Snagit Screen Capture & Screen Recorder Free Trial Buy. Camtasia Screen Recorder & Video Editor Free Trial Buy. Snagit/Camtasia Bundle Buy Together and Save Buy. Processor: 2.4 GHz single core processor (dual core i5 required for video capture) RAM: 1 GB of RAM (4 GB required for video capture) Hard Disk: 400 MB of hard-disk space for. Get access to powerful screen capture features with SnagIt. Far more than just letting you take screenshots, SnagIt is a fully-featured screen recording tool that allows you to take scrolling captures, complete window captures, full screen desktop screenshots, and even record screen videos. The interface is highly intuitive, revolving around scrolling to take images outside of your screen area. Windows System Requirements. Microsoft Windows 10, Windows 8.1, Windows 7 SP1, Windows Server 2016, or Windows Server 2012 R2. Windows N requires the Media Foundation Pack.NET 4.6 or later; 2.4 GHz single core processor (dual core i5 required for video capture).
Capture, makesure toalso disablethe Snagit Printer optionon theInstall Featurestab ofthe Deployment Tool. Snagit 2018 Deployment Tool Guide Author: TechSmith Corporation Subject: TechSmith Snagit. The invention relates to an agricultural utility vehicle (1) having a lane guidance system, comprising at least one optical image detection device (10) arranged on the utility vehicle (1) and an image processing system (8). To this end, reference objects (14a-14f, 17a-17f; 21; 23; 25) located along a lane (16) driven along by the utility vehicle (1) can be detected by means of the at least one.
Priority to DE102017217391.2priorityPriority to DE102017217391.2Aprioritypatent/DE102017217391A1/en
CriticalZf Friedrichshafen Ag
Criticalpatent/WO2019063232A1/en
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Classifications
A--HUMAN NECESSITIES
A01B--SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
A01B79/005--Precision agriculture
A--HUMAN NECESSITIES
A01B--SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
A01B69/001--Steering by means of optical assistance, e.g. television cameras
G--PHYSICS
G05D--SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/02--Control of position or course in two dimensions
G05D1/0231--Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
G05--CONTROLLING; REGULATING
G05D2201/00--Application
G05D2201/0201--Agriculture or harvesting machine
Abstract
The invention relates to an agricultural utility vehicle (1) having a lane guidance system, comprising at least one optical image detection device (10) arranged on the utility vehicle (1) and an image processing system (8). To this end, reference objects (14a-14f, 17a-17f; 21; 23; 25) located along a lane (16) driven along by the utility vehicle (1) can be detected by means of the at least one image detection device (8) and can be differentiated by means of the image processing system (8), and a lane (18) can be predetermined on the basis of an analysis of the reference objects (14a-14f, 17a-17f; 21; 23; 25) by a control unit (7).
Description
Agricultural work vehicle
The invention relates to an agricultural work vehicle having a guidance system, comprising at least one optical image acquisition device arranged on the work vehicle and an image processing system. Batchgif 1 90 – animated gif creator software. Furthermore, the invention relates to a method for determining a lane of an agricultural work vehicle.
Agricultural machinery has recently been developed to control and guide it by means of automatic positioning devices. For example, satellite-based position determining devices, so-called GPS systems are used to automatically control with the help of cartographically stored field information such as soil conditions, humidity, etc. and the particular actual position processing parameters of the respective agricultural machine such as the amount of seed applied. Furthermore, an attempt is already made to automatically steer the agricultural machine by means of GPS. However, it has so far been difficult to be able to travel the setpoint route accurately enough by means of GPS. In order to increase the accuracy of the GPS control, it is also known to provide correction signals to improve the accuracy of the position determination. The correction signal is either provided by a stationary reference station or, as is usually the case, by a mobile GPS station which is set up at the edge of the field. In both cases, high usage fees arise. In addition, the additional time required for the construction and dismantling of the mobile GPS station is disadvantageous.
From DE 103 28 395 A1 an agricultural machine with an optical image capture device is known which detects an image of a current travel path of the agricultural machine. This current image of the area in front of the agricultural machine in the direction of travel is compared with stored image data of the desired travel path of the agricultural machine. On the basis of this image comparison, control commands for steering the agricultural machine are automatically provided. Since the tracking system disclosed in DE 103 28 395 A1 forces the vehicle in a manner analogous to GPS-based systems to a previously defined route, this setpoint route must be used first be created in advance. On the other hand, this predefined route can then deviate significantly from the real conditions if, for reasons of growth, an optimal, plant-friendly crossing of the territory would require a driving of the territory deviating from the predefined route.
