WO2019137843A1 - Procédé de travail du sol et dispositif de travail du sol - Google Patents

Procédé de travail du sol et dispositif de travail du sol Download PDF

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Publication number
WO2019137843A1
WO2019137843A1 PCT/EP2019/050079 EP2019050079W WO2019137843A1 WO 2019137843 A1 WO2019137843 A1 WO 2019137843A1 EP 2019050079 W EP2019050079 W EP 2019050079W WO 2019137843 A1 WO2019137843 A1 WO 2019137843A1
Authority
WO
WIPO (PCT)
Prior art keywords
soil
image acquisition
planting
processing
evaluation
Prior art date
Application number
PCT/EP2019/050079
Other languages
German (de)
English (en)
Inventor
Udo Schulz
Gregor Schwarzenberg
Hendrik Kurre
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2019137843A1 publication Critical patent/WO2019137843A1/fr

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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
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines

Definitions

  • the invention relates to a method for processing a floor according to the preamble of claim 1. Furthermore, the invention relates to a trained for carrying out the method according to the invention
  • a method for processing a particular agriculturally usable soil with the features of the preamble of claim 1 is known from DE 10 201 1 051 784 A1.
  • detection means carried out an analysis of the ground forming soil and / or existing in the ground planting after processing by means provided tillage means to detect the condition of the soil.
  • Evaluation and / or control means are provided for the analysis, which allows conclusions to be drawn on the nature of the soil.
  • the analysis of the soil and / or existing in the soil planting is limited to the time after processing, which is why inhomogeneities in
  • Soil and / or existing in the soil planting before processing are not detectable and also lead to a falsification of the analysis in the corresponding process step.
  • the invention has the advantage that it improves the analysis of the soil and / or the existing planting in the ground.
  • the invention is capable of existing inhomogeneities in the soil and / or in the soil
  • Tillage agents can be prevented. This allows for faster controllability by presetting the soil tilling means with the aim of optimizing the condition of the soil and / or the soil present in the soil.
  • the invention provides that the detection means detect the condition of the soil and / or existing in the soil planting not only after processing with the tillage agents, but that the state even in a the processing with the
  • Tillage-containing processing step upstream process step is detected.
  • Soil existing planting is recognized by the evaluation and / or control means and thus can be taken into account in the analysis of the condition of the soil and / or existing in the soil planting.
  • Soil existing planting is recognized by the evaluation and / or control means and thus can be taken into account in the analysis of the condition of the soil and / or existing in the soil planting.
  • the detection means are preferably designed as sensor means, which are generated by generated sensor waves, preferably in the
  • Microwave spectrum a map of the soil and / or can create existing in the ground planting.
  • an embodiment of the detection means as an optical sensor is conceivable in which natural and / or generated by an intended light source artificial light waves are detected to detect the condition of the soil and / or existing in the soil planting and thus allow analysis.
  • the detection of the condition before processing makes it possible to detect inhomogeneities in the soil and / or in the vegetation present in the soil, and then to take these into account in the analysis of the condition.
  • the tillage means referred to in the invention are preferably based on a physical and / or chemical intervention in the soil and / or on the existing planting in the ground.
  • the tilling means are adapted to achieve an optimization of the air / water content of the soil in relation to a reference ratio to reduce the evaporation of water in and on the soil or the planting or to others the growth of Plant propagation promoting properties.
  • a physical effect on a reduced, by a physical, biological and / or chemical intervention by means of tillage means is particularly preferred.
  • the method step comprising the tilling means is preferably also multi-stage, in particular two-stage, in which case a mechanical intervention in the ground by means of the tilling means preferably takes place in a primary tilling step, followed by a chemical intervention through the distribution of fertilizer in a secondary tilling step. This preferably works
  • Method according to the invention also points to an optimization in the production and distribution of plant residues that can be produced by means of the tilling agent in order to implement optimal green manuring.
  • an at least indirect setting of the soil is carried out
  • Processing means for optimizing the condition of the working surface after the treatment with the tillage agents In this
  • Context is preferably an immediate change
  • Disk harrow an engagement depth and / or a form of training a
  • Grubenschars a training of a mincing knife and / or a throwing distance and / or to change an angle of a radial distributor (combine harvester).
  • processing means can also be indirectly acted upon by preferably adapting a driving speed of the mobile running the method according to the invention
  • Tillage device is optimized.
  • the condition of the soil and / or the planting present in the soil is already detected by the tilling means with at least one first image acquisition unit by at least one first image acquisition before the chemical processing of the soil Bodens through at least one preferably spatially separated second image acquisition unit, the state of the soil is detected again in at least one second image capture.
