DE10016688A1 - Detecting animals and/or spawn of ground brooders in natural habitat involves mobile infrared, microwave and visible radiation detection, spatial correlation and electronic processing - Google Patents

Abstract

The method involves using multisensor units on a vehicle directed at the ground and each with an infrared radiation sensor and/or a microwave sensor and/or a video camera. Radiation is detected in two or three spectral regions, spatially correlated, electronically processed, relative infrared or moisture differences detected as the vehicle moves and an audible or visual signal produced to detect relative infrared and/or moisture differences. The method involves using multisensor units (MS) mounted on a vehicle at the same height, at equal intervals and directed towards the same area of ground. Each unit consists of an infrared radiation sensor (1) and/or a microwave sensor (3) and/or a video camera (2). Radiation is detected in three spectral regions (infrared, microwave, visible), or a combination of two regions and spatially correlated, electronically processed, relative infrared or moisture differences are detected as the vehicle moves and an audible or visual signal produced if relative infrared and/or moisture differences are detected and/or a static video image is shown on a display screen. An Independent claim is also included for an arrangement for detecting animals and/or the spawn of ground brooders in their natural habitat.

Description

The invention relates to a method for the detection of animals and / or laid (nests with eggs) of breeders in de natural habitat, for example in meadows and fields , as well as facilities for carrying out the process. The invention also relates to a method for mapping Locations of detected animals and / or clutches.

When using agricultural machinery such as mowers ken, field rollers, field crop harvesters, for example as for sugar beets, and percussion and. are annual A large number of roe deer, (young) rabbits, ground broths such as pheasants, partridges, curlews, lapwings and many other species and their clutches injured, killed or destroyed. According to estimates, in Germany alone the annual spring mowing of meadows 420,000 animals ver last or killed. The main reason is that this Animals and clutch very well camouflaged, therefore difficult to discover are and the animals either not at all or too late before Machines flee. Related to this situation affects also unfavorable that the machines ar faster and faster work and thus make an escape difficult.

For some time now, institutions have been known which use In infrared sensors detect animals in meadows. To do so existing temperature differences are used, which under different infrared ray densities of animal or clutch and Cause underground, generally meadows or fields. The disadvantage here is that especially in sunshine Differences in temperature due to different heating and different structures of a meadow or a field occur, which are detected and then a (false) alarm trigger or can trigger. For example, Maul Litter pile, differences in vegetation density and thus loading shading of the ground, or uncovered areas. false alarm can also be triggered by large-leaved plants in the grass,  if, for example, they are high and this leaves leaves close to the sensor completely cover its field of view.

The known devices work without false alarm At night, at dusk, or when the sky is completely overcast then the temperature differences between animal / clutch and the Underground are largest. Much of the field work tion, for example the meadow mowing, but preferably takes place take place in strong sunshine. Under these conditions who which also detects animals, but with the appropriate type False alarms often occur in meadows, so use the facility becomes unreasonable.

In the known devices, the detection threshold by means of a potentiome built into a control unit ters can be set. With these settings the thermal structure, d. H. the temperature differences of the Ge country considered; however, the settings made by the user at the start of each operation the. The thermal structure changes during operation (for example by changing the solar radiation), so the setting must be corrected to prevent false alarms avoid or increase the detection sensitivity.

For nature conservation, nature research, agriculture and Hunting is of interest to life over long periods of time wise and behavior of wild animals in agriculture to observe the cultural landscape and this with the environment world and human intervention in the environment in relation hung. This includes, for example, the preferred ten "nurseries", such as camps of fawns and young rabbits, gels ge of the breeders u. Ä., exactly kar over long periods animals. This allows deeper insights into lifestyle and Responses to habitat changes are studied. The creation of such "lay-up and storage cards" is up to not possible because the safe finding of these places only  with enormous effort and with inadmissible disturbance of the animals it is possible.

A disadvantage of the prior art is that the existing Infrared sensors often fail under certain conditions can trigger alarms and therefore cannot be used universally are. It has been found to be particularly disadvantageous that part of these conditions, especially at the most favorable for mowing Times occur, namely when the sun is shining. The disadvantage is further that the setting of sensitivity by the user Must be made so that the "quality" of the Ge dexterity and experience of the user depends, therefore not subject to objective criteria and therefore rarely opti times is. This applies in the same way to the necessary after position in operation, including detection reliability and False alarm suppression suffer.

It is also considered a disadvantage that in the meadow mowing or field cultivation with contractors processing extended time and thus the costs are increased if the Stop the processor when detecting animals or clutches and must carry out rescue measures. Furthermore, night is lig that so far there is no method and device with which in a simple, fast way that is compatible with animals and the environment high-precision mapping over long periods (years) of couches and young animal camps possible for the above-mentioned purposes is.

The object of the invention is therefore, animals and / or clutch in agricultural areas, or more generally in to detect their natural habitat, this find maps and from them thematic reference maps create, as well as create appropriate facilities that on various carrier platforms, such as all types of land economic machines, preferably mowers, harvesters NEN u. Ä., ATVs, and / or others accordingly  designed vehicles assembled, u. U also by foot the Ge land-based emergency personnel, to use com men.

According to the invention, this object is in a method for Detection of animals and / or nesting of breeders in de ren natural habitat with those specified in claim 1 Steps resolved. Advantageous further developments of the inventions Proper procedures are the subject of subclaims. There are also facilities for carrying out the method and advantageous developments of these devices are provided. According to the invention is also a method for mapping Locations of animals and / or clutches indicated.

