Method and control device for operating a self-propelled work machine

Abstract

Method for operating a self-propelled work machine (10), wherein the work machine is designed as a self-propelled tractor or as a self-propelled harvester, with the steps to be carried out by the self-propelled work machine (10) during its operation: Detecting (S1) whether a living being (20) is in the vicinity (16) of the self-propelled work machine (10), and Actuating (S2) a warning mechanism for deterring a living being (20) if a living being (20) has been detected in the environment (16) of the self-propelled work machine (10), wherein the warning mechanism comprises emitting an acoustic signal with an acoustic signal generator (18), characterized by that a sweep signal is emitted as an acoustic signal, which sweeps through a frequency range, wherein the self-propelled working machine (10) is operated in agriculture when carrying out the method.

Description

Technical area

[0001] The invention relates to a method and a control device for operating a self-propelled work machine which can carry out work independently without a driver. State of the art

[0002] It is known that signals are emitted by human-driven vehicles to ward off animals. DE 10 2011 086 998 A1 describes such a method for deterring animals in road traffic. In a wildlife crossing area, the human-driven vehicle generates a danger signal to deter any animal potentially crossing the road. Furthermore, DE 10 2014 115 555 A1 describes a method for deterring animals, in which animals are to be driven away with an emitted signal when a motor vehicle is parked.

[0003] Even with automated operation of a self-propelled machine, living beings can enter the machine's operating area and disrupt or even prevent its operation. This may occur more frequently than with human-driven vehicles, as the machine often operates away from paved roads, where animals are more common and people present there may not necessarily expect the machine to be present. Summary of the invention

[0004] The invention therefore provides solutions to make the operation of a self-propelled work machine more efficient, whereby an increase in efficiency can be achieved in particular by reducing the susceptibility of the work machine to malfunctions caused by living beings in its environment.

[0005] Such a solution for a method for operating a self-propelled work machine has as method steps a detection of whether a living being is in the vicinity of the self-propelled work machine and an actuation of a warning mechanism for deterring a living being if a living being has been detected in the vicinity of the self-propelled work machine, wherein the steps are carried out by the self-propelled work machine during its operation.

[0006] The operation of the self-propelled work machine can be remotely controlled by a user or autonomously by the work machine and can include moving the work machine, performing work steps by the work machine itself or by a tool attached to the work machine and / or communicating between a user and the work machine or with other work machines.

[0007] The self-propelled machine can be an automated machine that can operate during the day and / or at night. The self-propelled machine can perform work as an autonomous machine without a driver, whereby a user or operator of the machine can monitor the operation of the machine locally or remotely, for example, in a control center, and intervene in the event of a malfunction in the machine's operation.

[0008] The self-propelled work machine can, in particular, be a machine used in agriculture and self-propelled in a field, for example, a self-propelled tractor or a self-propelled harvester. The self-propelled work machine can also be any self-propelled vehicle, in particular a self-propelled construction machine, a self-propelled off-highway vehicle, or a self-propelled transport vehicle, for example, a self-propelled forklift.

[0009] A self-propelled work machine can be one with an internal combustion engine or an electrically powered self-propelled work machine.

[0010] Living beings may be present, particularly in the vicinity of agricultural machinery, and the area surrounding the machine may represent an area of ​​their habitat. A living being may be an animal, particularly a wild animal, or a human. Objects in the vicinity of the self-propelled machine may also be obstacles but are not living beings. These can also be detected.

[0011] The environment of the self-propelled work machine can also be referred to as its working environment. The environment can be defined as the spatial area around the location of the work machine. The spatial area can be a two-dimensional round or three-dimensional spherical area, which can be defined by a radius, which can be the working radius of the work machine. The environment can also have any other geometric shape.

[0012] The movement trajectory of the work machine can be recorded, controlled and followed using satellite-based positioning methods, for example by means of a global navigation satellite system (GNSS) and a receiver for satellite signals mounted on the work machine.

