Electronic Tow Bar Automating Agricultural Machines

Größe: px

Ab Seite anzeigen:

Download "Electronic Tow Bar Automating Agricultural Machines"

Inken Bretz
vor 8 Jahren
Abrufe

1 Electronic Tow Bar Automating Agricultural Machines Research Project EDAUG Dipl.-Ing. B. Jahnke Vector Congress, , Institutsleiter: Prof. Dr.-Ing. Marcus Geimer KIT Universität des Landes Baden-Württemberg und nationales Forschungszentrum in der Helmholtz-Gemeinschaft

2 Contents Driver Assistance in Agricultural Machines Electronic Tow Bar Project - EDAUG Adressing Safety and Usability Summary Dipl.- Ing. Bernhard Jahnke

3 Automation Drivers Driver Assistance in Agricultural Machines Why automating agricultural machinery? Technical Support Driver Assistance Ergonomics Comfort Cab Work Conditions Target Functions Ressource efficiency Crop maximization Crop quality optimization Time efficiency DRIVER Dreary tasks Long work time Uneven, rough terrain Tasks Steering Velocity Implement controls (PTO, Hitch, Hydraulics) Drive train management Fleet management Documentation Dipl.- Ing. Bernhard Jahnke

com Ressource efficiency Crop maximization Crop quality optimization Time efficiency DRIVER Dreary tasks Long work time Uneven,

4 Boundary Conditions for Automation Driver Assistance in Agricultural Machines Process: Complex growth and crop models nutrition, density, treatments, Changing Conditions within short rangs and time period Soil, Crop, Weather, Technical: GNSS availability GSM/GPRS mobile web access Law and Standards: No road traffic regulations ISO (equivalent ISO 26262) Machine Design: Power split transmissions Power shift transmissions Electro-hydraulic steering Speed up to 60km/h ISOBUS standard for automation applications Dipl.- Ing. Bernhard Jahnke

Law and Standards: No road traffic regulations ISO 25119 (equivalent ISO 26262) Machine Design: Power split transmissions Power shift

5 Contents Driver Assistance in Agricultural Machines Electronic Tow Bar Project - EDAUG Adressing Safety and Usability Summary Dipl.- Ing. Bernhard Jahnke

6 EDAUG Project Electronic Tow Bar Project - EDAUG agricultural machines, market insights and and safety competence GNSS, navigation and geo-information systems project management, control systems of mobile machines, environment perception Dipl.- Ing. Bernhard Jahnke

and geo-information systems project management, control systems of

7 The Concept Electronic Tow Bar Project - EDAUG Electronic Tow Bar system for agricultural machinery using sensor based obstacle detection and geo-information Connected: On-site web access to a cusomized geo-information server Intelligent: Dynamic path planing based on obstacle coordinates Safe: Permanent parameter monitoring Obstacle detection enabling autonomous safety stop Master GPS-signal Electronic Tow Bar Obstacle Detection geo-information Slave Dipl.- Ing. Bernhard Jahnke

Dynamic path planing based on obstacle coordinates Safe: Permanent parameter monitoring Obstacle detection enabling

8 Contents Driver Assistance in Agricultural Machines Electronic Tow Bar Project - EDAUG Adressing Safety and Usability Summary Dipl.- Ing. Bernhard Jahnke

9 Safety Concept Adressing Safety and Usability Operational No safety critical faults or errors Safety Targets: Human beings (ISO 25119) Environment Machines Safety Stop Low GNSS signal quality Sensor based obstacle detection Manually uncoupled Emergency Stop V/V collision risk Data Communication loss Severe system faults Safety Stop Operational TRUE ESt FALSE TRUE FALSE SSt Emergency Stop Dipl.- Ing. Bernhard Jahnke

obstacle detection Manually uncoupled Emergency Stop V/V collision risk Data Communication loss Severe

10 Operation Parallel Driving Assignment assigned alarm Safety Stop enable Docking alarm emergency emergency emergency Turn-Over Tracking Ignore Evasion Emergency Stop switchstate switchstate switchstate switchstate switchstate [parallel = 1] [turn = 1] [track = 1] [ignore = 1] [evade = 1] State Machine Adressing Safety and Usability Operational Safety Stop Emergency Stop reset Default slave reset Slave master Master Assignment assigned Safety Stop emergency enable alarm alarm emergency Docking coupled emergency Emergency Stop Operation Parallel Driving switchstate switchstate switchstate switchstate switchstate Turn-Over Tracking Ignore Evasion [parallel = 1] [turn = 1] [track = 1] [ignore = 1] [evade = 1] Dipl.- Ing. Bernhard Jahnke

