Method for determining headland positions for an agricultural area

Abstract

Method for determining turning areas (5.1, 5.2, 19, 29, 35, 36) of an agricultural area (1, 10, 20, 30), wherein the boundary of the area can be approximated as a polygon and is divided into partial areas (15, 16, 25, 26) by means of a subdivision line, and the sections of the polygon can be classified as headland or side sections, and a reference axis (4, 14, 24, 34) is defined. In order to specify a method for determining headland positions, it is provided that a headland area (5.1, 5.2, 19, 29, 35, 36) of defined width (d) is created along the headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1), wherein no headland area is created along a headland section of a first partial area (15, 16, 25, 26), - if a subdivision line (11) runs along this section and there is no headland section along this subdivision line which is assigned to the second partial area (15) belonging to this subdivision line, - if a subdivision line (21) runs along this section and a headland section (23.1, 23.2) runs along this subdivision line and is assigned to the second partial area (25, 26) belonging to this subdivision line and the reference axes of these partial areas enclose an angle (α) which does not exceed a specified limit value.

Description

[0001] The invention relates to a method according to the preamble of claim 1.

[0002] The cultivation of an agricultural field with an agricultural machine is generally carried out row by row. This means that an agricultural implement, such as a plow, cultivates the field along parallel or nearly parallel lines, the spacing of which depends on the working width of the implement. To perform this work as efficiently as possible, the parallel tracks are increasingly displayed to the operator on a terminal or other device, allowing them to steer the implement along the intended tracks as precisely as possible. Automatic steering along the parallel tracks is also conceivable.

[0003] The position, orientation, and geometry of the tracks depend primarily on the working width of the machine and the field geometry. For the efficiency of cultivating the agricultural land, it is particularly important that the time-consuming, but typically necessary, turning operations of the agricultural machine are carried out as efficiently as possible and that the number of turning operations is minimized.

[0004] The turning operations are usually carried out in an area of the field that is initially left out of the field's cultivation. Typically, there are two (sometimes more than two) such areas, located on opposite sides of the field. The farmer thus cultivates the field in strips, turning each time just before reaching the end of the field, pausing the respective cultivation operation during the turning operation.

[0005] In order to enable the most efficient planning of the headland, it has been proposed to automate the planning of the headland position on the agricultural area.

[0006] In the case of particularly irregularly shaped agricultural areas, it may be useful to divide the area into sub-areas that are as regularly shaped as possible and to plan the preferred tillage tracks and headland positions separately for each sub-area.

[0007] The cultivation of an agricultural area based on sub-areas and the automatic division of an agricultural area into sub-areas is known, for example, from EP 2 446 725 B1. It is proposed to subdivide the area at or near concave nodes by connecting non-adjacent concave nodes. This procedure serves the purpose of carrying out separate lane planning for areas of the field that protrude from or protrude from a main area or first area of the field. The reason for this is that for very irregularly shaped agricultural areas, a single orientation of the cultivation direction can be inefficient because, for example, an unnecessarily high number of turning maneuvers must be carried out. The planning of the headland plays no role in this document.

[0008] Another method for dividing an agricultural area into sub-areas is known from DE 10 2014 108 075 A1. This document also proposes determining concave angles of the boundaries of the agricultural area and generating a dividing line that divides the agricultural area into at least two sub-areas. The subdivision process is carried out using optimization processes. For example, a previously defined preferred orientation can be taken into account when generating the dividing line, and this dividing line can be defined parallel to this preferred orientation. The preferred orientation can be determined with the help of optimization processes, for example by minimizing the processing effort in a manner not further specified or by using historical lane data.The dividing line can also be aligned parallel to an edge of the agricultural area, or a maximum distance within the agricultural area can be determined and the dividing line aligned parallel to this maximum distance. Regarding the arrangement of the headland lanes, however, it is only described that the division should be optimized so that the length of the headland lanes is minimized.

