DE102019204251A1 - Method and system for line detection on an agricultural area - Google Patents

Abstract

The invention describes a method for line detection on an agricultural area for lane guidance of an agricultural vehicle based on a line segment detected on the agricultural area. A sub-area in a detection area is selected manually by a surroundings detection sensor system. At least a section of a line on the agricultural area is detected with the surroundings detection sensor system in the manually selected sub-area. The invention also describes a control device for carrying out the method, a line detection system with such a control device and an agricultural vehicle with such a line detection system.

Description

The invention relates to a method for detecting a line on an agricultural area for tracking an agricultural vehicle and a control device for carrying out such a method. The invention also relates to a line detection system with such a control device and an agricultural vehicle with such a line detection system.

It is known to arrange a sensor on an agricultural vehicle with which the surroundings of the agricultural vehicle can be detected. In addition, it is known that an agricultural vehicle can automatically drive on an agricultural area based on its surroundings detected in this way.

In one aspect, the invention relates to a method for detecting a line on an agricultural area for lane guidance of an agricultural vehicle. Tracking of the agricultural vehicle can be based on a line segment recorded on the agricultural area. Lane guidance of the agricultural vehicle can also be based on recognition of a detected line segment. The method can thus also be carried out as a method for detecting and recognizing a line on an agricultural area.

The agricultural vehicle can be an agricultural or forestry machine, an agricultural or forestry device or an agricultural or forestry utility vehicle. The agricultural vehicle can be an agricultural tractor, for example a tractor. The agricultural vehicle can also be an agricultural work vehicle, for example a harvesting machine. The usable agricultural area can be an agricultural or forestry area to be cultivated. For example, the agricultural area can have a field, a field with planted or harvested useful plants, a meadow or a forest.

The lane guidance of the agricultural vehicle can include following or following a detected line, a predetermined lane or a predetermined trajectory with the agricultural vehicle. The predetermined lane or trajectory can be predetermined based on the detected line segment. As an alternative to this, a predetermined lane or trajectory can be corrected based on the line segment recorded on the agricultural area. The agricultural vehicle can thus be guided automatically along the predetermined or corrected lane or trajectory. The agricultural vehicle can thus be steered in an advantageous manner based on a detected line segment on the agricultural area. It is therefore not necessary for the agricultural vehicle to be actively steered by a driver.

In one step of the method, manual selection of a sub-area in a detection area is carried out by a surroundings detection sensor system for detecting lines on the agricultural area.

The environment detection sensor system can have a distance-measuring sensor. Alternatively or additionally, the surroundings detection sensor system can have a camera. The distance-measuring sensor can also be designed as a scanning sensor. The distance-measuring sensor can be, for example, a laser scanner, a radar measuring device or an ultrasonic measuring device. The laser scanner, the radar measuring device or the ultrasonic measuring device can be designed as a two-dimensional or three-dimensional scanning sensor. The camera can be designed as an RGB camera or as a multispectral camera.

If the environment detection sensor system has a distance-measuring sensor, the agricultural area can be scanned or recorded at certain points. With the distance measuring sensor, a point cloud with measuring points can be recorded on the agricultural area. The point cloud can be a two-dimensional or three-dimensional point cloud. If the surroundings detection sensor system has a camera as an alternative or in addition to a distance measuring sensor, an image of the agricultural area can be recorded or recorded.

The image can have image information in at least one visible spectral range. Alternatively or additionally, the image can have image information in at least one invisible spectral range, for example in an infrared spectral range. Image-based recording with a camera can be advantageous in the case of a section to be recorded of a curved line on the agricultural area.

At least a section of a line on the agricultural area can be detected with the surroundings detection sensor system. If the surroundings detection sensor system has a distance measuring Sensor on, at least a section of the line can be scanned selectively with a captured point cloud. If the surroundings detection sensor system has a camera as an alternative or in addition to the distance-measuring sensor, at least a section of the line can be recorded image-based with a camera image.

The surroundings detection sensor system has the detection area in which at least a section of the line on the agricultural area can be detected. The detection area can be a measurement area in which the surroundings detection sensor system can detect measurement data relating to the agricultural area. The measurement data can have the point cloud described. Alternatively or additionally, the measurement data can have the described image. If the surroundings detection sensor system has a scanning sensor, the detection area can be a scan area. If the surroundings detection sensor system has a camera, the detection area can be a spatial viewing angle of the camera.

The partial area of the detection area of the surroundings detection sensor system can have a partial detection area of the surroundings detection sensor system.