Based on the above-described prior art, it is now the object of the present invention to develop an agricultural work machine and a method for determining a lane of an agricultural work vehicle of the type mentioned in the manner which avoids the disadvantages of the prior art, in particular a simplified, more flexible tracking can be achieved.
This object is achieved on the basis of the preamble of claim 1 in conjunction with its characterizing features. Furthermore, the object is achieved by a method according to the independent claim 1 1. The subsequent dependent claims give each advantageous embodiments of the invention.
According to the invention, an agricultural work vehicle with a guidance system is proposed, wherein the guidance system comprises at least one image acquisition device arranged on the work vehicle and an image processing system. The guidance system is to assist an operator of the agricultural work vehicle to find the correct entry point into a new traffic lane and to maintain the lane.
In the context of the invention, the agricultural working vehicle may be a tractor or tractor with an attachment, in particular a rear-side attachment, or self-propelled harvesting machines with an attachment arranged thereon. The attachment may be, for example, a tillage implement, a sprayer for spreading fertilizers or pesticides, or a planter. The attachment may be exemplified as a cereal cutter, as a row-dependent working corn header or as a sunflower cutter. The implements and attachments It is common that when driving over a field to be machined certain distances to a previous lane are to be observed, resulting from the type of attachment or attachment.
Snagit Screen Capture Tool
The invention now encompasses the technical teaching that reference objects which are located along a lane traveled by the work vehicle and can be differentiated by the image processing system and that a lane can be predetermined by a control device by means of an evaluation of the reference objects. The reference objects are, on the one hand, already existing point- or line-shaped reference objects, such as individual plants, plant rows, plant dams or plant walls or the like, but also existing tramlines. On the other hand, the reference objects are reference objects generated during the lane departure, such as a crop edge, a furrow created during tillage, or a line created by a lane marker of a tillage implement. The inclusion of images for recognizing the reference objects during the lane departure has the advantage that the current situation on the field to be crossed is always taken into account in the predetermination of the new traffic lane.
In contrast, it depends on the tracking system according to DE 103 28 395 A1 on how current the image comparison material of the desired travel path, which is the basis of the tracking. According to the invention, the current situation on the field for tracking is always used as the basis. Compared with a GPS-based guidance system, due to the higher accuracy of the achievable tracking by the optical detection and evaluation requires no additional correction signal.
Preferably, at least one image-capturing device is arranged on the agricultural work vehicle whose field of vision points essentially in the direction of travel. The field of view is adjustable both in the vertical and in the horizontal direction to be adapted to the working width of a mounting or attachment. Also conceivable is the arrangement of a further image capture device in the back wärtigen range of the work vehicle to detect the generated lanes or reference objects generated.
According to one embodiment of the invention, the guidance system comprises a display device on which the lane predetermined by the control device can be visualized. The operator of the work vehicle is thus provided with an orientation aid which makes it easier for the operator to find and also to hold the correct entry point into the new predetermined traffic lane. The new predetermined lane can be projected in the form of auxiliary lines on at least one of the images, which has been evaluated by the image processing system for the predetermination of the new lane. Preferably, the images taken in each case when driving on the previous lane can be sequentially displayed on the display device and superimposed with the auxiliary lines representing the predetermined lane.
Furthermore, an entry point into the predetermined lane can be visualized on the display device. This facilitates the entry into the new lane after a headland.
In addition, deviations of the working vehicle from the predetermined lane can be visualized on the display device. As a result, required corrections in manual steering of the work vehicle by the operator can be performed more precisely and faster. For this purpose, the predetermined lane can be represented as a line in a first color, while a deviation thereof is represented by a line in a second color. In addition, instructions may be displayed on the display device that visualize steering corrections necessary for compliance with the predetermined lane.
In a further development of the invention, it is provided that the control device is arranged for the autonomous steering of the work vehicle on the basis of the predetermined lane. This relieves the operator of lane maintenance and can lead to the implementation and monitoring of focus on work processes. For this purpose, a steering hydraulics of the agricultural work vehicle can be controlled by the control device.
