• 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:

    公开号:BE1020387A5
    申请号:E2012/0549
    申请日:2012-08-16
    公开日:2013-08-06
    发明作者:Tomonori Kawabata；Mitsuaki Kumazawa；Tetsuro Yonemoto
    申请人:Deere & Co；
    IPC主号:
    专利说明:

    Arrangement and method for the automatic overloading of crops from a harvester onto a transport vehicle
    description
    The invention relates to an arrangement for the automatic overloading of agricultural crop material from a harvesting machine to a transport vehicle, comprising: an overloading device of the harvesting machine which is set up and operable to discharge crop from the harvesting machine to a loading container of the transporting vehicle, an image picking device of the harvesting machine that is set up and operable is to optically detect one or more features of the transport vehicle, and a computer device which is signal transmitting connected to the image recording device and programmed, at least one actuator for adjusting the transfer device relative to the harvester and / or changing the position of the loading container relative to the harvester based on To control signals of the image pickup device in such a way that the crop arrives in the loading container and a corresponding method.
    State of the art
    When harvesting crop-grown crops in a field, it is common practice for a harvester to load a harvested crop transport truck in addition to the harvester. A loading container of the transport vehicle, which is, for example, a tractor with a trailer or a truck is loaded while driving through a transfer device of the harvester with the harvested good, for example in a forage harvester through a discharge shaft and a combine harvester through a Abtankrohr. The transfer device is usually mounted rotatably about a vertical axis on the harvester and between a rest position in which it is oriented approximately parallel to the longitudinal axis of the harvester, and a working position in which they are transverse to the direction of the
    Harvester extends, swiveling. In addition, the height of the discharge-side end of the transfer device may be variable, as well as the position of a discharge flap which defines the angle at which the harvested crop is discharged.
    In unloading devices that are not adjustable in their dispensing position, as they are commonly used on combines, the driver of the transport vehicle has to ensure the uniform and complete filling of the loading container by gradually positioning different points of the loading container below the transfer device. This task is relatively demanding and tedious because crop losses due to crop falling on the field are to be avoided.
    In the case of adjustable transfer devices, as they are usually used on forage harvesters, the position of the transfer device is controlled in the simplest case manually by the driver of the harvester, including input devices in the cabin are available to control serving for the adjustment of the transfer device actuators. In this case, the driver of the harvester has to take care that the entire loading container of the transport vehicle is sufficiently filled, which is carried out by successively aligning the transfer device to different points on the loading bin out. If the transport vehicle deviates forward or backward or sideways from its nominal position, the position of the transfer device must be readjusted manually! It is disadvantageous that the control of the position of the transfer device occupies a considerable part of the attention of the driver, which leads to tedious work for the driver of the harvester.
    In order to avoid this disadvantage, systems for automatic filling of the trailer have been proposed, which detect optical characteristics of the loading container by means of a camera and adjust the position of the transfer device automatically such that the crop reaches the loading container (DE 44 26 059 A1, EP 0 843 960 A1, EP 1 344 445 A1 and DE 10 2009 027 245 A1).
    However, situations are conceivable in which such optical systems reach their limits, namely in dusty environment, in poor lighting or obstacles between the camera and the loading container. In the prior art, these systems fail immediately after no evaluable image is recognizable, whereupon the operator of the harvester must transition to manual control of the transfer device to continue the harvesting operation. However, losses can hardly be avoided when moving to manual control.
    Object of the invention
    The object underlying the invention is seen to provide an arrangement and a method for the automatic overloading of crop from a harvester to a transport vehicle with an optical detection of the transport vehicle, which remains operational even with a short-term impairment of the optical detection of the transport vehicle.
    solution
    This object is achieved by the teaching of claims 1, 8 and 9, which are listed in the other claims features that further develop the solution in an advantageous manner.