[0013] The detection of a living being in the vicinity of the work machine can be based on detecting the living being using an environment detection system, which can be arranged on the self-propelled work machine. The environment detection system can have at least one environment detection sensor. The environment detection sensor can be an imaging or scanning sensor, whereby the imaging sensor can capture image information of the surroundings of the work machine, and the continuously scanning sensor can successively obtain information on individual measuring points in the surroundings of the work machine. Image information of the surroundings can, in turn, be generated from the information successively captured by the scanning sensor.

[0014] The environment detection sensor can be configured to determine the relative position of the living being to the work machine, wherein a relative position of the living being to the location of the work machine can be calculated by means of polar attachment.

[0015] The environment detection sensor can be, for example, a radar sensor, a camera, an ultrasonic transceiver, an ultrasonic distance sensor, or a laser scanner (lidar). The camera can be an infrared camera, a 3D camera, or one of several stereo image cameras.

[0016] In the measurement data recorded by the environment detection system with the at least one environment detection sensor, a detected living being in the environment of the work machine can then be recognized, wherein the environment can be at least one area of ​​a measurement range of the environment detection sensor around the work machine.

[0017] The detection of a living being in the vicinity of the work machine can be based on stationary measurement data acquired by at least one of the various environment detection sensors. In an infrared image from an infrared camera, a living being can be detected as an object that is warmer than its surroundings. In a point cloud from a laser scanner or a 3D camera, a living being can be detected as an object that has a different signal reception intensity than its surroundings. In a two-dimensional image from a camera or in a three-dimensional image from stereo cameras, a living being can be detected using two-dimensional or three-dimensional template matching with correspondingly predefined objects.

[0018] Alternatively or additionally, the detection of a living being in the environment of the work machine can be based on dynamic measurement data acquired by at least one of the various environment detection sensors, which may include a plurality of stationary measurement data. Using an environment detection sensor, two-dimensional or three-dimensional measurement data of the environment can be generated. A living being can be an object in the measurement data that is moving relative to its surroundings, which can be detected, for example, using differential images from cameras or other differential data from the other sensors mentioned.

[0019] For example, in combination with infrared data, it can also be determined whether the creature is moving or at rest.

[0020] One criterion for determining whether a living being is in the vicinity of the work machine can be the distance of the living being from the work machine or a calculated distance between the location of the work machine and the location of the work machine along its movement trajectory. Whether a living being is in the vicinity of the work machine can also be determined by whether the location of a detected living being, measured using an environment detection sensor, is within the spatially defined environment around the work machine.

[0021] Activating a warning mechanism to deter a living being detected in the vicinity of the work machine can involve starting the warning mechanism, in particular emitting a one-time or continuous warning signal. The warning signal can be any signal that appeals to the senses of a living being, in particular an acoustic signal or a visual signal. Activating the warning mechanism can also involve repeatedly emitting a warning signal. A warning mechanism that has been activated can be stopped again after a certain period of time.

[0022] The warning mechanism has the purpose of deterring a living being, whereby deterring the living being can have the goal of chasing the living being from the area or of stopping the living being at its location in the area surrounding the work machine.

[0023] A core concept of the invention is that a self-propelled work machine is equipped with an automatic deterrent system for living beings, which automatically executes a deterrent mechanism when a living being is located in the vicinity of the work machine. This is advantageous because a user no longer has to visit the self-propelled work machine or switch on the machine to remove an obstacle. This can result in advantageous effects through time and cost savings for the user.

[0024] One advantageous effect of the invention is that a self-propelled machine can be operated more efficiently, as living beings can be deterred from the working environment before they can negatively impact the operation of the machine, for example, through a collision. Furthermore, user interventions due to living beings that could pose an obstacle are minimized, and the performance of the machine can be increased.

[0025] A further advantageous effect of the invention is that living beings can be effectively warned of an approaching work machine before they can be injured by it. For example, living beings can be warned of a machine applying a pesticide before they come into direct contact with the pesticide. Living beings in the vicinity of a harvesting machine can also be protected from injury from contact with a harvesting tool.