In particular, the tracking system can be set up for recognizing and / or counting row-shaped reference objects. The counting of reference series formed reference objects to determine the lane with the correct distance to the previous lane is particularly important for the precise application of fertilizers or pesticides of importance. Overdoses due to overlaps due to insufficient distances between adjacent lanes can thus be avoided.
Furthermore, the tracking system may be arranged to determine a distance between a worn lane of the work vehicle and a reference line generated during it. Thus, for example, when sowing by a seeder by means of a so-called track marker pulled a line in the ground. This guide is used to set the correct distance to the previous path. To do this, the operator then has to drive on the next lane with the tire on this auxiliary line in order to be able to maintain the correct distance to the previous lane.
In a further development of the invention, it is provided that a working width of an attachment received by the work vehicle can be made available to the guidance system. The information about the width of the attachment can be made by a manual input by the operator via an input interface of the control device. Also conceivable is an automatic detection of the attachment by the connection to a bus system of the work vehicle or the reading of an RFID beacon or a QR code, which include information about the working width of the attachment, among other things.
In a preferred embodiment, the at least one image capture device is designed as a 3D camera from an angularly offset two-camera system or as a 2D camera with transit time measurement. Furthermore, the object stated at the outset is achieved by a method for determining a traffic lane of an agricultural work vehicle, wherein reference objects are detected by at least one optical image acquisition device along a lane traveled by the work vehicle, that the imaged reference objects are differentiated by an image processing system and that by reference an evaluation of the reference objects by a control device, the lane is predetermined. The method makes it possible to differentiate between the different reference objects which are supplied to the evaluation by the control device in order to determine distances, contour and / or row number of the respective reference objects, on the basis of which the new traffic lane is predetermined.
The invention is not limited to the specified combination of the features of the independent or the dependent claims. There are also opportunities to combine individual features, even if they emerge from the claims, the following description of preferred embodiments of the invention o- directly from the drawings. The reference of the claims to the drawings by use of reference numerals is not intended to limit the scope of the claims.
Advantageous embodiments of the invention, which are explained below, are shown in the drawings. It shows:
Fig. 1 is a schematic representation of an agricultural work vehicle;
Fig. 2 is a schematic representation of a farmland to be processed;
Figure 3 is a schematic representation of a tractor with mounted seeder in a view from above.
Snagit 2018 1 1 – Screen Capture Utility Vehicles
Figure 4 is a view of a tractor with attached plow from behind. and Fig. 5 is a schematic representation of the visualization of a lane and a predetermined lane on the display device.
In Fig. 1 is a schematic representation of an agricultural work vehicle is shown, which is designed here as a tractor 1. This tractor 1 leads to a rear-mounted hoist 2 an attachment in the form of a plow 3, the hoist 2 - while present only partially visible - is designed in the form of a three-point hydraulic, which the plow 3 with the tractor 1 by two lower links 4 and a top link 5 connects. In this case, the lower link located at the same height 4 and the upper link 5 by - not shown here - lifting cylinder are adjustable in their position, so that a working height of the plow 3 relative to a soil 6 is changed.
The tractor 1 comprises a control device 7, which is connected by a bus system 12 shown in dashed lines with an image processing system 8 and a arranged in the cabin of the tractor 1 display device 9. The bus system 12 also connects at least one image capture device 10 arranged at the front of the tractor 1 to the image processing system 8. In the exemplary embodiment shown, a further image capture device 10 is arranged in the rear region of the tractor. The field of view of the image capture device 10 arranged on the front side essentially points in the direction of travel FR. By means of an actuator 1 1, the respective image sensing device 10 is adjustable both with respect to the inclination angle relative to the soil soil 6 and by a rotation angle about a vertical axis of rotation. The image processing system 8 as well as the front and rear image acquisition devices 10 are part of a tracking system of the tractor 1.
