Method for computer assisted cartography

The invention relates to a method for computer-assisted Mapping georeferenced variables, in particular agricultural output sizes, in one fell swoop particularly along lanes, with a Collection device, such as a harvester, single Measuring positions have been charged associated, from the Measuring positions the best possible approach to a Shock boundary line is produced and then these Considered the collected variables nodes of a coordinate grid be proportionately allotted as representation sizes.

As is known to be mapped area-based measurement data in Terrain, associated to the coordinates of individual Measuring positions, where each of a blow, and from this Survey is supported software with a computer a Maps showing the distribution of georeferenced variables generated, wherein an imaginary xy coordinate grid over the by mapping surface is spanned and the network nodes right from the measured data of adjacent measuring positions be representation variables associated. come this purpose individually or in combination, various methods for use as averaging, weighted averaging, a Interpolation or extrapolation or a geostatisches Methods such as the Kriging procedure. Proper application This method requires that the field borders respectively so far known that the membership of the individual Network nodes known to strike or to the external field is. To enter the courses of the field boundaries in the computer for example, those on a graphical input device of Hand drawn, mainly in big punches much time and requires patience. In order to reduce of the respectively necessary work is often earlier on already stored in a database of courses resorted to the field boundaries, but the extent need to be updated, as agricultural technical changes Field borders, eg due to management difficulties, as Impassability of roads of the soil when ordering or insufficient Profitability, have been made. This also requires large Property and local knowledge of the uplifting and the inputting Kartierers.

Also, a computerized mapping area-based measurement data without a separate input of Course of a blow-off but with their convergence Hüllverfahren made. Here, however, are considerable Inaccuracies in the outer boundary line occurred, and inner Boundary lines in non raisable areas were not considered.

The object of the invention to provide a much more accurate and to provide complete determination of the boundaries of impact.

The solution is that all pairs of adjacent for Measuring positions calculated in accordance with these touching Test areas, in particular test circles, it is checked whether any additional measurement position in this fall, or for all measurement positions in lanes constructed in accordance with this measurement positions surrounding test areas, in particular test circles, it is checked, whether they are each at least one side no other lane cut, the test areas each test dimensions, in particular a test radius, have that one set tolerance value over a distance of neighboring Measuring positions or lanes are, and that all such Measuring positions in which said test criterion is met, be declared limit positions and their side of the border is determined in accordance with test and adjacent from the episode Limiting positions the best possible approximation to the outer and possibly inner boundary line is determined.

Advantageous embodiments are in the dependent claims indicated.

The invention is based on the recognition that the collection of georeferenced size for each of the total of Shock occurs. For example, the crop yield measured, so the entire surface of the blow is to the breakdown limit harvested, while in the course of the track, for example, the harvester, at the individual measurement points of each in last path section yielded income measured there Location coordinates associated registers. Similarly, in the Order or process of blow along the guideway respective measurement locations associated measured values ​​are collected, where the impact is covered by the processing as a whole.

From the acquired on the guideway location coordinates of Measuring positions, the course of the respectively adjacent determined roadway sections and from the distance, ie, Working width determined and from a distance threshold comparison are each with a limit overrun the border Track sections and therefore the best approximation to the Boundary line determined.

The method enables not only an outer boundary line define precisely but provides the analysis on Convergences and divergences of the adjacent track sections also the position of internal borders enclosed unprocessed Areas.

After determining the best approach to the breakdown limit (s) the assignment of the measured data to the nodes of the Coordinate grid in consideration of the border and the card issuing.

An improvement of this method is given if the respective working area of ​​the agricultural machine in accordance with the Spacing of adjacent lanes either by driver input Vehicle operator or by a current working width measurement is also investigated as each, so that the local working width then than other known size into the equation for Distance threshold determination and the best approach to the shock boundary line is inserted.

