• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a tillage system (1), comprising a towing vehicle (2), which is designed for driving in a direction of travel (11) on an unpaved bottom surface, a soil cultivation device (3), which on a towing device (4) on the towing vehicle (2) detachable an image acquisition device (5), and an image processing and analysis device (7) having a control module (8). The soil cultivation device (3) has at least one pair of soil tillage tools (10), furthermore an adjusting device (17) with at least one adjusting means (9) is provided. The image preparation and analysis device (7) is connected to the image capture device (5), and the control module (8) is connected to the adjustment means (9). The soil working tools (10) are designed in a working position for machining a working area (16), which working area (16) comprises the uppermost layer of the ground surface (20). The image acquisition device (5) is arranged on the towing vehicle (2) by means of a mounting device (6), and a detection area (15) of the image acquisition device (5) is oriented counter to the direction of travel (11) and on the working area (16), and the image processing - And analysis device (7) is provided on the towing vehicle (2). The invention further relates to a method of tillage with a tillage system.
    公开号:AT519488A1
    申请号:T51147/2016
    申请日:2016-12-19
    公开日:2018-07-15
    发明作者:Ewald Ulrich Ing；Strobl Stefan
    申请人:Ana U Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a soil cultivation system.
    In agriculture, there is the problem that young plants must prevail over the usually similarly fast-growing weeds in order to have a chance of successful growth. In order to improve the growth success, the farmer is familiar with chemical methods, mechanical tillage methods, in which the soil around the crop is loosened or processed. As a result, a weed in the vicinity of the crop is disturbed in its growth, whereby it remains in growth or dies.
    In automated mechanical tillage, it is important to bring the tillage tools as close to the crop as possible without damaging them. This results in several difficulties now. Despite a mechanical planting can not be reliably ensured that all crops were introduced in planting exactly behind each other in the soil or that form when growing linear rows.
    It is therefore seen in the planting direction, with a random transverse offset of the position of the crop in relation to planting expected. In addition, during the movement of the tilling tool, which is usually pulled by a towing vehicle in the planting direction, a random movement of the tillage implement transversely to the direction of movement occurs. Without a corresponding regulation of the alignment of the tillage tools, it will therefore come regularly to a violation of crops.
    Systems are known from the prior art, which recognize the current position of crops in the processing operation and reposition the tillage tools accordingly.
    For example, EP 2 316 259 B1 shows a device for holding a camera on a harvesting device of a harvester in order to detect the relative position to a crop without contact. For this purpose, it is provided to mount the camera on a pivoting device in order to arrange it in a first position laterally to a planting stock and in two further positions in the direction of the planting stock. From the camera, as seen in the direction of travel, an area in front of the implement is detected.
    From EP 2 622 955 A1 an agricultural machine is known which evaluates data of sensors arranged in the forward direction and / or in the lateral direction and, based thereon, determines a topographical zone on which the agricultural machine is located.
    A control system is known from EP 2 936 957 A1, which evaluates a camera image captured by a camera in the forward and / or reverse direction and determines a planting therefrom.
    From US 4,843,561 A a processing rail with manipulation tools is known, wherein a lighting device and an image capture device is arranged on a processing tool. The soil, and thus the fruits or vegetables, are illuminated by an infrared camera and a characteristic reflection spectrum is recorded by the image acquisition device. The camera captures an area in front of the tillage tool.
    Also from US 9,468,140 B2 a tillage tool is known, which is pulled by a tractor along a planting direction. For the relative orientation of the harrow, the document discloses at least one camera, which is arranged on the harrow and detects an upstream area in the direction of travel. In this recorded area, the plant rows are determined and the position of the tillage implement corrected accordingly.
    Systems are now known from the prior art, which detect upstream or downstream areas in the direction of travel in order to determine the position of the rows of plants therefrom.
    However, this is disadvantageous in that at an upstream detection position, due to the movement of the harrow, the determined position does not have to match the actual position of the crop on reaching the soil tillage tools. This can lead to incorrect processing and thus injury to the crop.
