least to provide a monitoring person available. The at least one monitoring person can thus the same view from the respective vehicle as the

Car driver received. In this case, the agricultural areas and / or other areas and / or paths and / or height profiles and / or growth and / or colors of the spatial environment can be displayed quasirealistically in their visualization, wherein optionally a current weather events and / or daylight brightness values can be taken into account. The system may optionally provide that the spatial environment of the

Vehicle at least one area in the immediate run of a current

Main movement direction of the vehicle comprises, which provides a viewing direction from the vehicle and / or the environment and / or the apron maps.

In addition, the system can provide that the environment of the vehicle to be monitored and / or visualized is formed by a defined spatial environment whose dimensions can be constant or variable over time.

A peculiarity of the system is the picture possibility and

Reproducibility of quasi-realistic views from the moving in a virtual environment vehicle or on the moving in a virtual environment vehicle, the virtual environment does not have to be an actual image of an example, recorded by cameras and reproduced on the display screens real environment, but can be an artificial landscape created on a pure data basis, which nevertheless provides the viewer with a very realistic image view, which comes very close to a reproduction of camera images, but without their more complex and associated with high data volumes to be transmitted

Require information processing. However, the system is optionally also capable of such quasi-realistic views from the moving in a virtual environment vehicle and reproduce, because the virtual environment can certainly also generated from cameras recorded images or with enriched such images, so that hybrids of artificially generated

Landscapes and actually recorded images or even variants and / or sequences are possible, which are based essentially on real images that were previously taken with cameras. These mixed forms and / or optionally

retouched camera images can provide landscape images that match the

Viewers transmit a particularly realistic image view, which is unlikely to be distinguished from a real-time playback of camera images, although this may involve relatively large amounts of data to be transmitted and correspondingly extensive information processing. Since the virtual environment is linked to location coordinates of the moving vehicle, a quasi-realistic image can be generated in a simple manner and with little expenditure of data volume, but this, of course, must not be confused with reality. All movements of objects which do not give the system variable location coordinates are not recognizable to the system as moving or moving objects and therefore can not be taken into account in the image display.

To the different environments and / or situations of a vehicle, for example, while driving to the field on an agricultural

Connecting route and / or during the journey on an agricultural

To monitor effective area, the vehicle may preferably harmonize or combined with a system for near and / or remote monitoring and / or control. The vehicle may be, for example, an agricultural tractor in the form of a tractor or the like, to which tractor a rear hitch is provided. The tractor may be equipped with a sensor, which sensor is formed by a GPS sensor and communicates with a satellite and communicates. Thereby, a device for locating the tractor can be provided within a known spatial environment, which is equipped in particular for generating satellite coordinates obtained by means of satellite support with respect to the known spatial environment in electronically processable form.

In this embodiment, the agricultural communication path and the adjacent agricultural land may form the known spatial environment. By arranged on the tractor sensor, which can be configured as a GPS sensor, the current position or the location coordinates of Tractor can be retrieved and determined at any time due to the satellite support. In order to assign each of the acquired location coordinates of the tractor to a defined position within the spatial environment, an electronic data record can be provided. The electronic record may represent an available room mapping which is based on existing electronic

Map material accesses. For each location co-ordinate, the respective spatial environment, such as parts of agricultural land, agricultural yard areas, connecting and / or farm roads and publicly accessible or public transport areas, can be deposited and assigned. An assignment rule can be used to link the electronic data record to the

Assignment of location coordinates within the spatial environment with movable location coordinates of the at least one located within the environment and / or moving vehicle done. The linked location coordinates of the vehicle located within the environment and / or movable and / or moving can be made available by a communication device at regular time intervals or almost in real time to a computer unit. The computer unit may be positioned at a remote location from the vehicle and with a

Communicate with the user interface. By means of the user interface, the environment, such as the connection path and the agricultural area, the

Tractor presented and visualized and optically output via an imaging device or via a display screen. In this case, the agricultural areas and / or other areas and / or paths and / or height profiles and / or growth and / or colors of the spatial environment in their visualization

quasi-realistic, optionally taking into account current weather events and / or daylightness values.