In Fig. 2 is a schematic representation of a field to be processed or field soil 6 is shown. Designated by reference numerals 14a to 14f and 17a to 17f are planted rows. The rows 14a to 14f and 17a to 17f each have predetermined row spacings 15, which are set during sowing. Reference numeral 1 6 a current lane is called, which is traversed by the tractor 1. Reference numeral 18 designates a predetermined lane which is the Tractor 1 should ideally be driven after driving through a headland, so that required row spacing is maintained. This is necessary when the tractor 1 is equipped with an implement designed as a syringe, for example to apply pesticides or fertilizers. When applying pesticides or fertilizers, precise adherence to the row spacing 15 is of great importance to avoid overdosing or undersupply. As further indicated in Fig. 2, the rows 17a to 17f may have a different course from the preceding rows 14a to 14f.
As a result, finding a new entry point 18a is required, which can be done by counting the rows 17a to 17f as part of the image evaluation.
In order to assist an operator of the tractor 1 in the processing of the field soil 6, it is provided that the front image acquisition device 10 receives one or more images of the field soil 6 seen in the direction of travel FR, by means of the image processing system 8, the number of rows 14a to 14f as well their respective row spacings 15 to determine each other. In conjunction with the working width of the attachment, the next lane 18 is predetermined by the controller 7. The information about the working width of the attachment can be provided by a manual input of the operator. Alternatively, an automated detection of the working width by the control device is conceivable. This can be done by connecting the attachment to a bus system of the work vehicle or readout of an RFID beacon or a QR code on the attachment, which include, inter alia, information about the working width of the attachment. In addition to a determination of the row spacings 15, the number of rows 14a to 14f can also be determined by the tracking system, which are within the working width of the attachment.
In Fig. 3 is a schematic representation of the tractor 1 is shown with a seed drill 19 mounted implement from above. When sowing eg maize or wheat, track markers 20 are used, which can be fastened to the tractor 1. The track marker 20 pulls at a certain distance 22 to a track 21, which coincides with the lane 1 6 generated by the tire 13, a line 23 in the field soil 6. The operator who controls the tractor 1 must in the next lane with a drive a tire 13 on this line 23 to maintain the correct distance 22 to the previous track 21. The line 23 recorded by the image capture device 10 prior to entering the new web 21 is recognized by the image processing system 8 as a reference object on the basis of the image evaluation. By means of a continuous image evaluation, this line 23 is used as the predetermined lane 18 to be traveled. The detection of the line 23 generated by the track marker 20 as a reference object for predetermining the traffic lane is suitable for use with an autonomous steering system, so that after driving through a headland 24, the lane 23 predetermined lane can be followed precisely. Thereby, the operator is relieved of monitoring for maintaining the predetermined lane and performing steering operations for correcting deviations from the predetermined lane, and can devote himself to other tasks which also require heightened attention.
In a similar manner, the tracking system described above is used in the mounted as a plow 3 attachment. When plowing the operator of the tractor 1 with the tire 13 in a plow 3 generated by the furrow 25, which follows the course of the previous lane 1 6 drive. The furrow 25 generated by the plow 3 is picked up by the image capture device 10 and evaluated by the image processing system 8 as a reference object. Subsequently, the tractor 1 is guided along the predetermined lane 18.
In Fig. 5 is an example of a visualization of lane 1 6 and predetermined lane 18 on the display device 9 shown schematically, which serves the operator of the tractor 1 as a guide for manual steering. Reference number 26 denotes the currently traveled actual lanes, which deviate from the projected predetermined lanes 18. The deviation from the predetermined lane 18 is visualized by the fading in of actual lanes 26, 26 '. Arrows 27, 27 'represent a correction indication by which steering movement of the operator a correction is feasible to return to the predetermined lane 18. The magnitude and direction of a lane deviation 28 can be determined by the image analysis. For this purpose, a lane width 27 of the tractor 1 is determined, which as a reference object for adjustment between the predetermined lane and the respective actual lane 26,26 'is used. The monitoring of compliance with the predetermined lane 18 can be done by the evaluation of the recorded images of the rear-mounted image capture device 10.
By means of the at least one optical image-capturing device 10, reference objects located along a lane 18 traveled by the tractor 1 are imaged. The imaged reference objects are differentiated by the image processing system 8, so that the lane 18 is predetermined on the basis of an evaluation of the reference objects by the control device 7. The method makes it possible to distinguish between the various reference objects which are supplied to the control device 7 for evaluation, by distances 15, 22, 27 or lane deviations 28, 28 ', a different contour of the planted rows 17a to 17f and / or the row number of determine respective reference objects, on the basis of which the new lane 18 is predetermined.
