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1. 发明授权

US08332135B2 Method for generating reference driving tracks for agricultural working machines 有权
标题翻译：农业作业机械参考驾驶轨道的生成方法
公开(公告)号：US08332135B2
公开(公告)日：2012-12-11
申请号：US12627321
申请日：2009-11-30
申请人： Norbert Diekhans , Lars Meyer Zu Helligen , Gerhard Nienaber
发明人： Norbert Diekhans , Lars Meyer Zu Helligen , Gerhard Nienaber
IPC分类号： A01B69/00 , G01C21/00 , G05D1/02
CPC分类号： A01B79/005 , A01B69/007
摘要： Generation of one or more reference driving tracks for use in automatic route planning of an agricultural working vehicle includes driving along a starting route of an agricultural field to be worked, recording the starting route in a data processing device, selecting at least one section of the recorded starting route as a reference driving track, investigating the starting route along its entire length for changes in direction, and in the selecting at least one section, selecting a section as the reference driving track only if a change in direction that falls below a limit value is not found anywhere along an entire length of the section.
摘要翻译：生成用于农业工作车辆的自动路线规划中的一个或多个参考行驶轨道包括沿着待加工的农田的起始路线的驾驶，将起始路线记录在数据处理装置中，选择至少一个部分记录的起始路线作为参考驾驶轨道，调查其沿着整个长度的起始路线以改变方向，并且在选择至少一个部分时，仅在方向变化低于极限的情况下选择部分作为基准行驶轨迹在该部分的整个长度上的任何地方都没有找到值。

2. 发明授权

US08428829B2 Self-propelled agricultural harvesting machine with controllable transfer device 有权
标题翻译：自走农业收割机具有可控转移装置
公开(公告)号：US08428829B2
公开(公告)日：2013-04-23
申请号：US12045244
申请日：2008-03-10
申请人： Andreas Brunnert , Lars Meyer Zu Helligen , Gerhard Nienaber , Norbert Diekhans
发明人： Andreas Brunnert , Lars Meyer Zu Helligen , Gerhard Nienaber , Norbert Diekhans
IPC分类号： G06F7/70
CPC分类号： A01D43/087
摘要： Vehicles, in particular self-propelled agricultural harvesting machines such as forage harvesters or combine harvesters designed to pick up and process crops, include transfer devices that transfer all of the harvested crop material to a hauling vehicle or an attached hauling container. The discharge device is equipped with a control device for performing automatic or manual adjustments, and the self-propelled agricultural harvesting machine is equipped with a navigation system for determining the positions of the vehicles involved. To transfer the crop material to the hauling vehicle without loss, the crop discharge flow is directed only to a defined permissible tolerance region on the hauling container. The tolerance region is located within the hauling container contour and is bounded by edge zones, which are “keep-out” zones for the transfer.
摘要翻译：车辆，特别是自行式农业收割机，例如设计用于拾取和处理作物的饲料收割机或联合收割机，包括将所有收获的作物材料转运到牵引车辆或附着的牵引容器的转移装置。排放装置配备有用于执行自动或手动调节的控制装置，并且自走式农业收割机配备有用于确定所涉及的车辆的位置的导航系统。为了将作物材料转移到运输车辆而不会损失，作物排放流量仅被引导到牵引容器上规定的容许公差区域。公差区域位于牵引容器轮廓内，并且由边缘区域限定，边缘区域是用于传送的“保留”区域。

3. 发明申请

US20100217516A1 METHOD FOR GENERATING REFERENCE DRIVING TRACKS FOR AGRICULTURAL WORKING MACHINES 有权
标题翻译：用于生产农业机械的参考驱动轨迹的方法
公开(公告)号：US20100217516A1
公开(公告)日：2010-08-26
申请号：US12627321
申请日：2009-11-30
申请人： Norbert Diekhans , Lars Meyer Zu Helligen , Gerhard Nienaber
发明人： Norbert Diekhans , Lars Meyer Zu Helligen , Gerhard Nienaber
IPC分类号： G01C21/00
CPC分类号： A01B79/005 , A01B69/007
摘要： Generation of one or more reference driving tracks for use in automatic route planning of an agricultural working vehicle includes driving along a starting route of an agricultural field to be worked, recording the starting route in a data processing device, selecting at least one section of the recorded starting route as a reference driving track, investigating the starting route along its entire length for changes in direction, and in the selecting at least one section, selecting a section as the reference driving track only if a change in direction that falls below a limit value is not found anywhere along an entire length of the section.
摘要翻译：生成用于农业工作车辆的自动路线规划中的一个或多个参考行驶轨道包括沿着待加工的农田的起始路线的驾驶，将起始路线记录在数据处理装置中，选择至少一个部分记录的起始路线作为参考驾驶轨道，调查其沿着整个长度的起始路线以改变方向，并且在选择至少一个部分时，仅在方向变化低于极限的情况下选择部分作为基准行驶轨迹在该部分的整个长度上的任何地方都没有找到值。

