Method for determining lanes on an agricultural area

Abstract

Method for determining a lane system for cultivating an agricultural area (1) or partial area with an agricultural machine (102), wherein the area is framed by an outer boundary, wherein the boundary of the area can be approximated as a closed polygonal line, wherein the sections of the polygonal line can be classified as headland sections (2) or as side sections (3), wherein the headland sections are located approximately on opposite sides of the area and can be classified as the upper and lower headland sides (4, 5), wherein the side sections are located approximately on opposite sides of the area and can be classified as the left and right field sides (7, 6), wherein the lanes (11, 17, 19) of the lane system each begin on a first headland side (4, 5) and end on an opposite second headland side (4, 5),wherein one field side (7) is defined as the starting point for processing with the agricultural machine and the lanes of the lane system are successively processed from the starting point, characterized in that the distances between the ends of two adjacent lanes (11, 17) on the first and second headland sides (4, 5) and / or the relative orientation of adjacent lanes depend on the order of processing the first and second lanes and thus on the position of the starting point (7).

Description

[0001] The invention relates to a method according to the preamble of claim 1 and claim 2.

[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 or nearly parallel tracks are increasingly displayed to the operator on a terminal or other device, allowing them to steer the implement as precisely as possible along the intended tracks. Automatic steering along the parallel tracks is also conceivable.

[0003] The position, orientation, and geometry of the lanes depend primarily on the working width of the machine and the field geometry. For the efficiency of cultivating the agricultural area, it is particularly important that lanes are planned in such a way that the working width of the agricultural machine is optimally utilized, thus minimizing the number of passes and thus the number of turning maneuvers across the agricultural area.

[0004] The lanes run between opposite sides of the agricultural field, which are referred to as headlands. The turning maneuver of the agricultural machine therefore takes place at the end of each lane in the headland area.

[0005] The most efficient planning for agricultural areas with irregular shapes is shown, for example, in EP 2 236 020 A1 and EP 2 238 819 A1. These propose, for example, the design of uniformly diverging lanes for lane planning, particularly for trapezoidal areas or patches of land, to optimally cover the area. The spacing of the lanes should preferably depend on the maximum working width of the agricultural machine used.

[0006] The current state of the art does not provide precise details on how the lanes, especially their spacing, are to be geometrically determined and planned. Likewise, there is no information on whether and how the lane planning process takes into account which side of the field is to be used for cultivation.

[0007] The object of the present invention is to eliminate the disadvantages of the prior art and to provide a method which is particularly capable of defining lanes on an agricultural area on the basis of the field geometry and / or machine parameters, such as the maximum and / or minimum working width.

[0008] This problem is solved by the characterizing part of claim 1. Accordingly, it is provided that the distances between the ends of two adjacent lanes on the first and second headland side and / or the relative orientation of adjacent lanes depend on the order in which the first and second lanes are worked and thus on the position of the start page. This is important because, depending on the field geometry, the position of the lanes during the successive determination of the lane positions depends on the order in which the lanes are worked with the agricultural machine. Therefore, if a first and a second adjacent lane are to be planned, it is necessary for the position orThe distance between the lanes is important, whether the first or second lane is intended for cultivation with the agricultural machine first, whereby the order in turn depends on which side of the field is intended as the starting point for cultivation. This applies at least if the two lanes are not aligned parallel to each other.

[0009] The problem is also solved by the characterizing part of claim 2. A connecting line is therefore constructed which, at its first end, is perpendicular to a first lane or its extension, formed by a straight line. As an alternative to the lane, a side section of the agricultural area can also be considered. The side section of the agricultural area can also be defined as a lane. The second end of the connecting line ends at a headland section. This second end of the connecting line is simultaneously an end point of a second lane. The second lane therefore ends at a point at which the connecting line ends and which lies on the headland section. The lanes end at a headland section on both sides.

[0010] Now, either the first or second lane can already have been constructed before the connecting line is planned. The connecting line is laid out in the form described above corresponding to the already constructed lane and the second or first lane is then planned such that the connecting line meets the described features. Thus, it is provided that the connecting line is perpendicular to a first, already constructed lane and / or a side section and that a second lane to be constructed ends at the second end of the connecting line and at a headland section adjacent to the first and / or second lane. Alternatively, it is provided that an already constructed second lane and / or a side section ends at the second end of the connecting line and at a headland section adjacent to the first and / or second lane and that the connecting line is perpendicular to a first lane to be constructed.In other words, the connecting line can be constructed in such a way that either its first or its second side touches an already constructed lane and the lane to be planned is placed on the second or first side of the connecting line in such a way that the above-mentioned characteristics with regard to the connecting line and the already constructed lane and the lane to be constructed or planned are met.

[0011] According to an advantageous development of the invention, the method is also applied to the second headland side opposite the first headland side to create a second connecting line, and a first side of the lane to be constructed ends in a first (second) end point of the first connecting line, and a second side of the lane to be constructed ends in a first (second) end point of the second connecting line, wherein the lane to be constructed is preferably formed by directly connecting the end points of the lane to be constructed. A lane is therefore constructed in such a way that a connecting line is created on both headland sides in accordance with the above features, so that one end point of each of the two connecting lines lies on the lane to be constructed, so that the lane to be constructed is preferably formed by connecting the end points of the first and second connecting lines and, if applicable,Extension to the nearest headland section is defined.