  • the preferred two-dimensional image acquisition is created by a digital camera system and allows not only the condition of the soil and / or existing in the ground before and after planting
  • Soil preparation can be made in order to work towards an optimized condition in the soil and / or in the soil existing planting.
  • a further development of the invention provides that in each case a three-dimensional image recording can be created by the at least one first image capture unit and / or the at least one second image capture unit.
  • the information content of the image acquisition captured by the image acquisition unit can be increased by the three-dimensional image acquisition. This then allows a more accurate and significantly wider processing of the information, which can better determine the condition of the soil and / or the soil present in the soil.
  • this method step is performed with a stereo camera or a TOF camera (time of flight camera).
  • TOF camera time of flight camera
  • Combining distance determining agents so as to better determine the condition of the soil and / or existing in the soil planting. It is particularly preferred if the method according to the invention in the analysis of the image recordings by the evaluation and / or control means detects the planting by analysis of the morphological features and is thus categorized. In this case, features such as the length of the stem, the discoloration of leaves and / or flowers, the size of the leaves and / or others may be preferred.
  • morphological features are used for categorization.
  • physical features in the formation of the soil can preferably also be used to detect the composition of the soil and / or the moisture content of the soil.
  • Machine can thus be learned by an adaptive method.
  • the classification-based characteristics preferably learned by an experienced operator, in an upstream process step, resulting in an optimum in terms of a cover condition, a homogeneity, a degree of comminution of plant residues u. a. of the soil.
  • the invention preferably also comprises a soil cultivation device, detection means and evaluation and / or control means having tillage device for processing a preferably agriculturally usable soil.
  • the tilling agents are designed for chemical and / or physical processing of a soil and / or planting in the ground, wherein training as a harrow, cultivator, harrow, combine harvester or plow is preferred.
  • the detection means are designed so that the condition of the soil and / or existing in the soil planting can be detected before and after processing.
  • the detection means comprise at least a first image acquisition unit for detecting the soil and / or the existing in the ground planting before processing by means of
  • Soil preparation means and at least one second image acquisition unit for detecting the soil and / or the existing in the ground planting after processing the soil and / or existing in the ground planting by the tilling means.
  • at least one preferably two-dimensionally formed first image acquisition is generated by the at least one first image acquisition unit and at least one preferably also two-dimensionally formed second image acquisition by the at least second image acquisition unit from the soil and / or the soil present planting, wherein it is further preferred if the image acquisition is designed as a pixel-based digital photo file.
  • an embodiment of the first and / or the second image recording unit for detecting three-dimensional objects by a three-dimensional image recording is provided to in a subsequent analysis for evaluating the image recording, preferably in the context of object detection, and the relative distance of the objects to each other and / or to be able to process the dimension of the objects. This makes it possible to analyze the condition of the soil and / or the existing in the soil planting much more accurate.
  • a preferred embodiment of the first image capture unit and / or the second image capture unit provides a
  • Image acquisition unit is combined with distance determining means to detect the dimension and the distance of objects shown in the two-dimensional image recording.
  • the evaluation and / or control means in the first image pickup unit and / or the second image pickup unit are arranged to keep the cost of hardware components low and reduce the amount of data to be transmitted to the signal. This is particularly advantageous in terms of the processing time in real-time systems and reduces the susceptibility of the overall system.
  • the evaluation and / or control means are at least partially formed by a separate arithmetic unit, which are then signal-conducting connected to the at least one first image pickup unit and / or the at least one second image pickup unit.
  • Control means are preferably designed to detect the spatial coordinates of the processing device via odometry and / or localization services, in particular based on a GPS unit, wherein these data are then preferably also the first and / or the second image recording can be assigned.
  • Soil processing device evaluation and / or control means which are designed to morphological characteristics of the planting and / or
  • Acting on the tillage agent conceivable by the speed is preferably changed or another only indirectly acting on the soil working means size, as well as an immediate influence, preferably provided by mechanical components to the
  • an alternative embodiment of the evaluation and / or control means expands the morphological features detectable in the at least one first and / or at least one second image acquisition to any desired features, whereby the condition of the soil can also be detected and thus classifiable, and then also to work towards an optimized condition of the soil and / or the existing planting in the soil.