    An arrangement for the automatic overloading of agricultural crop material from a harvesting machine to a transporting vehicle comprises an unloading device on board the harvesting machine, which in the harvesting operation discharges crop from the harvesting machine to a loading container of the transporting vehicle. The harvesting machine is furthermore provided with an image recording device which optically detects one or more features of the transport vehicle (in particular of the loading container). A computer device is signal-transmitting connected to the image recording device and controls an actuator for adjusting the
    Position of the transfer device relative to the harvester and / or an actuator for changing the position of the loading container relative to the harvester (or vice versa, ie for changing the position of the harvester relative to the loading container) based on signals of the image pickup device such that the crop into the loading container arrives. The computer device continuously generates a virtual movement model of the loading container using the signals of the image recording device. In the event that the signals of the image recording device due to a temporary impairment of visibility are no longer sufficient to detect the transport vehicle, the computer device controls the actuator based on the movement model derived, extrapolated data for an expected position of the cargo box.
    In other words, there is a continuously updated movement model in the computer device, which indicates where the loading container is located and in which way it is currently moving. This movement model is created on the basis of the signals of the image recording device. If the image recording device now supplies signals from which the position of the transport vehicle and in particular of the loading container can no longer be deduced, the computer device accesses the movement model in order to derive the now expected position of the loading container and to continue to be able to automatically control the actuator. In this way, short-term disturbances of the image pickup device, which can arise, for example, due to rising dust or obstacles between the image recording device and the transport vehicle, can be bridged without loss of function of the automatic transfer device.
    The image recording device is preferably attached to the transfer device. In order to take account of the relative position of the image recording device relative to the harvesting machine in the creation of the movement model, in this embodiment, the computer device is signal-transmitting connected to sensors for detecting the orientation of the transfer device relative to the harvester. In addition, the computer device a
    Information regarding the actual speed of the harvester to be supplied. Thus, in addition to the relative position of the hopper relative to the harvester, the motion model may include the actual speed of the hopper relative to the ground, in a simple embodiment only the forward speed of the harvester and in a more mature embodiment additionally the speed transverse to the forward direction of the harvester , Furthermore, the movement model may additionally include the acceleration of the loading container, again in a simple embodiment only in the forward direction of the harvester and in a more mature embodiment additionally transverse to the forward direction of the harvester.
    The computing device may create the motion model using a so-called Kalman filter. Such a filter calculates from the historical data of the image pickup device the most probable current position of the bin, whereby a covariance matrix can be formed as a measure of the positional inaccuracy.
    The computer device can also control the actuator based on data derived from the movement model in evaluable signals of the image recording device. In this way, the computer device (in particular the Kalman filter) smoothes out in the case of unfavorable visibility conditions, in which features of the transport vehicle or loading container bad
    it is possible to identify the jumps due to the poor images in the position data of the loading container generated on the basis of the signals of the image recording device. 'V
    The computer device can furthermore derive from the movement model at which point of an image recorded by the image recording device an identifiable feature of the loading container would have to be located and there search for the identifiable feature in preference. This can reduce the image processing time.
    Working Example
    In the drawings, an embodiment of the invention described in more detail below is shown. It shows:
    1 is a side view of a self-propelled harvester and a transport vehicle,
    Fig. 2 is a schematic plan view of the harvester and the
    Transport vehicle that collectively carry out a harvesting and transfer operation on a field,
    3 is a schematic rear view of the harvester and the transport vehicle during the transfer,
    Fig. 4 is a schematic representation of
    Position determining devices of the two vehicles and the cooperating elements, and
    Fig. 5 is a flow chart according to which the computing device of the harvester works.
    A combination of two agricultural machines illustrated in FIG. 1 comprises a self-propelled harvesting machine 10 in the manner of a forage harvester and a transport vehicle 12 such as a self-propelled tractor pulling a trailer 16 by means of a drawbar 14 comprising a loading container 18.