[0012] In an advantageous development of the invention, at least one reference axis is defined which runs essentially parallel to a preferred processing direction, wherein the length of one of the connecting lines corresponds to a first limit value, preferably the maximum working width, and the length of the other connecting line is selected in a first step such that the lane to be constructed runs parallel to the reference axis and if the length of the other connecting line falls below a second limit value, preferably the minimum working width, the length of the other connecting line and thus the position of the lane to be constructed is adjusted until the length of the other connecting line at least approximately corresponds to the second limit value.A reference axis can therefore be defined which defines a preferred working direction which is preferably at least approximately perpendicular to at least one or both headland sides and connects the two opposite headland sides. In order to plan a lane or a system of lanes in such a way that the lanes are aligned as parallel as possible to the working direction, it is provided that the lane to be planned is aligned as parallel as possible to the working direction within the existing limits. The existing limits are typically defined by the agricultural machine, for example by a minimum and a maximum working width. These are therefore preferably different limit values. For a plough, for example, this is defined by the minimum and maximum cutting width of the plough.The user can also define a first and / or second limit value that differs from the plough's limit values. These can depend, for example, on the work results of the agricultural machine. For example, it may be possible to set a maximum working width, but the work result at this setting may not be satisfactory, so a first limit value that differs from the maximum working width is set, which produces a better work result. The same applies to the second limit value, which can be selected to be larger than the minimum possible working width. Under certain circumstances, this may result in the tracks not becoming parallel to the reference axis as quickly as would be possible if the maximum and minimum working widths were selected as the first and second limit values. It may also be that more passes are required overall to work the field.However, this additional effort can be accepted due to the expected better work results.

[0013] In an alternative embodiment of the invention, at least one reference axis is defined which runs substantially parallel to a preferred machining direction, the method comprising the following steps: I. Forming one of the connecting lines with a length corresponding to a first limit value, preferably the maximum working width, Forming the other connecting line with a length corresponding to a second limit value, preferably the minimum working width, II. Determine a first angle between the lane to be constructed and the reference axis III. Determining a second angle which the reference axis and the previously constructed adjacent lane and / or adjacent side sections enclose with the reference axis IV. When changing from a left-hand tilt to a right-hand tilt or vice versa, the first angle compared to the second angle relative to the reference axis: align the lane to be constructed parallel to the reference axis by adjusting at least one of the connecting lines.

[0014] Accordingly, it is intended that the minimum working width or the second limit value is applied directly as the distance, and only if the inclination relative to the reference axis changes in such a way that there is a change from a left-hand to a right-hand tilt, the orientation and / or position of the lane to be planned is changed so that the lane is aligned parallel to the reference axis. Depending on the field geometry, this procedure can lead to more efficient determination of the lane system when planning the lane. The terms "left-hand" or "right-hand" tilt here means that the angle between the reference axis and the respective lane is quite small with a right-hand tilt, for example less than 20°, whereas with a left-hand tilt the angle is quite large, for example greater than 340°.It should be noted that the angle is always measured in the same direction, for example counterclockwise from the reference axis.

[0015] In an advantageous development of the invention, the method is applied to opposite sides of the agricultural area, creating the widest possible area in the middle of the area with parallel lanes. In this way, when planning the lanes, the alignment can be set up parallel to the reference axis as quickly as possible on both sides of the agricultural area, so that an area is created in the middle part of the agricultural area that is worked along parallel lanes. In this way, working in the middle section can be carried out very flexibly. In addition, the control effort is much lower because the working width does not have to be continuously adjusted during travel. In a preferred embodiment, the distance between the parallel lanes can be entered by the user into an agricultural terminal as a default.For example, a working width can be selected as the distance at which particularly good work results are to be expected. Alternatively, the maximum working width can be set as the distance in order to minimize the number of passes and turning maneuvers required. This saves time and costs for operating resources. Due to the fact that the width of the area of parallel lanes only rarely corresponds to an integer multiple of the specified distance between the lanes or the maximum working width, it is clear that the distance between the lanes can only be set to the specification within the limits of what is geometrically possible. With a very narrow area of parallel lanes, the deviation is naturally greater than with a very wide area of parallel lanes.

[0016] With a given starting point for processing and a planned parallel alignment of the lanes in the central area of the agricultural area, lane planning is preferably carried out in three separate steps. The first step involves planning the lanes that adjoin the side section defined as the starting point. In this area, the lanes are constructed according to claim 4: (a) On the side of the longer headland: construct a first connecting line starting perpendicular to the side section and ending on the adjacent headland section in such a way that the length of the connecting line corresponds to the maximum working width or the first limit value. (b) On the side of the shorter headland: construct a second connecting line starting perpendicular to the side section and ending on the adjacent headland section in such a way that the track formed by joining the two end points is parallel to the reference axis. c) If the second connecting line is shorter than the minimum working width or the second limit value: Adjust the length and / or position of the second connecting line until the length of the second connecting line corresponds either to the minimum working width or to the second limit value. d) Construct a lane by connecting the endpoints of the connecting lines. e) Repeating steps a) to d) for each additional lane to be planned until a lane to be planned is aligned at least approximately parallel to the reference axis, the lane previously constructed in the pass serving as the side section.

