WO2020164833A1 - Procédé de commande d'une machine agricole sur la base de la détection d'un tracé de délimitation sur une carte tramée - Google Patents

Procédé de commande d'une machine agricole sur la base de la détection d'un tracé de délimitation sur une carte tramée Download PDF

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Publication number
WO2020164833A1
WO2020164833A1 PCT/EP2020/050793 EP2020050793W WO2020164833A1 WO 2020164833 A1 WO2020164833 A1 WO 2020164833A1 EP 2020050793 W EP2020050793 W EP 2020050793W WO 2020164833 A1 WO2020164833 A1 WO 2020164833A1
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WO
WIPO (PCT)
Prior art keywords
area
agricultural machine
agricultural
weed
environment data
Prior art date
Application number
PCT/EP2020/050793
Other languages
German (de)
English (en)
Inventor
Zhihu Chen
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2020164833A1 publication Critical patent/WO2020164833A1/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
    • 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

Definitions

  • the present invention relates to the field of autonomously or partially autonomously driving agricultural machinery.
  • the present invention relates to a device, a method, a computer program product, a computer-readable storage medium and a data carrier signal for controlling such a medium
  • Agricultural machinery that can be controlled by means of a navigation system during their movements on a useful agricultural area are known from the prior art.
  • US 2018/01 13473 A1 discloses an agricultural machine with an automated steering system that is based on the global navigation satellite system (GNSS).
  • the GNSS comprises an antenna and a receiver which is arranged at a certain distance from the antenna. Movement parameters of the agricultural machine such as position, alignment (roll-pitch-yaw angle) and speed can be determined in this way. Control signals for steering the agricultural machine can be generated on the basis of the specific movement parameters.
  • the present invention is therefore based on the object of carrying out the agricultural cultivation of the usable areas with increased safety while at the same time keeping the cost level at least the same.
  • the object is achieved by a device, a method, a computer program product, a computer-readable storage medium and a
  • the agricultural machine can be designed as a one-piece vehicle or articulated vehicle. It can include a swather, a hay machine, a combine harvester, a spray machine, a sprayer or another vehicle that can be used in agriculture.
  • the agricultural machine is an autonomous or semi-autonomous vehicle. This means that the agricultural machine can act entirely (in the case of a fully autonomous vehicle) or partially (in the case of a partially autonomous vehicle) without the influence of a human driver.
  • the control device can be located in the agricultural machine, or outside or partially outside the agricultural machine.
  • the device can be part of a central monitoring device for the agricultural area.
  • Communication can be wireless, for example via BlueTooth, infrared, near field communication (NFC), radio, Internet, intranet, cloud systems and / or wired systems.
  • the environment sensor system for generating environment data can comprise one or more environment sensors.
  • the environment sensors preferably include a radar sensor (e.g. a broadband radar sensor or a ground radar sensor, Engl .:
  • the environment sensor system can be attached to the agricultural machine and thus record the environment of the agricultural machine moving on the agricultural area in real time.
  • the environment sensor system can be part of a central monitoring device for monitoring the usable area, the monitoring device being connected to the control device and / or the agricultural machine.
  • the multiple environment sensors of the environment sensor system can be arranged at different positions of the agricultural machine and / or the central monitoring device. At least one of the environment sensors can be arranged on another vehicle, for example on another agricultural machine on the agricultural area.
  • the environment data are analyzed by means of the evaluation unit in order to identify a plurality of objects in the environment data.
  • the object recognition is based on a segmentation of the surrounding data, in which a certain algorithm or several algorithms are used, which are designed to recognize content-related regions by combining neighboring pixels or voxels according to a certain homogeneity criterion.
  • the recognized objects are classified by means of the evaluation unit in order to assign an object class (for example cultivation area, weed area, paths) to each of the objects.
  • the classification is preferably based on an analysis of the environment data with regard to reflection properties of the various detected objects. For example, crops such as cabbage vegetables, maize and grain have a higher reflection coefficient than weeds at certain wavelengths of light. A reflection measurement can therefore be used to distinguish between the various objects.
  • the limit course relates to a transition from the cultivation area to the weed area or vice versa, the transition comprising a dimensionless line or curve or can have a width that can be detected by the environment sensor.