    The harvester 10 builds on a frame 20 supported by front driven wheels 22 and steerable rear wheels 24. The operation of the
    Harvesting machine 10 takes place from a driver's cab 26, from which a harvesting header 28 in the form of a maize header attachment is visible, which is attached to a feeder channel 30 on the front side of the forage harvester 10. By means of the header 28 picked up by a field 34 crop is fed via a feed channel 30 arranged in the feed conveyor with pre-press rollers a chopper drum 36, which chops it into small pieces and gives it an ejection accelerator 38. Between the chopper drum 36 and the ejection accelerator 38, a post-processing device 42 extends with two grain processor rollers. The drive of the mentioned, drivable aggregates of the harvester 10 and the Emtevorsatzes 28 by means of an internal combustion engine 44. The output from the ejection accelerator 38 leaves the harvester 10 to the adjacent moving cargo container 18 via a means of a first, power-operated actuator 46 about an approximately vertical axis rotatable and by means of a second, externally operated actuator 48 in the inclination adjustable transfer device 40 in the form of a discharge elbow, the discharge direction is changed by a flap 50, the inclination of which is adjustable by means of a third, power-operated actuator 52.
    The transport vehicle 12 and the trailer 16 are of conventional construction. The transport vehicle 12 includes front steerable wheels 64 and rear driven wheels 66 that are supported on a supporting structure 68 that supports a cab 70.
    FIG. 2 shows the harvesting machine 10 and the transport vehicle 12 in a plan view. It can be seen that the harvester 10 travels along a crop edge 54 which forms a boundary between the harvested area 56 of the field 34 and the still standing crop 60 of the field 34 occupied by corn plants 58 and which harvested the crops 58. The transport vehicle 12 travels on the harvested part 56 of the field parallel to the harvesting machine 10 along a path on which the plants shredded by the harvesting machine 10 pass through the transfer device 40 into the loading container 18. The transport vehicle 12 therefore always has to travel in parallel next to the harvesting machine 10; In particular, when entering the field, the transport vehicle 12 but also drive behind the harvester 10, since there is no harvested part 56 of the field 34 is present, on which the transport vehicle 12 could drive without damaging the plants standing there.
    The harvesting machine 10 is steered by a driver seated in the driver's cab 18 or by a self-acting steering device known per se. The transport vehicle 12 is equipped with a steering device described in more detail below to facilitate the parallel driving to the harvester 10 or automate, but can also be omitted. The harvester 10 could also be any other self-propelled harvester, such as a combine harvester or beet harvester.
    The harvester 10 is equipped with a first position determining device 72 located on the roof of the cab 26. There is also a first radio antenna 74 is positioned. The transport vehicle 12 is equipped with a second position determination device 76, which is located on the roof of the cabin 70. There is also a second radio antenna 78 is positioned.
    FIG. 3 shows a rear view of the harvesting machine 10 and the transport vehicle 12 with the loading container 18 and a crop cone forming thereon.
    Referring now to Figure 4, where u.a. the individual components of the position-determining devices 72, 76, a computer device 112, actuators 46, 48, 52 for the adjustment of the transfer device 40, sensors 128-132 for detecting their actual position and the steering devices of the transport vehicle 12 and the harvesting machine 10 are shown schematically dargestelît.
    On board the harvesting machine 10 is the first position determining device 76, which comprises an antenna 80 and an evaluation circuit 82 connected to the antenna 80. The antenna 80 receives signals from satellites of a positioning system, such as GPS, Galileo or Glonass, which are fed to the evaluation circuit 82. Based on the signals from the satellites, the evaluation circuit 82 determines the current position of the antenna 80. The evaluation circuit 82 is further connected to a correction data receiving antenna 84 which receives radio waves radiated from reference stations at known locations. Based on
    Radio waves are generated by the evaluation circuit 82 correction data to improve the accuracy of the position determining means 72.
    The evaluation circuit 82 sends its position data to a control device 88 via a bus line 86.