The user interface may be located remotely from the vehicle

Remote monitoring and / or remote control position be available and accessible. In this case, visualized view formed by linking the movement data, the location coordinates and the surrounding data from the vehicle to a stationary, quasi-stationary or at least temporary mobile monitoring station transmitted and displayed there by means of a display display and / or at least one monitoring person made available. The at least one

Supervision person can thus get an overview of the environment of the vehicle and thus may be able to monitor both the ride and the direction of travel of the vehicle and possibly to coordinate. In addition, another vehicle may be provided, which is formed by a further agricultural tractor with a trailer hitch attached thereto. The other vehicle can use the same connection path to get to the agricultural area, on which agricultural

Usable area already the first vehicle has begun his field trip or performs his field trip. After reaching the agricultural area and both vehicles can simultaneously perform a field trip. The vehicles can, for example, in the same or in different directions to drive the ride.

The further agricultural tractor may also be equipped with a sensor which is designed as a GPS sensor and with a satellite in

Connection stands and communicates. This GPS sensor can also be a device for locating the additional tractor within a known spatial environment. The further data processing, the acquisition of location coordinates and the assignment of a defined position within the spatial environment and the linking of the respective information with each other can be carried out according to the preceding explanations.

This allows the user interface next to the environment of

agricultural tractor and the environment of the other agricultural machine are displayed and visualized and optically output via an imaging device. The at least one monitoring person may thus be able to coordinate and control both tractors, in particular to monitor the environment and the direction of travel.

If previously the inventive system for close and / or remote monitoring and / or control of individual or at the same time several self-propelled

Vehicles, machinery or other moving vehicles or aircraft has been described in detail with reference to different embodiments, it should be emphasized at this point that all aspects and embodiments that were explained in connection with this system according to the invention, equally aspects of the following in several different

Embodiments of the invention described or can be described. Therefore, if at one point in the description or even in the

Claim definitions for the system according to the invention of certain aspects and / or relationships and / or effects is mentioned, this applies equally to the inventive method. In the reverse way, the same applies, so too all aspects and variants which are explained in connection with the method according to the invention, equally sub-aspects of the system according to the invention for local and / or remote monitoring and / or control of vehicles o. The like. Vehicles relate or may be. Therefore, if at some point in the description or in the claim definitions for the method according to the invention of certain aspects and / or relationships and / or effects is mentioned, this is equally true for the inventive system.

Thus, to achieve at least some aspects of the above objects, the present invention proposes a method in addition to the previously described system for close and / or remote monitoring and / or control of individual or at least several self-propelled vehicles, work machines or other moving vehicles or aircraft for local and / or remote monitoring and / or control of individual or simultaneously several self-propelled vehicles, work machines or other moving vehicles or aircraft, wherein in this method at least one to be monitored, to be located and / or controlled

Vehicle o. The like. Vehicle is associated with a device for its localization within a known spatial environment, which device is equipped in particular for generating satellite coordinates obtained by means of spatial coordinates with respect to the known spatial environment in electronically processable form. In addition, the method at least the following listed

Process steps before. The aim is to access an electronic data record which, within a spatial environment, assigns any location coordinates which localize the respective vehicle and / or at least one of the vehicles to a defined position within the spatial environment. In addition to this electronic data set for the assignment of location coordinates within the spatial environment with movable location coordinates of the at least one within the

Environment and / or moving vehicle by means of a

To be linked to the regulation. Furthermore, the associated local coordination of the at least one located within the environment and / or moving and / or moving vehicle in regular or irregular

Time intervals or almost in real time to a computer unit are transmitted, which is positioned in the vehicle itself or at a remote location from the vehicle, wherein the computer unit optionally communicates by means of a communication device with the at least one vehicle and exchanges data. Finally, the data supplied by the computer unit via a user interface to a Display device for displaying and in particular for visualizing at least portions of the spatial environment that are located in the vicinity of the vehicle, the user interface available to the vehicle driver located in the vehicle and / or remote from the vehicle remote monitoring and / or remote control position and accessible can be.

The method can be used particularly advantageously for applications in which the spatial environment comprises at least substantial parts of agricultural areas or is formed by agricultural areas, and / or in which the spatial environment agricultural yard areas, connection and / or

Commercial roads and public or public transport

includes provided surfaces and / or at least partially formed by such areas and paths. In this context, the method may optionally provide that the agricultural areas and / or other areas and / or paths and / or height profiles and / or a vegetation and / or colors of the spatial environment are displayed quasi-realistic in their visualization, with optional and / or in addition also a current weather events and / or

Daylight levels can be considered.

