WO2023144111A1 - Harvesting vehicle, and method for operating and calibrating a harvesting vehicle - Google Patents

Abstract

The invention relates to a harvesting vehicle (100) which makes it possible to harvest with a high accuracy and speed, said harvesting vehicle comprising: - at least one harvesting tool (12, 37a, 37b) for harvesting agricultural crops; - at least one suspension and displacement device for suspending and displacing the harvesting tool (12, 37a, 37b), the suspension and displacement device having at least three ropes (13a, 13b, 13c, 13d) and rope actuators, preferably at least three rope actuators, the ropes (13a, 13b, 13c, 13d) being connected at a first end to a rope actuator and at a second end to the harvesting tool (12, 37a, 37b) in such a way that, by actuating the rope actuators and by retracting and extending the ropes (13a, 13b, 13c, 13d), the harvesting tool (12, 37a, 37b) has at least three degrees of freedom of movement.

Description

Harvester and method for operating and calibrating a harvester

The invention relates to a harvesting vehicle, a method for operating a harvesting vehicle, a method for calibrating a suspension and displacement device for suspending and displacing a harvesting tool of a harvesting vehicle, and a method for calibrating a sensor device on a harvesting vehicle.

Various vehicles and machines which are designed for the automated harvesting of crops are known from the prior art. In particular for harvesting crops such as vegetables, in particular white or green asparagus or also agricultural crops that preferably grow close to the ground, machines are known which allow the asparagus to be pricked and collected automatically.

The disadvantage of known harvesting machines, in particular harvesting machines for asparagus harvesting, is the accuracy and the speed with which the harvested crop is harvested. Furthermore, harvesting machines often have a complicated structure. Alternatively, manual harvesting is possible. This is usually more accurate, but this form of harvesting is usually time-consuming and costly.

The invention is therefore based on the object of providing a harvesting vehicle which enables harvesting to be carried out with great precision and speed.

The object of the invention is achieved by a harvesting vehicle comprising at least one harvesting tool for harvesting agricultural crops, at least one suspension and traversing device for suspending and displacing the harvesting tool, the suspension and traversing device having at least three cables and cable actuators, preferably at least three cable actuators, wherein the cables are each connected to a cable actuator at a first end and to the harvesting tool at a second end, such that the harvesting tool has at least three degrees of freedom of movement by actuating the cable actuators and by retracting and extending the cables.

The three degrees of freedom of movement are preferably a forward and backward movement, a left-right movement and an up and down movement based on a forward direction of movement of the harvester. These are, in particular, translatory movements.

The harvesting tool is preferably designed for cutting, plucking, gripping and/or pulling the harvested crop. For this purpose, the harvesting tool preferably has corresponding cutting and/or gripping elements. The harvesting tool is preferably designed to grip the harvested crop and then to cut, pluck or pull it. The harvesting vehicle can preferably have its own drive for locomotion or preferably not have its own drive and can preferably be moved by a tractor.

The harvested crop can preferably be vegetables, in particular a plant growing in the ground or out of the ground. The plant is preferably asparagus, particularly preferably green asparagus or white asparagus.

Extending and retracting the ropes preferably means shortening and lengthening exposed sections of the ropes, in particular the respective rope sections between the individual rope actuators and a fastening point of the ropes on the harvesting tool. This is done, for example, by rolling up and unrolling the ropes, as will be described in more detail below.

The harvesting vehicle preferably has at least four, preferably at least six, very particularly preferably at least eight, ropes and preferably at least four, preferably at least six, very particularly preferably at least eight, rope actuators, the ropes each having a first end with a rope actuator and with are connected to the harvesting tool at a second end in such a way that the harvesting tool has six degrees of freedom of movement when the cable actuators are actuated and the cables are retracted and extended.

The harvesting vehicle preferably has exactly three, exactly four, exactly six or exactly eight cables and/or exactly three, exactly four, exactly six or exactly eight cable actuators. The number of cables is preferably equal to the number of cable actuators. Alternatively, more cables than cable actuators can be provided. For example, two cables can be assigned to or connected to a cable actuator.

The six degrees of freedom of the movement are preferably a forward and backward movement, a left-right movement, an up and down movement and a rotational movement around the three orthogonal spatial axes in relation to a direction of movement of the harvesting vehicle. These are, in particular, three translational movements and three rotational movements. In other words, the translational and rotational movements can take place along or around three axes of a Cartesian coordinate system.

The harvesting vehicle preferably comprises at least two harvesting tools and at least two suspension and displacement devices, with each of the harvesting tools being assigned a suspension and displacement device. The at least two harvesting tools and the two suspension and displacement devices are preferably each configured identically. Alternatively, the two harvesting tools in particular may not be identical. In particular, the harvesting tools can be designed to complement one another. In this case, the complementary design of the harvesting tools can mean that, for example, a first harvesting tool is designed to harvest a large object of a crop type and a second harvesting tool is designed to harvest a comparatively smaller object of a crop type. Furthermore, the harvesting tools can, for example, have different functions, with a first harvesting tool being designed for cutting and a second harvesting tool for gripping crop objects.

The two harvesting tools and the two suspension and displacement devices are preferably arranged adjacent to one another and one behind the other, viewed in the direction of travel of the harvesting vehicle. As a result, the efficiency of the harvesting vehicle can be increased, since crops that were not harvested by the first harvesting tool viewed in the direction of travel can be harvested with the second harvesting tool. In addition, the harvesting tools can each be designed for harvesting crops of different sizes. The preceding and following description is only directed to a single (first) harvesting tool. All design features of the first harvesting tool apply in an analogous manner to the second harvesting tool. Further harvesting tools, for example a third, fourth, etc., can also be provided, which are also designed analogously to the first harvesting tool.

The harvesting tool preferably has a drive device, by means of which the harvesting tool can be rotated and/or tilted and/or inclined about a longitudinal axis, in particular a vertical one, of the harvesting tool, with the drive device preferably having a motor, particularly preferably a stepper motor, and/or a gear preferably a worm gear includes. By rotating and/or tilting and/or inclining the harvesting tool, it is possible to approach crops to be harvested, in particular an asparagus spear, from different sides and to avoid damaging adjacent crops, in particular asparagus spears.

The harvesting tool can preferably be tilted and/or inclined at an angle of up to 35 degrees, particularly preferably between 10 and 25 degrees, very particularly preferably 15 to 20 degrees, about the longitudinal axis, in particular the vertical axis, of the harvesting tool.

The drive device is preferably arranged on an upper end region of the harvesting tool. The power supply of the drive device is achieved via a cable running upwards, in particular a spiral cable, which can preferably be moved together with the harvesting tool. The spiral cable design prevents the power cable from getting tangled with the ropes.

The harvesting vehicle preferably has a receiving element for receiving the second ends of the ropes and for receiving the harvesting tool, the receiving element having a first fastening area in which the harvesting tool is fastened and a second fastening area, the first fastening area being viewed in a vertical direction of the harvesting vehicle is arranged below the second attachment area and wherein a first group of cables are attached to the first attachment area and a second group of cables are attached to the second attachment area, wherein preferably suspension points of the first group of cables are arranged below suspension points of the second group of cables . The suspension points are to be understood as meaning those points at which the respective cables come into contact with the cable actuator for the first time and are preferably suspended or fastened or deflected there. In the event that the cable is deflected in the cable actuator at the suspension point, this deflection of the cable at the suspension point can take place in particular by means of a deflection pulley, via which the cable is fed to a cable winch, as will be described in detail below. In this case, the cable winch is preferably arranged at a distance from the suspension point. Alternatively, the rope can be attached directly to the suspension point, in particular without being deflected. In this case, the cable winch is preferably arranged at the suspension point and preferably picks up the cable without prior deflection along the path between the two cable ends.

The arrangement of the ropes or the rope ends as described above means that the harvesting tool is preferably suspended and movable in the harvesting vehicle in such a way that the attachment points of the ropes on the harvesting tool and the rope actuator assigned to the respective rope allow a rotational movement of the harvesting tool. The rotational movement is achieved accordingly by pulling on the ropes of the first and second groups.