The distance limit, which is used to verify whether a Lane is a lane boundary, is slightly larger than the to choose working width so that tolerances of tracking the Driving across the field for curved path curves and when Location measurement is not an erroneous limit position indicator to lead. In particular, a tolerance addition of 20% is per Railway track, so for the two adjacent tracks of a total 40% of the individual working width provided. Thus, if the Implement is a combine 9m wide, about 12.5 m as are predetermined distance limit. Thus, when a measurement point more 12.5 m from the adjacent lane, resulting from the episode the adjacent Meßpunktlagen results removed so a is Border trackpoint ago.

As the blows he in width not a whole Multiple of a working width corresponding, but usually also have an angle to each other extending borders, is often the working width of the border lane underused. Therefore, an advantageous improvement of the results Method, if in the detection of the measured values, in particular the Ertragsmeßwerte, the respective local working width is also measured and these according to the distance limit each is selected and in particular the best approximation of the Limit extension on the boundary track points taking into account the local working width is calculated.

A further increase in the accuracy of the boundary line determination is achieved when the position of the locating device, ie the receiving antenna with respect to the location of the Work area and the working width of the collection device be considered.

This is both in the determination of the distance limit as Also when determining the boundary curve significant.

Placing the aerial to the workspace of eccentrically Collection device, it is apparent on the back and forth a blow alternately a double to the eccentricity narrowed or extended distance of the trail of the measurement locations.

Accordingly, the distance limit is in opposing lanes according to the position of the eccentricity to the driving direction smaller or larger than the considered working width with define the tolerance surcharge. In addition, the Approximate calculation of the limit curve under consideration making the eccentricity with respect to the direction of travel and to improve.

An eccentricity of the position determination, ie the antenna location, for each workspace is advantageously directly in the Coordinate and measurement value taken into account by the the located coordinate values ​​respectively for each workspace centered, so according to the width and location of the be corrected working area to the antenna stored. If the correction of the measurement location made immediately on site, so it is unnecessary to separate storage of location data Work area in the recording of measurement data, the Coordinate values ​​and the working width. The distance limit to limit tracking determination is then always from the Sum of the half widths of the adjacent stored Meßpunktspuren excl. Of tolerance surcharge. For the approach the boundary curve is half the working width of the cross side stored Meßpunktespurenverlaufs considered.

The practical field working with a combine harvester preferably the measurement data and coordinate detection is used, is usually initiated by one or more orbits, wherein protrudes a part of the cutting mechanism across the border and there idles. This is accomplished by detecting the position of Work area and the working width continuously taken into account. The last lanes run then often obliquely into the already harvested a border zone, or it results in a narrower Working width, and the work area is the to the edges Total cutting mechanism spaced. All these data are locally measured and considered in the detection and even when adjacent to this area and this one unbearbeitbare Zone, is there through the border test the inner boundary layer recognized.

Instead of a distance limit testing adjacent lanes alternatively a distance limit testing of in any made other charges point coordinates by all Points pairs of adjacent points will determine whether these penetrating test circuits each at least one further Include measuring point. If this is not the case, it is by two boundary points, and the test circuit in question is located on the Border page. The design of the test circle radius depends again according to the usual Meßpunkteabstand which corresponds approximately to prescribed working width. It is further away assumed that the distance of the measuring points in the different Movement is similar, otherwise you have the tolerance award are appropriately selected or a suitable test area shape such. As an oval, are selected, the axis lengths are the Distances of the measuring points in both directions with a Tolerenzzuschlag are reasonable and the axes of the Dot arrangement are oriented accordingly. The distance between the Measurement points in the detection results usually depends on the speed of travel, as the coordinate signals each in be transmitted a fixed time cycle.

Since the point or lane clearance checks also those Areas on or exclude, for example. Technical, eg receiving technical, reasons not stored coordinate values could be, it is provided either in the Data acquisition corresponding noted items from the operator or to automatically save or interim report on outputting the identification of such acquisition and the Islands Operator, a decision on the inclusion or Elimination of the range in the more Zumessungsprozedur request.