The partial area can be smaller than the detection area. The sub-area can also have a vertical sub-area of the detection area of the surroundings detection sensor system. Alternatively or additionally, the sub-area can have a horizontal sub-area of the detection area of the surroundings detection sensor system. The sub-area can be selected in that the detection area of the surroundings detection sensor system is restricted or the sub-area is selected from the detection area of the surroundings detection sensor system. The surroundings detection sensor system can only collect measurement data in the sub-area or measurement data can only be selected in the sub-area. According to the second variant, the measurement data recorded by the surroundings detection sensor system can be filtered accordingly.

The sub-area is selected manually in the process. The manual selection of the partial area can be carried out manually by a driver on the agricultural vehicle. As an alternative to this, the sub-area can also be selected manually by an operator of the agricultural vehicle who is at a distance from the agricultural vehicle. The agricultural vehicle can thus be remotely controlled manually.

In a further step of the method, at least one section of a line on the agricultural area is detected with the surroundings detection sensor system in the manually selected sub-area. The at least one section of the line or the line can have a straight course section. Alternatively or additionally, the at least one section of the line or the line can have a curved profile section.

The line to be recorded or the at least one section of the line to be recorded on the agricultural area can be a linear elevation or depression on the agricultural area. The line to be detected or the at least one section of the line on the agricultural area to be detected can also be an edge, a (raised or recessed) course, a border or a channel on the agricultural area. The channel can be, for example, a vehicle lane in vegetation or on a surface of the agricultural area. An elevated course can be a swath, for example. The agricultural area can have a height difference along the linear elevation or depression or along the edge. Along the course or the border, the agricultural area can be essentially flat or have a height difference. The line to be recorded or the at least one section of the line to be recorded can also be a vegetation line or a terrain line. The vegetation line can be a mowing edge or a cutting edge on a field, for example. The terrain line can, for example, be the edge of a cultivator in a field.

The manually selected sub-area can be shown to the driver on a visual display device, e.g. B. a display o. Ä. Are displayed. In addition, the driver can also be shown whether a line is currently being recognized in the selected sub-area.

Within the scope of the invention, at least a section of a line on an agricultural area can be detected in a manually selected partial detection area of a surrounding area detection sensor system. A line to be recorded for lane guidance of an agricultural vehicle can thus be selected manually by a driver or operator of the agricultural vehicle. If there are at least two detectable lines, at least in sections, in the detection area of the surroundings detection sensor system, this can manually restricted to a sub-area in such a way as to capture only one of the at least two lines. Such a manual restriction can be carried out with a manually selected measurement data filter or with manual intervention in the sensory detection. A so-called region-of-interest (ROI) area can thus advantageously be defined within the detection area of the surroundings detection sensor system in order to carry out a clear line detection. An ambiguous line detection can thus be avoided in an advantageous manner. A clear line detection can thus be carried out more reliably and efficiently with the invention.

In one embodiment of the method, the step of manual selection includes manual actuation of a tactile operating element on the agricultural vehicle. The tactile operating element can be operated manually by a driver in the vehicle or by an operator of the vehicle. The manual actuation can include a manual actuation of the tactile operating element. The tactile control element can be a hand control element. The tactile operating element can be, for example, a tactile switch, a tactile controller, a tactile button or a joystick. A line to be recorded on the agricultural area can be selected manually with the tactile control element. For this purpose, the sub-area in the detection area of the surroundings detection sensor system can be selected manually with the tactile control element by the driver or by the operator of the agricultural vehicle.

In a further embodiment of the method, the step of manual selection comprises manually turning a rotary knob on the agricultural vehicle. According to this embodiment, the tactile operating element can be designed as a rotary knob. In a further step of the method, the sub-area in the detection area can be selected manually by the surroundings detection sensor system by manually turning the rotary knob.

In a further step of the method, the partial area in the detection area can be shifted manually by the surroundings detection sensor system. The partial area can be shifted by manually operating the tactile operating element on the agricultural vehicle. The detection area of the surroundings detection sensor system can span an area on the agricultural area. The sub-area can also span such an area, wherein the area spanned by the sub-area on the agricultural usable area can lie in the area spanned by the detection area on the agricultural usable area. The area spanned by the sub-area on the agricultural area can also be shifted in the area spanned by the detection area on the agricultural area. In one of the areas, the environment detection sensor system can detect measurement data relating to the agricultural area. The area spanned by the sub-area can thus be selected manually on the agricultural area, it being possible for this to be carried out by manually actuating the tactile operating element.