The harvesting tool is preferably suspended and fastened exclusively on the ropes in the harvesting vehicle and, in particular, no further fastening and suspension elements are provided. For this purpose, the ropes are preferably stretched tautly so that the harvesting tool is held precisely in the respective position at all times.

The harvesting tool is preferably suspended from the cables in such a way that the cables are always taut between the cable actuators and the harvesting tool. In particular, the cables essentially do not sag at any time. Individual ropes may be allowed to slack momentarily to provide clearance for the harvesting tool to move in the direction that the rope in question is running. The cables are preferably stretched so tightly that the harvesting tool as a whole is positioned with a certain positional accuracy at all times, which means that the harvesting tool does not swing, wobble, or perform any other local movements. The ropes are preferably designed to absorb large (tractive) forces. For example, the cables can be steel cables or synthetic fiber cables. As a result, rapid movements of the harvesting tool and abrupt and frequent changes in the direction of movement of the harvesting tool are advantageously possible.

The harvesting vehicle preferably comprises a receiving device for receiving the suspension and displacement device, the receiving device having a working space which encompasses a working and movement area of the harvesting tool.

The working and movement area of the harvesting tool is that area which is accessible to the harvesting tool through the movements described above. This is preferably the area in which the harvesting tool can be actuated and crops can be harvested. The cables, the cable actuators, the harvesting tool and the receiving element are preferably arranged inside the receiving device.

The cable actuators of the suspension and displacement device are preferably arranged on the receiving device and, in particular, arranged at a distance from the harvesting tool.

The receiving device is preferably designed as a frame, in particular a substantially cuboid frame. In particular, the cuboid frame is a frame structure, with individual frame elements being assembled into a cuboid shape, so that the frame elements form the edges of the cuboid.

The cable actuators are preferably arranged on the frame elements.

Each of the cable actuators preferably includes a cable winch and drive, in particular a servo motor. The cable winch can be actuated by means of the drive or the servomotor, so that when the cable winch rotates, the cable arranged on it is rolled up or unwound from the cable winch. By rolling up the cable, a force is exerted on the harvesting tool, which consequently moves in the direction of the respective cable winch. If a rope is rolled up, one or more ropes, in particular opposite ropes, are preferably unwound accordingly in order to move the harvesting tool to allow in the direction of the reeling winch. A rolling up of one or more ropes is therefore preferably always associated with an unrolling of one or more further ropes.

Each of the cable actuators is preferably arranged in a housing. The housings preferably each have an entry opening for the cable. A dirt-trapping element, in particular a brush element or a rubber lip, is preferably arranged at the inlet opening. This advantageously prevents dirt from entering the housing.

The cable actuator can preferably also include one or more deflection elements, in particular a deflection pulley, for deflecting the cable. By providing a deflection element, in particular the drive devices of the cable actuators close to the ground can be arranged at a certain height above the ground in order to prevent the drive devices and the cable winches from getting dirty.

The deflection elements are preferably arranged in the harvesting vehicle in such a way that a position of the deflection element within the harvesting vehicle can be changed. This change in position of the deflection element can advantageously be used to calibrate the harvesting tool.

The cable winch preferably comprises a cable drum and a cable drum displacement device, with the cable drum being movable in the direction of a longitudinal axis of the cable drum by means of the cable drum displacement device, in particular in such a way that an end or starting point of a wound cable section is fixed in position on the cable drum while the cable is being wound up or unwound located within the workspace.

Without the previously described movement of the cable drum, the cable or the point at which the cable leaves the cable drum would move when the drum rotates forwards and backwards, viewed in the longitudinal direction of the cable drum. Thus, an end or starting point of the wound cable section would not be arranged in a fixed position within the working space during the winding or unwinding of the cable on the cable drum. This would result in different rope angles and different lateral positioning, which would affect the position of the harvesting tool would affect. Although this could be taken into account when positioning the harvesting tool by appropriate calculations in a controller or control software, this would be very complex. In addition, due to the angular position of the cable, lateral forces or the like can act, which is undesirable and would be very difficult to compensate for by controlling the harvesting tool. Although this disadvantageous effect can be somewhat reduced by deflecting the rope, it cannot be completely prevented.

With each complete rotation of the cable drum by 360°, the cable drum can preferably be moved by a width of one winding by means of the cable drum displacement device. This advantageously ensures that the end or starting point of a coiled cable section does not migrate along the longitudinal direction of the cable drum while the cable is being wound up or unwound, but rather remains in a fixed position in the working space at all times.

An outer peripheral surface of the cable drum preferably has a circumferential spiral-shaped groove for receiving the cable on the cable drum, with the turns formed by the spiral-shaped groove preferably being arranged essentially directly adjacent to one another, with the width of the spiral-shaped groove (31) preferably being 0, 5 mm to 7 mm, particularly preferably 1 mm to 6 mm, very particularly preferably 3 mm to 4 mm. The spiral-shaped groove enables the rope to be rolled up and down on the rope drum in a defined manner. In particular, the rope is wound up and unwound in such a way that no multi-layer windings are formed. In other words, the movement of the cable drum in the longitudinal direction compensates for a longitudinal movement of the cable.

The cable is preferably wound up in only one layer on the cable drum. Adjacent turns of cable may touch or there may be a slight gap between adjacent turns of cable. Furthermore, a slight clearance can be formed between the groove windings.

With each complete rotation of the cable drum by 360°, the cable drum is preferably moved by a width of one turn of the spi- ral-shaped groove moveable. A width of the spiral groove preferably corresponds essentially to a thickness of the cable.

The cable drum movement device is preferably coupled to the cable drum, in particular a shaft of the cable drum, by means of a coupling device, so that a drive force, which can be transmitted to the cable drum, in particular the shaft of the cable drum, by means of a drive unit of the cable actuator, is transmitted to the cable drum movement device for movement by means of the coupling device the cable drum can be transferred. As a result, no separate drive unit is advantageously required for moving the cable drum, and the cable drum is advantageously moved as soon as the cable drum is rotated for winding and unwinding the cable. In particular, the rope drum traversing device has only mechanical components and no electrical drive of its own. The cable drum movement device is preferably mechanically coupled, preferably exclusively, to the shaft of the cable drum.

The coupling device preferably comprises a belt, in particular a toothed belt, by means of which the driving force of the shaft of the cable drum can be transmitted to the cable drum moving device.

The cable drum displacement device preferably comprises a longitudinal guide device, in particular a threaded spindle, which can be driven by means of the coupling device, with the cable drum being coupled to the longitudinal guide device in such a way that driving the longitudinal guide device, in particular a rotation of the threaded spindle, causes the cable drum to be moved in the direction of the longitudinal axis of the cable drum causes.

The cable drum is preferably also mounted so that it can move in the longitudinal direction. The cable drum is preferably mounted on a bearing rod by means of a sliding bearing, which enables a translatory movement of the cable drum along the bearing rod, which runs parallel to the shaft of the cable drum.

The receiving device is preferably essentially cuboid, with one cable actuator being arranged in each of the corner regions of the receiving device. Eight cable actuators are preferably provided, with one cable actuator each being assigned to a corner area. The cable actuator is preferably arranged partially or completely in the respective corner area. The cable actuator preferably includes a cable winch and a servomotor, with both components being arranged in the respective corner area. As a result, the ropes are each guided into a corner region of the receiving device, as a result of which the greatest possible working and movement space is advantageously provided for the harvesting tool.

For reasons of space, only the deflection element of the cable actuator can be arranged in the respective corner area, while the other components, in particular the cable winch and the servomotor, can be arranged in other areas of the receiving device, for example in the edge areas. The cable is guided from the harvesting tool via the respective corner area to the cable winch or the servomotor via the deflection element.

The harvesting vehicle is preferably designed to carry out an automated harvesting process.

The harvesting vehicle preferably comprises at least one control device for controlling the cable actuators for moving the harvesting tool. The control device is preferably designed in such a way that the cable actuators are controlled, in particular independently of one another. The controller is designed in particular in such a way that the retraction and extension of the individual cables is controlled by the cable actuators in such a way that the harvesting tool moves in a predetermined direction or along a predetermined trajectory. For this purpose, a correspondingly set up control program is preferably stored in the control device, which is executed with the aid of a control processor in order to generate corresponding control signals for the respective cable actuators. The control program is preferably designed in such a way that an automated harvesting process can be carried out using the harvesting tool. A control device is preferably provided for each cable actuator, with the control devices of the individual cable actuators being connected to one another, in particular in terms of control technology.