The method may provide that the visualization of the sections of the spatial environment which are located in the surroundings of the vehicle provides a viewing direction from the vehicle and / or images its surroundings and / or its apron. In addition, it may be provided and advantageous for the application that the link by means of linking the movement data, the location coordinates and the

Environmental data formed visualized view from the vehicle to the driver by means of display displays is provided. Furthermore, or as an additional option, the method according to the invention can provide that the visualized view formed by linking the movement data, the location coordinates and the surrounding data is transmitted from the vehicle to a stationary, quasi-stationary or at least temporally mobile monitoring station and displayed there by means of a display display. or at least provided to a supervising person.

The aforementioned depicted spatial environment of the vehicle may include at least one area in the immediate forerun of a current main movement direction of the vehicle, which provides a viewing direction from the vehicle and / or its Environment and / or its apron maps. In general, however, it can be provided in the method that the environment of the vehicle to be monitored and / or visualized is formed by a defined spatial environment whose

Dimensions can be constant or variable over time. In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration. Fig. 1 shows the interactions of the individual components of a

Embodiment of a system according to the invention and the associated

Process steps.

Figures 2A to 2D show in schematic views possible environments and situations of a vehicle or multiple vehicles. For identical or equivalent elements of the invention, FIGS. 1 to 2D each use identical reference numerals. Further, for the sake of clarity, only

Reference numerals in the individual figures shown, which are required for the description of the respective figure. The illustrated embodiments represent only examples of how the system according to the invention or the method according to the invention can be configured and do not represent a conclusive limitation. It should therefore be emphasized at this point that the embodiments described in more concrete and objective terms with reference to the figures are those set forth in the claims and in the general part of the description in the most different embodiments defined abstract inventive idea in any way diminish or limit.

The schematic representation of FIG. 1 shows the operative connection of the system 10 or individual method steps for close and / or remote monitoring and / or control of a plurality of, in particular, three vehicles F _1; F ₂ , F ₃ . However, the system 10 can easily handle an almost unlimited variety of vehicles F _1; F ₂ , F ₃ monitor, for example. As part of a fleet management.

The vehicles F _1; F ₂ , F ₃ each have a device for localization within a known spatial environment, in particular for generating of satellite-assisted location coordinates with respect to the known spatial environment in electronically processed form. This localization device is a satellite navigation system such as a GPS system. For this purpose, the vehicles F _1; F ₂ , F ₃ and / or the

Towing devices 14 spatially associated with one or more GPS sensors (not shown) which communicate one or more GPS sensors with a satellite 16 and communicate with each other.

The spatial environment is typically at least substantially agricultural land or agricultural land such as agricultural land 22, fields or the like. Optionally or in addition, the spatial environment includes farmland, compound and / or farm roads, and publicly accessible or public transport areas.

Therefore, at any given time, the positions and / or the locations of the vehicles F _1; F ₂ , F ₃ within a known spatial

Environment determinable and / or detectable.

The system 10 further comprises an electronic data record D or works with an electronic data record D, which within a spatial environment any location coordinates that the vehicles F _1; Locate F ₂ , F ₃ , each assigns to a defined position within the spatial environment. Basically, the electronic data record D represents an available room mapping, which accesses existing electronic map material. The electronic data record D comprises at least substantial parts of agricultural areas or

agricultural land, farmland, lanes and / or farm roads and public or public transport

intended areas that are self-recorded and / or publicly accessible.

The system 10 further comprises a Zuordnung Z, the

electronic data record D for the assignment of location coordinates within the spatial environment with mobile location coordinates of the vehicles located within the environment and / or movable F _1; F ₂ , F ₃ linked.

The linked location coordinates of the vehicles located within the environment and / or moving and / or moving F _1; F ₂ , F ₃ are transmitted by a communication device K at regular time intervals or almost in real time a computer unit R provided. The computer unit R is in each case in

Vehicles F _1; F ₂ , F ₃ itself or on one of the vehicles F _1; F ₂ , F ₃ positioned at a remote location.

The computer unit R is connected to a user interface B in connection. The user interface B serves to at least sections that are in the environment of

Vehicles F _1; F ₂ , F ₃ are to represent or visualize. It will

in particular, in each case a viewing direction from the vehicle F _1; F ₂ , F ₃ and / or its surroundings and / or its apron displayed or visualized.