In the selection step, the partial area can be selected as a function of a current orientation of the agricultural vehicle on the agricultural area. The partial area can be selected based on a direction of travel of the agricultural vehicle in front of, to the side or behind the agricultural vehicle. The sub-area can be selected in this way on the agricultural area. The direction of travel of the agricultural vehicle can be defined by a current relative orientation of the agricultural vehicle to the agricultural area or by an absolute orientation of a vehicle longitudinal axis of the agricultural vehicle.

In a further embodiment of the method, the step of selecting includes shifting the partial area in the detection area from the surroundings detection sensor system laterally to a current direction of travel of the agricultural vehicle. The sub-area can thus be selected or shifted left or right to the current direction of travel or to a longitudinal axis of the agricultural vehicle. In this way, a line on the agricultural area can be recorded laterally or laterally to the current direction of travel of the agricultural vehicle. A detection of lines on the agricultural area can thus be limited to a detection of a line to the left or right of the current direction of travel of the agricultural vehicle. A line can be detected on one side with respect to a vehicle longitudinal axis.

A further embodiment of the method has, as a further step, rendering of the at least one section of the line on the agricultural vehicle recorded in the selected partial area. The reproduction can be a visual, auditory or tactile reproduction of the recorded section of the line. A corresponding playback device can be arranged on the agricultural vehicle. A visual rendering can for example be performed on a visual display device on the agricultural vehicle. In this way, the recorded section of the line can be displayed or visually reported to a driver on the agricultural vehicle.

The method can be carried out before the agricultural vehicle is tracked. The detection step can thus be carried out before the agricultural vehicle is driven on the agricultural area. The sub-area can thus be selected manually in the detection area before a journey or lane guidance is started. The method can also be carried out while the agricultural vehicle is being tracked.

In a further embodiment of the method, the step of recording is carried out continuously while the agricultural vehicle is driving on the agricultural area. The sub-area can thus be selected automatically in the detection area during a journey or lane guidance.

As a further step, the method can have an automated adaptation of the manually selected sub-area in the detection area to continuously detected sections of the line. The step of automated adjustment can be carried out while driving or during lane guidance. A sub-area manually selected prior to a journey or lane guidance can thus be automated or dynamically adapted to a continuously recorded section of the line while the agricultural vehicle is moving. The initially manually selected sub-area can automatically follow the recorded section of the line while driving or tracking the agricultural vehicle. In the case of automated following, the sub-area can be automatically shifted in the detection area.

In a further embodiment of the method, the sub-area is arranged symmetrically to the detected section of the line in the detection area. The manually selected sub-area can be selected or adapted in such a way that a line captured in it is located in the middle. The manually selected sub-area can thus be located in the middle between two sub-area boundaries. The central sub-area can be at least in sections equally spaced from the sub-area boundaries between them.

As a further step, the method can include recognition of the at least one recorded section of a line on the agricultural area in the manually selected sub-area. The recognition can be carried out automatically. For example, the recorded section of the line can be automatically recognized in a recorded point cloud or in a recorded image using methods of pattern recognition or image processing.

In a further embodiment of the method, the step of acquiring includes acquiring height information relating to the agricultural area. The height information can be derived from a point cloud recorded with a distance measuring sensor. The height information can also have a recorded profile of the agricultural area, which can be arranged laterally to a direction of travel of the agricultural vehicle. The height information or the profile can have a height difference, for example an edge, a depression or an elevation. The height difference can correspond to the section of the line. The height difference in the height information can define the section of the line to be detected. According to this embodiment, the method can have, as a further step, a recognition of the recorded section of the line on the agricultural area based on the recorded height information. Based on the height difference in the height information, the section of the line detected in this way can be recognized.

In a further embodiment of the method, the step of capturing includes capturing image information relating to the agricultural area. The image information can have a course in a visible or invisible spectral range. The course in the image information can correspond to the section of the line. According to this embodiment, the method can have, as a further step, a recognition of the captured section of the line on the agricultural area based on the captured image information.

A further embodiment of the method has, as a further step, the storage of the sub-area in the detection area of the surroundings detection sensor system in a memory unit for further detection of lines on the agricultural area. In this way, a stored sub-area can be accessed when repeatedly driving through a useful agricultural area or when the agricultural vehicle is guided along a predetermined trajectory. For a correction of a predetermined trajectory, the same line can be recorded repeatedly in the stored sub-area and used for tracking the agricultural vehicle.

In a further aspect, the invention relates to a control device for performing the steps of the method according to the preceding aspect. The control device can be arranged on the agricultural vehicle. Alternatively, the agricultural vehicle can be remotely controlled with the control device.