The harvesting vehicle preferably includes a sensor device for determining sensor data including information on the position and preferably a location of the harvesting good. The position refers to an orientation of the harvested crop in space, for example an inclined position. The sensor device preferably includes an optical sensor, for example a LIDAR (Light Detection And Ranging) sensor and/or a camera that records images that are then evaluated using suitable image analysis algorithms in order to determine a position and/or location of the harvested crop determine.

The sensor device preferably comprises at least one optical sensor, preferably a camera, in particular a camera for recording three-dimensional image data. A plurality of optical sensors are particularly preferably provided, it being possible for the optical sensors to be configured identically or differently, depending on the object to be detected. For example, a first sensor can be designed to detect a position and/or size and/or orientation of a row of plants and a second sensor can be designed to detect a position and/or size and/or orientation of an individual plant. The optical sensors are preferably arranged in a front area of the working area and/or in a rear area of the working area, viewed in the direction of travel of the harvesting vehicle.

At least one optical sensor can preferably be provided for detecting a position and/or location of the harvesting tool and/or an angle of the harvesting tool relative to the harvested crop, in particular a green asparagus plant.

The control device is preferably designed to control the cable actuators as a function of the sensor data in such a way that the harvesting tool can be moved into a harvesting position. For this purpose, the sensor data are preferably transmitted to the control device. The control device preferably uses the control data or the information about the position and/or location of the harvested crop to determine a harvesting position for the harvesting tool and correspondingly generates control signals for the individual cable actuators so that they are controlled and moved in such a way that the harvesting tool is moved into the harvesting position .

The harvesting position is preferably that position in the vicinity of the agricultural crop that the harvesting tool must assume in order to carry out the harvesting process of the agricultural crop. Preference is given to the control device designed to use the sensor data and the information contained therein about the position and/or location of the harvested crop to determine the area or location on the harvested crop at which the crop is to be harvested, ie for example cut or grabbed. The harvesting position into which the harvesting tool is moved is then preferably determined on the basis of this area or this point. Preferably, the harvesting vehicle as a whole can be automatically moved or advanced into the harvesting position by means of the control device.

The harvesting tool preferably comprises a cutting element and/or a gripping element. The cutting element or the gripping element is preferably designed for cutting or gripping the agricultural crop. In particular, the cutting element or the gripping element are designed to grip and cut green asparagus at a predetermined position.

The gripping element preferably comprises elastic elements, in particular rubber bands, for holding the harvested crop. This enables the harvested crop, in particular the asparagus, to be gripped particularly gently. For example, the gripping element can have two holding arms which together form holding tongs, the holding arms each comprising an elastic element, in particular a rubber band, which grip and hold the harvested crop from two sides.

The at least one harvesting tool preferably comprises fibers, in particular carbon fibers, or consists of fibers, in particular carbon fibers, at least in some areas. As a result, the harvesting tool advantageously has a low weight, which has to be held by the cables. An upper and a lower area of the harvesting tool, on which the ropes are accommodated, preferably each comprise fibers, in particular carbon fibers, or consist of fibers, in particular carbon fibers. Furthermore, a connecting element between these two areas can include fibers, in particular carbon fibers, or consist of fibers, in particular carbon fibers.

The harvesting vehicle preferably comprises at least one lubricant-free bearing, in particular a lubricant-free plastic bearing. Preferably, the moving components of the harvesting vehicle each include at least one lubricant-free bearing. The harvesting tool, in particular the cutting element and/or the gripping element, preferably comprises a bearing which is free of lubricant. Furthermore, a housing of the harvesting tool is designed as openly as possible, which means without closed (housing) areas, so that advantageously no sand or dust can settle.

Preferably, the suspension and traversing devices each include at least one lubricant-free bearing. Each of the cable actuators of each of the suspension and displacement devices preferably includes at least one lubricant-free bearing.

Due to the provision of lubricant-free bearings and the different, in particular movable, components of the harvesting vehicle, the components are less susceptible to the ingress of dirt and dust.

The harvesting vehicle is preferably a harvesting vehicle or a harvesting trailer. The harvesting vehicle is preferably designed as an automatically controlled harvesting trailer.

The harvesting vehicle preferably has a steered front axle and/or a steered rear axle. Furthermore, the harvesting vehicle preferably has no differential gear or the like. Rather, the speed is electronically controlled so that curves can be driven advantageously. For this purpose, a drive unit, preferably a motor, particularly preferably an electric motor, is preferably arranged on each of the wheels of the harvesting vehicle. Accordingly, four drive units are preferably provided, which can preferably be controlled independently of one another, so that the wheels can be driven, in particular, at different speeds. Furthermore, there are preferably four different driving modes, namely (i) steered at the front, (ii) steered at the rear, (iii) steered at the front and rear, and (iv) both axles are set parallel to allow parallel movements for maneuvering.

The ropes preferably comprise plastic and/or Kevlar. The ropes are preferably made of plastic and/or Kevlar.

The cable actuators preferably include a housing. The housing advantageously protects the cable actuator from dirt and moisture. The housing preferably includes a housing protection device, in particular a brush device, which prevents the ingress of dirt and moisture. The housing protection unit is direction at an input opening of the housing, through which the or the ropes are guided, arranged. In the case of the design as a brush device, the design takes place in particular in such a way that the brushes brush off the cable pulled through the inlet opening and wipe off the dirt or moisture.

The harvesting vehicle preferably includes a conveying device designed to convey the agricultural crops harvested by the harvesting tool from the harvesting tool to a storage area of the harvesting vehicle. The storage area is preferably a receiving container, for example a transport box, for the harvested crop. As a result, direct collection of the harvested crop for further transport is advantageously possible.

The harvesting tool is preferably designed to deposit the harvested crop on the conveyor and/or to bring it into the conveyor. Alternatively, the harvesting tool can be designed to deposit the harvested crop directly in the storage area.

The harvested crop is deposited by means of the harvesting tool preferably by a corresponding movement of the harvesting tool by means of the cable kinematics and control device already described above.

Due to the high speed of the harvesting process using the harvesting tool, rapid removal of the harvested crop is of great importance. A preferred first receiving end of the conveyor device is therefore arranged essentially immediately adjacent to the harvesting tool, so that the harvesting tool only has to travel a short distance to deposit the harvested crop on the conveyor device. A second depositing end of the conveying device is correspondingly arranged in the storage area of the harvesting vehicle in order to deposit the harvested crop there after it has been transported by the conveying device.

The conveyor device preferably comprises a conveyor belt or is formed by a conveyor belt. In this case, the harvesting tool is preferably designed to deposit the harvested crop on the conveyor belt, in particular on a first receiving end of the conveyor belt. In this way, the harvested crop can be conveyed to the storage area in a simple manner. The funding band can be formed in any suitable manner known in the art.

Alternatively, the conveying device can comprise a conveying line, in particular a hose or a pipe, and a blowing device or a suction device, the conveying device being designed in such a way that the agricultural crop harvested by the harvesting tool can be conveyed along the conveying line by means of the blowing device or by means of the suction device. Here, the blowing device and the suction device are expediently provided alternatively and not together. If a blowing device is provided, it is designed to blow gas, in particular air, along the conveying line in order to move the harvested crop along the conveying line or through it. If the suction device is provided, it is designed to suck gas, in particular air, along the conveying line in order to move the harvested crop along the conveying line or through it. Using this preferred embodiment of the conveying device, the material to be conveyed can advantageously be moved very quickly away from the area of the harvesting tool and towards the storage area, so that downtimes of the harvesting tool can be reduced or avoided and a higher or high harvesting rate can be achieved.

The harvesting tool is expediently designed to introduce the harvested crop into an insertion area of the conveyor line, which can be arranged in particular in a first receiving end of the conveyor line. The harvested crop is conveyed or moved from the introduction area by means of the conveying device and along the conveying line to a discharge area of the conveying line, which can be arranged in particular in a second storage end of the conveying line. The discharge area of the conveyor line is preferably operatively connected to the storage area, in particular to storage containers provided in the storage area, in such a way that the harvested crop can be brought from the conveyor line directly into the storage area and stored there.