    At a downstream detection area, the tillage tools may already have damaged the crop before it can detect the position and properly align the tillage tools. Also, it may be due to the damage occurrence that the position of the crop is no longer clearly identifiable and thus the malposition remains, or even amplified.
    Furthermore, the known from the prior art tillage equipment or systems are designed and optimized specifically for a particular application, so that reuse or multiple use is not possible.
    Also, in known systems usually very complex configuration work is required to make the systems or tillage equipment for a specific application ready for use. Also, known systems require the deposit of a large database of reference data to distinguish the crop from weeds. Here is particularly disadvantageous that characteristic properties of the crop must be recorded and stored in the device, which involves the risk that in the formation of characteristic features specific characteristics of a crop on the ground are not detected and thus a distinction of the crop of weeds works unreliable ,
    The object of the invention is therefore to provide a soil cultivation system which is universally configurable on a variety of potential crops and in particular on the specific design of the crop on site. The tilling system should be designed so that variations in the movement of the tillage device due to local soil conditions have no effect on the correct orientation of the tilling tools in relation to the crop.
    This object is achieved by an apparatus and a method according to the claims.
    In particular, the object of the invention is achieved by a soil cultivation system. This includes a towing vehicle, which is designed to travel in a direction of travel on an unpaved bottom surface, and a harrow, which is detachably arranged on the towing vehicle via a holding device. Furthermore, the tilling system comprises an image capture device, and an image rendering and analysis device with a control module. The tillage implement comprises at least a pair of tillage tools, further comprising an adjusting device having at least one adjusting means for adjusting the tilling tools relative to the towing vehicle in an adjustment direction parallel to the ground surface and substantially normal to the direction of travel. The rendering and analysis device is connected to the image capture device, and the control module is connected to the adjustment means. The tilling tools are formed in a working position for machining a working area, which working area comprises the uppermost layer of the ground surface.
    The image capture device is arranged on the towing vehicle by means of a mounting device, and a detection range of the image capture device is oriented counter to the direction of travel and on the work area. Furthermore, the image processing and analysis device is provided on the towing vehicle.
    This embodiment has the particular advantage that the image acquisition and processing components can be used for a plurality of different tillage implements because they are independent of a particular tillage implement. Particularly advantageous is an arrangement of the image capture device on towing vehicle, as this, contrary to known arrangements, thus not located in the work area, where there is a particular risk of contamination and damage.
    According to a development, it is provided that the adjusting device is arranged on the holding device or on the soil cultivation device. With the embodiment that the adjusting device is arranged on the holding device, it is possible to use simple tillage machines, without a possibility of at least one horizontal adjustment, in the subject system. With the design that the adjusting device is arranged on the harrow, any towing vehicle in the subject system can be used.
    A further development is that the pair of tillage tools is arranged on the harrow that seen in the normal direction to the direction of travel, there is a gap between the two tools. The distance is chosen so that the crop is not injured by the working tillage tools during which the soil area is processed next to the crop by the tools. In particular, weeds are uprooted or uprooted by processing and thus inhibited in growth.
    A refinement, according to which the image acquisition device is designed to acquire at least 3 individual images per second, has the advantage that a locally sufficiently finely resolved image sequence is detected during continuous travel of the towing vehicle in order to provide the downstream processing steps with sufficient image data to ensure correct alignment of the tillage tools in relation to the crops.
    In order to have sufficient image data per single image available for further processing, a further embodiment consists in that the image acquisition device is designed to capture individual images at least with a resolution of 480,000 pixels. Thereby, a sufficiently finely resolved detection of the work area is ensured without degrading the processing accuracy in the downstream image processing, for example, by degrading the decision accuracy with respect to the information to be determined in the acquired image by a too detailed resolution, miterfasste pollution.
