DISPOSITIVO E MÉTODO PARA A DETECÇÃO DE UMA SUPERFÍCIE AGRÍCOLA, BEM COMO VEÍCULO AGRÍCOLA

Abstract

DEVICE AND METHOD FOR AGRICULTURAL SURFACE DETECTION, AS WELL AS AGRICULTURAL VEHICLE. The invention relates to a device (100) for the optical detection of a usable agricultural surface (NF) by means of image recording sensor units (16a to 16d), with a support element (12) that is divided into successive sections in the longitudinal direction (LR), to which respectively is coordinated a sensor unit (16a to 16d) and at least one light source (20a to 20c) for illuminating the usable surface (NF) in a detection area (21) of the sensor unit (16a to 16d), wherein, by means of a control device (25), a partial quantity of the sensor units (16a to 16d) can be controlled at least indirectly.

Description

1 / 9 Descriptive Report of the Invention Patent for "DEVICE AND METHOD FOR DETECTING AN AGRICULTURAL SURFACE, AS WELL AS AN AGRICULTURAL VEHICLE". Technical area

[001] The invention relates to a device and method for the optical detection of a usable agricultural surface by means of image recording sensor units, in order to be able to precisely locate particular plants useful for subsequent treatment, for example, with a spraying medium. Furthermore, the invention relates to an agricultural vehicle with a support device, wherein the support device has a device in accordance with the invention. State of the art

[002] The applicant's German patent document DE 10 2020 206 829 A1 discloses a device for the optical detection of a usable agricultural surface by means of image recording sensor units, with the characteristics of the preamble to claim 1. The known device is characterized in that in the longitudinal direction of a support device, which is executed in the form of an elongated lever system, typically at equal distances are arranged image recording sensor units in the form of cameras, spaced apart from each other. The cameras serve the purpose of detecting respectively a given area of ​​the usable agricultural surface, and by means of an image evaluation program detecting the presence as well as the location of plants or weeds.Furthermore, it is planned that each sensor unit is coordinated with at least one light source, which serves the purpose of optimally illuminating the usable agricultural surface in the area of ​​the respective sensor unit, so that the image recording sensor unit can... Petition 870220036221, dated April 28, 2022, pages 31 / 43 2 / 9 detect the necessary details or particularities in the usable surface area. Furthermore, such a device is characterized by the fact that typically the individual image recording sensor units cannot all be controlled simultaneously, but one after the other. This serves, in particular, an ideal data exchange or data transmission in a data collector.

[003] Furthermore, a different number of LEDs are known from German patent document DE 10 2015 015 931 A1 to control different instants as a function of voltage. Disclosure of the Invention

[004] The device according to the invention for the optical detection of a usable agricultural surface by means of image recording sensor units, with the characteristics of claim 1, has the advantage that it enables ideal illumination of the area of ​​the usable surface to be detected by the respective image recording sensor unit. The invention performs the task of using, in addition to at least one light source, which is indirectly coordinated to an image recording sensor unit, also light sources from just inactive sensor units, which are adjacent to the momentarily active sensor unit, in order to use their light emission for the additional illumination of the usable surface. This makes it possible, in particular, to dispense with an increase in voltage or similar measures in the individual light sources.In particular, this makes it possible for the device to provide, in a relatively simple way, ideal illumination of a usable surface to be examined by a sensor unit.

[005] In view of the background explanations above, therefore in a device according to the invention it is provided that the control device or a control unit coordinated to a sensor unit is implemented for the purpose of, during the control Petition 870220036221, of 04 / 28 / 2022, page 32 / 43 3 / 9 If a sensor unit and at least one light source coordinated to the sensor unit activate at least one light source that is coordinated to a sensor unit adjacent to the controlled sensor unit on the support element.

[006] Advantageous improvements of the device according to the invention for optical detection of a usable agricultural surface by means of image recording sensor units are presented in the dependent claims.

[007] A preferred embodiment of the device provides that each sensor unit is coordinated with several light sources, and that the control device or control unit is designed to activate only the light source of the sensor unit facing the activated sensor unit. The use of multiple light sources for each sensor unit has the advantage of enabling uniform, homogeneous illumination of the usable surface in the area of ​​said sensor unit. Because only the light sources of adjacent sensor units facing an activated sensor unit are activated, only the light sources closest to the usable surface to be examined at the moment are activated, i.e., those with the minimum distance from the active sensor unit. In this way, with relatively low total energy consumption, good illumination of the usable surface to be examined is possible.

[008] In an improvement of the device described so far, it is provided that the control device or control unit is designed to activate only the light source of an adjacent sensor unit that is furthest from the activated sensor unit. Therefore, such a device enables optimized power operation of the light sources. Petition 870220036221, dated April 28, 2022, pages 33 / 43 4 / 9

[009] In particular, it is foreseen that each sensor unit will be coordinated with three light sources. This makes possible a relatively homogeneous illumination with a relatively small number of light sources, of a usable surface to be examined, in view of the recording area typically to be detected by an optical sensor unit (camera).

[010] In order to consume the lowest possible energy, it is also planned that the light source will be implemented in the form of an LED.