[0017] With regard to point a), it should be noted that the connecting line does not necessarily have to be perpendicular to the side section or the lane itself. A straight line defined by the side section and extended beyond it can also be considered. This also applies to point f) described below. If the area geometry consists of several non-parallel side sections, the lane to be constructed is typically not created by directly connecting the endpoints of the connecting lines. Instead, the lanes are aligned section by section approximately parallel to the geometry of the side sections, with the parallelism gradually decreasing the more lanes are planned, in order to achieve lanes parallel to the reference axis in the central area of the agricultural area. This procedure also applies to the side opposite the start page.

[0018] In a second step, the lanes are planned on the side opposite the home page. On this side, the processing of the agricultural area ends, so lane planning must be carried out in the opposite direction, i.e., according to claim 5: f) On the side of the longer headland: Construct a first connecting line that ends on the side section, with the end point also being the end point of the side section, which is defined by the fact that it lies on a headland section. At the starting point of the connecting line, it is perpendicular to the lane to be constructed, with the length of the connecting line corresponding to the maximum working width or the first limit value. g) On the side of the shorter headland: Construct a second connecting line that ends on the side section, with the end point also being the end point of the side section, which is defined by the fact that it lies on a headland section. At the starting point of the connecting line, it is perpendicular to the lane to be constructed, with the lane created by connecting the two end points being aligned parallel to the reference axis. h) If the second connecting line is shorter than the minimum working width or the second limit value: Adjust the length and / or position of the second connecting line until the length of the second connecting line corresponds either to the minimum working width or to the second limit value. i) Construct a lane by connecting the endpoints of the connecting lines. It may be necessary to extend the constructed lane linearly beyond the endpoints to the nearest headland section. j) Repeating steps f) to i) for each additional lane to be planned until a lane to be planned is aligned at least approximately parallel to the reference axis, the lane previously constructed in the pass serving as the side section.

[0019] The procedure for planning the lanes in the first and / or second step can also alternatively be carried out according to the procedure described in claim 8.

[0020] In the middle area between the two edge areas, which is characterized by the fact that it is bordered on both sides by a lane aligned at least approximately parallel to the reference axis, the remaining lanes are now planned in a third step: k) Determine the distance between the two lanes defining the central area and divide the determined distance by a desired working width, preferably the maximum working width or an optimum working width, and optionally round the determined value up or down to obtain the optimum number of lanes. l) Creation of lanes at a distance determined from the distance between the parallel lanes bordering the central area divided by the optimal number of lanes.

[0021] Depending on the field geometry, it may also be useful to perform only one of the three steps described above or a combination of two steps. For example, it may happen that one side already runs parallel to the reference axis, so that only the first or second step needs to be performed in combination with the third step. Geometries are also conceivable in which only a single lane, for example at the edge, is aligned parallel to the reference axis, so that only the first or second step needs to be applied to plan a lane system. In this way, depending on the field geometry, a lane system consisting of several lanes is generated by successive application of at least one of the methods according to claims 1 to 10.Preferably, however, when a first lane is aligned parallel to the reference axis, at least one directly adjacent lane is arranged parallel to the first lane and the distance between two parallel lanes preferably corresponds to the maximum working width, so that the area of parallel lanes can also be worked with the least possible time and cost.

[0022] In an alternative embodiment of the invention, the lanes are not arranged in such a way that they align as quickly as possible parallel to a reference axis. Instead, the lanes are distributed in a fan-like manner over the area or partial area in such a way that the distances on both sides of the lanes are as equal as possible. In order to cultivate the agricultural area with as few passes as possible, it is advantageous if the target distances on the longer headland side correspond at least approximately to the maximum working width of the agricultural machine. In this way, the number of passes is minimized. It should be noted that, depending on the actual geometry, the headland width divided by the maximum working width may not produce an integer result. In this case, this is rounded up so that the distance between the lanes at the headland is correspondingly smaller than the maximum working width.

[0023] In particular, it can be provided that by iteratively increasing the length of the connecting line on the side of the shorter headland and / or reducing the length of the connecting line on the side of the longer headland, an area of parallel lanes in the middle of the agricultural area is reduced, in particular eliminated.

[0024] Once the number of lanes has been determined in this way, the distance between the lanes is determined on the side of the shorter headland, whereby the number of lanes and thus also the average lane distance on the side of the shorter headland is at least approximately calculated from the width of the longer headland divided by the maximum working width or, in other words, by dividing the length of the shorter headland by the number of lanes determined for the longer headland.

[0025] In an advantageous further development, deviations from a planned track system, for example due to driving errors or an incorrectly set working width determined by sensor data, such as preferably GPS sensors and / or sensors for determining the current working width, are taken into account and the track system is automatically adjusted to the current conditions. This allows driving errors or errors in machine settings to be corrected as quickly as possible.