    According to a development it is provided that a time delay between the acquisition of an image of the work area by the image capture device, and the generation of a control command for the actuating means by the control module, less than 350 ms. This advantageous development ensures an essentially real-time processing of the captured images without having to slow down the travel speed of the towing vehicle.
    According to a development, it is also provided that an optically readable parameter memory is arranged in the detection range of the image-capturing device on the tillage device. This parameter memory is preferably formed as a panel, which is arranged in the detection range of the image capture device on the harrow. In particular, a subsequent arrangement is possible, so that each harrow can be adapted for the subject tillage system.
    With regard to the correct alignment of the harrow with respect to the ground surface is provided according to a development that the parameter memory has a horizontal and / or vertical alignment information.
    The parameter memory is preferably arranged on the harrow such that the horizontal alignment information is aligned parallel to the horizontal extent of the harrow. Thus, by determining the horizontal alignment information in the captured image of the parameter memory, the spatial (horizontal) orientation of the soil cultivation device can be determined unambiguously.
    The vertical alignment information represents a reference for the position of the tillage tools. For example, the vertical alignment information may specify the exact position of the machining tools or it may be located at a defined distance from the tillage tools. In particular, this determines the position of the crop, which should not be violated by the tillage tools.
    An advantageous development also consists in that the parameter memory has a parameter set of the soil cultivation device. Thus, any existing tillage implement can be retrofitted to be usable in the subject system. Since the parameter memory is arranged in the detection range of the image capture device, the parameter set is preferably formed as 1D or 2D code. Such a code is easily visually detectable and, due to integrated redundancies, provides sufficient read-out reliability, even in a work environment where contamination of the parameter memory is to be expected.
    A development also consists in that the parameter memory has a receiving area and / or a holder for receiving or holding a crop. To determine the position of the crop in the recorded image, it is advantageous if a specimen of planted at the place of use of the soil cultivation system crop is used for further analysis. Thus, there is no need to resort to a generalized data set for the description of the crop, which due to its generalization may well deviate significantly from the current training of the crop on site.
    Due to the longitudinal extent of the towing vehicle with the arranged tillage tool, it may occur that the orientation of the ground surface in the region of the tractor differs from that in the area of the tillage implement. This would allow the tillage tools on one side of the tillage implement to engage deeper into the ground, while on the opposite side the ground would be under-worked. It is therefore provided according to a development that the holding device another
    Having adjusting means, which allows pivoting of the harrow about the axis of the direction of travel.
    According to a further development, provision is further made for the mounting device to have a clamping device for detachably connecting the mounting device to the towing vehicle. This development makes it possible in an advantageous manner to be able to arrange the image capture device at any time and in particular also subsequently on the towing vehicle. It is thus possible to be able to arrange a generic image acquisition device with a specifically designed clamping device on various types of towing vehicles. It is thus only a small component of the subject tillage system to adapt to the design of the towing vehicle.
    The object of the invention is also achieved by a method for tillage with a soil cultivation system. In this case, a tillage implement with pairwise tillage tools is pulled by the towing vehicle in a direction of travel along rows of planted crops. The image preparation and analysis device prepares and analyzes an image captured by the image capture device, and forms a difference value between a target orientation of the tillage tools, in particular the gap between the processing tools in relation to the crop, and a detected actual orientation. From the control module control commands are transmitted to the adjusting means, which means the adjusting the tillage tools are adjusted by the difference value.
    To this end, the image capture device acquires an image of the tilling tools and the ground surface in the immediate area in front of the tillage tools, and performs the adjustment of the tilling tools approximately in real time, in particular with a time delay of less than 350 ms, from the image processing and analysis device and the control module.
    With this embodiment, it is possible to carry out the processing of the soil next to the crop, without injuring the crop and without having to limit the operating speed of the tractor pulled tillage equipment.
