WO2020164832A1 - Délimitation de déplacement basée sur une radio-identification (rfid) de machines agricoles - Google Patents

Délimitation de déplacement basée sur une radio-identification (rfid) de machines agricoles Download PDF

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Publication number
WO2020164832A1
WO2020164832A1 PCT/EP2020/050791 EP2020050791W WO2020164832A1 WO 2020164832 A1 WO2020164832 A1 WO 2020164832A1 EP 2020050791 W EP2020050791 W EP 2020050791W WO 2020164832 A1 WO2020164832 A1 WO 2020164832A1
Authority
WO
WIPO (PCT)
Prior art keywords
rfid
signal
agricultural machine
agricultural
transmitter unit
Prior art date
Application number
PCT/EP2020/050791
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 WO2020164832A1 publication Critical patent/WO2020164832A1/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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots

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
  • control signal for controlling the agricultural machine is generated based on the detection and is output, for example, to an actuator of the agricultural machine.
  • an agricultural machine which is provided with a system for the automatic setting of a processing parameter.
  • the machine comprises an electronic control device which can be operated to derive from sensor signals in which topographical zone of a number of topographical zones of a field the agricultural machine is located. Based on this, an actuator of the machine is controlled depending on the respective topographical zone.
  • these systems known from the prior art have the disadvantage that the detection of the objects on the usable area does not work with sufficient accuracy and without problems. For example, after a certain period of use, boundary lines between different field pieces can be insufficiently recognized due to a decrease in the reflectivity of the material marking the boundary lines, which can lead to incorrect control of the agricultural machine.
  • sensors with a higher resolution that can circumvent this interference are usually very expensive.
  • the present invention is therefore based on the object of carrying out the agricultural processing of the usable areas with increased accuracy while at the same time at least the same effort.
  • 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 comprise a rake, a hay machine, a combine harvester 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 evaluation unit used / built into the control device can comprise a central processing unit (CPU) or a graphic processing unit (GPU).
  • the evaluation unit can be an ECU or an ECM.
  • the control device is one of the ECU or the ECM superordinate device / arrangement.
  • the control device can be located in the agricultural machine, or outside or partially outside the agricultural machine.
  • the control device can be part of a central monitoring device for the agricultural usable area, which communicates with the agricultural machine and the RFID transmitter unit. Communication can be wireless, for example via BlueTooth, infrared, near field communication (NFC), radio, Internet, intranet, cloud systems and / or wired systems.
  • NFC near field communication
  • the RFID transmitter unit is able to send out RFID signals.
  • the RFID transmitter unit can approximately be understood as a point source of RFID signals.
  • the RFID signal can be received directly from the signal input of the device according to the invention.
  • the signal input preferably has a frequency filter element for frequency-dependent signal selection.
  • the signal input can be a simple interface / socket for signal transmission.
  • the RFID receiving unit is not part of the Steuervor direction according to the invention and can be arranged outside the agricultural machine, for example on another vehicle or a drone.
  • the RFID transmitter unit is net angeord within an agricultural area.
  • a plurality of RFID transmitter units are preferably arranged.
  • the usable area or the partial area of the usable area, below which the RFID transmitter units are arranged, is detected by the RFID transmitter units in cooperation with the control device.
  • the control device receives an associated RFID signal when driving past an RFID transmitter unit (e.g. so that the RFID transmitter unit is within a detection radius of the control device) or when driving through an RFID transmitter unit.
  • the RFID transmitter unit can be designed to transmit the RFID signal only in one specific direction, for example vertically upwards or vertically. This means that the RFID signal can only be sent from a receiving unit that is located in the specific direction (eg vertically above) the RFID transmitter unit can be received.
  • the evaluation unit evaluates the RFID signal and based on this generates a control signal for the agricultural machine.
  • the control signal causes the agricultural machine to carry out a predefined action.
  • the agricultural machine is currently driving past an RFID transmitter unit or is driving through it. This means that at this moment the agricultural machine is in the area of the agricultural area marked by the RFID transmitter units.
  • the arrangement of the RFID transmitter units thus forms a virtual or artificial boundary for limiting the range of motion of the agricultural machine. In this way, the movement of the agricultural machine can be precisely controlled through the arrangement of the RFID transmitter units.
  • the safety and machining efficiency of the agricultural machine are advantageously increased.
  • the predefined action consists in covering a predefined route length.
  • the predefined action can also consist of covering the predefined route length in a predefined direction.
  • the predefined action also consists of stopping or changing the direction of travel if no further RFID signal has been received within the predefined route length and / or within a predefined period of time after receiving the last RFID signal. If no further RFID signal is received, it can be assumed that the agricultural machine has not passed any further RFID transmitter units or has not passed any further RFID transmitter units since the last RFID signal. This indicates that the agricultural machine could leave the area of the agricultural area marked by the RFID transmitter units if no countermeasures were taken. By changing direction (e.g. in the opposite direction), stopping / stopping, an effective countermeasure is taken to avoid exceeding the limit.
  • the predefined route length corresponds to a distance between two adjacent RFID transmitter units.
  • the control signal thus causes the agricultural machine to drive to the nearest RFID transmitter unit after it has passed an RFID transmitter unit or after it has passed through an RFID transmitter unit. If no RFID signal is received after covering this distance, the countermeasure described above is effectively taken.
  • the RFID transmitter units are preferably arranged such that the distance between adjacent RFID transmitter units is the same.
  • the predefined route length can correspond to a sum of the distance between two neighboring RFID transmitter units and the braking distance of the agricultural machine, which can be detected, for example, by an odometry device on the agricultural machine.
  • a distance between an RFID transmitter unit that is arranged closest to an edge of the agricultural area is greater than the predefined route length.
  • the agricultural machine after driving past the RFID transmitter unit or after passing through the RFID transmitter unit, which is arranged closest to the edge of the usable area, the agricultural machine should be controlled to avoid an unintentional crossing of borders.