  • algorithms or program objects are also suitable for
  • Pattern recognition of objects preferably based on a
  • the evaluation and / or control means have a neural network as a classifier, whereby the detection of objects can be trained by an adaptive method. This allows, even subsequently, an individualization in the object recognition.
  • the invention also includes a preferred via wireless
  • Communication means signal-centric connected central control unit for central management and backup of the learned data, such as features for object recognition to this data between several
  • Communication means of the tillage device are preferably designed as a GSM module and send the data in real time to the preferably to a public communication network - designed as the Internet - connected central control unit.
  • a wired data exchange within the scope of service and / or maintenance work is conceivable.
  • the spatial coordinates can be assigned to the data, this preferably being a preconfiguration of the data
  • Tillage agent and / or the tillage device allows and / or allows a chronological evaluation of the collected data.
  • Fig. 1 is a tillage device, which is used to carry out the
  • inventive method is formed, and in
  • Fig. 2 is a block diagram for explaining the essential
  • a tillage device 1 which is designed as a tractor 2 with a tillage means 3 having trailer 4.
  • the tilling means 3 are for physical
  • the detection means 9 are arranged, through which the state of the soil 5 and / or existing in the soil 5 planting 6 can be detected.
  • the detection means 9 have at least one first image acquisition unit 10 for detecting the condition of the soil 5 and / or the existing soil 6 planting 6 before processing with the tillage means 3 and at least one second image acquisition unit 11 for detecting the state of the soil 5 and / or the present in the soil 5 planting 6 after processing with the soil preparation means 3.
  • the first image acquisition unit 10 and the second image acquisition unit 1 1 are each designed to detect three-dimensional objects in the soil 5 and / or in the soil 5 existing planting 6 by not only a two-dimensional image of the soil 5 and / or in the ground. 5 existing planting 6
  • this two-dimensional image recording additionally contains a distance component, resulting in a first three-dimensional image acquisition and a second three-dimensional image acquisition.
  • Imaging unit 12 each have a TOF camera 12.
  • the distance of objects represented in the image recording is detected pixel-based by means of a transit time measurement based on a light pulse.
  • the three-dimensional image recording of the state of the soil 5 and / or the present in the soil 5 planting 6 is then over in Fig. 1st only schematically illustrated evaluation and / or control means 13 analyzed.
  • the evaluation and / or control means 13 are implemented in a separate arithmetic unit 14 and are coupled to the first image acquisition unit 10 and the second image acquisition unit 11 via communication lines 15 also sketched only schematically in FIG. 1.
  • the three-dimensional image recordings of the first image capture unit 10 and of the second image capture unit 11 are implemented by means of the evaluation and / or control means 13
  • Evaluated algorithms which can be analyzed by detecting objects of the condition of the soil 5 and / or existing in the soil 5 Planting 6.
  • algorithms are implemented in the separate arithmetic unit 14, via which the evaluation and / or control means 13 can detect morphological features 16 of the planting 6 as well as physical characteristics of the soil 5, from which conclusions can be drawn about the condition of the soil 5 and / or soil Allow 5 plants to grow.
  • the length of the stem, the thickness of the stalk and also the discoloration of the planting 6 are recorded and evaluated.
  • the recorded data is then compared with a stored database, whereby the tilling means 3 can be optimized directly via a proposed mechanism and / or indirectly via an adaptation of the velocity vector V1, the condition of the soil 5 and / or existing in the soil 5 Planting 6. It can be done by the detection of discoloration and the leaf size of the planting 6 also adapted from the course of vegetation optimization.
  • tilling means 3 in Fig. 1 formed in the form of a GSM module wireless communication means, for transmitting the detected features and parameters to a connected to the Internet central control unit 17 for centrally managing the learned data and provide the learned Data also to other, not shown in FIG. 1 tillage devices.
  • the block diagram 100 shown schematically in FIG. 2 serves for
  • the first block 30 shows the detection means 9, which comprise the first image acquisition unit 10 and the second image acquisition unit 11.
  • the first image capture unit 10 has a stereo camera 18 comprising two lenses 19, while the second
  • Image acquisition unit 1 1 is designed as a TOF camera 12.
  • Stereo camera 18 the state of the soil 5 and / or present in the soil 5 planting 6 before the with the processing means. 3
  • the detection means 9 are signal-connected to the evaluation and / or control means 13 shown in the second block 40, wherein the evaluation and / or control means 13 are adapted to analyze the generated by means of the TOF camera 12 and the stereo camera 18 three-dimensional image recordings to recognize objects in it.
  • the evaluation and / or control means 13 a neural network 20 for detecting and grouping of objects contained in the image recordings, which is designed so that by means of an adaptive process step features of objects can be trained to the objects in the first image acquisition and / or the second image capture.
  • the analysis of the first and / or second image recording then takes place, represented in the third block 50, in an indirect and / or direct manner