[0026] Preferably, the currently set working width according to the planned lane system, for example, the cutting width of a plow, is automatically adjusted by an adjustment device on the agricultural machine according to the current distance between the lanes in the area of the agricultural machine based on satellite positioning. This allows for the most precise work possible along the lane system, eliminating the need for the user to laboriously manually adjust the cutting width to the respective lane system specifications.

[0027] It is therefore intended that the working width is adapted to the working width intended at the current position by means of a suitable actuator on the agricultural machine, which is preferably controlled automatically by the job computer, so that the desired working width is always achieved.

[0028] In an advantageous embodiment of the invention, the maximum and / or minimum working width and / or the optimal working width can be freely specified based on the specifications of the agricultural work machine or by the user. It can therefore be provided to use limit values of the agricultural work machine, such as the maximum or minimum working width, as limit values for planning the lane system. Alternatively or additionally, it can be provided to specify an optimal working width, which is used, for example, to adjust the lane spacing in the central area of parallel lanes, so that more passes are necessary for processing than when using the maximum working width. This can be justified by the work result.The choice of the optimal working width can also vary depending on local conditions, such as the topology of the field, soil conditions, weather conditions and the like.

[0029] Further advantageous embodiments and aspects of the invention emerge from the figures and the corresponding example description. Fig. 1 agricultural work machine, Fig. 2 - 12 Lane planning for an agricultural area using the method according to the invention and Fig. 13 alternative lane planning for an agricultural area using the method according to the invention.

[0030] An agricultural machine system with a terminal 103 according to the invention is shown in Fig. 1. The agricultural machinery system here consists of a tractor 101 and a plow 102 coupled to the tractor. The coupled plow is shown here as an example. Any other agricultural machine for cultivating an agricultural area can also be attached to the tractor 101. The agricultural machinery system can also be configured as a self-propelled agricultural machinery system, for example, a self-propelled sprayer or combine harvester.

[0031] The tractor 101 has a terminal 103, which can display information to the driver of the tractor 101 by means of a display device. In particular, information about the agricultural machine 102 and the tractor, such as position, speed, etc., can be displayed and operating parameters, such as the working width and / or working depth, can be changed. For this purpose, the terminal 103 has control elements in the form of switches, buttons, and / or, in particular, a touch-sensitive screen. The terminal is connected, in particular, to one or more job computers 104, 105, which can be located on the tractor and / or the coupled agricultural machine. The data connection between the job computer 105 of the agricultural machine 102 and the job computer 104 of the tractor is preferably established via a standardized data connection 106, in particular a so-called ISOBus interface.Alternatively, terminal 103 can also be connected directly to job computer 105 of agricultural machine 102 via the bus system, in particular the ISOBus. Information from the agricultural machine, such as set actual values or sensor data, is transmitted to job computer 104 or terminal 103 via this bus system. In the opposite direction, control commands from job computer 104 or terminal 103 are also transmitted to job computer 105 of agricultural machine 102. To execute the control commands, job computer 105 is connected to actuators and sensors via a data connection, for example, to an actuator 109 for adjusting the cutting width of plough 102. It is also conceivable for job computer 105 of agricultural machine 102 to transmit control commands to tractor 101 via bus system 106 as part of a so-called TIM (Tractor Implement Management) application.This can be used, for example, to issue a control command from the coupled machine 102 to reduce the speed or to raise a three-point linkage to reduce the working depth. Such a measure can be triggered, for example, by corresponding sensor signals on the agricultural machine 102.

[0032] Terminal 103 is preferably designed to automatically determine headland areas based on a stored map of the agricultural area to be worked, i.e., the positions near the field boundary or a portion of the field boundary where the agricultural machine is to be turned during work on the area, as described in more detail below. For this purpose, a preferred working direction is first defined as the reference axis. This can be manually defined by the user using suitable input options on terminal 103, determined by driving along and recording a so-called AB line, i.e., a distance between two points, stored in terminal 103 or job computer 104, 105, automatically calculated based on the field geometry using a separate method, or defined in some other way.

[0033] According to the invention, as described in detail below, a lane system is determined based on the defined reference axis and the geometry of the agricultural area, and the agricultural area is worked along this lane system. In a particularly preferred embodiment, the terminal is connected to a GPS receiver 107, and the working width of the agricultural machine 102, in this case the plow, is automatically adjusted depending on the distance between the lanes of the lane system determined by the terminal at the location of the machine.

[0034] The modules for calculating the lane system are executed either on the terminal 103 or on the job computer 104 connected to the terminal, and the lane system is then simply displayed on the terminal. It is also conceivable that the lane system is determined on an external data processing system 108, and the lane data and field coordinates are transferred to the terminal 103 or the job computer 104 via a data connection or a data storage device.

[0035] The modules for planning the lane system are therefore executed on terminal 103 or job computer 104, or executed on data processing system 108, and the lane system is made available to job computer 104 or terminal 103. The agricultural area is cultivated along the created lane system. For this purpose, the lane system is displayed on a terminal screen. The user can then steer tractor 101 along the displayed lanes and cultivate the field accordingly. For this purpose, the cutting width of the plough or the working width of the agricultural machine is also adjusted according to the spacing of the lanes of the lane system at the current position.