    A development consists in the fact that the horizontal alignment information is read from the parameter memory by the image processing and analysis device in the acquired image, and furthermore a surface line is determined as the actual orientation. From the control module, the further actuating means is actuated to compensate for a deviation between the desired orientation according to the horizontal alignment information, and the determined actual orientation by pivoting the harrow about an axis parallel to the direction of movement. Thus, it can be ensured that the harrow is essentially always aligned parallel to the ground surface.
    According to a further embodiment, it is provided that the vertical alignment information is read from the parameter memory for the formation of the difference value, from the image processing and analysis device in the acquired image, and the position of the crop in the acquired image is determined. As a difference value, a vertical offset between the vertical alignment information and the determined position of the crop is determined. This design ensures that the tillage tools are always correctly aligned with the current crop position and soil cultivation is performed around the plant without injuring the plant.
    Since both a crop and the surrounding weeds are predominantly green, it is provided according to an advantageous development that a spectral analysis and / or a reflection analysis are carried out for the region of the working region and / or the holding device in the acquired image by the image processing and analysis device, and a light value of the crop is determined. According to this development, a characteristic spectral course or a characteristic reflection value is now determined for a crop plant currently planted.
    Therefore, according to a further embodiment, it is provided that a range is determined by the image processing and analysis device in the captured image that corresponds to the determined light value. With this light value, it is now very possible to recognize the crop in the captured image of the surrounding green of the weeds, and to adjust the position of the tillage tools accordingly to ensure the most accurate processing of the soil around the plant.
    An advantageous development also consists in the fact that the parameter set is read from the parameter memory by the image processing and analysis device in the acquired image, and is transmitted to the control module. Thus, a configuration of the tilling system, in particular the control module, is fully automatable without a user having to perform any parameterization tasks.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    Fig. 1 is an overview of the subject tillage system;
    Fig. 2 is a front view of the subject tillage system;
    3 shows a detailed representation of the parameter memory.
    Fig. 1 shows the subject tillage system 1 comprising a towing vehicle 2 and a harrow 3, which is detachably arranged on the towing vehicle 2 via a holding device 4. The soil cultivation system 1 further comprises an image acquisition device 5, which is arranged on the towing vehicle 2 via a mounting device 6, preferably detachably arranged. The image acquisition device 5 is connected to an image processing and analysis device 7, which further comprises a control module 8. This control module 8 is connected to adjusting means 9, which adjusting means 9 is formed to influence the relative position of the harrow 3 and the tillage tools 10 arranged thereon transversely to the direction of travel 11.
    The harrow 3 is moved by the tractor 2 in the direction of travel 11 longitudinally planted crops 12. Due to variations in the planting or due to different growth conditions, there will be deviations of the actual position of the crop 12 of the ideal plant row 13. The tillage tools 10 are usually arranged in pairs on the harrow 3, wherein between each pair of tillage tools 10 is a distance 14. This distance 14 is chosen such that when processing the soil surface by the tillage tools 10, only the immediate environment is processed around the crop 12, the crop 12 is not damaged.
    According to the embodiment of the subject tillage system 1 it is provided that the image capture device 5 has a detection area 15, which is aligned with the work area 16. The working area 16 comprises the uppermost layer of the ground surface in the region of the distance 14 between the soil working tools 10, and further comprises an area of the ground surface upstream of the direction of travel 11 with crop plants 12 arranged there.
    If a deviation of a crop 12 lying in the area of the tillage tools 10 from the optimum plant row 13 is determined by the image processing and analysis device 7 in the image of the working area 16 lying in the area of the tillage tools 10, the adjusting means 9 in the adjusting device 17 are controlled by the control module 8 activated. Thereby, the tillage implement 3 or the tillage tools 10 is adjusted by the difference calculated in an adjustment 18 parallel to the ground surface and substantially normal to the direction of travel 11 so that the distance 14 between the tillage tools 10 is placed at the current position of the crop 12.
    The adjusting device 17 can be arranged on the holding device 4 or on the harrow 3.