  • the segmentation is preferably a semantic segmentation.
  • a control signal is generated which brings about a suitable measure for the agricultural machine.
  • the control signal can be output to an external entity, such as a central control device, which is connected to the agricultural machine, or the agricultural machine itself (for example an actuator of the agricultural machine).
  • the method further comprises the control signal causing the agricultural machine to brake (e.g. full braking), change the direction of travel and / or emit a warning signal (e.g. a warning light signal such as a red light signal, a warning sound signal or a vibration signal).
  • the control of the agricultural machine according to the invention is particularly advantageous because it allows different areas on the agricultural area such as cultivation areas and weed areas to be taken into account when generating the control signal.
  • Adjacent cultivation areas or fields are often separated from one another by a weed area. Therefore, such weed areas mark the boundary between two neighboring fields. If only one of the two adjacent field pieces is to be processed by the agricultural machine at a given point in time, according to the invention it can be particularly reliably avoided that the other field piece, which is not to be entered, is accidentally impaired by the agricultural machine. Agricultural management can therefore be automated or partially automated in a secure manner.
  • the method further comprises creating a raster map based on the surroundings data, the raster map having a plurality of raster elements, an object class being assigned to each of the raster elements.
  • Each grid element corresponds to a surface element of the agricultural area.
  • the object classes can be assigned area by area.
  • the grid map provides particularly precise information on how the usable area is divided into different areas. This is advantageous for reliable control of the agricultural machine on the usable area.
  • an attribute is assigned to at least one of the grid elements, the attribute comprising a height and / or density of an object recognized in at least one grid element.
  • control signal is generated under the condition that, viewed from the agricultural machine, the cultivation area is in front of the weed area.
  • the weed area is therefore further away from the agricultural machine than the cultivation area. In this way, an unnecessary measure such as braking when entering the cultivation area to be worked can be avoided and at the same time a necessary measure can be ensured before entering a (temporarily) not to be worked field piece.
  • the method further comprises evaluating the environment data in order to detect a path area between two weed areas adjoining the path area.
  • Such a path area marks the boundary between two neighboring fields.
  • Another control signal for braking or changing the direction of travel of the agricultural machine can be triggered when the path area is detected. This can prevent unintentional entering of a neighboring field Pieces that are (temporarily) not to be edited are particularly safe to avoid.
  • the method further comprises evaluating the surroundings data in order to detect a path area within a cultivation area.
  • the path area does not mark the boundary of the cultivation area.
  • the agricultural machine does not have to be braked. Therefore, no control signal based on the detection of the route area or an all-clear signal (e.g. a green light signal) is triggered.
  • the computer program product according to the invention is designed to be loaded into a memory of a computer and comprises software code sections with which the method steps of the method according to the invention are carried out when the computer program product is running on the computer.
  • a program is part of the software of a data processing system, for example an evaluation device or a computer.
  • Software is a collective term for programs and associated data.
  • the complement to software is hardware.
  • Hardware describes the mechanical and electronic alignment of a data processing system.
  • a computer is an evaluation device.
  • Computer program products generally comprise a sequence of instructions which, when the program is loaded, cause the hardware to carry out a specific method that leads to a specific result.
  • the computer program product causes the inventive technical effect described above.
  • the computer program product according to the invention is platform independent. That means it can run on any computing platform.
  • the computer program product is preferably executed on an evaluation device according to the invention for detecting the surroundings of the vehicle.
  • the software code sections are written in any programming language, for example in Python.
  • the computer-readable storage medium is, for example, an electronic, magnetic, optical or magneto-optical storage medium.
  • the data carrier signal is a signal which the computer program product from a storage medium on which the computer program product is stored to another entity, for example another storage medium, a server, a cloud system or a data processing facility , transmits.
  • FIG. 1 shows a schematic representation of a device according to the invention according to one embodiment