[0036] As already mentioned, it is optionally provided that the machine system automatically determines and adjusts the working width of the agricultural machine according to the lane spacing at the current position of the machine system. For this purpose, corresponding control commands are transmitted from the terminal 103 or the job computer 104 to the job computer 105 of the agricultural machine 102, whereupon the job computer 105, in the present example, adjusts the working width of the plough 102 using the actuator 109 if necessary. The automatic adjustment of the working width can be implemented for any agricultural machine that can be controlled by the tractor 102 via a data connection; in particular, the working width of seed drills, field sprayers, or fertilizer spreaders can be adapted to local conditions in this way.

[0037] In an advantageous further development, it is also conceivable for the agricultural machinery system to cultivate the agricultural area partially or fully autonomously along the planned lane system. For this purpose, in addition to the control commands, the terminal 103 or the job computer 104 issues steering commands and / or control commands for adjusting the speed to the job computer 105 of the agricultural machine, so that the tractor 101 cultivates the agricultural area along the lane system. The turning processes at the end or beginning of each lane can also be automated in this way.

[0038] An agricultural area 1 with an approximately trapezoidal base area is in Fig. 2. Headland sections 2 result in an upper headland 4 and a lower headland 5, which are found on opposite sides of the agricultural area. In addition, there are side sections 3, which form a left side 7 and a right side 6. The headlands 4, 5 and sides 6, 7 of the agricultural area 1 can each be formed by one or more sections 2, 3. The headlands and sides of the agricultural area can be defined by the user by means of manual input on a terminal of an agricultural machine or another data processing device. The headlands and sides of the agricultural area can also be defined automatically, for example based on the geometry of the area 1 and / or based on the orientation of a preferred processing direction 8.The machining direction 8 can also be set manually or determined automatically by an automated process.

[0039] To determine the lanes, you first determine on which side of the agricultural field you want to start working on. In this case, this is the left side 7. Furthermore, the line 11 indicating the lane can be positioned at various points along the lane. For example, it could be in the middle of the lane, on the left or right side, or at any other position within the lane. This must be determined before you carry out the procedure; however, the procedure itself remains unaffected. Therefore, the terms lane and line for indicating the lane are used synonymously. In this case, the line is positioned within the lane on the left side. The positioning can also depend on the agricultural machine used.For example, with a plough it is useful to display a line on the left or right edge of the lane to be worked, depending on the direction of work, as this shows the furrow in which the tractor is driving on one side and which influences the following lane. In the present example, the line 11 indicating the lane is placed on the left edge of each lane. This means that the first lane coincides with the left side 3 of the agricultural area. The next, second lane is now planned by initially looking at the lower left area of the agricultural area 1. The reason for this is that planning should preferably begin on the side that will be worked first and on the wide headland side.However, since lane planning can be done independently from each side of the agricultural area, it is just as easy to start with the upper left area or the upper right area and so on.

[0040] If we now look at the lower left area of agricultural area 1, shown in Fig. 3, to plan the second lane, the connecting line 10 is first constructed. Taking into account the intended working direction, this is always perpendicular to the lane first worked, in this case the left side 7. The length of the connecting line is determined by a first limit value. This can be, for example, the maximum working width of the agricultural machine or a limit value entered by a user. A further condition is that the connecting line ends on an adjacent headland section 2. This completely determines the orientation and position of the connecting line 10 on this side of the agricultural area. The second lane 11 therefore begins at the end point of the connecting line 10 shown.

[0041] The upper left side of agricultural area 1 is in Fig. 4. A lane 14 is now constructed, which begins on one side at the end point of the connecting line 10, runs parallel to the reference axis and ends at the headland section 2 of the upper headland in Fig. 4 ends. In order to verify the admissibility of this lane, a connecting line 12 is now constructed between the end point of the lane 14 and the side section 3 adjacent to the headland section 2. The connecting line 12 begins at the end point of the lane 14 and runs towards the side section 3 in such a way that the side section and the connecting line 12 are perpendicular to one another. Depending on the size of the angle between the side section 3 or a lane and the headland section 2, in particular if the inside angle is greater than 90°, the side section or the lane in question must be extended to construct the connecting line 12 and the connecting line 12 is then perpendicular to the extension of the side section 3 or the lane. The connecting line ends on the extended side section 3. The length of the connecting line 12 is determined.If this is shorter than a specified second limit value, which may, for example, correspond to the minimum working width of the agricultural machine or be determined by the respective user, the orientation of lane 14 is changed until the length of the connecting line corresponds at least to the second limit value. In the present case, this results in lane 11, which no longer runs parallel to the reference axis 8. The associated connecting line 13 now has a correspondingly greater length than connecting line 12 and thus fulfills the condition that the length of connecting line 13 must correspond at least to the second limit value.

[0042] If the left side 7 consists of several side sections 3, the corresponding areas can preferably be considered as partial areas, and the method can also be carried out section by section in such a way that the constructed lanes fulfill the above conditions in each section and the distances between adjacent lanes thus never exceed the first limit value or fall below the second limit value. The lanes constructed for each section can then preferably be connected in the transition area by a tangentially arranged curved connection.