[0009] EP 2 257 889 B1, on the other hand, deals with the planning of a headland on an agricultural area and proposes, for this purpose, defining a preferred working direction and establishing so-called secondary reference paths that run parallel to the preferred working direction. A check is then carried out to determine whether a specified limit angle is exceeded at the intersection point of the secondary reference paths with the boundary of the agricultural area. In this case, a headland is created at that location. The secondary reference paths are offset by a specified distance. This can be, for example, the working width of the agricultural machine, the machine width, or another value.

[0010] The disadvantage of this method is that in fields with irregular geometry, where dividing the field into sub-fields makes sense for more efficient processing, planning of the headland positions based on the relative position of the sub-fields is not provided for.

[0011] The object of the present invention is to provide an efficient method for determining headland positions, which is particularly applicable to fields divided into sub-areas.

[0012] This problem is solved by the characterising part of claim 1.

[0013] First, it is therefore provided to divide the boundary of an agricultural area into at least two sub-areas, each of which can be approximated by a polygonal line. It can also be provided to approximate the agricultural area as a polygonal line and then divide it into two sub-areas. The sections of the polygonal lines can be classified as headland sections or side sections, with the headland sections preferably being located on opposite sides of the sub-areas. The classification of the sections of the agricultural areas and / or sub-areas is preferably generated automatically by a separate method, for example based on the angles of the sections to one another and / or the geometry of the agricultural area or sub-area.

[0014] The agricultural area is divided into two agricultural areas by creating at least one subdivision line. The subdivision line also forms a section of the closed polygon of each subdivision formed by the subdivision line. In other words, when an agricultural area is divided into two subdivisions using a subdivision line, the subdivision line is assigned to each of the polygons bounding the two resulting subdivisions.

[0015] The subdivision line can also be classified as a headland section or side section. Thus, each subdivision line can be classified as a side section or headland section with respect to at least a first partial area, and additionally as a side section or headland section with respect to a second partial area. In other words, each subdivision line can be classified twice, whereby the classification of a subdivision line with respect to a partial area is unique. Thus, a subdivision line has exactly one classification as a side section or headland section with respect to a first partial area to which it is assigned, and exactly one classification as a side section or headland section with respect to a second partial area to which it is also assigned. The classifications can also differ.For example, a subdivision line relating to a first sub-area may be classified as a side section and the same subdivision line relating to a second sub-area may be classified as a headland section.

[0016] It may be provided that a classification of the sections of an agricultural area after a division of this area into at least two sub-areas is adopted for the corresponding sections of the sub-areas, in which case the respective subdivision line can additionally be classified into side section or headland section.

[0017] A reference axis per sub-area defines the preferred processing direction of the respective sub-area and essentially connects opposite headland sections of the sub-area.

[0018] According to the invention, it is now provided to create a headland area of defined width along each headland section, whereby no headland area is created along a headland section of a first partial area, - if a subdivision line runs along this section and there is no headland section along this subdivision line that is assigned to the second sub-area belonging to this subdivision line, - if a subdivision line runs along that section and a headland section runs along that subdivision line and is assigned to the second sub-area belonging to that subdivision line and the reference axes of those sub-areas enclose an angle which does not exceed a specified limit.

[0019] In other words, a headland area of defined width is assigned to a headland section unless one of the following two conditions is met: - this headland section is the classification of a subdivision line of a first sub-area and the second classification of this subdivision line, i.e. the classification of the second sub-area to which this subdivision line is also assigned, is not a headland section but a side section - this headland section is the classification of a subdivision line of a first partial area and the second classification of this subdivision line, i.e. the classification of the second partial area to which this subdivision line is also assigned, is also a headland section and the reference axes of this first and second partial area enclose an angle which does not exceed a specified limit value.

[0020] In this way, it can be advantageously achieved, firstly, that parts of an agricultural area that protrude laterally, i.e., on a side section of the agricultural area, are only assigned a headland area in the outer area, but not in the area facing the interior of the agricultural area. A headland is undesirable in this inner area, since turning on this side can take place in an area that will later be regularly worked anyway when working the second part of the area.