[0026] The invention is also based on the concept that, particularly in the case of electrically operated self-propelled work machines, the lower noise emissions compared to the noise emissions of a machine with an internal combustion engine can be compensated by the warning mechanism, whereby a deterrent effect of the noise emissions of the internal combustion engine can be replaced by a deterrent effect of the triggerable warning mechanism.

[0027] Self-propelled machines operated at night, which do not necessarily have to operate with lights, can therefore have reduced visual perceptibility compared to the machine's visual perceptibility during the day. The invention is therefore also based on the further concept that reduced visual perceptibility at night can be compensated for by replacing an additional optical or acoustic deterrent effect with a warning mechanism that is also perceptible at night.

[0028] One embodiment includes detecting a response of the living being to the warning mechanism and deciding whether operation of the self-propelled work machine can be maintained based on the detected response of the living being. Detecting the response of the living being can be based on detecting movement behavior or a constant or changing location of the living being. This can be done using the environment detection system, with which a position or movement of the living being can be determined by measurement. Maintaining operation can include continuing on a predefined trajectory or deviating from such a trajectory to avoid a collision with the detected living being. Maintaining operation can also include continuing a task performed by the work machine.Maintaining operation may also involve continuing to drive and interrupting the work being performed until the detected living being is no longer in the vicinity of the work machine. The work machine can thus autonomously resolve a hazardous situation without requiring an on-site or remote operator to resolve the situation.

[0029] In a further embodiment, the reaction of the living being comprises moving away from the environment of the self-propelled work machine. The movement can be determined by the environment detection system using dynamic measurement data acquired by the system. Alternatively or additionally, the reaction of the living being can comprise pausing in the environment of the self-propelled work machine, whereby the living being can sleep or stand still during the pausing. The movement can be determined by the environment detection system using stationary or dynamic measurement data acquired by the system. Such reactions of a plurality of living beings or their relative movement behavior to one another can also be taken into account.Knowledge of such reactions of a living being that dangerously approaches the work machine can be a basis for a decision as to whether the living being can be harmed by the work machine or vice versa and whether operation can be maintained without harm.

[0030] Another embodiment involves stopping the operation of the self-propelled work machine if the living being does not respond to the warning mechanism. Stopping the operation can be a travel stop or a work stop, whereby work can continue to be performed by the work machine during the travel stop, or the work machine can continue to move during the work stop. Such a stop is advantageous because a collision with a living being can be avoided.

[0031] A further embodiment comprises actuating the warning mechanism to deter a living being when the self-propelled work machine is stopped, detecting a reaction of the living being to the warning mechanism when the self-propelled work machine is stopped, and deciding whether operation of the self-propelled work machine can be resumed depending on the detected reaction of the living being. While the warning mechanism is active, detection of living beings can continue, and a check can be carried out to determine whether the living being is still in the vicinity of the machine. The warning mechanism can be triggered as a first warning when the work machine is moving and then as a second warning when it is stationary, whereby the second warning can only be executed if the first warning was unsuccessful, i.e., without eliciting a desired reaction from the living being.The activation of the warning mechanism in a stopped state and the detection of a response from the living being to this warning mechanism can be performed alternately, whereby a maximum number of repetitions and a time interval between individual repetitions can be predefined. Warning the living being in a stopped state can enable the working machine to autonomously resolve particularly critical situations, such as those in which a collision or damage is imminent, without requiring on-site user intervention.

[0032] A further embodiment comprises transmitting a notification to a user of the self-propelled work machine if the living being does not respond to the warning mechanism activated in the stopped operating state, and resuming operation of the self-propelled work machine by the user. Such a method step can be described as an emergency solution for warning a living being that prevents resumption of operation of the work machine. Such an additional option for user intervention, whereby the user assesses the situation on-site, ensures a particularly high reliability of the self-propelled work machine, as it can prevent a prolonged downtime.