[0043] For example, if the line indicating the lane is not supposed to run along the edge but in the middle of the lane, half of the first and second limit values would be considered for the construction of the first lane, so that the first lane would then not run along side section 3, but rather at a corresponding distance from and angle to it in the middle of the lane. However, the first and second limit values would then again be decisive for the construction of the lanes adjoining the first lane. Accordingly, other positions of the line for indicating the lane within the lane could also be realized.

[0044] The construction of the third lane adjoining the second lane is specifically in Fig. 5 and Fig. 6. The procedure is completely analogous to the method described above, whereby to determine the exact position of a lane 11.2 to be constructed, the previously constructed, adjacent lane 11 is used instead of the side section 3. To determine the position of the lane 11.2, the starting point of the lane on the opposite side of the headland is first determined (not shown here), as in Fig. 4. Then, as in Fig. 5, the end point of lane 11.2 is constructed using the connecting line 13.2. For this purpose, a lane 11.2 is initially created parallel to the reference axis 8 (not shown), and then, if necessary, the alignment of lane 11.2 is adjusted such that the length of the connecting line 13.2 corresponds to at least the second limit value. As can be seen from Fig. 5, due to the angle between the headland section 2 and the lane 11, the lane must be extended beyond the headland section 2 to construct the connecting line 13.2. A different situation arises for a field geometry as in Fig. 6. Two adjacent headland sections 2, 2.1 do not run parallel to each other but enclose an angle. To construct a lane 11.3, the adjacent lane 11 would not need to be extended in this case to construct the connecting line 13.3. Generally, a respective connecting line can always be constructed by constructing a straight line that extends the side section under consideration or the corresponding adjacent lane or lane section beyond the headland section.

[0045] In relation to the entire agricultural area 1, the constructed first two lanes are in Fig. 7, where the first lane coincides with the side section 3. The second lane 11 is now in accordance with the Fig. 3 and Fig. 4, so that in the area of the lower headland 5, the distance between the second lane 11 and the first lane or side section 3 corresponds to the first limit value, and in the area of the upper headland 4, the distance is not less than the second limit value, and subject to this restriction, the lane 11 is aligned as parallel as possible to the reference axis 8. Depending on the relative alignment of side section 3 and reference axis 8 and depending on the difference between the first and second limit values, it may be necessary to plan several lanes 11 until one lane is aligned parallel to the reference axis 8. In the present case, the sixth lane 11.4 planned from the left side is aligned parallel to the reference axis 8, as shown in Fig. 8 shown.

[0046] In the example of Fig. 7, the side section 3 of the agricultural area is simultaneously regarded as the first lane if it is being worked with a plough, for example. Accordingly, the first plough furrow would then be the second lane. However, this procedure is only an example. With other agricultural machines, for example a seed drill, it can be provided that the first lane does not coincide with the side section 3 and the first lane is instead located at a distance from the side section. It is therefore only necessary to differentiate at which position within the lane the line for displaying the lane is shown. This preferably depends on the machine used, as explained below. Otherwise, the procedure is no different for the various machines.

[0047] Planning is now preferably continued on the right side 6 of agricultural area 1, whereby, taking into account the cultivation direction from left to right, the lane geometry is planned in the opposite way to that of the left side. Since cultivation ends on this side of the area and it was previously determined that the line indicating the lane should always be displayed at the left edge of the lane, the right side 6 does not simultaneously coincide with such a line.

[0048] It will, as in Fig. 9, preferably first, a connecting line 15 and a lane or the line 17 indicating the lane are constructed on the longer headland 5, wherein the associated lane extends, in accordance with the construction of the lanes, from the left side of the field between the lane 17 and the right edge 6 of the field. The connecting line 15 begins in the lower right corner 21 of the agricultural area 1 and is perpendicular to the lane 17. The length of the connecting line 15 corresponds to the first limit value, preferably the maximum working width of the agricultural machine.

[0049] Lane 17 ends at the upper headland as shown in Fig. 10 that it runs parallel to the reference axis 8. In addition, a check is carried out to determine whether the width of the lane in the area of the upper headland 4 falls below the second limit value. For this purpose, a connecting line 16 is constructed which is perpendicular to the lane 17 and ends in the upper right corner 22 of the field. If the length of this connecting line 16 is less than the second limit value, the alignment of the lane 17 is adjusted until the length of the connecting line 16 is greater than or equal to the second limit value. When aligning the lane, the position and length of the connecting line 16 must of course also be adjusted. The next lane is then planned in a similar way, but this one is created in relation to the previously planned lane 17 instead of to the side section 3. Analogous to the left side 7, successive lanes 17 are also created on the right side 6 until a lane runs parallel to the reference axis 8.

[0050] After completing the lane planning on both sides, field 1 is partially crossed by lanes 11 and 17, as shown in Fig. 11. The distance between the lanes parallel to the reference axis 8 on the left and right is now used to determine the lanes in the central area 18. For this purpose, the distance is preferably divided by the first limit value, in particular the maximum working width. The distance can also be divided by another value, for example an optimal working width, if a particularly good working result is expected at this working width. The result of this division is rounded, unless an integer result is accidentally obtained, preferably rounded up if divided by the maximum working width, and gives the number of parallel lanes resulting in the central area 18 of the field. The resulting distance of the lanes 19 in the central area is now the distance divided by the number of lanes, which are now evenly distributed over the central area of the field 1 according to the Fig. 12 will be distributed.