[0021] Secondly, a limit value or critical angle can be taken into account, which is typically determined by the minimum working radius of the agricultural machine. If the minimum angle encloses two reference axes of the partial areas to be worked is smaller than this critical angle, this means that a connecting journey between the tracks of the first and second partial areas cannot be made in one go, i.e. not without stopping, lifting, reversing, turning or other undesirable maneuvers. In this case, a headland must be created. In all other cases, this is not necessary, since by linking the working tracks of the first and second partial areas, they can be worked in one go.

[0022] Each section classified as a headland section indicates the possibility of creating a headland on or near this section. In other words, no headland should be created on any side section. Accordingly, a headland area is only created on those headland sections that meet the above-mentioned conditions, so that a headland area is defined only on these headland sections, and thus a headland is actually created for turning maneuvers.

[0023] The width of this area typically depends on the machine parameters of the agricultural machine or the tractor pulling or carrying the agricultural machine. These can include, for example, the machine width, the length of the agricultural machine or the combination of agricultural machine and tractor, or even the turning radius.

[0024] In an advantageous further development, at least one reference axis is determined by traversing an approximately linear connection between two points using the agricultural machine and recording this line using a position receiver. This is an advantageous procedure for defining a preferred processing direction and can, for example, also be carried out directly at the beginning of the processing process, for example when processing the first lane. In this case, the farmer starts processing immediately without first fully calculating the lanes to be traversed. The headland positions can then be determined and the remaining lanes created quickly after work has begun, for example at the agricultural terminal of the agricultural machine or tractor directly after traversing the reference axis.Since each lane is usually at least approximately parallel to the reference axis, the reference axis can typically be recorded while processing any lane.

[0025] In an advantageous embodiment of the invention, the angle between the reference axes of at least two adjacent partial areas does not exceed the specified limit value and there is a headland section for each partial area along the dividing line of the two partial areas, wherein two axes and / or routes, in particular lanes, that are at least approximately parallel to the reference axes are connected in the vicinity of the dividing line by a curved connection. In this way, the continuous cultivation of the agricultural area can be advantageously achieved in such a way that the end of lanes in the first partial area is linked to the beginning of lanes in the second partial area by a curved connection. In particular, it is important to ensure that the radius of the circular segment defined by the curved connection does not fall below the minimum cultivation radius of the agricultural machine.

[0026] The method is advantageously carried out by means of a job computer and / or terminal on an agricultural machine and / or on a PC for the advance planning of field work, so that the planning of the headland areas has already been determined before the start of field work and ideally the lanes for working the agricultural area have already been defined.

[0027] In a possible embodiment of the invention, the division of the area into sub-areas is carried out manually by a user, or automatically by a data processing device, preferably a PC or agricultural terminal, preferably in conjunction with the calculation of the reference axes for the respective sub-areas.

[0028] In a preferred embodiment of the invention, the headland areas and / or headland sections are taken into account when planning cultivation paths for cultivating an agricultural area. In this way, the cultivation paths each start and end at a headland area and / or headland section. This ensures that there is sufficient space at the beginning or end of each cultivation path for a turning maneuver with the agricultural machine.

[0029] The cultivation tracks can also end at a headland section that is not linked to a headland area, for example, if this headland section is assigned to a first sub-area and a corresponding subdivision line, and a side section is assigned to the corresponding second sub-area of this subdivision line. In this case, the first sub-area can be cultivated first and turned on the second sub-area. This turning area is then subsequently cultivated along the cultivation tracks as normal when cultivating the second sub-area.

[0030] The planning of the processing tracks depending on headland areas and / or headland sections preferably takes place on a PC and / or agricultural terminal or other data processing device.

[0031] In one possible embodiment of the invention, the cultivation of the agricultural area is carried out by an autonomously driving agricultural machine. It is thus provided that an autonomously driving agricultural machine autonomously carries out cultivation along planned lanes and headland areas. Preferably, the calculation of the lanes is performed by a data processing device assigned to this autonomously driving agricultural machine.

[0032] Further aspects of the invention are given in the example description and the figures, which show Fig. 1 - 3 the creation of headland areas on a first agricultural area, Fig. 4 - 6 the creation of headland areas on a second agricultural area, Fig. 7 - 9 the creation of headland areas on a third agricultural area and Fig. 10 - 11 the creation of headland areas on a fourth agricultural area.