Tractor reference number
hoist
plow
lower link
top link
arable land
control device
Image processing system
display device
Image capture device
actuators
bus system
tire
A-14f planted row
row spacing
Current lane
A-17f planted row
Predetermined lane
a entry point
seeder
Spuranreißer
train
distance
line
headland
furrow
, 26 'Actual lane
correction Notice
, 28 'lane deviation
Claims
claims
1 . An agricultural work vehicle (1) having a guidance system, comprising at least one optical image acquisition device (10) arranged on the work vehicle (1) and an image processing system (8), characterized in that by the at least one image acquisition device (8) along one of the work vehicle (1 ) and the reference objects (14a-14f, 17a-17f; 21; 23; 25) can be detected and differentiated by means of the image processing system (8) and that on the basis of an evaluation of the reference objects (14a-14f).
14f, 17a-17f; 21; 23; 25) by a control device (7) a lane (18) can be predetermined.
2. Agricultural work vehicle (1) according to claim 1, characterized in that the tracking system comprises a display device (9) on which by the control device (7) predetermined lane (18) can be visualized.
3. Agricultural work vehicle (1) according to claim 2, characterized in that on the display device (9) an entry point (18a) in the predetermined lane (18) can be visualized.
4. agricultural work vehicle (1) according to one of claims 2 or 3, characterized in that on the display device (9) deviations (28, 28 ') of the working vehicle (1) of the predetermined lane (18) are visualized.
5. Agricultural work vehicle (1) according to one of claims 1 to 4, characterized in that the control device (7) for the autonomous steering of the working vehicle (1) based on the predetermined lane (18) is arranged.
6. Agricultural work vehicle (1) according to one of claims 1 to 5, characterized in that the tracking system for detecting and / or counting of row-shaped reference objects (14a-14f, 17a-17f; 21; 23; 25) is set up.
7. Agricultural work vehicle (1) according to one of claims 1 to 6, characterized in that the tracking system for determining a distance (22) between a worn lane (1 6) of the working vehicle (1) and a reference line (23 , 25) is set up.
8. Agricultural work vehicle (1) according to one of claims 1 to 7, characterized in that a working width of one of the working vehicle (1) recorded attachment (3, 19) the control system (7) can be provided.
9. Agricultural work vehicle (1) according to one of claims 1 to 8, characterized in that the at least one image capture device (10) as a 3D camera offset from a two-camera system arranged arranged or as a 2D camera with transit time measurement is.
10. agricultural work vehicle (1) according to one of claims 1 to 9, characterized in that a reference object, a tramline, a crop edge, a plant row (14a-14f, 17a-17f), an auxiliary line (23) or bottom furrow generated by the attachment (25).
1 1. Method for determining a traffic lane (18) of an agricultural work vehicle (1), wherein reference objects (14a-14f, 17a-17f; 21.) Located by means of at least one optical image acquisition device (10) along a lane (1) driven by the work vehicle (1) ; 23, 25) are imaged so that the imaged reference objects (14a-14f, 17a-17f; 21; 23; 25) are differentiated by an image processing system (8) and that based on an evaluation of the reference objects (14a-14f, 17a -17f; 21; 23; 25) by a control device (7) the lane (18) is predetermined.
12. The method according to claim 1 1, characterized in that by the control device (7) based on the predetermined lane (18) steering signals for autonomous steering of the working vehicle (1) are generated.
Method and system for vehicular guidance using a crop image
CN106774335A (en) *
2017-01-03
2017-05-31
南京航空航天大学
Guiding device based on multi-vision visual and inertial navigation, terrestrial reference layout and guidance method
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Snagit Screen Capture Not Working
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Title
DE102005041550A1 (en) *
2005-08-31
2007-03-01
Agrocom Gmbh & Co. Agrarsysteme Kg
Steering system for e.g. tractor, has track guiding system with route detecting systems that are coupled by data processing units and controller that defines criteria for switching between detecting systems based on structure of territory
DE102016118237A1 (en) *
2016-09-27
2018-03-29
Claas Selbstfahrende Erntemaschinen Gmbh
Agricultural working machine with image analysis system
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