[0051] Fig. 12 shows an agricultural area with a lane system planned according to the method according to the invention. A central aspect of the method according to the invention is that the position of the lanes depends on the order in which the agricultural area is worked. In particular, connecting lines for determining the lane spacing when planning the lanes in the edge area are generally perpendicular to the lane that is worked first. In the present case, therefore, they are always on the left of two adjacent lanes, since the work on the area is to begin on the left side. Regardless of whether lanes are planned on the left side 7 or the right side 6, the line constructed for determining the spacing is always perpendicular to the left of two adjacent lanes. The situation would be correspondingly reversed if the agricultural area 1 were to be worked from the right side.This distinction usually results in a different lane system depending on whether the agricultural area is to be worked from the left or right side.

[0052] An alternative construction of a lane system according to the method according to the invention is described in Fig.13. Here, the distances between the lanes 20 on the longer headland 4 and on the shorter headland 5 are each at least approximately the same. The construction of the lanes 20 is preferably carried out such that the width of the longer headland 5 is determined and divided by the first limit value, for example the maximum working width, or by another value, for example an optimal working width. The result is rounded, preferably rounded up, especially if it was divided by the maximum working width, in order to obtain the number of lanes to be created. In order to obtain the respective distances between the lanes 20 on the longer headland 5 or on the shorter headland 4, the headland width is then divided by the number of lanes. These distance values for the longer and shorter headland are then used to construct the connecting lines.With this type of construction, the length of the connecting line is not determined by the first and second limit values, but rather a calculated distance value is assumed. However, the exact position of lanes 20 also depends on whether the lanes are planned from the left or right side, since here, too, the connecting line for setting the distances between adjacent lanes is perpendicular to the lane to be processed first on one side and ends at the end point of the lane to be processed later on the other.

[0053] For this method, it is irrelevant what the exact geometry of the agricultural area to be planned is, which side of the field should be used to start cultivation, or where the wide headland is. However, it is preferable to start planning the lanes on one side of the agricultural area and only later plan lanes in the central area.

[0054] For the sake of readability, the terms "lane" (a lane of a specific width that is processed in one go) and "line" that indicates the lane in the lane system are largely synonymous in this application, as this primarily concerns the creation of lines spaced apart by the lane width. Only when the position of the line within the lane width is discussed is the line indicating the lane position to be distinguished from the lane itself. It should be noted here that the method according to the invention can be used regardless of the position in the lane at which the line indicating the lane is to be positioned. Only when planning the first lane is it necessary to modify the method by adjusting the length of the connecting line accordingly, for example by dividing by 2 to place the line in the center of the lane.