[0033] An agricultural area 1 in schematic representation is in Fig. 1. Here, the outer boundary of the agricultural area is represented as a closed polygon. The polygon can correspond to the actual shape of the agricultural area or, for example, can be determined or generated automatically using an approximation method.

[0034] A distinction is made between side sections of the agricultural area 2 and headland sections 3, with the side sections in the present examples being shown as a solid line and the headland sections as a dashed line. In addition, a dot-dash reference axis 4 is defined to define a preferred working direction on the agricultural area. Fig. 1, this runs between the two sides of the agricultural area, each marked by a headland. The reference axis can equally well be any axis parallel to it. What is crucial is that the reference axis 4 defines a direction that indicates a preferred processing direction. The reference axis, or at least an axis parallel to it, should therefore connect the opposing headland sides 5.1, 5.2, which are formed by the respective headland sections 3, whereby one headland side 5.1 can be defined, for example, as the upper headland and the other headland side 5.2, for example, as the lower headland.

[0035] According to the Fig. 2 along the opposite headland sides 5.1, 5.2, a headland of a defined width is created. A width d is defined, which determines the distance that must be maintained when planning the lanes from the respective headland sections 3.

[0036] The agricultural area 1 has only one reference axis 4, so that all lanes 6 can run at least approximately and at least partially parallel for processing, as in Fig. 3. There is therefore no dividing line, so that a headland area with a width of d is also created at each headland section 3. Following the creation of the headland areas, the lanes can be planned automatically using a data processing device, for example an agricultural terminal, preferably in such a way that they run at least approximately parallel to the reference axis and extend between the two headland areas. The lanes 6 end at the upper headland 5.1 and at the lower headland 5.2 at the headland sections 3 offset inward by the width d, which can also be referred to as the upper headland boundary 7 and the lower headland boundary 8.

[0037] This headland area is used when cultivating the agricultural land to turn the machine and continue cultivation, preferably on the adjacent lane 6 in the opposite direction. The width d can depend in particular on the machine parameters of a towed or carried work machine and / or a tractor towing or carrying this machine, or a self-propelled work machine. This parameter can be, for example, the turning radius of the tractor or self-propelled work machine and / or the working width of the agricultural machine.

[0038] An agricultural area 10, which is divided into two sub-areas 15, 16 by a dotted dividing line 11, is in Fig. 4. The area 10, in turn, has side sections 12, headland sections 13, and a reference axis 14 for each sub-area 15, 16. For subdivision, the subdivision line 11 is preferably defined manually by the farmer or the person entrusted with planning the processing task. However, such a definition of a subdivision line 11 can also be automated based on the geometry of the agricultural area 10.

[0039] By dividing area 10 into sub-areas 15 and 16, two closed polygons are created. It should be noted that the subdivision line is part of both the polygon delimiting sub-area 15 and the polygon delimiting sub-area 16. The subdivision line of the two polygons of the sub-areas is now defined as a headland section or side section depending on the geometry of the sub-areas or the orientation of the respective reference axis.

[0040] In general, the reference axis can be defined manually for each sub-area, and the headlands and side sections can be classified based on the orientation of the reference axis for each sub-area. It can also be planned to automatically classify the headlands and side sections based solely on the geometry of the respective sub-area, and to automatically determine the orientation of the reference axes based on the geometry of the sub-areas.

[0041] In the present embodiment, as in Fig. 5, the section 12.1 of the polygonal line of the partial area 15 corresponding to the subdivision line 11 is defined, preferably automatically, as a side section according to the geometry and / or the position of the reference axis 14 of this partial area. Fig. The distance between the partial areas 15, 16 shown in Figure 5 is for the purpose of better visualization only.

[0042] In contrast, the section 13.2 of the polygonal line of the partial area 16 corresponding to the subdivision line is defined as a headland section according to the geometry and / or the position of the reference axis 14 of this partial area, preferably automatically, so that the reference axis 14 connects the opposite headland sections 13, 13.2 of the partial area 16. The headland areas 19 of defined width d are now planned according to the invention on all headland sections, whereby in this exemplary embodiment the exception applies that no headland area is created on a headland section 13.2 if a subdivision line is assigned to this headland section 13.2 and the section 12.1 of the second partial area 15 to this subdivision line 11 is classified as a side section.