The control device has an interface for reading in and outputting a manually selected partial area in a detection area by a surrounding area detection sensor system for detecting the agricultural area. The interface can be connected to the surroundings detection sensor system. The surroundings detection sensor system can be arranged on the agricultural vehicle. Alternatively, the surroundings detection sensor system can be arranged separately from the agricultural vehicle in order to detect the agricultural area.

The control device also has an interface for controlling the surroundings detection sensor system for detecting at least one section of a line on the agricultural area in the selected sub-area and for reading in a line section detected in this way. The environment detection sensor system can be connected to the interface for this purpose. The control device can also have a computing unit for recognizing the detected line segment in the selected partial area.

In a further aspect, the invention relates to a line detection system with a control device according to the preceding aspect. The line detection system also has surroundings detection sensors for detecting lines on an agricultural area. The line detection system can be arranged on an agricultural utility vehicle.

In one embodiment of the line detection system, it has a tactile operating element for manual selection of a sub-area in a detection area by the surroundings detection sensor system. The tactile control element can be connected to the interface for reading in the manually selected partial area in the detection area by the surroundings detection sensor system. The line detection system can thus be a manual line detection system which can be operated manually by a driver or operator of the agricultural vehicle with a tactile operating element.

• 1 zeigt ein landwirtschaftliches Fahrzeug mit einem Linienerfassungssystem und einer Steuereinrichtung gemäß einer jeweiligen Ausführungsform der Erfindung auf einer landwirtschaftlichen Nutzfläche.
• 2 zeigt ein Ablaufdiagramm mit Schritten zum Durchführen eines Verfahrens zum Erfassen von einer Linie auf einer landwirtschaftlichen Nutzfläche gemäß einer Ausführungsform der Erfindung.

In a further aspect, the invention relates to an agricultural vehicle for driving on an agricultural area with a line detection system for detecting lines on the agricultural area according to the preceding aspect. The agricultural vehicle can be designed as an automatically operated agricultural vehicle. A driver or operator can intervene to assist in automated operation of the agricultural vehicle.

• 1 shows an agricultural vehicle with a line detection system and a control device according to a respective embodiment of the invention on an agricultural area.
• 2 shows a flowchart with steps for performing a method for detecting a line on an agricultural area according to an embodiment of the invention.

1 shows an agricultural vehicle 10 , which is on an agricultural area 2 is located. On the agricultural land 2 are curved lines 3 , which in one embodiment run on ridges of swaths, detectable. The curved lines 3 are located in sections in the direction of travel 11 of the agricultural vehicle 10 in front of the agricultural vehicle 10 .

At a front area of the agricultural vehicle 10 is an environment detection sensor system 20th , in one embodiment a laser scanner, arranged. The environment detection sensors 20th detected in the direction of travel 11 of the agricultural vehicle 10 in one detection area 22nd , which in one embodiment is a scan area, the curved lines 3 in sections.

On the agricultural vehicle 10 is a tactile control element 12 , in one embodiment a rotary knob, arranged. The tactile control element 12 is via a control device 30th on the agricultural vehicle 10 with the surroundings detection sensors 20th connected. An in 1 Driver not shown on the farm vehicle 10 operates the tactile control element 12 to a sub-area 24 in the detection area 22nd the surroundings detection sensors 20th to select. Thus, it will capture the curved lines 3 with the surroundings detection sensors 20th on a curved line 3 , in the embodiment shown on the left side to the direction of travel 11 of the agricultural vehicle 10 lying curved line 3 limited. The detection area 22nd is thus on the sub-area in the embodiment shown 24 which is limited by sub-area limits 25th is defined which is parallel to the direction of travel 11 on the left side of the agricultural vehicle 10 are located.

The sub-area 24 of the detection area 22nd spans a section 24 on the agricultural land 2 on. In this sub-area 24 runs a curved section 4th the curved line 3 which is sideways to the agricultural vehicle 10 is located. The detected curved line segment 4th , which in one embodiment has height information on a swath, is in the from the surroundings detection sensors 20th in the sub-area 24 automatically recognized measured data.

The agricultural vehicle 10 thus has a line detection system 40 on which the tactile control element 12 , the control device 30th and the environment detection sensors 20th having. With the line detection system 40 is also a steering 14th , in one embodiment a front wheel steering, of the agricultural vehicle 10 controllable.

In 2 are steps S1 to S5 in a time sequence for performing a method for detecting an in 1 shown curved line 3 on the agricultural land 2 for tracking the agricultural vehicle 10 with the in 1 shown steering 14th shown.