[0033] A further embodiment comprises checking whether there is a risk of collision between the self-propelled work machine and a living being detected in the vicinity of the self-propelled work machine, and activating the warning mechanism to deter the detected living being if the check reveals that there is a risk of collision. The operation of the work machine can only be stopped if a living being detected in the vicinity of the work machine is also located on a trajectory followed by the work machine or if a direction of movement is oriented towards the trajectory, i.e., only if a collision with the living being is imminent. In this way, living beings located to the side of the work machine or not in the working area of ​​a work tool can be detected and continued to be observed, but initially ignored in order not to unnecessarily disrupt the operation of the work machine.To calculate a possible collision, it may be necessary to transform the trajectory of the working machine and the movement of the living being into a higher-level coordinate system.

[0034] A further embodiment comprises terminating the activated warning mechanism for deterring a living being if no living being is detected in the vicinity of the self-propelled work machine. The activated warning mechanism can comprise a temporary transmission of a warning signal. The activated warning mechanism can only be activated as long as a living being is detected in the vicinity. The warning mechanism can remain activated with a delay, even if no further living being is detected. This can be advantageous because living beings often occur in a group of living beings and another living being may be near a detected living being or following it.

[0035] In a further embodiment, the warning mechanism comprises emitting an acoustic signal using an acoustic signal generator. An acoustic warning signal can have frequencies audible to an unintentionally present person and / or animal, wherein the acoustic warning signal can essentially have a single or multiple frequencies. The acoustic warning signal can comprise a monotone or multitone signal, in particular a horn signal or a siren signal. The signal can also comprise a beep signal (beeper). An audible signal can have a strong deterrent effect for an animal and a known warning function for a person.

[0036] The self-propelled machine can also emit a continuous acoustic signal that is inaudible to humans, particularly in a facility where people are present. This can be an inaudible acoustic curtain that permanently deters living beings in the working area of ​​the machine.

[0037] In a further embodiment, the acoustic signal has frequencies that are inaudible to humans. The acoustic warning signal can be a sweep signal that runs through a specific frequency range once or repeatedly, whereby frequencies audible to humans and / or animals can be run through. The acoustic signal can be generated with an acoustic signal generator, which can be a loudspeaker or any other sound-generating device. The acoustic signal generator can be arranged on the work machine. Emitting a signal that is inaudible to humans has the advantage that it is inaudible to residents or people not in the vicinity of the work machine, but can effectively deter animals.

[0038] In a further embodiment, the warning mechanism comprises emitting an optical signal using an optical signal generator. An optical warning signal can comprise signals visible to a human and / or an animal, wherein the optical warning signal can essentially comprise the emission of light. The optical warning signal can comprise a single flash, a periodically emitted flash, or a continuous light. The optical signal can be generated using an optical signal generator, which can be a headlight or any other light-generating device. The optical signal generator can be arranged on the work machine. The optical signal generator can, in particular, be a signal light that generates, for example, a red warning light. The optical signal generator can also comprise a reflector for deflecting the optical signal or an optical projector for projecting the optical signal.A visible signal can be an effective deterrent when the machine is operated at night or can represent a signal that is familiar to a person.

[0039] The self-propelled machine can also emit a continuous optical signal, especially during nighttime or dark operation. This can be an optical curtain that permanently illuminates the work area of ​​the machine.

[0040] A further solution consists in a control unit for operating a self-propelled work machine, which is configured to carry out a method during operation of the work machine, which comprises, as method steps or control steps, detecting whether a living being is present in the vicinity of the self-propelled work machine and activating a warning mechanism to deter a living being if a living being is detected in the vicinity of the self-propelled work machine. The control unit can also be configured to carry out all of the other described method steps.

[0041] The control unit can be configured to control the self-propelled work machine, the environment detection system, the environment detection sensor, the acoustic signal generator, the optical signal generator, a wireless transmitting and receiving unit for communication between the self-propelled work machine and a user, and other devices configured to carry out the method steps in order to automatically carry out the method steps on the work machine.

[0042] Another solution is a self-propelled work machine that has such a control unit. The self-propelled work machine can be an autonomous work machine or a work robot. Short description of the drawings Fig. 1 shows a flowchart of method steps of an embodiment of a method for operating a self-propelled work machine. Fig. 2 shows a plan view of an embodiment of a self-propelled work machine. Detailed description of embodiments

[0043] In Fig. 1, individual process steps S1 to S10 are shown in a flow chart in their chronological sequence, with steps S4 and S8 being decision steps and the remaining steps being individual activities.