[0043] The lanes 17, 18 now preferably run between opposite headland sections 13, 13.2 at least approximately parallel to the respective reference axis 14 of the partial area 15, 16, as in Fig. 6. In this case, a headland area for turning in the area of the headland section 13.2 is not desired, since the subdivision line 11 runs in this area and the section 12.1 of the partial area 15 assigned to this subdivision line 11 is classified as a side section. If the partial area 16 is worked first compared to the partial area 15, a turning maneuver of the agricultural machine on the partial area 15 is possible in the area of the subdivision line 11. This turning area is then worked along the tracks 17 during the processing of the partial area 15. This results in a possible further development of the method according to the invention in that the order of working the partial areas 15, 16 is generally made dependent on the type of the respective sections assigned to the subdivision line 11.

[0044] If a first and a second partial area abut one another in the area of a subdivision line and the section of the first partial area assigned to the subdivision line is defined as a side section and the section assigned to the second partial area is defined as a headland section, priority processing of the second partial area is generally advantageous.

[0045] The application of the method according to the invention to a third agricultural area 20 is in Fig. 7. This area is also framed by a closed polygon. Sections of the polygon are again classified as side sections 22 or headland sections 23. In addition, a subdivision line 21 is defined, which divides the agricultural area 20 into two sub-areas 25, 26. Each of these sub-areas is also assigned a reference axis 24, which defines a preferred processing direction within the respective sub-area. The reference axes are not oriented parallel, but rather enclose an angle α.

[0046] The closed polygons for each partial area 25, 26 are in Fig. 8. Here, the section of the partial area 25 belonging to the subdivision line 21 is classified as headland section 23.1 and the section of the partial area 26 belonging to the subdivision line 21 is also classified as headland section 23.2.

[0047] First, according to the method according to the invention, headland areas 29 of width d are created at all headland sections 23 that are not assigned to a subdivision line. At the headland sections 23.1 and 23.2 that are assigned to a subdivision line, a check is carried out to determine whether the angle α formed by the reference axes 24 of the partial areas 25, 26 with these headland sections 23.1, 23.2 falls below a specified limit. In this case, the angle α is, for example, 15° and the limit is 10°, so that the determined angle is not less than the limit, and thus no headland area is created at the headland sections 23.1 and 23.2.

[0048] The limit value is preferably determined by parameters of the agricultural machine, in particular the minimum curve radius during processing. Depending on the size of this minimum processing radius, it can be determined whether two reference axes 24 that enclose an angle α can be connected by means of a curve closure with a radius greater than the minimum processing radius or not. Accordingly, all parallel lanes 27 in this area 28 are connected by means of a curve closure with at least approximately the same radius, as in Fig. 9. If such a curve closure is possible and thus at least approximately complete cultivation of the field in this area without cultivation gaps between adjacent lanes 27, the creation of a headland area in the area of the subdivision line 21 is not necessary.

[0049] An approximately four-sided agricultural area 30 is in Fig. 10, wherein the angles of the four sides are oriented to one another in such a way that three sides are assigned to headland sections 33, 33.1, while one side is classified as side section 32, wherein the reference axis 34 in turn connects the opposite headland sides of the agricultural area and indicates the preferred processing direction.

[0050] Such an arrangement of the headland sections, in particular of the headland section 33.1, which is approximately opposite the side section 32, can be determined, for example, by the geometry of the agricultural area and the parameters of the agricultural machine used. If the agricultural area is sufficiently wide, section 33.1 could also be defined as a side section if the agricultural machine could be adjusted accordingly in terms of its working width. In this case, for example, a larger working width might be required in area 36 and a smaller working width in area 35, so that approximately equally long cultivation tracks could be arranged between the two sides of the agricultural area, with the distance between the individual cultivation tracks in area 35 and that in area 36 varying accordingly.If such an adjustment of the working width is not possible to a sufficient extent and overlapping processing is not desired, the sections of the boundary of the agricultural area must be classified as in . Fig. 10 with corresponding arrangement of lanes 37, as in Fig. 11 is necessary, with some relatively short lanes in the area of the headland section 33.1.