    Fig. 2 shows a front view of the subject tillage system 1 against the direction of travel of the towing vehicle 2. The image capture device 5 is arranged by means of a mounting device 6 and a clamping device 19 on towing vehicle 2, for example on a frame part. A detection area 15 of the image acquisition device 5 is directed counter to the direction of travel on the work area 16. This working area 16 comprises a useful plant 12 projecting above the ground surface 20, a region 21 of the ground surface 20 located upstream in the direction of travel, and a region of the soil cultivation device 3 in which a parameter memory 22 is arranged. On this parameter memory 22, as described below, essential characteristics or characteristic features of the harrow 3, the orientation of the same, as well as the crop 12 are stored. According to a preferred embodiment, the parameter memory 22 is optically readable. Due to the arrangement in the working area 16 and thus in the detection area 15 of the image acquisition device 5, it is ensured that this parameter memory 22 is always detected by the image acquisition device 5.
    This has the particular advantage that no additional configuration tasks have to be undertaken by the farmer or the driver of the towing vehicle 2, since all parameters relating to the correct alignment of the soil cultivating device 3 or the tilling tools 10 are stored on the parameter memory 22. By reading out the parameter memory 22 by the image capture device 5 and processing the individual parameters by the rendering and analysis device 7, the entire tillage system is configured and ready for use.
    The mounting device 6 is shown highly schematically in the figure. In a concrete embodiment, this will be designed such that a stable support of the image capture device 5 is ensured, and that vibrations of the towing vehicle 2 are attenuated so far that these vibrations do not interfere with the detection of the working area 16.
    3 shows the parameter memory 22 in a detailed representation. The parameter memory 22 has a parameter set 23 of the soil cultivation device, preferably this parameter set 23 is formed as 1D or 2D optically readable code, in particular as a QR code.
    An alignment information is furthermore arranged on the parameter memory 22 so that the position of the soil cultivation device can be determined on a purely optical path, in particular without additional inclination sensors. In particular, the parameter memory 22 has a horizontal 24 and a vertical alignment information. The parameter memory 22 is preferably formed as a plate-shaped object and can therefore be arranged by means of a clamping device, or for example by connecting means on the harrow. In the arrangement, the position of the parameter memory 22 is selected such that the vertical alignment information 25 is located, for example, exactly at the position of the distance between the tillage tools. Essentially exactly at the position of the plant row. The horizontal alignment information 24 is aligned parallel to the extent of the tillage tools. Since characteristic data are stored in the parameter set 23 via the harrow, it can further be provided that the vertical alignment information 25 can be arranged at a definable relative position to the distance between the ground tools, the relative position is stored in the parameter set 23.
    With these two features of the parameter memory 22 is achieved that the subject tillage system without additional configuration by a user is immediately and immediately applicable.
    Known systems have deposited for the detection of the crop to be processed an average data set with which specific characteristics, in particular spectral characteristics of the crop are described. The problem with such averages is that the actual production of the crop on site can deviate from this average, so that it is not or only unreliably recognized as a crop. In contrast, a receiving area and / or a holder 26 is provided on the subject parameter memory 22, in which a crop from the current stock is recorded on site. The receptacle or holder 26 may be formed for example by a hinged grid frame, with which the crop remains reliably disposed in the detection range of the image capture device. The particular advantage of this embodiment is that a current reference pattern of the crop is always available for the image processing and analysis device, without having to stock a very large reference data set, or to be unable to capture specific detail versions of the crop on site by averaging ,
    Finally, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals and the same component names, the disclosures contained throughout the description can be mutatis mutandis to the same parts with the same reference numerals or identical component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
    FIG. 3 shows a further embodiment of the soil cultivation system, which may be independent of itself, wherein again the same reference numerals or component designations are used for the same parts as in the preceding figures. To avoid unnecessary repetition, reference is made to the detailed description in the preceding figures.
    The embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are possible with each other and this variation possibility due to the teaching of technical action by representational invention in Can the expert working in this technical field.