  • Fig. 2 is a schematic representation of a grid map that is created based on He detection of an agricultural area
  • FIG. 3 shows a schematic representation of the usable area to illustrate the control according to the invention.
  • the control device 10 comprises an input interface 12 for receiving environment data that are generated by a environment sensor system 22 when detecting an agricultural area 60 (FIG. 2).
  • the environment data can be received directly from the environment sensor system 22, as shown by way of example in FIG. 1, or alternatively from another device to which the environment data was previously fed.
  • the control device 10 also includes an evaluation unit 14 for evaluating the environment data. The environment data are analyzed by means of the evaluation unit 14 in order to identify a plurality of objects in the environment data.
  • the object recognition is based on a segmentation of the surrounding data, in which a certain algorithm or several algorithms are used that are designed to recognize contiguous regions by combining neighboring pixels or voxels according to a certain homogeneity criterion.
  • the recognized objects are classified by means of the evaluation unit 14 in order to assign an object class (for example cultivation area, weed area, paths) to each of the objects.
  • the classification is preferably based on an analysis of the environment data with regard to the reflection properties of the various detected objects. For example, crops such as cabbage vegetables, maize and cereals have a higher reflection coefficient than weeds at certain wavelengths of light. A reflection measurement can therefore be used to differentiate between the various objects.
  • FIG. 2 shows a schematic representation of the evaluation result, the usable area 60 detected by the environment sensor system 22 being combined in this example as a grid map 24 with a plurality of grid elements 242.
  • the exemplary boundary 63 is shown as a dashed line.
  • the control device 10 also includes a signal unit 16 for generating a control signal based on the detected boundary 63.
  • the control signal is designed to bring about a suitable measure for the agricultural machine.
  • the control signal can be output to an external entity such as a central control device that is connected to the agricultural machine 50 or the agricultural machine 50 itself (for example an actuator of the agricultural machine 50).
  • the control signal can, for example, cause the agricultural machine 50 to brake (for example, full braking), to change the direction of travel and / or to issue a warning signal (for example, a Warning light signal such as a red light signal, a warning sound signal or a vibration signal).
  • FIG. 3 shows a schematic illustration of the usable area 60, which comprises two adjacent cultivation areas 62a, 62b.
  • the cultivation areas 62a, 62b are circumferentially each enclosed by a weed area 64a, 64b.
  • the weed areas 64a, 64b are again enclosed circumferentially by an outer path area 66 and laterally spaced from one another by a central path area 66c.
  • the cultivation areas 62a, 62b, the weed areas 64a, 64b, and the path areas 66a, 66b, 66c each partially fall under the detection area 222 of the environment sensor system 22, which in this example is attached to the agricultural machine 50.
  • a first boundary 63a is detected between the first cultivation area 62a and the first weed area 64a, the first boundary 63a being shown as a dashed line in FIG. 3.
  • the first weed area 64a is further away from the agricultural machine 50 than the first cultivation area 62a. This means that the agricultural machine 50 approaches its boundary starting from an attachment area 62a.
  • the signal unit 16 can then trigger a first control signal, which causes the agricultural machine 50 to brake.
  • the second boundary 63b between the second cultivation area 62b and the second weed area 64b is detected, the second boundary 63b being shown as a dashed line in FIG.
  • the second weed area 64b is further away from the agricultural machine 50 than the second cultivation area 62b.
  • the signal unit 16 does not generate a control signal in response to the detection of the second boundary 63b.
  • both boundary profiles 63a, b are recorded and detected simultaneously by the environment sensor system 22. The first control signal is triggered despite the detection of the second boundary 63b.
  • the middle path area 66c is detected, which is arranged between two adjacent weed areas 64a, 64b. This means that the agricultural machine 50 is approaching a boundary between two adjacent cultivation areas 62a, 62b.
  • the signal unit 1 6 can then trigger a second control signal, which causes the agricultural machine 50 to brake in order to avoid entry into the second cultivation area 62b if it is not to be processed (temporarily).
  • a respective path area 66a, 66b is detected within the first and second cultivation area 62a, 62b.
  • the signal unit 16 does not generate a control signal in response to the, which has no influence on the generation of the other control signals.
  • the control device 10 can be designed to trigger the first and second control signals described above as a common or single control signal, since the first boundary and the separation of the two weed areas 64a, b by the middle path area 66c are simultaneously below the detection area 222 of the Environment sensors 22 fall.