The user interface B is located away from the vehicle

Remote monitoring and / or remote control position available and accessible. This is done by linking the motion data, the location coordinates and the

Environmental data formed visualized view from the vehicles F _1; F ₂ , F ₃ to a stationary, quasi-stationary or at least temporary mobile

Surveillance transmitted and displayed there by means of a display display and / or provided at least one monitoring person available. The at least one monitoring person thus receives the same view from the respective vehicle Fi, F ₂ , F ₃ as the driver. In this case, the agricultural areas and / or other areas and / or paths and / or height profiles and / or growth and / or colors of the spatial environment are displayed quasi-realistic in their visualization, optionally an actual weather events and / or

Daylight levels are taken into account.

In addition, or optionally, the user interface B is available and accessible to the vehicle driver located in the vehicle so that the visualized

Sections of the spatial environment, each in the environment of each

Vehicle F _1; F ₂ , F ₃ , the driver a visual direction from the respective vehicle via the user interface B by means of a display display are optically output. In this case, the agricultural areas and / or other areas and / or paths and / or height profiles and / or growth and / or colors of the spatial environment are displayed quasi-realistic in their visualization, optionally an actual weather events and / or Tageshelligkeitswerte

be taken into account. The driver is thereby able to additionally monitor the environment of the respective vehicle. Figures 2A to 2D show in schematic views possible environments and situations of a vehicle F, which vehicle is harmonized or combined with the system 10 for near and / or remote monitoring and / or control. The vehicle is an agricultural tractor 12 in the form of a tractor or the like, to which tractor 12 back a

Towing device 14 is provided.

The tractor 12 is equipped with a sensor S, which sensor S is formed by a GPS sensor and communicates with a satellite 16 and communicates. Thereby, a device for locating the tractor 12 within a known spatial environment is provided, which is equipped in particular for the generation of satellite coordinates obtained by local satellite coordinates with respect to the known spatial environment in electronically processable form.

Referring to Fig. 2A, the agricultural tractor 12 travels a

agricultural connecting path 20. The direction of travel of the tractor 12 shown by an arrow indicates that the tractor 12 is next to the

agricultural connection path 20 adjacent agricultural land 22 drives. According to FIG. 2B, the agricultural tractor 12 then travels the agricultural area 22 and carries out the field drive.

The agricultural route 20 and the adjacent

Agricultural land 22 form the known spatial environment. By arranged on the tractor 12 sensor S, which is designed as a GPS sensor, the current position or the location coordinates of the tractor 12 due to the satellite support at any time can be retrieved and determined.

In order to assign the obtained location coordinates of the tractor 12 each to a defined position within the spatial environment, is an electronic

Record provided. The electronic record D represents an available

Room mapping, which accesses existing electronic map material. For each location coordinate is thus the respective spatial environment, such as parts of agricultural land, agricultural yard areas, connecting and / or farm roads and publicly accessible or for public transport

intended areas, deposited and assignable. A ZuOrdnungsvorschrift Z, not shown here is a link of the electronic data set D for the assignment of location coordinates within the spatial environment with movable Location coordinates of the at least one located within the environment and / or moving vehicle.

The linked location coordinates of the vehicle located within the environment and / or moving and / or moving are made available to a computer unit R by a communication device K at regular time intervals or almost in real time. The computer unit R is presently positioned at a remote location from the vehicle and communicates with a

User interface B. By means of the user interface B, the environment, in this case the connection path 20 and the agricultural usable area 22, of the tractor 12 is displayed and visualized and via an imaging device or via a

Display display optically output. In this case, the agricultural areas and / or other areas and / or paths and / or height profiles and / or growth and / or colors of the spatial environment are displayed quasi-realistic in their visualization, optionally an actual weather events and / or

Daylight levels are taken into account.

The user interface B is located away from the vehicle

Visualized view formed from ambient data transmitted from the vehicle to a stationary, quasi-stationary or at least temporarily mobile monitoring station and imaged there by means of a display display and / or at least provided to a monitoring person. The at least one monitoring person thus receives an overview of the environment of the vehicle and is able to monitor both the drive and the direction of travel of the vehicle and possibly to coordinate.