    The scope of protection is determined by the claims. However, the description and drawings are to be considered to interpret the claims. Individual features or combinations of features from the illustrated and described different embodiments may represent for themselves inventive solutions. The task underlying the independent inventive solutions can be taken from the description. All statements of value ranges in the present description should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all sub-areas begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    For the sake of order, it should finally be pointed out that for a better understanding of the construction, elements have been shown partially unevenly and / or enlarged and / or reduced in size.
    REFERENCE SIGNS LIST 1 Soil cultivation system 2 Traction vehicle 3 Soil cultivation device 4 Holding device 5 Image acquisition device 6 Assembly device 7 Image preparation and analysis device 8 Control module 9 Adjustment means 10 Cultivation tool 11 Travel direction 12 Crop plant 13 Plant row 14 Distance 15 Detection area 16 Working area 17 Adjustment device 18 Adjusting direction 19 Clamping device 20 Ground surface 21 Area 22 Parameter memory 23 Parameter set 24 Horizontal alignment information 25 Vertical alignment information 26 Mounting area, bracket
    权利要求:
    Claims (18)
    [1]
    claims
    A soil cultivation system (1) comprising a traction vehicle (2) which is designed to travel in a direction of travel (11) on an unpaved bottom surface, a soil cultivating device (3) which is releasably arranged on the traction vehicle (2) via a flanging device (4) an image acquisition device (5), and an image processing and analysis device (7) having a control module (8), the soil cultivation device (3) comprising at least a pair of tillage tools (10), and wherein an adjustment device (17) is provided at least one adjusting means (9) to adjust the tillage tools (10) relative to the towing vehicle (2), in an adjustment direction (18) parallel to the ground surface (20) and substantially normal to the direction of travel (11), and wherein the image processing and analysis device (7) is connected to the image capture device (5), and wherein the control module (8) is connected to the adjustment means (9), and wherein the tilling tools (10) are designed in a working position for machining a working area (16), which working area (16) comprises the uppermost layer of the floor surface (20), characterized in that the image capturing device (5) is mounted on the traction vehicle by means of a mounting device (6) (2) is arranged, and that a detection area (15) of the image acquisition device (5) against the direction of travel (11) and on the work area (16) is aligned, and that the image processing and analysis device (7) on the towing vehicle (2) is.
    [2]
    2. Soil cultivation system according to claim 1, characterized in that the adjusting device (17) on the holding device (4) or on the harrow (3) is arranged.
    [3]
    3. soil cultivation system according to claim 1 or 2, characterized in that the pair of tillage tools (10) is arranged on the harrow (3) that seen in the normal direction to the direction of travel (11), between the two tools, a distance (14).
    [4]
    4. Soil cultivation system according to one of claims 1 to 3, characterized in that the image acquisition device (5) is adapted to detect at least 3 frames per second.
    [5]
    5. Soil cultivation system according to one of claims 1 to 4, characterized in that the image capture device (5) for capturing individual images is formed at least with a resolution of 480,000 pixels.
    [6]
    6. soil cultivation system according to one of claims 3 or 4, characterized in that a time delay between the detection of an image of the work area (16) by the image capture device (5) and the generation of a control command for the actuating means (9) by the control module (8). less than 350 ms.
    [7]
    7. soil cultivation system according to one of claims 1 to 6, characterized in that in the detection range (15) of the image acquisition device (5) on the harrow (3) an optically readable parameter memory (22) is arranged.
    [8]
    8. soil cultivation system according to claim 7, characterized in that the parameter memory (22) has a horizontal (24) and / or vertical (25) alignment information.
    [9]
    9. soil cultivation system according to claim 7 or 8, characterized in that the parameter memory (22) has a parameter set (23) of the soil cultivation device (3).
    [10]
    10. soil cultivation system according to claim 7 or 8, characterized in that the parameter memory (22) has a receiving area and / or a holder (26) for receiving or holding a crop (12).