The inner walls of the conveying line are advantageously smooth and/or designed without structuring or the like. A particularly gentle conveyance of the harvested crop can be achieved in this way. The blowing device preferably generates an overpressure in the conveying line, by means of which the harvested crop can be conveyed or moved in the conveying line. If a suction device is provided, it is preferably designed to generate a negative pressure in the conveying line, by means of which the harvested crop can be conveyed or moved in the conveying line.

Furthermore, the blowing device or the suction device preferably comprises a fan. The fan generates a blowing flow or a suction flow in the conveying line, in particular by means of an overpressure or a negative pressure, by means of which the harvested crop can be conveyed.

A blowing line in which the blowing device is arranged, or a suction line in which the suction device is arranged, is also preferably provided, with the blowing line or the suction line being connected to the conveying line and fluidically connected. This ensures that the harvested crop does not have to be guided through the blowing device or the suction device, but that a blowing flow or a suction flow can nevertheless be generated for transporting the harvested crop in the conveying line. That is, the harvested crop is preferably guided exclusively along the conveying line. The blowing line or the suction line can be designed as a pipe socket or hose socket which is connected to the conveying line at one end and has a blow-out opening or a suction opening at the other end. Alternatively, the blowing line or the suction line can be designed as a bypass line to the delivery line. Furthermore, a separating element, in particular in the form of a grid or the like, is preferably provided in the area where the blowing line or the suction line is connected to the conveying line, in order to prevent the harvested crop or other objects from inadvertently entering the blowing line or the suction line.

The harvesting vehicle according to the invention enables crops to be harvested quickly and precisely in an advantageous manner, since the harvesting tool can be precisely positioned at any desired location within the working and movement space due to the cable kinematics described above. The movement is made possible with simple components such as ropes and rope actuators. Accordingly, the harvesting vehicle is easy to manufacture. The object of the invention is also achieved by a method for operating a harvesting vehicle, in particular a harvesting vehicle with the features described above, wherein the harvesting vehicle comprises at least one harvesting tool which can be moved within a working space of the harvesting vehicle for harvesting agricultural crops, comprising the following steps:

- Determination of sensor data comprising information on the position, preferably a location, of at least one object within the working space, preferably the harvested crop, by means of a sensor device,

- determining a harvesting position for the harvesting tool based on the sensor data,

- moving the harvesting tool to a harvesting position, and

- Operating the harvesting tool.

The harvesting vehicle is preferably positioned above the harvested crop in such a way that the working and moving area is arranged above a ground area in which the harvested crop is arranged. The harvested crop is preferably located in the working and moving area or protrudes into it.

The method is preferably repeated continuously while the harvesting vehicle is moving over the ground or over a field. After a single crop or a single plant, for example green asparagus, has been harvested, it is placed on a collecting device and/or on a conveyor of the harvesting vehicle and the harvesting vehicle moves forward to harvest another crop or plant.

The sensor device preferably includes at least one camera designed to generate color and depth information, preferably a stereo camera, a time-of-flight camera or a camera using structured light. This is preferably a so-called RGBD (Red Green Blue Depth) camera.

A speed of movement of the harvesting vehicle as a function of a number of crop objects located in the working and movement space and/or as a function of a distance between the crop objects is preferred, in particular a minimum distance between all crop objects and/or an average distance between all crop objects.

The harvesting process can preferably be carried out both while the harvesting vehicle is driving and when the harvesting vehicle is stationary.

In the case of harvesting asparagus spears, for example, the harvest can take place while the harvesting vehicle is driving. However, it can also be possible or provided that the harvesting vehicle also stops at a certain point and harvests all of the asparagus spears that are present in the working area. This is particularly useful when, for example, the sensor device detects many asparagus spears in one and the same place or in one area. The controller would then decide in each individual case based on the aforementioned parameters whether it makes sense to harvest while stationary or while driving.

During the journey, preferably all crop objects, in particular all asparagus spears, which are isolated on the field, are to be harvested. These can be approached and harvested while driving. This is only possible if the crop objects or the asparagus spears are isolated. If necessary, the driving speed must be throttled.

The harvesting vehicle is preferably brought to a standstill when the number of crop objects in the work and movement area exceeds a predetermined value and/or when a distance between the crop objects, in particular a minimum distance between the crop objects and/or an average distance between all crop objects, exceeds a predetermined value.

When the harvesting vehicle has been brought to a standstill, the harvesting position for the harvesting tool for the individual crop objects, in particular the individual asparagus spears, is determined, the harvesting vehicle is brought into the respective harvesting position and the crop object is harvested.

The position of a Free space determined with maximum size, in which there are no other objects, especially no crop objects. The harvesting tool can preferably be brought into the harvesting position in this free space, or the harvesting position is preferably located within this free space.

The harvesting tool is preferably aligned relative to the crop object as a function of the position of the free space. In particular, the location of the free space is used to determine whether and how far the harvesting tool has to be rotated about its longitudinal axis in order to be suitably aligned with the crop object.

Preferably, moving the harvesting tool from a first harvesting position to a second harvesting position and/or to a storage position on a conveyor of the harvesting vehicle includes a movement of the harvesting tool in the horizontal and vertical directions, with a movement in the horizontal direction in the height direction above the ground viewed above the crop being harvested he follows.

The horizontal and vertical directions relate to a positioning of the harvesting vehicle on level ground. The horizontal direction can also be an X direction or a Y direction in a Cartesian coordinate system. In particular, an X-direction corresponds to a direction of travel of the harvesting vehicle or a longitudinal direction of the harvesting vehicle. A Y-direction is a direction perpendicular to the Y-direction. In particular, a Y-direction corresponds to a direction perpendicular to the direction of travel of the harvesting vehicle or to a transverse direction of the harvesting vehicle. A Z direction preferably corresponds to a direction perpendicular to the X and Y directions. In particular, a Z-direction corresponds to a direction perpendicular to the direction of travel of the harvesting vehicle and perpendicular to a transverse direction of the harvesting vehicle. The Z-direction corresponds to a vertical direction of the harvesting vehicle.

The actuation of the harvesting tool preferably includes gripping and preferably subsequent cutting of the crop object.

In summary, the following strategy is preferably used to determine and move to the individual harvesting positions on a crop object, in particular an asparagus spear: It is determined from which direction, ie in which area in an environment of the crop object, the greatest free space is available, a movement is carried out in the horizontal plane over the field to be harvested, so that the harvesting tool is close to the crop object to be harvested, but stands above the crop object, with the desired orientation to the crop object, a downward movement in the Z direction is performed so that a base of the harvesting tool is level with the lowest point of the crop object to be harvested, then the tool is rotated in the XY direction Move the plane so that the crop object is surrounded by the tool, the tool is closed, the crop object is cut off by means of the cutting element of the harvesting tool and at the same time held in place by the gripping element, there is a movement in the Z direction upwards, so that the harvested crop object stands above the other crop objects, movement is performed in the XY plane so that the harvested crop object is driven to the conveyor, the crop object is dropped on the conveyor and is carried by the conveyor.

The method described above can be carried out not only for asparagus, but also for other crops in an analogous manner.

The harvesting vehicle is preferably designed to move autonomously along a row of harvested crops. In particular, the autonomous movement of the harvesting vehicle is controlled by the harvesting vehicle's control device.

The autonomous movement preferably takes place as a function of an initial position of a reference point, with a current position of the reference point being determined, in particular continuously, while the harvesting vehicle is moving, and a value for a spatial deviation between the initial position and the current position of the reference point being determined and a direction of movement in dependency of this value is controlled. As a result, a continuous correction of the course of the harvesting vehicle can advantageously be achieved.

The initial reference point is preferably determined by means of an image, with the image showing a driving section of the harvesting vehicle lying ahead in the direction of travel from the perspective of the harvesting vehicle, with the reference point preferably being a vanishing point determined by means of the image. The image is preferably determined by means of the sensor device, for example by means of a front camera provided for this purpose in a front area of the harvesting vehicle.