In FIGS. 2C and 2D, another vehicle is provided, which is supported by an agricultural tractor 13 with an attached thereto

Towing device 14 is formed. According to FIG. 2C, the further towing vehicle 13 travels along the respective connecting path 20, while the tractor 12 has already commenced field driving. Given in FIG. 2D, both tractors 12 and 13 negotiate the agricultural area 22, but in different ones

Driving directions. The further agricultural tractor 13 is also equipped with a sensor S, which is designed as a GPS sensor and communicates with a satellite 16 and communicates. This GPS sensor is also a device for locating the additional tractor 12 within a known spatial environment. The further data processing, the acquisition of location coordinates as well as the assignment of a defined position within the spatial environment and the linking of the respective information with each other takes place in accordance with the preceding explanations.

This is in the user interface B next to the environment of

agricultural tractor 12 and the environment of the other agricultural machine 13 shown and visualized and optically output via an imaging device. The at least one monitoring person is thus able to coordinate and control both tractors 12, 13, in particular to monitor the environment and the direction of travel. The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCES

1 0 system

1 2 tractor

1 3 more tractor

14 hitch

1 6 satellite

1 8 sensor

20 connection path

22 agricultural area, agricultural area

B user interface

Fi vehicle

F ₂ vehicle

F ₃ vehicle

K communication device

R computer unit

S sensor

Z ZuOrdnungsvorschrift

Claims

claims

System (10) for close and / or remote monitoring and / or control of individual or simultaneously several self-propelled vehicles (F _1, F ₂ , F ₃ ), working machines or other mobile vehicles or aircraft, in which at least one monitored, A vehicle to be located and / or controlled (F _1, F ₂ , F ₃ ) has a device for its localization within a known spatial environment, in particular for the generation of spatial coordinates obtained by satellite assistance with respect to the known spatial environment in electronically processable form equipped, the system (10) further comprising at least

an electronic data set (D) which, within a spatial environment, assigns any location coordinates which locate the vehicle (F _1, F ₂ , F ₃ ) to a defined position within the spatial environment;

a ZuOrdungsvorschrift (Z), the electronic data record for the assignment of spatial coordinates within the spatial environment with movable

Location coordinates of the vehicle located within the environment and / or movable (F _1, F ₂ , F ₃ ) linked;

a communication device (K), which the associated local coordination of located within the environment and / or movable and / or itself

moving vehicle (F _1, F ₂ , F ₃ ) in regular or irregular

Provide time intervals or near real-time to a computing unit (R) positioned in the vehicle (F _1, F ₂ , F ₃ ) itself or at a location remote from the vehicle (F _1; F ₂ , F ₃ );

a user interface (B) communicating with the computer unit (R) for displaying and in particular for visualizing at least portions of the spatial environment which are located in the surroundings of the vehicle (F _1; F ₂ , F ₃ ), the user interface (B) corresponding to in the vehicle (F _1, F ₂ , F ₃ ) and / or remote from the vehicle remote monitoring and / or remote control position may be available and accessible.

The system of claim 1, wherein the spatial environment is at least equal to

substantial parts of agricultural land (22) comprises or by

agricultural land (22) is formed.

3. System according to claim 1 or 2, wherein the spatial environment includes agricultural yard areas, connecting and / or farm roads and publicly accessible or intended for public transport areas and / or at least partially formed by such areas and paths. 4. System according to claim 2 or 3, wherein the agricultural areas and / or other areas and / or paths in their visualization are quasi-realistic representable or presented.

5. System according to one of claims 1 to 4, wherein the height profiles and / or a

The vegetation and / or colors of the spatial environment can be represented or displayed quasirealistically.

6. System according to one of claims 1 to 5, wherein in the visualization additionally weather data and / or Tageshelligkeitswerte be considered.

7. System according to one of claims 1 to 6, wherein the visualization of the portions of the spatial environment, which are in the vicinity of the vehicle (F _1, F ₂ , F ₃ ), a viewing direction from the vehicle (F _1, F ₂ , F ₃ ) supplies and / or images its surroundings and / or its apron.

8. System according to claim 7, wherein the visualized view of the vehicle (F _1, F ₂ , F ₃ ) formed by linking the movement data, the location coordinates and the environmental data is made available to the vehicle driver by means of display displays.

9. System according to claim 7, in which the visualized view formed by linking the movement data, the location coordinates and the surrounding data from the vehicle (F _1, F ₂ , F ₃ ) is transmitted to a stationary, quasi-stationary or at least temporary mobile monitoring point and there by means of a

Display displays are displayed and / or provided to at least one monitoring person.