[0044] In a first step S1, a living being 20 in the environment 16 of a self-propelled work machine 10 is detected by an environment detection sensor 12 and recognized by an evaluation unit (not shown). Optionally, in an intermediate step S1a, a collision check can be performed by the evaluation unit, which checks whether the living being 20 detected by the environment detection sensor 12 and recognized by the evaluation unit is an obstacle 22 located on a trajectory 11 of the self-propelled work machine 10.

[0045] In a second step S2, a warning mechanism is activated by a control unit 40 if a living being 20 has been detected in step S1. An acoustic signal generator 18 and / or an optical signal generator 19, which are arranged on the self-propelled work machine 10, are controlled such that an acoustic and / or optical signal is emitted by the signal generator 18, 19 if a living being has been detected in step S1.

[0046] In a third step S3, the evaluation unit detects the living being's reaction. Based on the living being detection and recognition in step S1, the evaluation unit evaluates the living being's reaction to the warning signal emitted in step S2.

[0047] In decision step S4, a decision is made by the control device 40 regarding maintaining the operation of the self-propelled work machine 10. In step S5a, operation is maintained if the evaluation in step S3 shows that the living being 20 is responding, i.e., is no longer moving or is moving away. Alternatively, in step S5b, operation is stopped if the evaluation in step S3 shows that the living being 20 is not responding, i.e., is continuing to move or is not moving away or approaching. After the final step S5a, the operation of the self-propelled work machine 10 begins again with step S1.

[0048] After step S5b, the warning mechanism is again actuated in step S6 according to step S2, with the difference that a warning signal is issued while the self-propelled work machine 10 is stopped. After step S6, the reaction of the living being is again detected in step S7 according to step S3 while the self-propelled work machine 10 is stopped. Steps S6, S7 are limited in a loop or can be repeated endlessly as long as no reaction of the living being 20 to the warning signal emitted in step S6 is detected in step S7.

[0049] In decision step S8, the control unit 40 makes a decision regarding the resumption of operation of the stopped self-propelled work machine 10. In step S9a, operation is resumed if the living being 20 reacts, i.e., no longer moves or moves away. Alternatively to step S9a, in step S9b, a message is transmitted to a user 30 via the wireless transmitting and receiving unit 32 arranged on the self-propelled work machine 10 if the living being 20 does not react, i.e., continues to move or does not move away or approach. After the final step S9a, the sequence of operations of the self-propelled work machine 10 begins again with step S1.

[0050] In step S10, operation is resumed by the user 30, to whom the message containing a fault report was transmitted in step S9b and who received it via a wireless transmitting and receiving unit 32. The user 30 manually resumes operation of the self-propelled work machine 10.

[0051] In Fig. Figure 2 shows a top view of the self-propelled work machine 10 and its trajectory 11. A living being 20 is located in the vicinity 16 of the self-propelled work machine 10. Another living being 20 is located as an obstacle 22 on the trajectory 11 of the self-propelled work machine 10.

[0052] The environment 16 is defined by a horizontal radial distance 17 from the self-propelled work machine 10 and is located within an object detection area 14 in which an environment detection sensor 12 can detect living beings 20 by measurement.

[0053] The environment detection sensor 12, an acoustic signal transmitter 18, an optical signal transmitter 19, a wireless transmitting and receiving unit 32, and a control unit 40 are arranged on the self-propelled work machine 10. The environment detection sensor 12, the acoustic signal transmitter 18, the optical signal transmitter 19, and the wireless transmitting and receiving unit 32 are connected to the control unit 40 and the evaluation unit (not shown) for carrying out method steps S1 to S10. The wireless transmitting and receiving unit 32 arranged on the self-propelled work machine 10 communicates with another wireless transmitting and receiving unit 32 in the vicinity of a user 30 who uses the self-propelled work machine 10.