The vanishing point preferably corresponds to the point to which the harvester will travel given the current course. This point can be calculated e.g. using the optical flow. The position of the vanishing point when driving straight ahead must preferably be set during calibration. Subsequently, deviations from this point are preferably transferred proportionally to a steering control within the control device, so that countermeasures can be taken to keep the harvesting vehicle on the predetermined course.

The harvesting tool should preferably drive autonomously along a row with harvested crops, in particular a row of asparagus, and if necessary carry out steering corrections in order to stay on course.

The sensor data preferably includes a collection of data points, in particular 6D data points, in particular in the form of a color point cloud, for representing the object in the working space. This color point cloud is the input for image processing. The color point cloud is a collection of 6D points: R, G, B, X, Y, Z. Where R, G, B are the red, green, and blue color channels, and X, Y, Z are the X, Y , Z coordinates in 3D space, especially in relation to the (Cartesian) camera coordinate system.

A subset of the data points that represents the respective object is preferably assigned to at least one object, preferably all objects, in particular a harvested crop object, in the working and movement space, in particular a ground plane, a ground plane and/or a harvested crop object. The sensor data are preferably assigned to a subset by means of Euclidean clustering.

At least one object parameter is preferably determined from at least one subset, preferably all subsets, with the object parameter being a position of a gripping point or interface on the crop object, an inclination of a longitudinal axis of the crop object in relation to a longitudinal axis parallel to a direction of movement of the harvesting vehicle and/or is a slope of a longitudinal axis of the crop object with respect to a transverse axis perpendicular to the longitudinal axis. These parameters are used in particular to determine the respective harvesting position for a crop object. In this case, knowledge of the gripping point or interface on the harvested crop object is important, for example, in order to be able to position the harvesting tool in its harvesting position in the correct alignment with respect to the gripping point or interface. The gripping or cutting point is preferably located at a base of the crop object, in particular at a base of an asparagus spear.

In summary, the following properties are preferably calculated from a subset of data points, which is also referred to as a 3D cluster: a) X, Y, Z position of the crop attachment b) Inclination of the crop around the X axis c) Inclination of the crop around the Y axis

These properties preferably serve partly for classification and mainly for harvesting. The position is passed directly to the harvesting tool.

As explained above, the 3D clusters are preferably classified based on their properties. This makes it possible to assess whether it is the harvested crop, in particular the asparagus, or other objects. In addition, the crop is classified in a 2D image in order to be able to distinguish the crop, e.g. asparagus, from weeds, for example.

The so-called tracking of objects, in particular the harvested crop object, is preferably carried out on the basis of the geometric properties of the subsets of data points or the clusters. This is one Association of detected objects between two consecutive moments. This is necessary in order to be able to track the position of an object or crop that has already been recognized, for example an asparagus spear, and not to define it incorrectly as a new object at a new position.

The detections of the levels described above, in particular the ground level and the earth level, are preferably carried out using the RANSAC (Random Sample Consensus).

The ground plane is preferably recognized first. For this purpose, the harvesting vehicle is positioned on a ground area on which there is no crop. With the help of RANSAC, the largest detectable level is preferably determined, which in this case is the ground level. The orientation of the ground coordinate system is such that the X-Y plane corresponds to the ground plane and the X-Y axes of the ground plane are parallel to the X-Y axes of the harvester coordinate system. The origin of the plane is at the intersection of the z-axis of the harvester coordinate system with the ground plane.

After the ground plane has been detected, all data points that are directly above the ground plane are preferably hidden. Only data points that are located higher remain.

This preferably enables the subsequent step of ground plane detection. This is preferably carried out analogously to the detection of the ground level, with the difference that the harvesting vehicle is positioned in a ground area on which the harvested crop is present. Furthermore, the level detection preferably takes place continuously during the operation of the harvesting vehicle at, preferably regular, intervals. The purpose of this recognition is that all data points that are not directly above the earth plane can then be preferably hidden. This leaves only data points representing crops, specifically only asparagus stalks, and other objects overlying the ground plane.

The remaining data points that lie above the earth plane are preferably grouped into subsets called clusters. The previously described Euclidean clustering is preferably used for this. Here, all neighboring Points that are within a predefined maximum distance from each other are assigned to the same cluster.

The object of the invention is also achieved by a method for calibrating a suspension and movement device for suspending and moving a harvesting tool of a harvesting vehicle, in particular a harvesting vehicle with the features described above, the suspension and movement device having at least three cables and cable actuators, preferably at least three cable actuators , wherein the cables are each connected at a first end to a cable actuator and at a second end to the harvesting tool, such that the harvesting tool has at least three degrees of freedom of movement by actuating the cable actuators and by retracting and extending the cables, and wherein the Harvesting tool for calibrating the at least three cable actuators is positioned at a predetermined position within the work and movement space, in particular in a center of the work and movement space, by means of an auxiliary construction, the at least three cable actuators being actuated so that the cables are retracted until a predetermined tension of the ropes is reached. The center of the work and movement space represents a central point within the volume formed by the work and movement space.

Each of the cable actuators preferably includes a cable winch and a drive, in particular a servo motor, with the tensioning force being determined by means of a drive force of the drive, in particular a torque of the servo motor.

This makes it possible to tighten the ropes by slowly moving the rope actuators in such a way that the ropes become shorter. This continues until a certain tension has been reached in each rope.

The object according to the invention is also achieved by a method for calibrating a sensor device of a harvesting vehicle, in particular a harvesting vehicle with the features described above, comprising the step of recognizing at least one regular or irregular pattern, in particular arranged at a predetermined position on the harvesting vehicle, in particular a checkerboard pattern or a QR code, by the sensor device. The sensor device, in particular the camera, must be calibrated in order to be able to generate or calculate a sensible color point cloud.

The step of calibrating preferably includes determining a relative position between the sensor device and the harvesting vehicle, between the sensor device and a ground plane on which the crop is arranged, between the sensor device and a ground plane outside the ground plane and/or between at least two cameras of the sensor device .

The cameras to be calibrated must preferably detect the calibration pattern at the same time. Preferably 3 to 20 recordings are necessary, depending on which camera parameters have to be determined. The positions of the cameras in relation to one another are then known and the assignment of the pixels in the individual images can be calculated.

In the case of stereo cameras, at least two cameras are preferably calibrated with respect to one another. The cameras are preferably identical in relation to a longitudinal axis of the harvesting vehicle along the direction of travel and are arranged in parallel or slightly convergently.

In the case of time-of-flight (ToF) cameras, lighting for the ToF camera is preferably calibrated first and then a color camera for the ToF camera.

For cameras with structured light, the projector is preferably calibrated to the camera.

A coordinate system is preferably assigned to the sensor device, in particular the at least two cameras of the sensor device, the harvesting vehicle, the earth plane and the ground plane, with position data relating to the coordinate system of the sensor device being determined from the sensor data determined by the sensor device, with the position data being converted into the respective Coordinate systems of the harvester, the earth plane and / or the ground plane are transformed.

As a result, the error between a target position and an actual position of the harvesting tool can be measured and then compensated for. In summary, the following coordinate systems are preferably defined: a) camera coordinate system b) harvesting vehicle coordinate system: zero point of the harvesting tool to which the at least one harvesting tool is oriented c) ground coordinate system: the plane on which the harvesting vehicle is driving d) earth coordinate system: the Level from which the crop grows e) Crop coordinate system: Each individual crop object gets its own coordinate system, which is used to control the harvesting tools.

The previously described subsets of data points (the so-called point cloud) are preferably calculated in relation to the coordinate system of the sensor device, in particular to the camera that determined the sensor data. However, it is necessary for the results to be transferred to the other coordinate systems described above, e.g. in the harvesting machine coordinate system, so that 3D points can also be approached by the harvesting tool or the cutting and/or gripping element.

For this purpose, the calibration pattern is preferably placed at a fixed and precisely measured location on the harvesting vehicle. The sensor device, in particular a camera of the sensor device, recognizes the calibration pattern and can thus calculate its own position in relation to this pattern. As a result, the relationship between the camera and harvester coordinate system is known and can be used for transformations of the data points.

The methods described above can be combined with one another or carried out one after the other as desired.