Claims

[1] Method for determining a lane system for cultivating an agricultural area (1) or part of an area with an agricultural machine (102), wherein the area is framed by an outer boundary, wherein the boundary of the area can be approximated as a closed polygonal line, wherein the sections of the polygonal line can be classified as headland sections (2) or as side sections (3), wherein the headland sections are located approximately on opposite sides of the area and can be classified as the upper and lower headland sides (4, 5), wherein the side sections are located approximately on opposite sides of the area and can be classified as the left and right field sides (7, 6), wherein the lanes (11, 17, 19) of the lane system each begin on a first headland side (4, 5) and end on an opposite second headland side (4, 5),wherein a field side (7) is defined as the starting point for processing with the agricultural machine and the lanes of the lane system are successively processed from the starting point, , characterized by that the distances between the ends of two adjacent lanes (11, 17) on the first and second headland side (4, 5) and / or the relative orientation of adjacent lanes depend on the order of processing the first and second lane and thus on the position of the start page (7). [2] Method for determining driving tracks for cultivating an agricultural area (1) or part of an area with an agricultural machine (102), wherein the area is framed by an outer boundary, wherein the boundary of the area can be approximated as a closed polygonal line, wherein the sections of the polygonal line can be classified as headland sections (2) or as side sections (3), wherein the headland sections are located approximately on opposite sides of the area and can be classified as the upper and lower headland sides (4, 5), wherein the side sections are located approximately on opposite sides of the area and can be classified as the left and right field sides (7, 6), characterized bythat at least one of two adjacent lanes (11, 17) and / or a lane (11, 17) adjacent to a side section (3) is constructed by means of a connecting line (10, 13, 13.2, 13.3, 15, 16), wherein the connecting line is perpendicular at its first end to a straight line defined by the first lane (11, 17) and / or the side section (3) and the connecting line ends at its second end at the headland section (2) adjacent to the side section and / or the first lane, and that this second end of the connecting line is an end point of the second lane (11, 17) and / or a side section (3). [3] Method according to claim 1 or 2, characterized by that at least one side section (3) is simultaneously defined as a lane (11, 17). [4] Method according to claim 2 or 3, characterized bythat the connecting line (10, 13, 13.2, 13.3, 15, 16) is perpendicular to a first, already constructed lane (11) and / or a side section (3) and a second lane (11) to be constructed ends at the second end of the connecting line and at a headland section (2) adjacent to the first and / or second lane. [5] Method according to at least one of claims 2 to 4, characterized by that an already constructed second lane (17) and / or a side section (3) ends at the second end of the connecting line and at a headland section (2) adjacent to the first and / or second lane and the connecting line is perpendicular to a first lane (17) to be constructed. [6] Method according to at least one of claims 2 to 5, characterized bythat the method is also applied to the second headland side (4) opposite the first headland side (5) to create a second connecting line and a first side of the lane (11, 17) to be constructed ends in a first (second) end point of the first connecting line (10, 15) and a second side of the lane to be constructed ends in a first (second) end point of the second connecting line (13, 13.2, 13.3, 16), wherein the lane (11, 17) to be constructed is preferably formed by directly connecting the end points of the lane (11, 17) to be constructed. [7] Method according to claim 6, wherein at least one reference axis (8) is defined which runs substantially parallel to a preferred machining direction, characterized bythat the length of one of the connecting lines (10, 15) corresponds to a first limit value, preferably the maximum working width, and the length of the other connecting line (13, 13.2, 13.3, 16) is selected in a first step such that the lane (11, 17) to be constructed runs parallel to the reference axis (8) and if the length of the other connecting line (13, 13.2, 13.3, 16) falls below a second limit value, preferably the minimum working width, the length of the other connecting line and thus the position of the lane (11, 17) to be constructed is adjusted until the length of the other connecting line (13, 13.2, 13.3, 16) at least approximately corresponds to the second limit value. [8] Method according to claim 6, wherein at least one reference axis (8) is defined which runs substantially parallel to a preferred machining direction, characterized by the following steps: I. Forming one of the connecting lines (10, 15) with a length corresponding to a first limit value, preferably the maximum working width, and forming the other connecting line (13, 13.2, 13.3, 16) with a length corresponding to a second limit value, preferably the minimum working width; II. Determining a first angle between the lane to be constructed (11, 17) and the reference axis (8); III. Determining a second angle which the reference axis (8) and the previously constructed adjacent lane and / or adjacent side sections enclose with the reference axis (8); IV. When changing from a left-hand to a right-hand tilt or vice versa of the first compared to the second angle relative to the reference axis (8): aligning the lane to be constructed (11, 17) parallel to the reference axis (8) by adjusting at least one of the connecting lines (10, 13, 13.2, 13.3, 15, 16). [9] Method according to at least one of the preceding claims, applied to opposite sides (6, 7) of the agricultural area (1), characterized by that the widest possible area (18) is created in the middle of the area with lanes (19) parallel to each other. [10] Method according to at least one of the preceding claims, applied to opposite sides (6, 7) of the agricultural area (1), characterized by that by iteratively increasing the length of the connecting line (13, 13.2, 13.3, 16) on the side of the shorter headland (4) and / or reducing the length of the connecting line (10, 15) on the side of the longer headland, an area (18) of parallel lanes in the middle of the agricultural area is reduced, in particular eliminated. [11] Method according to claim 9, characterized bythat the distance between the parallel lanes (19) corresponds at least approximately to a value specified by the user. [12] Method according to at least one of claims 8 to 11, characterized by that two different limit values are used to generate the two end points of at least one lane (11, 17, 19) to be constructed. [13] Method according to at least one of the preceding claims, characterized by that on the longer headland side (5) the distances between the tracks (11, 17, 19) correspond at least approximately to the maximum working width of the agricultural machine (102). [14] Method according to at least one of the preceding claims, characterized bythat the number of lanes (11, 17, 19) and thus also the average lane spacing on the side of the shorter headland (4) results at least approximately from the width of the longer headland (5) divided by the spacing of the lanes (11, 17, 19) on the side of the longer headland, which preferably correspond at least approximately to the maximum working width of the agricultural machine (102). [15] Method according to at least one of the preceding claims, characterized by that a lane system comprising a plurality of lanes (11, 17, 19) is generated by successive application of at least one of the methods according to claims 1 to 10. [16] Method according to at least one of the preceding claims, characterized bythat when a first lane (19) is aligned parallel to the reference axis (8), at least one directly adjacent lane is laid out parallel to the first lane and the distance between two parallel lanes preferably corresponds at least approximately to the maximum working width and / or an optimal working width. [17] Method according to at least one of the preceding claims, characterized by that the working width is automatically adjusted by means of a suitable adjusting device (109) on the agricultural machine (102) according to the current distance of the lanes (11, 17, 19) in the area of the agricultural machine on the basis of satellite positioning. [18] Method according to at least one of the preceding claims, characterized bythat in the event of deviations from a planned lane system, for example due to driving errors or an incorrectly set working width, determined by sensor data, such as preferably GPS sensors (107) and / or sensors for determining the current working width, these deviations are taken into account and the lane system is automatically adapted to the current conditions. [19] Method according to at least one of the preceding claims, characterized by that the maximum and / or minimum working width and / or the optimum working width are determined by the specifications of the agricultural working machine (102) or can be freely specified by the user.

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