Comprises 10. System according to any one of claims 7 to 9, wherein the spatial surroundings of the vehicle (F _{_1;} F _2, F ₃₎ at least one region in the immediate advance of a current main movement direction of the vehicle (F _2, F ₃ F ₁₎ which provides a viewing direction from the vehicle (F _1, F ₂ , F ₃ ) and / or images its surroundings and / or its apron.

1 1. System according to one of Claims 1 to 10, in which the surroundings of the vehicle (F _1; F ₂ , F ₃ ) to be monitored and / or visualized are formed by a defined spatial environment whose dimensions can be constant or variable over time. 12. A method for close and / or remote monitoring and / or control of individual or simultaneously several self-propelled vehicles (F _1, F ₂ , F ₃ ), working machines or other moving vehicles or aircraft, in which at least one to be monitored, locating and / or to be controlled vehicle (F _1, F ₂ , F ₃ ) has a device for its localization within a known spatial environment, in particular equipped to generate satellite-derived location coordinates with respect to the known spatial environment in electronically processable form is, wherein the method provides at least the following method steps:

Access to an electronic data record (D) which locates, within a spatial environment, any location coordinates which locate the respective vehicle (F _1, F ₂ , F ₃ ) and / or at least one of the vehicles (F _1, F ₂ , F ₃ ), each assigns to a defined position within the spatial environment;

Linking the electronic data record (D) to the assignment of

Spatial coordinates within the spatial environment with mobile spatial coordinates of the at least one vehicle located within the environment and / or movable (F _1, F ₂ , F ₃ ) by means of a ZuOrdnungsvorschrift;

Transmission of the linked location coordination of the at least one vehicle located within the environment and / or moving and / or moving (Fi, F ₂ , F ₃ ) at regular or irregular time intervals or almost in real time to a computer unit (R) in the vehicle ( F _1, F ₂ , F ₃ ) is positioned itself or at a location remote from the vehicle (F _1, F ₂ , F ₃ ), the computer unit (R) optionally being connected to the at least one vehicle (F _1, F ₂ , F ₃ ) communicates and exchanges data;

Transmission of the data supplied by the computer unit (R) via a

User interface (B) to a display device for displaying and in particular for visualizing at least portions of the spatial environment located in the environment of the vehicle (F _1, F ₂ , F ₃ ), wherein the user interface (B) in the vehicle (F ₁ remote monitoring and / or F _2, F ₃₎ _located; F _2, F ₃₎ located driver and / or a remote (from the vehicle F _{_1;}

Remote control position may be available and accessible.

13. The method of claim 12, wherein the spatial environment includes at least in substantial parts agricultural land (22) or by

agricultural land (22) is formed, and / or in which the spatial

And / or covers at least part of such areas and paths.

14. The method of claim 13, wherein the agricultural surfaces (22) and / or other surfaces and / or paths and / or height profiles and / or fouling and / or colors of the spatial environment are displayed quasi-realistic in their visualization, optionally an current weather events and / or

Daylight levels are taken into account.

15. The method according to any one of claims 12 to 14, wherein the visualization of the

Portions of the spatial environment in the vicinity of the vehicle (F _1; F _2, F ₃₎ are located, a viewing direction from the vehicle (F _1; F _2, F ₃₎ provides and / or its environment and / or its advance maps.

16. Method according to claim 15, in which the visualized view from the vehicle (F _1, F ₂ , F ₃ ) formed by linking the movement data, the location coordinates and the environmental data is made available to the vehicle driver by means of display displays. 17. The method according to claim 15, wherein the visualized view formed by linking the movement data, the location coordinates and the surrounding data from the vehicle (F _1, F ₂ , F ₃ ) is transmitted to a stationary, quasi-stationary or at least temporary mobile monitoring point and there by means of

Comprises _(F _2, F ₃ F _{_1);} 18. The method according to any one of claims 15 to 17, wherein the spatial surroundings of the vehicle (F ₁ F _2, F ₃₎ at least one region in the immediate advance of a current main movement direction of the vehicle which provides a viewing direction from the vehicle (F _1, F ₂ , F ₃ ) and / or images its surroundings and / or its apron.

19. The method according to any one of claims 12 to 18, wherein the environment to be monitored and / or visualized of the vehicle (F _1, F ₂ , F ₃ ) is formed by a defined spatial environment whose dimensions over time or be variable can.