Claims

[1] Method for determining turning areas, so-called headland areas (5.1, 5.2, 19, 29, 35, 36), of an agricultural area (1, 10, 20, 30), wherein the area (1, 10, 20, 30) is framed by an outer boundary, wherein the area (1, 10, 20, 30) is divided into at least a first and a second partial area (15, 16, 25, 26) by forming at least one subdivision line (11, 21), wherein the boundaries of the partial areas can be approximated as a closed polygonal line, wherein the sections of the polygonal line are designated as headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) or as side sections (2, 12, 12.1, 22, 32) are classifiable, wherein the headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) are preferably located approximately on mutually opposite sides of the partial areas (15, 16, 25, 26), wherein the side sections (2, 12, 12.1, 22, 32) are preferably located approximately on mutually opposite sides of the partial area (15, 16, 25, 26), wherein the sections can preferably be automatically classified by a separate method, wherein in addition a reference axis (4, 14, 24, 34) is defined per partial area (15, 16, 25, 26), which runs essentially parallel to the processing tracks (6, 17, 18, 27, 37) to be planned of the respective partial area (15, 16, 25, 26), wherein at least one axis can be defined by this reference axis (4, 14, 24, 34), which runs parallel to this reference axis (4, 14, 24, 34) and essentially the opposite sides of the respective partial area (15, 16, 25, 26), which are designated as headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) are classified, connects, . characterized bythat a headland area (5.1, 5.2, 19, 29, 35, 36) of defined width (d) is created along the headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1), whereby no headland area (5.1, 5.2, 19, 29, 35, 36) is created along a headland section (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) of a first partial area (15, 16, 25, 26), - if a subdivision line (11) runs along this section and no headland section (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) runs along this subdivision line (11) which is assigned to the second partial area (15) belonging to this subdivision line (11), - if a subdivision line (21) runs along this section and a headland section (23.1, 23.2) runs along this subdivision line (21) and is assigned to the second partial area (25, 26) belonging to this subdivision line (21) and the reference axes (24) of these partial areas enclose an angle (α) which does not exceed a specified limit value. [2] Method according to claim 1, characterized by that at least one reference axis (4, 14, 24, 34) is determined by traversing an approximately linear connection by means of the agricultural machine between two points and recording this line by means of a position receiver. [3] Method according to claim 1 or 2, wherein the angle (α) between the reference axes (24) of at least two adjacent partial areas (25, 26) does not exceed the specified limit value and wherein along the dividing line (21) of the two partial areas (25, 26) there is a headland section (23.1, 23.2) per partial area (25, 26), characterized by that two axes and / or routes, in particular lanes (27), which are at least approximately parallel to the reference axes (24), are connected by a curved connection in the vicinity (28) of the dividing line (21). [4] Method according to at least one of claims 1 to 3, characterized by that the method can be carried out by means of a job computer and / or terminal on an agricultural machine and / or on a PC for the advance planning of field work. [5] Method according to at least one of claims 1 to 4, characterized bythat the division of the area (1, 10, 20, 30) into sub-areas (15, 16, 25, 26) is carried out manually by a user, or is carried out automatically by a data processing device, preferably a PC or agricultural terminal, preferably in conjunction with the calculation of the reference axes (24= for the respective sub-areas (15, 16, 25, 26). [6] Method according to at least one of claims 1 to 5, characterized by that the headland areas (5.1, 5.2, 19, 29, 35, 36) and / or headland sections (3, 13, 13.2, 23, 23.1, 23.2, 33, 33.1) are taken into account when planning cultivation tracks (6, 17, 18, 27, 37) for cultivating an agricultural area (1, 10, 20, 30). [7] Method according to claims 1 to 6, characterized by that the cultivation of the agricultural area (1, 10, 20, 30) is carried out by an autonomously driving agricultural machine.

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