4. 发明申请

US20080245042A1 SELF-PROPELLED AGRICULTURAL HARVESTING MACHINE WITH CONTROLLABLE TRANSFER DEVICE 有权
标题翻译：自控式农业收割机与可控转移装置
公开(公告)号：US20080245042A1
公开(公告)日：2008-10-09
申请号：US12045244
申请日：2008-03-10
申请人： Andreas Brunnert , Lars Meyer Zu Helligen , Gerhard Nienaber , Norbert Diekhans
发明人： Andreas Brunnert , Lars Meyer Zu Helligen , Gerhard Nienaber , Norbert Diekhans
IPC分类号： A01B69/00 , A01F12/46
CPC分类号： A01D43/087
摘要： Vehicles, in particular self-propelled agricultural harvesting machines such as forage harvesters or combine harvesters designed to pick up and process crops, include transfer devices that transfer all of the harvested crop material to a hauling vehicle or an attached hauling container. The discharge device is equipped with a control device for performing automatic or manual adjustments, and the self-propelled agricultural harvesting machine is equipped with a navigation system for determining the positions of the vehicles involved. To transfer the crop material to the hauling vehicle without loss, the crop discharge flow is directed only to a defined permissible tolerance region on the hauling container. The tolerance region is located within the hauling container contour and is bounded by edge zones, which are “keep-out” zones for the transfer.
摘要翻译：车辆，特别是自行式农业收割机，例如设计用于拾取和处理作物的饲料收割机或联合收割机，包括将所有收获的作物材料转运到牵引车辆或附着的牵引容器的转移装置。排放装置配备有用于执行自动或手动调节的控制装置，并且自走式农业收割机配备有用于确定所涉及的车辆的位置的导航系统。为了将作物材料转移到运输车辆而不会损失，作物排放流量仅被引导到牵引容器上规定的容许公差区域。公差区域位于牵引容器轮廓内，并且由边缘区域限定，边缘区域是用于传送的“保留”区域。

5. 发明授权

US07502678B2 Method for controlling an agricultural machine system 有权
标题翻译：农业机械系统的控制方法
公开(公告)号：US07502678B2
公开(公告)日：2009-03-10
申请号：US11737565
申请日：2007-04-19
申请人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
发明人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
IPC分类号： G06F19/00 , G06F7/70
CPC分类号： G05D1/0221 , A01B69/008 , G05D1/0278 , G05D2201/0201
摘要： For controlling an agricultural machine system while it works a territory, which a route (R) is created for the machine system, which includes working tracks (FN) along which the machine system is driven while the territory (S) is being worked, and which includes headland tracks (FV), along which the machine system is driven when it travels from one working track (FN) to the next working track (FN) to be driven along. The machine system automatically processes a sequence of headland working steps at the end of one working track (FN) and/or while a subsequent headland track (FV) is being driven along, and/or at the beginning of a subsequent working track (FN). The sequence of headland working steps is updated and carried out dynamically depending on the current position of the machine system and depending on the next working track (FN) to be driven along. A related automatic control system for controlling an agricultural machine system is also provided.
摘要翻译：用于在农业机械系统工作时控制农业机器系统的区域，该区域为机器系统创建路线（R），其包括在领土（S）正在加工时沿着机器系统驱动的工作轨道（FN），以及其包括岬角轨道（FV），当机器系统从一个工作轨道（FN）行进到下一个工作轨道（FN）时被驱动。机器系统在一个工作轨道（FN）的末端自动处理一系列的岬角工作步骤，和/或在随后的岬角轨迹（FV）沿着和/或之后的工作轨道（FN ）。根据机器系统的当前位置和根据要驱动的下一个工作轨迹（FN），动态地更新和执行岬角工作步骤的顺序。还提供了一种用于控制农业机械系统的相关自动控制系统。