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Soil Working Implements (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un procédé de travail d'un sol (16) de préférence à usage agricole, à l'aide de moyens de travail du sol (3), permettant de travailler le sol (5) et/ou une plantation (6) présente dans le sol (5), l'état du sol (5) et/ou de la plantation (6) présente dans le sol (5) étant détecté par des moyens de détection (9) et l'état du sol (5) et/ou de la plantation (6) présente dans le sol (5) étant analysé par des moyens d'évaluation et/ou de commande (13).
PCT/EP2019/050079 2018-01-11 2019-01-03 Procédé de travail du sol et dispositif de travail du sol WO2019137843A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018200411.0 2018-01-11
DE102018200411.0A DE102018200411A1 (de) 2018-01-11 2018-01-11 Verfahren zum Bearbeiten eines Bodens sowie Bodenbearbeitungsvorrichtung

Publications (1)

Publication Number Publication Date
WO2019137843A1 true WO2019137843A1 (fr) 2019-07-18

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PCT/EP2019/050079 WO2019137843A1 (fr) 2018-01-11 2019-01-03 Procédé de travail du sol et dispositif de travail du sol

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DE (1) DE102018200411A1 (fr)
WO (1) WO2019137843A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11854218B2 (en) 2021-02-12 2023-12-26 Cnh Industrial Canada, Ltd. Systems and methods for terrain variation detection

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000004222A1 (it) * 2020-02-28 2021-08-28 Cnh Ind Italia Spa Veicolo agricolo provvisto di un dispositivo anteriore e uno posteriore di formazione di immagini tridimensionali

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011051784A1 (de) 2011-07-12 2013-01-17 Claas Selbstfahrende Erntemaschinen Gmbh Verfahren zum Betreiben einer selbstfahrenden Erntemaschine
EP2936957A1 (fr) * 2014-04-25 2015-10-28 Deere & Company Système de commande pour le fonctionnement d'une ou de plusieurs opérations agricoles et procédé associé
WO2017049186A1 (fr) * 2015-09-18 2017-03-23 Precision Planting Llc Appareil, système et procédé permettant de surveiller des critères relatifs au sol pendant des opérations de travail du sol, et commande d'outils de travail du sol
EP3357316A1 (fr) * 2017-02-03 2018-08-08 CNH Industrial America LLC Système et procédé de surveillance automatique de la rugosité d'une surface de sol

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10351861A1 (de) * 2003-11-06 2005-06-09 Deere & Company, Moline Verfahren und Lenksystem zum selbsttätigen Lenken einer landwirtschaftlichen Maschine
US9140824B1 (en) * 2015-01-23 2015-09-22 Iteris, Inc. Diagnosis and prediction of in-field dry-down of a mature small grain, coarse grain, or oilseed crop using field-level analysis and forecasting of weather conditions, crop characteristics, and observations and user input of harvest condition states
US11266056B2 (en) * 2015-10-23 2022-03-08 Deere & Company System and method for residue detection and implement control

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011051784A1 (de) 2011-07-12 2013-01-17 Claas Selbstfahrende Erntemaschinen Gmbh Verfahren zum Betreiben einer selbstfahrenden Erntemaschine
EP2936957A1 (fr) * 2014-04-25 2015-10-28 Deere & Company Système de commande pour le fonctionnement d'une ou de plusieurs opérations agricoles et procédé associé
WO2017049186A1 (fr) * 2015-09-18 2017-03-23 Precision Planting Llc Appareil, système et procédé permettant de surveiller des critères relatifs au sol pendant des opérations de travail du sol, et commande d'outils de travail du sol
EP3357316A1 (fr) * 2017-02-03 2018-08-08 CNH Industrial America LLC Système et procédé de surveillance automatique de la rugosité d'une surface de sol

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11854218B2 (en) 2021-02-12 2023-12-26 Cnh Industrial Canada, Ltd. Systems and methods for terrain variation detection

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