The invention is explained in more detail below using exemplary embodiments. show it in

1 shows a first perspective view of a harvesting vehicle, FIG. 2 shows a second perspective view of a harvesting vehicle, FIG. 3 shows a third perspective view of a harvesting vehicle, ti

4 shows a plan view of a work and movement area of a harvesting vehicle,

5 shows a side view of a work and movement area of a harvesting vehicle,

6 shows a perspective view of the harvesting tool with drive device,

7 is a perspective view of another embodiment of the harvester, and

8 shows a perspective view of a cable actuator.

FIG. 1 shows a harvesting vehicle 100 which is arranged on a ground 26 which can be, for example, a field with green asparagus. The harvesting vehicle 100 is designed as a harvesting trailer which can be hitched behind a vehicle in order to be moved over the field. The harvesting vehicle 100 has a receiving device in the form of a cuboid frame 10 which is formed from a number of frame elements. A work and movement space 27 for a harvesting tool 12 is formed within the cuboid frame 10 . The work and movement space TI is also cuboid and corresponds to the interior space defined by the frame elements 11 .

The harvesting tool 12 is suspended in the work and movement space TI above the floor 26 by means of a suspension and displacement device comprising eight cables 13a-d, 14a-d. The cables 13a-d, 14a-d can be moved in and out by means of cable actuators assigned to the cables 13a-d, 14a-d in order to be able to change a position of the harvesting tool 12 within the working and movement space TI. For this purpose, the cable actuators each have a cable winch 19a-19h and a servomotor 20a-h. The cable winches 19a-g are each arranged in a corner region of the cuboid frame 10. The servomotors 20a-h assigned to the cable winches are each arranged on a frame element 11 of the cuboid frame 10.

By actuating the servomotors 20a-h and the associated rotation of the cable winches 19a-h, the cables 13a-d, 14a-d wound up on the cable winches 19a-h are rolled up or down according to the direction of rotation. The free areas of the cables 13a-d, 14a-d lengthen and shorten accordingly, which leads to a movement of the harvesting tool 12. The rolling up and down of each Ropes 13a-d, 14a-d are coordinated with one another so that the harvesting tool 12 can be moved in the desired direction and at the same time the ropes 13a-d, 14a-d have a certain tautness at all times during the movement of the harvesting tool 12.

A control device 21 is provided for this purpose, which can be actuated by means of an operating device 23 . A control program is stored in the control device 21, which controls the servomotors and thus the movement of the harvesting tool 12 via the cables 13a-d, 14a-d. For control, the control device 21 receives sensor data from a sensor device 22. The sensor device 22 is arranged on the cuboid frame 10 in such a way that a region of the floor 26 in which the harvested crop (not shown here) is located can be detected. The sensor device 22 detects the crop and its position relative to the harvesting tool 12 and/or its location.

The sensor data including information on the position and location of the harvested crop are transmitted to the control device 21 in order to determine a harvesting position for the harvesting tool 12 in which the harvesting tool can cut the crop. Then the servomotors 20a-h are controlled accordingly in order to move the harvesting tool 12 into the harvesting position. First, the harvested crop is gripped by the cutting and gripping element 17 of the harvesting tool 12 and then cut. After the crop has been harvested, the harvesting tool 12 is moved to a conveying device 24 of the harvesting tool 100, where the crop can be deposited. This is done by releasing the cutting and gripping element 17.

The harvesting vehicle 100 has a first group of four cables 13a-d, which are each arranged in the upper four corner areas of the cuboid frame or the work and movement space TI. Furthermore, the harvesting vehicle includes a second group of four cables 14a-d, which are each arranged in the lower four corner areas of the cuboid frame or the work and movement space TI.

The harvesting tool 12 is arranged on a receiving element 12a. The receiving element 12a is elongate and has a first end with a first Mounting portion 15 and a second end with a second mounting portion 16 on. The harvesting tool 12 is arranged on the first attachment area 15 . The harvesting tool 12 is attached to the receiving element 12a with a free end of an extension arm, so that a cutting and gripping element 17, which is arranged at the end of the harvesting tool 12 opposite the free end, has a certain distance to the cables 13a-d, 14a- d, so that the cables 13a-d, 14a-d do not come into contact with the crop during operation of the harvesting vehicle 100.

The first attachment area 15 and the second attachment area 16 of the receiving element 12a are arranged at a distance from one another, viewed in a vertical direction or in a height direction of the harvesting vehicle 100 . The cables 13a-d, 14a-d are each fastened with their first ends to the respective cable actuators. In addition to the harvesting tool 12, the second ends of the first, upper group of cables 13a-d are fastened to the first fastening area 15.

Because the attachment point of the first, upper group of ropes 13a-d is below the attachment point of the second, lower group of ropes 14a-d, tilting and thus rotation of the harvesting tool 12 can be achieved when the rope actuators are actuated accordingly.

FIGS. 2 and 3 show further perspective views of a harvesting vehicle 100. The harvesting vehicle 100 in FIGS. 2 and 3 essentially corresponds to the harvesting vehicle 100 shown in FIG. 1, with the same parts being provided with the same reference numbers. It can be seen in FIGS. 2 and 3 that the harvesting vehicle 100 has a conveying device 24 in the form of a conveyor belt, onto which the harvested crop is deposited by the harvesting tool 12 . For this purpose, the harvesting tool 12 is correspondingly moved into a depositing position. The conveyor 12 then conveys the crop into a collection device 25, for example a box. The conveyor device 25 is arranged laterally within the working and movement space TI, viewed in the direction of travel of the harvesting vehicle 100 . In this way, the travel path of the harvesting tool for depositing the crop is as short as possible, so that depositing the crop does not excessively delay the harvesting process. FIG. 4 shows a section of the harvesting vehicle 100 in a plan view of the work and movement space 27. The centrally arranged receiving element 12a with the second fastening area 16 can be seen, to which the second ends of the cables 13a-d of the first group are fastened . The cables 14a-d of the second group can also be seen running underneath.

FIG. 5 shows a section of the harvesting vehicle 100 in a side view of the working and movement area TI of the harvesting tool 12 . Shown is the receiving element 12a with the first attachment area 15 and the second attachment area 16. The second ends of the cables 13a-d of the first, upper group of cables 13a-d are attached to the first attachment area 15 and the second ends of the cables 14a-d of the second, lower group are attached to the second attachment area 16 . In the side view, the cables 13a-d of the first group intersect with the cables 14a-d of the second group, since the first attachment area 15 is arranged below the second attachment area 16 viewed in the vertical direction H of the harvesting tool 100 .

FIG. 6 shows a perspective view of the harvesting tool 12, 37a, 38b. The harvesting tool has an upper attachment area 15 for attachment of the cables 14a to 14h and a lower attachment area 16 for attachment of the cables 13a to 13h. The gripping and holding element 17 is arranged below the lower fastening area 16 . The upper attachment area 15, the lower attachment area 16 and the rods which connect the attachment areas 15, 16 and the gripping and holding element 17 to one another can be made of carbon fibre. The harvesting tool 12, 37a, 37b also has a drive device 28, by means of which the harvesting tool 12, 37a, 37b can be rotated about its longitudinal axis LI.

FIG. 7 shows a perspective view of a further embodiment of the harvesting vehicle 100. The harvesting vehicle 100 has a first working and moving area 27a and a second working and moving area 27b, in each of which a harvesting tool 37a, 37b is arranged. Both harvesting tools 37a, 37b are designed identically to the harvesting tool shown in FIGS. Furthermore, the cables 13e to 13h, 14e to 14e and cable actuators with the cable winches 19i to 19p and cable actuators 20i to 20p are designed identically to the cable actuators of FIGS. FIG. 8 shows a cable actuator with a cable drum traversing device. The cable drum moving device enables the cable drum of the cable winch 19a to 19p to be moved around the end or starting point P of a wound cable section while the cable is being wound up or unwound on the cable drum, which is arranged in a fixed position within the working space 27, 27a, 27b. For this purpose, the rope drum moving device includes a toothed belt 33 which mechanically couples the shaft of the rope drum 30 to a threaded spindle 34 so that a driving force of a drive device of the rope drum 29 is transmitted to the threaded spindle 34 . The cable drum is coupled to the threaded spindle 34 in such a way that the cable drum is moved in the direction of the longitudinal axis L2 of the cable drum during the rotation of the threaded spindle 34 . Furthermore, the cable drum is movably mounted on a bearing rod 36 by means of plain bearings 35 in the direction of the longitudinal axis L2 of the cable drum. The traverse distance of the cable drum displacement device is selected in such a way that when the cable drum rotates completely, it is displaced by the width of one cable winding.