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

Abstract

Procédé de commande d'une machine agricole (50) consistant à obtenir des données environnementales qui sont générées par un système de détection environnementale (22) lors de la détection d'une surface agricole utile (60) ; évaluer les données environnementales pour détecter une zone en culture (62), une zone de plantes adventices (64) et un tracé de délimitation (63) entre la zone en culture (62) et la zone de plantes adventices (64) sur la base d'une segmentation des données environnementales ; et générer un signal de commande pour la machine agricole (50) sur la base du tracé de délimitation (63) détecté.
PCT/EP2020/050793 2019-02-14 2020-01-14 Procédé de commande d'une machine agricole sur la base de la détection d'un tracé de délimitation sur une carte tramée WO2020164833A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019201912.9A DE102019201912A1 (de) 2019-02-14 2019-02-14 Steuerung einer Landmaschine basierend auf Detektion eines Grenzverlaufs auf landwirtschaftlichen Nutzflächen
DE102019201912.9 2019-02-14

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WO2020164833A1 true WO2020164833A1 (fr) 2020-08-20

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DE (1) DE102019201912A1 (fr)
WO (1) WO2020164833A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0634628A1 (fr) * 1993-07-13 1995-01-18 Daimler-Benz Aerospace Aktiengesellschaft Procédé et arrangement pour l'observation de la terre
EP1840690A2 (fr) * 2006-03-30 2007-10-03 CLAAS Selbstfahrende Erntemaschinen GmbH Procédé destiné à la fabrication d'un plan de route pour systèmes de machines agricoles
EP2368419A1 (fr) * 2010-03-23 2011-09-28 CLAAS Agrosystems GmbH & Co. KG Procédé pour détecter une structure dans un champ, procédé de direction d'un véhicule agricole et véhicule agricole
DE102011078290A1 (de) * 2011-06-29 2013-01-03 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren eines Umgebungsbereiches eines Fahrzeuges
DE102016209437A1 (de) * 2016-05-31 2017-11-30 Deere & Company Selbsttätiges Lenksystem zur Führung eines landwirtschaftlichen Fahrzeugs über ein Feld und entsprechendes Verfahren
US20180113473A1 (en) 2003-03-20 2018-04-26 Agjunction Llc Gnss and optical guidance and machine control

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0634628A1 (fr) * 1993-07-13 1995-01-18 Daimler-Benz Aerospace Aktiengesellschaft Procédé et arrangement pour l'observation de la terre
US20180113473A1 (en) 2003-03-20 2018-04-26 Agjunction Llc Gnss and optical guidance and machine control
EP1840690A2 (fr) * 2006-03-30 2007-10-03 CLAAS Selbstfahrende Erntemaschinen GmbH Procédé destiné à la fabrication d'un plan de route pour systèmes de machines agricoles
EP2368419A1 (fr) * 2010-03-23 2011-09-28 CLAAS Agrosystems GmbH & Co. KG Procédé pour détecter une structure dans un champ, procédé de direction d'un véhicule agricole et véhicule agricole
DE102011078290A1 (de) * 2011-06-29 2013-01-03 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren eines Umgebungsbereiches eines Fahrzeuges
DE102016209437A1 (de) * 2016-05-31 2017-11-30 Deere & Company Selbsttätiges Lenksystem zur Führung eines landwirtschaftlichen Fahrzeugs über ein Feld und entsprechendes Verfahren

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