Default slave reset Slave master Master Assignment assigned Safety Stop emergency enable alarm alarm emergency Docking coupled emergency Emergency Stop Operation Parallel Driving

11 Obstacle Detection Adressing Safety and Usability Sensor based obstacle detection Speed dependent Safety-Zone: r mmm = 5m r = t bbbbb v t bbbbb = 3s v mmm = 20kk h w = w iiiiiiiii + 3m Long-Range-Surveillance: Remote obstacle detection Purpose: avoidance path calculation w Safety-Zone Slave r Field Boundary Long-Range-Surveillance RF-Data Obstacle 1 Master Obstacle Dipl.- Ing. Bernhard Jahnke

Long-Range-Surveillance: Remote obstacle detection Purpose: avoidance path calculation w Safety-Zone

12 Contents Driver Assistance in Agricultural Machines Electronic Tow Bar Project - EDAUG Adressing Safety and Usability Summary Dipl.- Ing. Bernhard Jahnke

13 System Architecture SLAVE RF - full duplex MASTER edauglan 1000 Mbit/s Sensors 100 Mbit/s 100 Mbit/s Ethernet Switch NAV, GIS ZST, UFS ZST NAV EXT Main ECU HMI Terminal CAN 4b edaugcan CAN 4a ISO11783 CAN 3 Ventilbus CAN 2 J1939 CAN 1 - GD HMI Terminal EXT Main ECU 100 Mbit/s edauglan Dipl.- Ing. Bernhard Jahnke

Terminal CAN 4b edaugcan CAN 4a ISO11783 CAN 3 Ventilbus CAN 2 J1939 CAN 1 - GD

14 Software Development and Testing MASTER Model Based Code Development Matlab/Simulink dspace rapid prototyping platform Remaining Bus Simulation Vector CANoe for state machine validation including CAN and RS232 RF Bus Monitoring and Diagnosis CAN and Ethernet VN5610 and CANoe SLAVE Dipl.- Ing. Bernhard Jahnke

Vector CANoe for state machine validation including CAN and RS232 RF Bus

15 Sensor Setup Driveaway and Close Range: 4 x Mesa SR4500 3D-cameras 2 x front mount/2 x side mount Difference image segmentation for v = 0 km/h Iterative TLS Grid segmentation algorithm for v > 0 km/h Range 0 5 m Obstacle Ground Dipl.- Ing. Bernhard Jahnke

= 0 km/h Iterative TLS Grid segmentation algorithm for v > 0 km/h

16 Sensor Setup Long Distance Obstacle Detection 2 x Sick LMS511- LIDAR 1 x fixed horizontal mount, Range: max 80m 1 x active 3D-fixture, Range: 5 15m speed dependent elevation control lateral slope compensation active 3D-fixture no slope compensation slope compensation Dipl.- Ing. Bernhard Jahnke

speed dependent elevation control lateral slope compensation active

17 Obstacle Management and Operator Interaction Dipl.- Ing. Bernhard Jahnke

18 Geo-Information Server GI-Server for Electronic Tow Bar Systems: Concentration of GI from open source and commercial GI web-clients Standardization of coordianate system Relevant GI are: Static obstacles like water, tree, power poles, Field boundaries for current platoon position web-client 1 request platoon 1 web-client 2 GI-server EDAUG-client platoon 2 web-client n data response platoon n EDAUG-Client: Connectivity to EDAUG platoons Request of local GI-set Platoon: Download of obstacles and fieldboundaries Dipl.- Ing. Bernhard Jahnke

platoon position web-client 1 request platoon 1 web-client 2 GI-server EDAUG-client platoon 2 web-client n data response platoon n

19 Contents Driver Assistance in Agricultural Machines Electronic Tow Bar Project - EDAUG Adressing Safety and Usability Summary Dipl.- Ing. Bernhard Jahnke

20 Summary EDAUG Tow Bar System features a complex Cyber Physical System using web-based data onsite in a real time environment Environment perception and mapping supports driver to optimize Usability Collision avoidance has not been designed as safety function with regard to ISO The responsibility remains with the operator Management of information and operator interaction has been met as core problem to design a single operator multi vehicle platoon Dipl.- Ing. Bernhard Jahnke

function with regard to ISO 25119 The responsibility remains with the operator Management of information and operator

21 Thanks for your attention! Dipl.- Ing. Bernhard Jahnke

Ähnliche Dokumente

Model-based Development of Hybrid-specific ECU Software for a Hybrid Vehicle with Compressed- Natural-Gas Engine

Model-based Development of Hybrid-specific ECU Software for a Hybrid Vehicle with Compressed- Natural-Gas Engine 5. Braunschweiger Symposium 20./21. Februar 2008 Dipl.-Ing. T. Mauk Dr. phil. nat. D. Kraft