6. 发明申请

US20070282523A1 METHOD AND DEVICE FOR DISPLAYING VEHICLE MOVEMENTS 审中-公开
标题翻译：用于显示车辆运动的方法和装置
公开(公告)号：US20070282523A1
公开(公告)日：2007-12-06
申请号：US11757483
申请日：2007-06-04
申请人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
发明人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
IPC分类号： G06F19/00
CPC分类号： G05D1/0268 , A01B69/007 , G05D1/0219 , G05D1/0231 , G05D1/0278 , G05D2201/0201 , G05D2201/0202
摘要： In a method and a device for visualizing the movement of a vehicle, the vehicle includes at least one display unit coupled with a control and evaluation unit, and the control and evaluation unit is coupled with at least one track-following system for guiding the vehicle along driving routes, and the control and evaluation unit detects at least one characteristic orientation parameter that describes the orientation of the vehicle, and the control and evaluation unit—with consideration for the at least one characteristic orientation parameter of the vehicle—determines a virtual future driving track of the vehicle and this virtual future driving track is visualized in the display unit. In this manner, the operator of the vehicle obtains information about, at the least, which future driving track his vehicle will move on if the current vehicle orientation is maintained, and with consideration for characteristic parameters of the vehicle.
摘要翻译：在用于使车辆的运动可视化的方法和装置中，车辆包括与控制和评估单元耦合的至少一个显示单元，并且控制和评估单元与至少一个用于引导车辆的跟踪系统并且所述控制和评估单元检测描述所述车辆的方位的至少一个特征定向参数，并且所述控制和评估单元 - 考虑所述车辆的所述至少一个特征取向参数 - 确定所述虚拟未来在该显示单元中可视化该车辆的驾驶轨迹和该虚拟的未来驾驶轨迹。以这种方式，如果保持当前车辆方向，并且考虑车辆的特征参数，车辆的操作者至少获得关于他的车辆将要行驶的行驶轨迹的信息。

7. 发明申请

US20070255470A1 METHOD FOR CONTROLLING AN AGRICULTURAL MACHINE SYSTEM 有权
标题翻译：控制农业机械系统的方法
公开(公告)号：US20070255470A1
公开(公告)日：2007-11-01
申请号：US11737565
申请日：2007-04-19
申请人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
发明人： Norbert Diekhans , Andreas Brunnert , Lars Peter Meyer Zu Helligen , Gerhard Nienaber
IPC分类号： G06F19/00
CPC分类号： G05D1/0221 , A01B69/008 , G05D1/0278 , G05D2201/0201
摘要： For controlling an agricultural machine system while it works a territory, which a route (R) is created for the machine system, which includes working tracks (FN) along which the machine system is driven while the territory (S) is being worked, and which includes headland tracks (FV), along which the machine system is driven when it travels from one working track (FN) to the next working track (FN) to be driven along. The machine system automatically processes a sequence of headland working steps at the end of one working track (FN) and/or while a subsequent headland track (FV) is being driven along, and/or at the beginning of a subsequent working track (FN). The sequence of headland working steps is updated and carried out dynamically depending on the current position of the machine system and depending on the next working track (FN) to be driven along. A related automatic control system for controlling an agricultural machine system is also provided.
摘要翻译：为了控制农业机械系统，当其工作领域时，为机器系统创建路线（R），该路线（R）包括机器系统被驱动的工作轨道（F N N N N），而领土（S）正在被加工，并且其包括岬角轨道（FⅤ），当机器系统从一个工作轨道（F N N N）行进到其时被驱动到沿着驱动的下一个工作轨道（F N N N）。机器系统自动处理在一个工作轨道（F SUB N）端部处的一系列岬角工作步骤和/或在随后的岬角轨迹（F≠V））期间和/或在随后的工作轨迹（F N N N））的开头。根据机器系统的当前位置和根据要驱动的下一个工作轨迹（F SUB N N）来动态地更新和执行岬角工作步骤的顺序。还提供了一种用于控制农业机械系统的相关自动控制系统。