    The control device 88 is connected via an interface 90 to a receiving and transmitting device 92, which in turn is connected to the radio antenna 74. The
    Receiver and transmitter 92 receives and generates radio waves that are picked up and radiated by the antenna 74. Analogously, aboard the transport vehicle 12 is the second position determination device 76, which comprises an antenna 94 and an evaluation circuit 96 connected to the antenna 94. The antenna 94 receives signals from satellites of the same positioning system as the antenna 80 which are fed to the evaluation circuit 96. Based on the signals of the satellites, the evaluation circuit 96 determines the current position of the antenna 94. The evaluation circuit 96 is further connected to a correction data receiving antenna 98 which receives radio waves radiated from reference stations at known locations. The evaluation circuit 96 uses the radio waves to generate correction data for improving the accuracy of the position-determining device 76.
    The evaluation circuit 96 sends its position data to a control device 102 via a bus line 100. The control device 102 is connected via an interface 104 to a receiving and transmitting device 106, which in turn is connected to the radio antenna 78. The receiving and transmitting device 106 receives and generates radio waves that are picked up by the antenna 78. By the receiving and transmitting devices 90,106 and the radio antennas 74, 78 data can be transmitted from the control device 88 to the control device 102 and vice versa. The connection between the radio antennas 74, 78 may be direct, e.g.
    B. in an approved radio range such as CB radio o. Ä., Or via one or more relay stations are provided, for example, if the receiving and transmitting devices 90,106 and the radio antennas 74, 78 according to the GSM or UMTS standard or another suitable Standard for mobile phones work.
    The control device 102 is connected to a steering device 108, which controls the steering angle of the front, steerable wheels 64. In addition, the control device 102 transmits speed signals to a speed specification device 110, which controls the speed of the transport vehicle 12 via a variation of the engine speed of the transport vehicle 12 and / or the transmission ratio. In addition, the control device 102 is connected to a permanent memory 120.
    On board the harvesting machine 10, the control device 88 is connected to a computer device 112, which together with the actuators controlled by it and connected to it
    Sensors forms a control arrangement for controlling the unloading of the crop from the harvesting machine 10 to the loading container 18 of the transport vehicle 12. The computing device 112 is connected to a steering device 114 which controls the steering angle of the rear steerable wheels 24. In addition, the computer device 112 transmits speed signals to a speed setting device 116, which controls the speed of the harvesting machine 10 via a variation of the transmission ratio. The computing device 112 is further provided with a flow rate sensor 118 which detects the distance between the pre-press rollers in the feed duct 30 with a sensor for detecting the position of attached to a divider tip § 28 Tastbügeln 62, a permanent memory 122, (not shown valve means ) with the actuators 46, 48 and 50 and with sensors 128, 130, 132, which respectively detect the position of one of the actuators 46, 48 and 50, and with an optical image pickup device 136, which is approximately in the middle of the transfer device 40 at the Bottom mounted and aligned in Emtebetrieb on the loading container 18 and preferably designed as a stereo camera.
    FIG. 5 shows a flowchart according to which the computer device 112 of the harvesting machine 10 proceeds during the harvesting operation. It is assumed that the operator has brought the transfer device 40 by appropriate actuation of manual input elements, the actuators 46, 48 and 52 in a position in which the crop arrives at the loading container 18, or that the harvesting machine 10 and the transport vehicle 12 in the Recording the automatic control of the overcharging of the crop initially stand so that the transfer device 40 can be aligned without Erntegutverlust on the loading container. After the start in step 500, an image is taken in step 502 with the image capture device 502. In the following step 504, the image recorded in step 502 is fed to the computer device 112 and evaluated there by means of an image processing program. The image processing program examines the image to see if it contains identifiable features of the cargo box 18 or trailer 16, such as an upper bound edge of a wall of the cargo box 18 and / or a corner of the cargo box 18 and / or a wheel of the trailer 16 or in the cargo box 18 accumulating harvest heap or attached to the side wall of the hopper 18 label or mark.
    If at least one feature of the load container 18 or trailer 16 can be identified in step 504, then step 506 is followed, in which the position of the load container 18 with respect to the harvester 10 is calculated and with information about the time of data acquisition and the current propulsion speed of the y Harvesting machine 10, which can be generated based on the speed signals of the computer device 112 to the speed setting device 116 or by means of a separate sensor is stored. In determining the position of the load bin 18, the computing device accesses the signals from the sensors 128 and 130 to evaluate the position of the image pickup device 136 relative to the harvester 10.