[0054] With such a self-propelled work machine 10 and the method steps S1 to S10, it is thus possible to detect and deter living beings at such an early stage that operation of the self-propelled work machine 10 can be independently maintained by the self-propelled work machine 10 in step S5a or independently resumed by the self-propelled work machine 10 in step S9a. Interventions by a user 30 in step 10 can thus be reduced, and the performance of the self-propelled work machine 10 can be increased. Reference symbol 10 self-propelled work machines 11 Trajectory 12 Environment detection sensor 14 Object detection area 16 Environment 18 acoustic signal generator 19 optical signal generator 20 living beings 22 Obstacle 30 users 32 wireless transmitter and receiver unit 40 Control unit S1 Living Being Recognition S1a Collision test S2 Warning mechanism activation S3 reaction detection S4 Maintenance decision S5a Operational Continuity S5b Operational stop S6 Repeated warning mechanism activation S7 Repeated reaction detection S8 Resumption decision S9a Resumption of operations S9b Message transmission S10 Resumption of operations by users

Claims

[1] Method for operating a self-propelled work machine (10), wherein the work machine is designed as a self-propelled tractor or as a self-propelled harvester, with the steps to be carried out by the self-propelled work machine (10) during its operation: Detecting (S1) whether a living being (20) is in the vicinity (16) of the self-propelled work machine (10), and Actuating (S2) a warning mechanism for deterring a living being (20) if a living being (20) has been detected in the environment (16) of the self-propelled work machine (10), wherein the warning mechanism comprises emitting an acoustic signal with an acoustic signal generator (18), characterized by , that a sweep signal is emitted as an acoustic signal, which sweeps through a frequency range, wherein the self-propelled working machine (10) is operated in agriculture when carrying out the method. [2] Method according to claim 1, comprising detecting (S3) a reaction of the living being (20) to the warning mechanism and deciding (S4) whether the operation of the self-propelled work machine (10) can be maintained (S5a), depending on the detected reaction of the living being (20). [3] Method according to claim 2, wherein the reaction of the living being (20) comprises moving away from the environment (16) of the self-propelled work machine (10). [4] Method according to one of the preceding claims, with stopping (S5b) the operation of the self-propelled work machine (10) if the living being (20) does not react to the warning mechanism. [5] Method according to claim 4, with Actuating (S6) the warning mechanism for deterring a living being (20) in the stopped operating state of the self-propelled work machine (10), Detecting (S7) a reaction of the living being (20) to the warning mechanism in the stopped operating state of the self-propelled work machine (10) and deciding (S8) whether the operation of the self-propelled work machine (10) can be resumed (S9a), depending on the detected reaction of the living being (20). [6] Method according to claim 5, comprising Transmitting (S9b) a notification to a user (30) of the self-propelled work machine (10) if the living being (20) does not respond to the warning mechanism activated in the stopped operating state, and Resuming (S10) the operation of the self-propelled work machine (10) by the user (30). [7] Method according to one of the preceding claims, with Checking (S1a) whether there is a risk of a collision between the self-propelled work machine (10) and a living being (20) detected in the vicinity (16) of the self-propelled work machine (10), and Actuating (S2) the warning mechanism to deter the detected living being (20) if the test (S1a) shows that there is a risk of collision. [8] Method according to one of the preceding claims, comprising terminating the actuation of the warning mechanism for deterring a living being (20) if no living being (20) is detected any longer in the environment (16) of the self-propelled work machine (10). [9] The method of claim 8, wherein the acoustic signal has frequencies that are inaudible to a human. [10] Method according to one of the preceding claims, wherein the warning mechanism comprises emitting an optical signal with an optical signal transmitter (19). [11] Control device (40) for operating a self-propelled working machine (10) designed as a self-propelled tractor or as a self-propelled harvesting machine, which is designed to carry out a method according to one of the preceding claims. [12] Self-propelled working machine (10), wherein the working machine is designed as a self-propelled tractor or as a self-propelled harvesting machine, which has a control device (40) according to claim 11.

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