Furthermore, the cable drum has a spiral groove 31 on the outer peripheral surface. The spiral-shaped groove 31 serves to accommodate the cable 13a to 13h, 14a to 14h, so that the cable 13a to 13h, 14a to 14h is wound up in one layer on the cable drum in a controlled manner.

Reference List

100 Harvester

10 cuboid frame

11 frame element

12 Harvesting Tool

12a receiving element

13a to 13h ropes

14a to 14h ropes

15 first attachment area

16 lower attachment area

17 cutting and gripping element

18a - 18q corner areas

19a - 19p winches

20a - 20q servo motors

21 controller

22 sensor setup

23 operating device

24 conveyor

25 collection facility

26 floor

27 work and movement space

27a, 27b first and second work and movement space

28 Drive mechanism of the harvesting tool

29 winch motor

30 shaft of the winch

31 spiral groove

32 coiled section of rope

33 timing belt

34 lead screw

35 plain bearings

36 bearing bar 37a, 37b first and second harvesting tools

H Elevation direction of the harvester

LI Longitudinal axis of the harvesting tool

L2 Longitudinal axis of the cable drum

Claims

Claims Harvesting vehicle (100) comprising: at least one harvesting tool (12, 37a, 37b) for harvesting agricultural crops, at least one suspension and displacement device for suspending and displacement of the harvesting tool (12, 37a, 37b), the suspension and displacement device at least three ropes (13a, 13b, 13c, 13d) and rope actuators, preferably at least three rope actuators, wherein the ropes (13a, 13b, 13c, 13d) each have a first end with a rope actuator and a second end with the harvesting tool ( 12, 37a, 37b) are connected in such a way that the harvesting tool (12, 37a, 37b) has at least three degrees of freedom of movement by actuating the cable actuators and by retracting and extending the cables (13a, 13b, 13c, 13d). Harvesting vehicle (100) according to claim 1, having at least four, preferably at least six, most preferably eight, ropes (13a, 13b, 13c, 13d, 14a, 14b, 14c, 14d) and preferably at least four, preferably at least six, most preferably preferably at least eight cable actuators, wherein the cables (13a, 13b, 13c, 13d, 14a, 14b, 14c, 14d) each have a first end with a cable actuator and a second end with the harvesting tool (12, 37a, 37b ) are connected. Harvesting vehicle (100) according to claim 2, wherein the cables (13a, 13b, 13c, 13d, 14a, 14b, 14c, 14d) each have a first end with a respective cable actuator and a second end with the harvesting tool (12, 37a, 37b) are connected in such a way that the harvesting tool (12, 37a, 37b) has six degrees of freedom of movement when the cable actuators are actuated and the cables are retracted and extended. Harvesting tool (100) according to one of the preceding claims, comprising at least two harvesting tools (37a, 37b) and at least two suspension and displacement devices, wherein each of the harvesting tools (37a, 37b) is assigned a suspension and displacement device, the at least two harvesting tetools (37a, 37b) and the two suspension and displacement devices are each preferably identical. Harvesting vehicle (100) according to one of the preceding claims, wherein the harvesting tool (12, 37a, 37b) has a drive device (28) by means of which the harvesting tool (12, 37a, 37b) can be rotated about a, in particular vertical, longitudinal axis (LI) of the harvesting tool (12, 37a, 37b) is rotatable and/or tiltable and/or inclinable, the drive device (28) preferably comprising a motor, particularly preferably a stepper motor, and/or a gear, preferably a worm gear. Harvesting vehicle (100) according to one of the preceding claims, having a receiving element (12a) for receiving the respective second ends of the cables (13a, 13b, 13c, 13d, 14a, 14b, 14c, 14d) and for receiving the harvesting tool (12), wherein the receiving element (12a) has a first fastening area (15), in which the harvesting tool (12) is fastened, and has a second fastening area (16), the first fastening area (15) being in a height direction (H) of the harvesting vehicle (100) viewed below the second attachment area (15) and wherein a first group of cables (13a, 13b, 13c, 13d) is attached to the first attachment area (15) and a second group of cables (14a, 14b, 14c, 14d) is attached to the second attachment area (16), with suspension points of the first group of ropes (13a, 13b, 13c, 13d) on the harvesting vehicle (100) preferably being below the suspension points of the second group of ropes (14a, 14b, 14c, 14d) is arranged. Harvesting vehicle (100) according to one of the preceding claims, comprising a receiving device for receiving the suspension and displacement device, the receiving device having a working space which includes a working and movement area (27) of the harvesting tool (12). Harvesting vehicle (100) according to one of the preceding claims, wherein the receiving device is designed as a frame, in particular as a substantially cuboid frame (10). Harvesting vehicle (100) according to one of the preceding claims, wherein each of the cable actuators comprises a cable winch (19a-h) and a drive, in particular a servo motor (20a-h). Harvesting vehicle (100) according to claim 7 or 8 and claim 9, wherein the cable winch comprises a cable drum and a cable drum displacement device, wherein the cable drum can be displaced in the direction of a longitudinal axis of the cable drum (L2) by means of the cable drum displacement device, in particular in such a way that an end or The starting point (P) of a coiled cable section (32) is arranged in a fixed position within the working space during the winding or unwinding of the cable (13a-13h, 14a-14h) on the cable drum. Harvesting vehicle (100) according to claim 9 or 10, wherein the cable winch comprises a cable drum, an outer peripheral surface of the cable drum having a circumferential, helical groove (31) for receiving the cable (13a-13h, 14a-14h) on the cable drum, wherein preferably the turns formed by the helical groove (31) are arranged essentially directly adjacent to one another, and wherein the width of the helical groove (31) is preferably 3 mm to 7 mm, particularly preferably 4 mm to 6 mm, very particularly preferably 4.5 mm to 5.5 mm. Harvesting vehicle (100) according to claim 11, wherein with each complete rotation of the cable drum by 360° the cable drum can be moved by a width of one turn of the spiral groove (31) by means of the cable drum displacement device. Harvesting vehicle according to one of Claims 10 to 12, in which the cable drum displacement device is coupled to the cable drum (30) by means of a coupling device, so that a drive force which can be transmitted to the shaft (30) by means of a drive unit of the cable actuator (29) is transmitted by means of the coupling device the cable drum moving device can be transferred to move the cable drum. Harvesting vehicle according to claim 13, wherein the coupling device comprises a belt, in particular a toothed belt (33), by means of which the driving force of the cable drum (30) can be transmitted to the cable drum traversing device. Harvesting vehicle according to one of claims 10 to 14, wherein the cable drum displacement device comprises a longitudinal guide device, in particular a threaded spindle (34), which can be driven by means of the coupling device, the cable drum being coupled to the longitudinal guide device in such a way that driving the longitudinal guide device, in particular a rotation the threaded spindle, causes the cable drum to move in the direction of the longitudinal axis of the cable drum (L2). Harvesting vehicle (100) according to one of the preceding claims, wherein the receiving device is essentially cuboid and a cable actuator is arranged in each of the corner regions of the receiving device. Harvesting vehicle (100) according to one of the preceding claims, comprising at least one control device (21) for controlling the cable actuators for moving the harvesting tool (12). Harvesting vehicle (100) according to one of the preceding claims, wherein the harvesting vehicle (100) comprises a sensor device (22) for determining sensor data comprising information on the position and preferably a location of the harvested crop. Harvesting vehicle (100) according to claim 18, wherein the sensor device (22) comprises at least one optical sensor, preferably a camera, in particular a camera for recording three-dimensional image data. Harvesting vehicle (100) according to one of Claims 17 to 19, the control device (21) being designed to control the cable actuators as a function of the sensor data in such a way that the harvesting tool (12) can be moved into a harvesting position. Harvesting vehicle (100) according to one of the preceding claims, wherein the harvesting tool comprises a cutting element and/or a gripping element (17). Harvesting tool (100) according to Claim 21, in which the gripping element (17) comprises elastic elements, in particular rubber bands, for holding the harvested crop. Harvesting tool according to one of the preceding claims, wherein the at least one harvesting tool (12, 37a, 37b) comprises fibers, in particular carbon fibers, or at least partially consists of fibers, in particular carbon fibers. Harvester (100) according to any one of the preceding claims, wherein the harvester is a harvester truck or a harvester trailer. Harvesting vehicle (100) according to one of the preceding claims, comprising a conveying device (24) designed to convey the agricultural crops harvested by the harvesting tool from the harvesting tool into a storage area of the harvesting vehicle (100). Harvesting vehicle (100) according to claim 25, wherein the conveyor device (24) comprises a conveyor belt or is formed by a conveyor belt. Harvesting vehicle (100) according to claim 25, wherein the conveying device comprises a conveying line, in particular a hose or a pipe, and a blowing device or a suction device, wherein the conveying device is designed in such a way that the agricultural crop harvested by the harvesting tool is transported by means of the blowing device or by means of the Suction device can be conveyed along the conveying line. Harvesting vehicle (100) according to claim TI, wherein the inner walls of the conveying line are smooth and/or designed without structuring. Harvesting vehicle (100) according to claim TI or 28, wherein the harvested crop can be conveyed through the conveying line by means of negative pressure or by means of positive pressure. Harvesting vehicle (100) according to one of claims TI to 29, wherein the blowing device or the suction device comprises a fan. Harvesting vehicle (100) according to one of Claims TI to 30, a blowing line in which the blowing device is arranged or a suction line in which the suction device is arranged being connected to the conveying line and fluidically connected. Harvesting vehicle (100) according to one of claims 25 to 31, wherein the harvesting tool is designed to deposit the harvested crop on the conveyor (24). Method for operating a harvesting vehicle, in particular a harvesting vehicle (100) according to one of Claims 1 to 32, wherein the harvesting vehicle (100) comprises at least one harvesting tool (12, 37a, 37b) which is located within a working and movement space (27) of the harvesting vehicle movable for harvesting agricultural crops, comprising the steps of:

Determination of sensor data comprising information on the position, preferably a position, of at least one object within the working space, preferably the harvested crop, by means of a sensor device (22), determination of a harvesting position for the harvesting tool (12, 37a, 37b) based on the sensor data,

moving the harvesting tool (12, 37a, 37b) to a harvesting position, and actuating the harvesting tool (12, 37a, 37b). Method according to claim 33, wherein the sensor device (22) comprises at least one camera designed to generate color and depth information, preferably a stereo camera, a time-of-flight camera or a camera using structured light. The method according to claim 33 or 34, wherein a speed of movement of the harvesting vehicle (100) as a function of a number of crop objects located in the working and movement space and/or as a function of a distance between the crop objects, in particular a minimum distance of all crop objects from one another and/or an average distance of all crop objects among themselves. The method according to claim 35, wherein the harvesting vehicle is brought to a standstill when the number of crop objects in the work and movement space exceeds a predetermined value and/or when there is a distance between the crop objects, in particular a minimum distance between the crop objects and/or an average distance Distance of all crop objects with each other exceeds a predetermined value. The method according to any one of claims 33 to 36, wherein to determine the harvesting position assigned to a crop object in a predetermined area around the crop object, the location of a free space with maximum size is determined, in which there are no other objects, in particular no crop objects. Method according to Claim 37, in which the harvesting tool (12, 37a, 37b) is aligned relative to the crop object as a function of the position of the free space. Method according to one of Claims 33 to 38, wherein moving the harvesting tool (12, 37a, 37b) from a first harvesting position into a second harvesting position and/or into a depositing position on a conveyor device of the harvesting vehicle (12, 37a, 37b) involves a movement of the Harvesting tool (12, 37a, 37b) in the horizontal and vertical direction, with a movement in the horizontal direction preferably taking place above the crop when viewed in the height direction above the ground. Method according to one of Claims 33 to 39, in which the actuation of the harvesting tool (12, 37a, 37b) comprises gripping and preferably subsequently cutting the crop object. Method according to one of claims 33 to 40, wherein the harvesting vehicle is designed to move autonomously along a row with harvested crop. The method according to claim 41, wherein the autonomous movement takes place as a function of an initial position of a reference point, with a current position of the reference point being determined, in particular continuously, while the harvesting vehicle is moving, and a value for a spatial deviation between the initial position and the current position of the reference point is determined and a direction of movement is controlled as a function of this value. Method according to claim 42, wherein the initial reference point is determined by means of an image, the image showing a driving section of the harvesting vehicle lying ahead in the direction of travel from the perspective of the harvesting vehicle, the reference point preferably being a vanishing point determined by means of the image. Method according to one of Claims 33 to 43, the sensor data comprising a quantity of data points, in particular 6D data points, in particular in the form of a color point cloud, for representing objects in the working space. The method according to claim 44, wherein at least one object, preferably all objects, in particular a harvested crop object, in the working and movement space, in particular a ground plane, a ground plane and/or a harvested crop object, is assigned a subset of the data points which represents the respective object. Method according to claim 45, wherein the sensor data are assigned to a subset by means of Euclidean clustering. The method according to claim 45 or 46, wherein at least one object parameter is determined from at least one subset, preferably all subsets, the object parameter being a position of a gripping or cutting point on the crop object, an inclination of a longitudinal axis of the crop object in relation to a longitudinal axis parallel to a direction of travel of the harvesting vehicle and/or an inclination of a longitudinal axis of the crop object in relation to a transverse axis perpendicular to the longitudinal axis. Method for calibrating a suspension and movement device for suspending and moving a harvesting tool of a harvesting vehicle, in particular a harvesting vehicle (100) according to one of Claims 1 to 32, the suspension and movement device having at least three cables (13a, 13b, 13c, 13d) and Cable actuators, preferably at least three cable actuators, wherein the cables (13a, 13b, 13c, 13d) are each connected at a first end to a cable actuator and at a second end to the harvesting tool (12, 37a, 37b) in such a way that the harvesting tool (12, 37a, 37b) has at least three degrees of freedom of movement by actuating the cable actuators and by retracting and extending the cables (13a, 13b, 13c, 13d) and wherein the harvesting tool (12, 37a, 37b) is used to calibrate the at least three cable actuators are positioned at a predetermined position within the work and movement space, in particular in a center of the work and movement space, by means of an auxiliary structure, the at least three cable actuators being actuated so that the cables (13a, 13b, 13c, 13d) are retracted to a predetermined tension force of the cables is reached (13a, 13b, 13c, 13d). Method according to Claim 48, in which each of the cable actuators comprises a cable winch (19a-h) and a drive, in particular a servomotor (20a-h), the tensioning force being generated by means of a drive force of the drive, in particular a torque of the servomotor (20a-h) , is determined. Method for calibrating a sensor device of a harvesting vehicle, in particular a harvesting vehicle (100) according to one of Claims 1 to 32, comprising the step of recognizing at least one regular or irregular pattern, in particular arranged at a predetermined position on the harvesting vehicle, in particular a checkerboard pattern or a QR - codes, by the sensor device (22). Method according to claim 50, wherein the step of calibrating includes determining a relative position between the sensor device (22) and the harvesting vehicle (100), between the sensor device (22) and a ground plane on which the crop is arranged, between the sensor device (22 ) and a ground plane outside the ground plane and/or between at least two cameras of the sensor device (22). Method according to claim 51, wherein a coordinate system is assigned to the sensor device, in particular the at least two cameras of the sensor device, the harvesting vehicle, the earth plane and the ground plane, with position data relating to the coordinate system of the sensor device ( 22) are determined, with the position data being transformed into the respective coordinate systems of the harvesting vehicle, the earth plane and/or the ground plane. Method according to one of claims 50 to 52, wherein the pattern is arranged on the harvesting tool (12, 37a, 37b) and the calibration of the sensor device (22) the movement of the harvesting tool (12, 37a, 37b) to different positions within the working and movement space, the pattern being recognized by the sensor device (22) at each of the positions.