    In step 506, any reference points may be used for the harvester 10 and the cargo box 18, such as the ones, for example
    Center points in forward and side direction.
    Step 506 is followed by step 508, in which it is queried whether the position data of at least two images are stored. If this is not the case, step 502 follows again, otherwise step 510.
    In step 510, a so-called movement model of the load container 18 is created (if step 510 is called for the first time) or updated (in subsequent executions of step 510). The motion model contains data regarding the position of the load bin 18 and its speed (forward and aft) relative to the ground, and preferably its acceleration (in forward and transverse directions). These data are calculated from the position data from the previous calls of step 506 and the associated data for the forward speed of the harvester 10 and the times. In this case, only sufficiently up-to-date data is used and obsolete data is cyclically replaced by newly added data. In step 510, a so-called Kalman filter is preferably used in order to also be able to use less accurate data from step 506.
    Step 510 is followed by step 512 in which the actuators 46, 48, and 52 are driven based on the motion model generated in step 510. In the first place, the actuators 46, 48 and 52 are checked on the basis of the previously evaluated position of the loading container 18, in particular if the last valid image acquisition (step 506) is not long in time. If the last valid image capture was a long time ago, i. step 512 has been triggered based on step 514 described below, the speed and, if appropriate, acceleration data from the previously performed steps 506 are increasingly taken into account in order to evaluate the position of the loading container 18 and, based thereon, the actuators 46, 48 and 52 to drive. In step 512, the actuators 46, 48, 52 and possibly 108, 110, 116 are actuated on the basis of extrapolated data derived from the movement model for an expected position of the loading container. If the operator has initially aligned the transfer device 40 by manual inputs to the loading container, the transfer device 40 is controlled during the harvesting operation by the movement model such that any changes in the relative position between the Emtemachine 10 and the loading container 18 are compensated. If, on the other hand, no manual initial setting of the transfer device 40 has been carried out by the operator, the computer device 112 automatically aligns the transfer device 40 with the harvesting operation by means of one or more recognized features of the loading container 18 or transport vehicle 12 in the image of the image recording device 136 on the loading container 18 and adjusts them during the loading operation Harvesting operation based on the movement model such that any changes in the relative position between the Emtemachine 10 and the loading container 18 are compensated. In both cases, the same point does not have to be continuously aimed at the loading container 18, but it can be varied automatically according to a suitable loading strategy in order to fill the loading container successively uniformly.
    It should be noted that in step 512, in a relatively simple embodiment of the invention, only the actuators 46, 48, and 52 are driven, i. only the transfer device 40 relative to the harvester 10 is adjusted. The electronics shown in Figure 4 by the transport vehicle 12 and the control device 88 with the antennas 74, 84 side of the harvester 10 can then be omitted. However, in an advanced embodiment these elements are present and if the range of adjustment of the transfer device 40 should not be sufficient, the computing device 112 may also affect the steering device 108 and / or the speed setting device 110 of the transport vehicle 12 (and / or the harvester speed setting device 116) in that the crop reliably reaches the loading container 18. If the harvesting machine 10 is a combine harvester with a non-adjustable transfer device, the actuators 46, 48, 52 would be omitted and only the steering device 108 and / or the speed setting device 110 of the transport vehicle 12 (and / or the harvester speed setting device 116) would be affected by the computing device 112 ,
    Step 512 is followed by step 502 again. Since it is now known at which point of the image the loading container 18 should be located, the computer 112 can determine in the next call of steps 504 and 506 based on the movement model, at which point the identifiable features should be in the image and initially there after them Search to save image processing time. Only if they are not found there, the search can be extended to the whole picture.
    If it results in step 504 that no features of the loading container can be identified in a newly recorded image, the step 514 follows. In this, it is queried whether a movement model already exists and since the last update of the moving image (step 510) has passed as a certain period of time, for example 10 seconds. If this is not the case (no moving image or the time span is exceeded), the step 516 follows, in which an error message is given and the operator is requested to start a manual control. Otherwise, step 512 follows, as described above.