    [11]
    11. Soil cultivation system according to one of claims 1 to 10, characterized in that the holding device (4) has a further adjusting means (9), which allows pivoting of the harrow (3) about the axis of the direction of travel (11).
    [12]
    12. Soil cultivation system according to one of claims 1 to 11, characterized in that the mounting device (6), for releasably connecting the mounting device (6) on the towing vehicle (2), a clamping device (19).
    [13]
    13. A method of tillage with a tillage system according to claim 1, wherein a tillage implement with paired tillage tools of the towing vehicle in a direction of travel along crop rows of crops (12) ), wherein the imaging and analysis device (7) processes and analyzes an image acquired by the image acquisition device (5) and relates a difference value between a target orientation of the tilling tools (10), in particular the gap between the processing tools to the crop (12) and a detected actual orientation is formed, and the control module (8) control commands to the actuating means (9) are transmitted, whereby by means of the adjusting device (17) the tillage tools (10) are adjusted by the difference value, characterized in that the image acquisition device (5) displays an image of the soil cultivation path (10) and the soil surface (20) is detected in the immediate area in front of the tillage tools (10), and the image processing and analysis device (7) and the control module (8), the adjustment of the tillage tools (10) is performed approximately in real time , in particular with a time delay of less than 350 ms.
    [14]
    14. The method according to claim 13, characterized in that from the image processing and analysis device (7) in the captured image - the horizontal alignment information from the parameter memory (22) is read, and - further a surface line is determined as the actual orientation and the control module (8) the further adjusting means (9) is actuated, and compensate by pivoting the harrow (3) a deviation between the desired orientation according to the horizontal alignment information, and the determined actual orientation.
    [15]
    15. The method according to claim 13 or 14, characterized in that for the formation of the difference value, from the image processing and analysis device (7) in the captured image - the vertical alignment information from the parameter memory (22) is read, and - the position of the crop ( 12) in the detected image, and a vertical offset between the vertical alignment information and the determined position of the crop (12) is determined as the difference value.
    [16]
    16. The method according to any one of claims 13 to 15, characterized in that carried out for the region of the working area (16) and / or the holding device in the captured image of the image processing and analysis device (7) a spectral analysis and / or a reflection analysis and a Light value of the crop (12) is determined.
    [17]
    17. The method according to claim 16, characterized in that from the image processing and analysis device (7) in the captured image, an area is determined which corresponds to the determined light value.
    [18]
    18. The method according to any one of claims 13 to 17, characterized in that the image processing and analysis device (7) in the captured image of the parameter set (23) is read from the parameter memory (22), and is transmitted to the control module (8) ,
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    同族专利:
    公开号 | 公开日
    AT519488B1|2018-09-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE4301029A1|1992-01-16|1993-07-22|Reinhard Ebert|Crop row alignment control for tractor attachment - has attachment moved laterally by servo to follow crop row and with correction control for tractor steering|
    US20030009282A1|2001-06-29|2003-01-09|The Regents Of The University Of California|Method and apparatus for ultra precise gps-based mapping of seeds or vegetation during planting|
    EP2712494A1|2012-09-28|2014-04-02|CLAAS Tractor SAS|Method for the preparation of a marking for attachment to an agricultural work device|
    DE102014113448A1|2014-09-17|2016-03-17|Jürgen Wagner|Towing vehicle and hitch for an attachment|
    DE102015209879A1|2015-05-29|2016-12-01|Robert Bosch Gmbh|Weed control device|AT16504U3|2019-06-27|2020-01-15|Thomas Hatzenbichler Agro Technik Gmbh|Method and tillage device for weeding|
    AT521779A4|2019-06-27|2020-07-15|Thomas Hatzenbichler Agro Technik Gmbh|Method and tillage device for weeding|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51147/2016A|AT519488B1|2016-12-19|2016-12-19|Tillage system|ATA51147/2016A| AT519488B1|2016-12-19|2016-12-19|Tillage system|
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