[011] In addition, it is preferred that the control device be run for the purpose of activating the sensor units individually in sequence.

[012] In addition, the invention also comprises an agricultural vehicle with a support device that extends transversely in relation to the direction of movement of the agricultural vehicle, wherein, in the support device, there is a device according to the invention described so far.

[013] Finally, the invention also includes a method for optically detecting an agricultural area by means of a device according to the invention that has been described so far. The method according to the invention is characterized in that the sensor units are controlled at least indirectly by the control device via a common data bus.

[014] A method of this type is developed in a particularly preferred first variant, in such a way that the individual sensor units and light sources determine the time of their activation using a time for the start of a recording cycle transmitted by the control device via the data bus.

[015] Alternatively, it is conceivable that the sensor units and light sources could be controlled or activated separately. Petition 870220036221, dated 04 / 28 / 2022, page 34 / 43 5 / 9 through the data collector.

[016] Other advantages, features and particularities of the invention result from the following description of preferred embodiments of the invention, as well as with the aid of the drawing. Brief description of the drawings Fig. 1 shows a top view of a simplified representation of / on an agricultural vehicle with image recording sensor units and light sources arranged on a support device. Fig. 2 shows a schematic representation of a partial area of ​​the support device in top view, and Fig. 3 shows a diagram representing the time course of illumination of a usable agricultural surface by means of different light sources. Methods of implementing the invention

[017] Identical elements or elements with the same function are given the same reference numbers in the figures.

[018] Fig. 1 shows an agricultural vehicle 10 in the form of a tractor, on the rear of which is fixed a support element 12 in the form of an elongated structure 14. The longitudinal direction LR of the support element 12 extends perpendicularly to the direction of movement FR of the agricultural vehicle 10. The support element 12 is a component of a device 100 for the optical detection of a usable agricultural surface NF, in particular with regard to vegetation on the usable agricultural surface NF. For this purpose, a multitude of image recording sensor units 16a to 16d are arranged on the support element 12 seen in its longitudinal direction LR. The image recording sensor units 16a to 16d are implemented, in particular, in the form of cameras 18, such that by means of the sensor units 16a to Petition 870220036221, dated April 28, 2022, pages 35 / 43 6 / 9 16d when passing over the usable surface NF, the entire area extending transversely in relation to the direction of movement FR of the usable surface NF below the support element 12 can be recorded by sensor units 16a to 16d.

[019] It is also mentioned that for simplicity's sake, only four sensor units of 16a to 16d are represented. However, in practice, for example, up to 40 sensor units of this type 16 can be foreseen.

[020] Sensor units 16a to 16d are preferably arranged at first uniform distances from each other along the support element 12, such that the support element 12 is divided into a corresponding number of sections corresponding to the number of sensor units 16a to 16d.

[021] Each of the sensor units 16a to 16d is coordinated by at least one light source 20a to 20c, three light sources 20a to 20c in the example embodiment shown, which are likewise preferably arranged at uniform second distances b from each other in the longitudinal direction LR along the support element 12. For example, the light sources 20a to 20c are arranged respectively below the respective sensor unit 16a to 16d, and specifically outside a detection area 21 of the sensor unit 16a to 16d. The light sources 20a to 20c are not shown in this arrangement in Figures 1 to 3 only for better visibility. Preferably, light sources 20a to 20c are implemented respectively in the form of an LED 22. During the activation of three light sources 20a to 20c, these sources present an illuminated area 24, corresponding to the representation in fig.2, which extends laterally to an area of ​​the detection area respectively adjacent 21 of sensor unit 16a to 16d.

[022] In addition, the agricultural vehicle 10 also features a Petition 870220036221, dated April 28, 2022, pp. 36-43 7 / 9 central control device 25, which communicates via a data collector 26 with a control unit 28 respectively (decentralized), which is coordinated respectively to a sensor unit 16a to 16d. This control unit 28, in turn, is connected to the respective light sources 20a to 20c via lines 29.

[023] During the passage of vehicle 10 over the usable agricultural surface NF, sensor units 16a to 16d are activated successively, i.e., they are activated temporally in sequence, and the (image) data detected by the respective sensor unit 16a to 16d are evaluated, for example, in the respective decentralized control unit 28 by means of an image evaluation program and then transmitted to the control device 25 via the data collector 26. In turn, the control device 25 has or provides a program that uses the data from the respective sensor unit 16a to 16d for subsequent processing of the usable agricultural surface NF, for example, by means of a liquid spraying medium, for the control of dosage units for the spraying medium.The dosing units are also arranged in the area of ​​the agricultural vehicle 10, for example, in the rear area of ​​the agricultural vehicle 10 in the area of ​​a spray frame or support element 12 (not shown).