    权利要求:
    Claims (8)
    [1]
    Combination of a self-propelled harvester (10), a transport vehicle (12) with a loading bin (18) and an arrangement for automatically over-loading agricultural crops from the harvesting machine (10) onto the transport vehicle (12), the arrangement comprising: a Transfer device (40) of the harvesting machine (10) adapted and operable to unload crop from the harvesting machine (10) to a loading bin (18) of the transport vehicle (12), an image pickup device (136) of the harvesting machine (10), and is operable to optically detect one or more features of the transport vehicle (12), and a computer device (112), which is signal-transmitting connected to the image recording device (136) and programmed, at least one actuator (46, 48, 52, 108, 110, 116) for adjusting the transfer device (40) relative to the harvesting machine (10) and / or for changing the position of the loading container (18) operating the harvesting machine (10) in response to signals from the image pickup device (136) in such a manner that the crop enters the loading bin (18), characterized in that the computer device (112) is programmed to continue using the image pickup device (136) signals to create a virtual movement model of the loading container (18) and, in the event that the signals of the image recording device (136) are no longer sufficient for detecting the transport vehicle (12) due to impaired visibility, the actuator (46, 48, 52, 108, 110, 116) based on the movement model derived, extrapolated data for an expected position of the cargo container (18) to control.
    [2]
    2. A combination according to claim 1, characterized in that the image recording device (136) is attached to the by means of at least one actuator (46, 48, 52) relative to the harvester (10) adjustable Überladeeinrichtung and that the computer means (112) signal transmitting with sensors ( 128, 130) for determining the orientation of the transfer device (40) relative to the harvester (10) is connected.
    [3]
    3. Combination according to claim 1 or 2, characterized in that the computer means (112) information about the current speed of the harvester (10) can be fed.
    [4]
    4. Combination according to one of claims 1 to 3, characterized in that the movement model contains the respective current speed and / or acceleration of the loading container (18) relative to the ground.
    [5]
    A combination according to any one of claims 1 to 4, characterized in that the computer means (112) is programmed to generate the motion model using a Kalman filter.
    [6]
    6. Combination according to one of claims 1 to 5, characterized in that the computer device (112) is programmed, even with evaluable signals of the image pickup device (136) the actuator (46, 48, 52, 108, 110, 116) based on the To control the motion model of derived data.
    [7]
    7. Combination according to one of claims 1 to 6, characterized in that the computer means (112) is programmed to derive from the movement model, at which point of the image pickup device (136) recorded image is an identifiable feature of the loading container (18) and there preferably to search for the identifiable feature of the loading container (18).
    [8]
    A method of automatically over loading agricultural crop from a harvesting machine (10) to a transport vehicle (12), comprising: a transfer device (40) of the harvesting machine (10), the crop from the harvesting machine (10) to a loading bin (18) of the transport vehicle an image acquisition device (136) of the harvesting machine (10), which optically detects one or more features of the transport vehicle (12), and a computer device (112) which is signal-transmitting connected to the image recording device (136) and at least one actuator (46, 48 , 52, 108, 110, 116) for adjusting the transfer device (40) relative to the harvester (10) and / or for changing the position of the load bin (18) relative to the harvester (10) based on signals from the image pickup device (136) in one Directs manner that the crop enters the loading container (18), characterized in that the computer means (112) using the signals d he image acquisition device (136) continuously creates a virtual movement model of the loading container (18) and in the event that the signals of the image recording device (136) are no longer sufficient for detecting the transport vehicle (12) due to a deterioration of the visibility, the actuator (46, 48 , 52, 108, 110, 116) on the basis of derived from the movement model, extrapolated data for an expected position of the loading container (18) drives.
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    同族专利:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102011082052|2011-09-02|
    DE102011082052.3A|DE102011082052B4|2011-09-02|2011-09-02|Arrangement and method for the automatic overloading of crop material from a harvester onto a transport vehicle|
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