  • This measure ensures that the agricultural machine does not travel further than the distance between this RFID transmitter unit and the edge of the usable area before it stops. Thus the agricultural machine remains within the usable area, thereby avoiding border crossing.
  • the predefined route length corresponds to a sum of the distance between two adjacent RFID transmitter units and the braking distance of the agricultural machine. In this case, unwanted border crossing can be avoided particularly effectively.
  • the RFID signal contains an associated position index that is assigned to the RFID transmitter unit.
  • the RFID transmitter unit can be identified by evaluating the RFID signal by means of the evaluation unit.
  • the position index is preferably a global position index which is defined in the context of a global navigation satellite system (GNSS).
  • GNSS global navigation satellite system
  • the position of the RFID transmitter unit can be read out as part of the GNSS. This can be taken into account in the control signal generated so that the agricultural machine can be better controlled in order to fulfill the agricultural tasks.
  • the RFID transmitter unit is arranged underground.
  • the RFID transmitter units are better protected from mechanical or thermal damage as a result.
  • the RFID transmitter unit can be attached to a carrier element, with a plurality of RFID transmitter units being able to share a common carrier.
  • 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 an agricultural machine with the Steuervor direction of Figure 1, wherein the agricultural machine is located on an agricultural economic area;
  • FIG. 3 shows a schematic representation of a travel route of the agricultural machine in an edge region of a usable area
  • Fig. 4 is a schematic representation of the agricultural machine in a Randbe area of a useful area.
  • the control device 10 comprises a signal input 12 for receiving a radio frequency identification signal (RFID signal).
  • RFID signal is sent out by an RFID transmitter unit 22 which is arranged within an agricultural area 60 (see FIG. 2).
  • the control device 10 further comprises an evaluation unit 14 for generating a control signal for the agricultural machine 50 based on the received RFID signal.
  • the control signal causes the agricultural machine 50 to carry out a predefined action.
  • the predefined action can be freely selected, preferably from a collection of predefined actions.
  • the control device 10 also includes a signal output 16 for outputting the generated control signal, preferably to the agricultural machine 50 (for example an actuator or another mechatronic unit of the agricultural machine 50), alternatively to an external communication device (not shown) that is connected to the agricultural machine 50 is.
  • a signal output 16 for outputting the generated control signal, preferably to the agricultural machine 50 (for example an actuator or another mechatronic unit of the agricultural machine 50), alternatively to an external communication device (not shown) that is connected to the agricultural machine 50 is.
  • Fig. 2 shows a schematic representation of the agricultural machine 50 on which the control device 10 from Fig. 1 is arranged.
  • the signal input 12 preferably comprises an RFID receiving unit 24 which has a frequency-dependent filter element. shows.
  • the RFID signal can thus be transmitted by the RFID transmitter unit 22 and detected directly by the RFID receiving unit 24 of the control device 10 without a further unit being interposed.
  • the agricultural machine 50 is located on the agricultural area 60, which has an edge 64.
  • An RFID transmitter arrangement 20, which comprises a plurality of RFID transmitter units 22, is arranged on the usable area 60, preferably attached underground. More preferably, the distance 26 between adjacent RFID transmitter units 22 is constant.
  • the outermost RFID transmitter units 24 in relation to the edge 64 of the usable area 60 are arranged at a distance 62 from the edge 64. This type of arrangement of the RFID transmitter units 24 is more cost-effective than an arrangement in which several RFID transmitter units are placed directly on the edge 64 of the usable area 64.
  • the RFID signal generated by the respective RFID transmitter unit 22 located within a detection radius 54 of the control device 10 is detected via the signal input 12 by the control device 10. Based on this RFID signal, such a control signal is generated, for example, which causes the agricultural machine 50 to cover a predefined route, preferably in a predefined direction of travel.
  • the predefined route length can be the distance 26 between neighboring RFID transmitter units 22. Alternatively, the predefined route length corresponds to a sum of the distance 26 and the braking distance of the agricultural machine 50.
  • the braking distance can be determined, for example, by an odometry device which z. B. comprises a wheel speed sensor system to be made available to the control device 10.
  • the predefined action can consist in the agricultural machine 50 stopping or changing its direction of travel if no further RFID signals are received within the predefined distance covered and / or a predefined period of time from the time the last RFID signal was received. Signal has been received. In this way, an unintentional exceeding of the edge 64 of the usable area 60 can be prevented particularly effectively.
  • 3 shows a schematic representation of a route 56 of the agricultural machine 50 in an edge region of the usable area 60 The indicated direction enters the useful surface 60 and approaches the starting point along a direction indicated by a second arrow 564.
  • the control signal is triggered that causes the agricultural machine 50, for example covers a predefined distance.
  • the predefined route length corresponds, for example, to a sum of the distance 26 between adjacent RFID transmitter units 22a, 22b of the RFID arrangement 20 and the braking distance 57.
  • the first RFID transmitter unit 22a is here the RFID transmitter unit of the RFID arrangement 20 which is arranged on the outermost edge 64 of the usable area 60.
  • the outer circle 59 in FIG. 4 has a circle the distance 62 between the first RFID transmitter unit 22a and the edge 64 of the usable area 60.
  • the inner circle 58 in FIG. 4 has the difference between the distance 62 and the braking distance 57 of the agricultural machine 50 as a circle radius.
  • the second RFID transmitter unit 2b is located within the inner circle 58. This means that the agricultural machine 50 is located within the outer circle 59 after having covered the predefined distance (namely the sum of the distance 26 plus the braking distance 57). This effectively avoids exceeding the useful area limit.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un procédé pour la commande d'une machine agricole (50), comprenant l'obtention d'un signal d'identification par radiofréquence (signal RFID), le signal RFID étant émis par une unité d'envoi (22) de RFID qui est disposée au sein d'une surface utile agricole (60), et la génération d'un signal de commande pour la machine agricole (50) basé sur le signal RFID obtenu, le signal de commande provoquant la réalisation d'une action prédéfinie par la machine agricole (50).
PCT/EP2020/050791 2019-02-14 2020-01-14 Délimitation de déplacement basée sur une radio-identification (rfid) de machines agricoles WO2020164832A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019201913.7 2019-02-14
DE102019201913.7A DE102019201913A1 (de) 2019-02-14 2019-02-14 RFID-basierte Bewegungsbegrenzung von Landmaschinen