The description of computational checking operation by means of Test areas, test circles or ellipses test is a Illustration; However, not circular or equations Ellipse equations are used, but it can also Distances between the adjacent points with circular or are calculated and tested triangular functions. <dl tsize="7" compact="compact"><dt>Fig. 1</dt><dd>shows a border area of ​​a blow,</dd><dt>FIG. 2</dt><dd>shows another area with lanes.</dd></dl>

FIG. 1 shows lanes (F1 - F4) in border areas. The adjacent lanes each have opposite Driving directions (R1 - R4) on. The measuring points (M11 - M15 - M41 - M45) are the actual Locating points located.

Since the antenna to the collection vehicle an eccentric position (E) to its center axis, are advantageously stored location coordinates (K11 - K15; K31 - K35) on the Vehicle center corrected since the landmark remote lanes (F1 - F3) the full working width (A) was used.

The boundary side preferred lane (F4) has decreased, variable, local working width (A41 - A45) which also eccentrically located, since the survey vehicle to Rest along the border (G) worked. Here are the stored location coordinates (K41 - K45) at the center of based actual workspace saved.

The check whether a boundary layer is present, is of the stored location coordinates (K41 - K45), taking into account the associated half stored local working width (A41- A45) and half the maximum working width (A) and the Tolerance margin (T) made. Accordingly, Test circuits (T1 - T5) to the stored position coordinates (K41 - K45) drawn, one on one side only Cut adjacent lane (F3), whereby the limit position for other side is displayed.

The best approximate boundary line (G) is the order of always afflicted with tolerances stored cross side Location coordinates (K41 - K45) and each halved, associated stored local working width (A41 - A45) determined by a suitable algorithm.

The determination of the local working width (A41 - A45) is before Place either automatically carried out by the signal of a Stock limit sensor is used on the collection vehicle, the often also for the automatic steering of the vehicle and / or Throughput control serves, or continuously by an operator at Changes is entered. Preferably, except the Working width, the position of the respective working zones within the track determined continuously. A particularly simple Considering these positional information for said Further processing occurs when the position of the measured centered coordinates to the location of the work area is stored corrected. The correction is made vertically for each direction of travel. There must no additional Size are stored.

Alternatively, the working width (A41 - A45), if they do not is also measured, from the convergence of adjacent lanes calculated. There are then the auxiliary position coordinates (H41 - H45) each centered stored on the full working width.

The distance (A * 41 - 45 * A) of the auxiliary location coordinates of the adjacent lane (F3) is calculated in each case; it corresponds the local working width (A41 - A45) in the context of metrological and mathematical tolerances. The bestgenäherte Boundary line (G) is accordingly to half the maximum Working width (A) in addition to the result of the cross side Auxiliary location coordinates (H41 - H45) to determine.

Another method for determining cross-sided Location coordinates (K11 - K15) is the test circuits (T * 1 - T * 5; T '1 - T'5) illustrates. This test circles intersect each two adjacent coordinates, and the outside location, Test circuit is empty, thus showing the boundary position of the points and the side of the course of the border (G *) to. If the Measurement points are collected sorted in lanes, can be the Test circuit test for practical application of point pair to pair of points, the test circuit thus quasi roll at points. Was at a Side of a lane to run the adjacent track determines the adequate neighborhood, it is sufficient in each case, perform the test on the other side.

After each then the closest possible approximation of the Border demarcation was recovered, the measured values ​​collected can grenzsichtig with a compensation method, depending on the Area shares in the coordinate grid, the actual Hitting areas that are within the limit, mete out.

Fig. 2 shows another example of lanes (F * O - F * n) in near a breakdown limit (G '), which at the combine (MD) the detection departs. The initial track (F * O) exceeds Limit (G ') and has only one part of the working width. The measured spatial coordinates are therefore on the centering line (ZL) of the actually used workspace converted stored. After each cross another lane (F * 1) was cut free around the beat are as worn usually, more tracks with alternating direction, of which the penultimate track (F * n-1) still full working width (A) and the last track (F * n) only a partial working width (TB). This is with a lateral offset (V) to Side edge of the cutting unit (SW). Therefore, the measurement points are each of the true position of the locating device center (OG) a Central correction value (CC) on which the true center Workspace imaginary centering line added together with the local part of working width (TB) and the measured value raised registered.