[024] In order to ideally illuminate the respective detection area 21 of a sensor unit 16a to 16d by means of light sources 20a to 20c, it is provided that in the event of activation of a sensor unit 16a to 16d and light sources 20a to 20c respectively coordinated to the respective sensor unit 16a to 16d, additionally light sources 20a or 20c are controlled by means of the control device 25 and / or the control units 28, which are coordinated to an adjacent sensor unit 16a to 16d. For this purpose, the Petition 870220036221, dated April 28, 2022, pages 37 / 43 In the example title, reference is made to the representation in Fig. 3. There, the activation of the individual sensor units 16a to 16d, as well as the coordinated light sources 20a to 20c, is represented over time te in the X direction of the longitudinal extension LR of the support element 12, for four different instants. In this case, with the aid of the upper row, it is recognized that sensor unit 16a is activated first. At the same time, light sources 20a to 20c of sensor unit 16a are activated, and simultaneously, light source 20a of sensor unit 16b. During the activation of light sources 20a to 20c, the usable agricultural surface NF is recorded by sensor unit 16a.

[025] Next, according to the second row, the sensor unit 16b is activated, as well as the light sources 20a to 20c coordinated to the sensor unit 16b. In addition, the light sources 20c of the sensor unit 16a, as well as the light source 20a of the sensor unit 16c, are activated in order to enable ideal illumination of the detection area 21 of the sensor unit 16b.

[026] Next, according to the third row, there is an activation of sensor unit 16c, as well as light sources 20a to 20c coordinated to sensor unit 16c, as well as additionally, an activation of light source 20c of sensor unit 16b and light source 20a of sensor unit 16d.

[027] Finally, according to the fourth or last row, an activation of sensor unit 16d occurs, as well as of light sources 20a to 20c coordinated to sensor unit 16d, as well as an activation of light source 20c of sensor unit 16c.

[028] The method described so far can be varied or modified in multiple ways without departing from the spirit of the invention. Thus, the sequence / order that occurs successively from the activation of the individual sensor units 16a to 16d is not limited to the sequence described. Petition 870220036221, dated April 28, 2022, pages 38 / 43 9 / 9 ta. Conversely, the individual sensor units 16a to 16d can also be bypassed in order to enable, for example, care of the LEDs 22 by means of a reduced duration of the activation of individual LEDs 22. Petition 870220036221, dated April 28, 2022, pages 39 / 43

Claims

1 / 2 CLAIMS 1. Device (100) for the optical detection of a usable agricultural surface (NF) by means of image recording sensor units (16a to 16d), with a support element (12) that is divided into successive sections in the longitudinal direction (LR), to which are respectively coordinated a sensor unit (16a to 16d) and at least one light source (20a to 20c) for illuminating the usable surface (NF) in a detection area (21) of the sensor unit (16a to 16d), wherein, by means of a control device (25), at least indirectly a partial quantity of the sensor units (16a to 16d) can be controlled, CHARACTERIZED in that the control device (25) or a control unit (28) coordinated to a sensor unit (16a to 16d) is implemented for the purpose of, during the control of a sensor unit (16a to 16d) and at least one light source (20a to 20c) coordinated to the sensor unit (16a to 16d),activate additionally at least one light source (20a to 20c), which is coordinated to a sensor unit (16a to 16d) adjacent to the sensor unit (16a to 16d) controlled in the support element (12)., 2. Device according to claim 1, CHARACTERIZED in that each sensor unit (16a to 16d) is coordinated with several light sources (20a to 20c) and that the control device (25) or the control unit (28) is designed to activate only the light source (20a to 20c) of the sensor unit (16a to 16d) facing the activated sensor unit (16a to 16d).

3. Device according to claim 2, CHARACTERIZED in that the control device (25) or the control unit (28) is implemented for the purpose of activating only the light source (20a to 20c) of an adjacent sensor unit (16a to 16d) that has the minimum distance from the activated sensor unit (16a to 16d).

4. Device according to claim 2 or 3, CHARACTERIZED in that each sensor unit (16a to 16d) is coordinated with three light sources (20a to 20c).

5. Device according to any one of claims 1 to 4, CHARACTERIZED in that the light source (20a to 20c) is implemented in the form of an LED (22).

6. Device according to any one of claims 1 to 5, CHARACTERIZED in that the control device (25) is executed with Petition 870260063516, dated 06 / 26 / 2026, page 7 / 10 2 / 2 purpose of activating the sensor units (16a to 16d) individually in sequence.

7. Agricultural vehicle (10) with a device (100), which is implemented as defined in any one of claims 1 to 6, CHARACTERIZED in that the support element (12) of the device (100) extends transversely in relation to the direction of movement (FR) of the vehicle (10).

8. Method for optical detection of a usable agricultural surface (NF) by means of a device (100), which is performed as defined in any one of claims 1 to 6, CHARACTERIZED in that the sensor units (16a to 16d) are controlled by the control device (25) at least indirectly through a common data collector (26).

9. Method according to claim 8, CHARACTERIZED in that the individual sensor units (16a to 16d) and light sources (20a to 20c) determine the instant of their activation with the aid of an instant of the beginning of an independent recording cycle, transmitted through the data collector (26) of the control device (25).

10. Method according to claim 8, CHARACTERIZED in that the sensor units (16a to 16d) and the light sources (20a to 20c) are respectively separately controlled for activation via the data collector (26). Petition 870260063516, dated 06 / 26 / 2026, p. 8 / 10

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