Publications (1)

Publication Number Publication Date
WO2020164832A1 true WO2020164832A1 (fr) 2020-08-20

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PCT/EP2020/050791 WO2020164832A1 (fr) 2019-02-14 2020-01-14 Délimitation de déplacement basée sur une radio-identification (rfid) de machines agricoles

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DE (1) DE102019201913A1 (fr)
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007022000A2 (fr) * 2005-08-18 2007-02-22 Deere & Company Réseau de capteur sans fil de sous-sol
US20100063652A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Garment for Use Near Autonomous Machines
US20100141483A1 (en) * 2008-12-10 2010-06-10 Russell James Thacher Method and system for determining a position of a vehicle
DE102012201333A1 (de) 2012-01-31 2013-08-01 Deere & Company Landwirtschaftliche Maschine mit einem System zur selbsttätigen Einstellung eines Bearbeitungsparameters und zugehöriges Verfahren
US20160140367A1 (en) * 2014-11-19 2016-05-19 Cnh Industrial America Llc Automated Tracking And Identification In A Crop Production Cycle
DE102017211839A1 (de) * 2017-07-11 2019-01-17 Robert Bosch Gmbh Steuersystem für ein Agrararbeitssystem, Arbeitssystem, Verwendung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007022000A2 (fr) * 2005-08-18 2007-02-22 Deere & Company Réseau de capteur sans fil de sous-sol
US20100063652A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Garment for Use Near Autonomous Machines
US20100141483A1 (en) * 2008-12-10 2010-06-10 Russell James Thacher Method and system for determining a position of a vehicle
DE102012201333A1 (de) 2012-01-31 2013-08-01 Deere & Company Landwirtschaftliche Maschine mit einem System zur selbsttätigen Einstellung eines Bearbeitungsparameters und zugehöriges Verfahren
US20160140367A1 (en) * 2014-11-19 2016-05-19 Cnh Industrial America Llc Automated Tracking And Identification In A Crop Production Cycle
DE102017211839A1 (de) * 2017-07-11 2019-01-17 Robert Bosch Gmbh Steuersystem für ein Agrararbeitssystem, Arbeitssystem, Verwendung

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Publication number Publication date
DE102019201913A1 (de) 2020-08-20

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