In one step S1 manual sub-area selection takes place. By pressing the tactile control element 12 will be in the detection area 22nd the surroundings detection sensors 20th the sub-area 24 manually selected. In the sub-area 24 there is only a curved line 3 of the two in 1 curved lines shown 3 . In a further step S2 a partial area is recorded. In that in step S1 selected sub-area 24 becomes the agricultural area 2 with the surroundings detection sensors 20th detected. In the sub-area 24 becomes only the curved section 4th the curved line 3 through the environment detection sensors 20th detected.

In a further step S3 line detection is carried out based on the in step S2 regarding the section 4th the curved line 3 recorded measurement data. The section 4th the line 3 is automatically recognized in the recorded measurement data. In a further step S4 becomes the captured and recognized section 4th the curved line 3 on an in 1 playback device not shown on the agricultural vehicle 10 reproduced. In step S4 a line display is thus carried out.

While driving the agricultural vehicle 10 becomes the first selected sub-area 24 to the course of the curved line 3 in the direction of travel 11 in front of the agricultural vehicle 10 customized. In this step S5 an automated partial area adjustment is therefore carried out. The sub-area 24 is within the detection area 22nd the surroundings detection sensors 20th shifted so that the currently recorded section 4th the curved line 3 centered in the partial area 24 is located.

List of reference symbols

2

agricultural land

3

line

4th

Line segment

10

agricultural vehicle

11

Direction of travel

12th

tactile control element

14th

steering

20th

Environment detection sensors

22nd

Detection area

24

Section

25th

Sub-area limits

30th

Control device

40

Line acquisition system

S1

manual sub-area selection

S2

Partial area detection

S3

Line detection

S4

Line rendering

S5

automated subrange adjustment

Claims (14)

Method for detecting a line on an agricultural area (2) for lane guidance of an agricultural vehicle (10) based on a line segment (4) detected on the agricultural area (2), comprising the steps: - manual selection (S1) of a sub-area (24) in a detection area (22) by a surroundings detection sensor system (20) for detecting lines (3) on the agricultural area (2), - Detecting (S2) of at least one section (4) of a line (3) on the agricultural area (2) with the surroundings detection sensor system (20) in the manually selected sub-area (24). Procedure according to Claim 1 , wherein the step of manually selecting (S1) is a manual Having actuating a tactile control element (12) on the agricultural vehicle (10). Procedure according to Claim 1 or 2 wherein the step of manual selection (S1) comprises manually turning a rotary knob on the agricultural vehicle (10) to move the sub-area (24) in the detection area (22) by the surroundings detection sensor system (20). Method according to one of the preceding claims, wherein the step of selecting (S1) comprises shifting the partial area (24) in the detection area (22) from the surroundings detection sensor system (20) laterally to a current direction of travel (11) of the agricultural vehicle (10). Method according to one of the preceding claims, with the further step of rendering (S4) the at least one section (4) of the line (3) recorded in the selected partial area (24) on the agricultural vehicle (10). Method according to one of the preceding claims, wherein the step of recording (S2) is carried out continuously while the agricultural vehicle (10) is traveling on the agricultural area (2), and with the further step of automated adaptation (S5) of the manually selected sub-area (24) in the detection area (22) to sections (4) of the line (3) continuously detected in the step of detection (S2). Method according to one of the preceding claims, wherein the partial area (24) is arranged symmetrically to the detected section (4) of the line (3) in the detection area (22). Method according to one of the preceding claims, wherein the step of recording (S2) comprises recording height information relating to the agricultural area (2). Method according to one of the preceding claims, wherein the step of capturing (S2) comprises capturing image information relating to the agricultural area (2). Method according to one of the preceding claims, with the further step of storing the sub-area (24) in the detection area (22) of the surroundings detection sensor system (20) in a memory unit for further detection of lines (3) on the agricultural area (2). Control device (30) for performing the steps of a method according to one of the preceding claims, with an interface for reading in and outputting a manually selected sub-area (24) in a detection area (22) by a surrounding area detection sensor system (20) for detecting the agricultural area (2) and an interface for controlling the surroundings detection sensor system (20) for detecting at least one section (4) of a line (3) on the agricultural area (2) in the selected sub-area (24) and for reading in a line section (4) detected in this way. Line detection system (40) with a control device (30) Claim 11 and a surroundings detection sensor system (20) for detecting lines (3) on an agricultural area (2). Line detection system (40) according to Claim 12 which has a tactile control element (12) for manual selection (S1) of a sub-area (24) in a detection area (22) of the surroundings detection sensor system (20). Agricultural vehicle (10) for driving on an agricultural area (2) with a line detection system (40) Claim 12 or 13 for detecting lines (3) on the agricultural area (2).

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