8. 发明申请

US20090044505A1 AGRICULTURAL WORKING MACHINE 审中-公开
标题翻译：农业机械
公开(公告)号：US20090044505A1
公开(公告)日：2009-02-19
申请号：US12183134
申请日：2008-07-31
申请人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Michael Reckermann , Karl-Josef Kleingraeber , Hubert Erdmann , Tommy Madsen , Kristian Kirk , Jesper Vilander , Rufus Blas , Allan Kildeby
发明人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Michael Reckermann , Karl-Josef Kleingraeber , Hubert Erdmann , Tommy Madsen , Kristian Kirk , Jesper Vilander , Rufus Blas , Allan Kildeby
IPC分类号： A01D57/00
摘要： The invention relates to an agricultural working machine (1), in particular a forage harvester (2), with at least one spout (4) for conveying received and processed crop (7) to a transport vehicle (6, 25), wherein an electro-optical device (18) is provided for the direction control of the spout (4) at least during the process of conveying to the transport vehicle (6, 25), and wherein the electro-optical device (18) detects characteristic parameters (30) of the spout (4) and characteristic parameters (30) of the transport vehicle (6) and/or the agricultural working machine (1). This ensures that a control of a spout (4) of agricultural working machines (1, 2) is provided which almost completely relieves the operator of the agricultural working machine (1, 2) of the task of monitoring the spout.
摘要翻译：本发明涉及一种农业加工机（1），特别是一种饲料收割机（2），具有至少一个用于将接收和加工的作物（7）输送到运输车辆（6,25）的喷口（4），其中至少在输送到运输车辆（6,25）的过程中，提供电光装置（18）用于喷嘴（4）的方向控制，并且其中电光装置（18）检测特征参数（4）的特征参数（30）和/或农用加工机（1）的特征参数（30）。这确保了对农业工作机械（1）的喷口（4）的控制，其几乎完全减轻了农作业机器（1,2）的操作者监视喷嘴的任务。

9. 发明申请

US20090037059A1 CONTROL SYSTEM FOR AGRICULTURAL WORKING VEHICLES 审中-公开
标题翻译：农业工程车辆控制系统
公开(公告)号：US20090037059A1
公开(公告)日：2009-02-05
申请号：US12183146
申请日：2008-07-31
申请人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Lars-Peter Meyer Zu Helligen , Tommy Madsen , Kristian Kirk , Rufus Blas
发明人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Lars-Peter Meyer Zu Helligen , Tommy Madsen , Kristian Kirk , Rufus Blas
IPC分类号： G06F19/00 , G01C21/20
CPC分类号： A01B69/008 , A01B69/001 , G05D1/0246 , G05D1/0272 , G05D1/0278 , G05D2201/0201
摘要： The invention relates to a control system for agricultural working vehicles with at least two sensor systems which generate sensor signals (A, B), wherein the sensor signals (A, B) are vehicle-dependent or dependent on the crop characteristics or a combination of both.The object of this invention is to develop a control system for agricultural working vehicles in such a manner that a suitable fusion of the sensor signals (A, B) of the sensor systems is achieved, in particular.This object is achieved according to the invention in that at least one first and at least one second sensor signal processing algorithm (I,II,III,IV,V) is provided in the control system, and in that a selection is made as to which sensor signal processing algorithm (I,II,III,IV,V) is to be used as a function of at least one characteristic parameter (P).
摘要翻译：本发明涉及一种用于农业工作车辆的控制系统，其具有产生传感器信号（A，B）的至少两个传感器系统，其中传感器信号（A，B）是车辆依赖性的或取决于作物特性或组合都。本发明的目的是开发一种用于农业工作车辆的控制系统，特别是实现传感器系统的传感器信号（A，B）的适当融合。根据本发明，该目的是实现在控制系统中提供至少一个第一和至少一个第二传感器信号处理算法（I，II，III，IV，V），并且，将使用哪个传感器信号处理算法（I，II，III，IV，V）作为至少一个特征参数（P）的函数。

10. 发明授权

US07729834B2 Method for creating reference driving tracks for agricultural working machines 有权
标题翻译：农业作业机器参考驾驶轨道的制作方法
公开(公告)号：US07729834B2
公开(公告)日：2010-06-01
申请号：US11623123
申请日：2007-01-15
申请人： Lars Peter Meyer Zu Helligen , Norbert Diekhans , Andreas Brunnert , Ingo Beermann
发明人： Lars Peter Meyer Zu Helligen , Norbert Diekhans , Andreas Brunnert , Ingo Beermann
IPC分类号： A01B69/00 , G05D1/02 , G06F19/00
CPC分类号： A01B69/008 , G01C21/20
摘要： A route planning system for agricultural working machines with a defined working width assigned to the agricultural working machine to generate driving routes in a territory includes a navigation module configured to generate the driving routes and having at least one automatic driving mode and at least one recording mode, such that said at least one automatic driving mode and the at least one recording mode are activatable independently of each other.
摘要翻译：一种用于农业作业机械的农业工作机械的路线规划系统，其分配给农业工作机器以在领土上产生驾驶路线，包括导航模块，其被配置为产生驾驶路线并具有至少一个自动驾驶模式和至少一个记录模式使得所述至少一个自动驾驶模式和所述至少一个记录模式可以彼此独立地激活。

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