According to the invention for the detection of animals and / or Located (nests) of breeders in their natural le habitat, such as meadows and fields, on agricultural Vehicles at approximately the same height and at the same distance from attached a number of multi-sensor units, each because of the floor leveled on about the same spot tet and each have an infrared radiation sensor and / or have a microwave sensor and / or a video camera. Using these multisensor units, the three specs central areas of the visible, infrared and microwave Radiation or in one of the three possible combinations of two of these three beam areas, temporally and spatially correct reflected radiation detected, which is then in a subordinate evaluation electronics temporally and spatially si is processed multan.

This will be done by a suitably equipped farmer vehicle moves over an area to be searched the sizes relative infrared radiation difference and / or relative humidity change and / or relative change in Radar backscatter cross section along the respective at the Bewe determination of the vehicle scanned terrain strip.  

If there is a coincidence that corresponds to an animal and / or clutch appropriate infrared radiation difference and / or a humidity difference and / or difference of the radar backscatter cross section an acoustic and / or optical alarm triggered.

The multisensor units, which generally have an infrared Radiation sensor and a microwave sensor and accordingly a video camera to meet the respective requirements hold, are preferably ver in a miniaturized design turns and on top of that in the smallest possible, shock and weatherproof, dew and rainproof housing under brought. Here are the sensors, as from DE 37 30 449 be known, optomechanically dimensioned and arranged. That be indicates that the installation height is slightly above the Vege tion height and the field of view angle is so large that on Bottom a preferably rectangular, but also circular or elliptical spot according to the dimensions of the for detecting animals or scrims.

The multi-sensor units are preferably on a horizontal th support structure is provided at a distance from each other, which is chosen in such a way that the stains caught on the bottom are preferably cover a little. In particular, there are so many Multi-sensor units mounted side by side that with them a streak can be detected on the ground, at least the same, preferably larger than the processing width of the used agricultural machine.

As described in DE 37 30 449, infrared sensors are used the differences in the infrared radiation from Tie breeding sites and the subsurface, such as How senboden recorded, which is therefore not described below needs to be.  

According to an advantageous development of the invention The method is derived from the infrared radiation sensor (s) signals delivered during operation continuously a "sliding co telwert "determined by the, signals digitized, saved saved and averaged over adjustable time intervals, which correspond to the distances traveled by the vehicle dieren. For this purpose, the time interval is selected so that the with route corresponding to it a multiple or multiple the body length of the animal sought or the diameter of the scrim sought.

The "moving average" becomes a slightly larger one "floating threshold" derived, which is constantly with is compared to a current infrared signal. Is the latter greater than the "moving threshold" because of a Animal / clutch, which is warmer than the surface, in the Field of view of the infrared radiation sensor is a acoustic and / or visual alarm triggered. Especially advantageous in this development of the invention The procedure is that the "sliding threshold" automatically is set; this relieves the user, and Setting errors do not occur.

Another advantage is that the "sliding Threshold "is automatically updated when the medium infrared radiation conditions of the substrate other. Thus, on the one hand, optimal detection is true probability reached, and on the other hand false alarms largely avoided.

When looking for animals or eggs in vegetation-free terrain should be, such as young rabbits, so-called "March rabbits", breeders on fields in early spring, can the temperatures of the Ackers become higher than that of the animals / clutch. Then it will Detection method inverted, i. H. the "moving threshold"  becomes slightly lower than the "moving average" set. For these cases there is an infrared sensor / s associated control device a Umschaltmög provided that the user operates when he knows that the soil is very warm. Then if the current el infrared signal is less than the threshold because an animal / clutch is detected that is cooler than the surface in the environment is an acoustic and / or optical Alarm triggered.

According to the invention, the signal evaluation of the / r Infrared sensor / s can be expanded by a time measurement, which increases the detection reliability and the number of False alarms is reduced, as detailed below is described. Preferably used as infrared detectors in the infrared radiation sensor sensitive to alternating signals (e.g. pyroelectric) detectors used, wel che, because its characteristic is that of a high pass, have the property of only detecting changes in radiation, but not constant radiation levels.

These alternating signal sensitive detectors deliver the Switch from low to high radiation levels, i.e. H. of cold on warm, a positive signal pulse, with one Time behavior, which is determined by the time behavior of the detector given is. When changing from high to low beam levels. d. H. from warm to cold, they deliver a nega tive signal pulse. The level of the pulse is per proportional to the level of the radiation jump, d. H. to the beam difference.

According to the invention, this property is as follows uses. A sunlit meadow has more or less random thermal pattern. The plants only show little temperature differences of a few degrees because their Temperature barely above about even in strong sunlight  20 ° Celsius rises. Higher temperature differences ever occur but between the vegetation and uncovered areas, the temperatures of 40 ° to 50 ° Celsi when exposed to sunlight can accept us. These places, such as Maul litter heap, mouse holes, places of low fertility u. Ä., are random in distribution and size.

There are also higher temperature differences between the Ve getation and animals. While exposed (incubated) eggs a temperature of about 36 ° to 38 ° Celsius can have a sunlit plumage or fur also accept higher temperatures. Animals / clutch are in distribution in the field is also random, but its size is known within certain limits. For example a rolled up fawn about 40 cm in diameter, a pheasant scrim with a diameter of about 15 cm to 20 cm, etc.

When moving from a (cool) meadow to a (warm) animal (Clutch) a positive signal pulse of a certain height is regi strictly. During the subsequent transition from the (warm) animal to the (unchanged cool) meadow becomes a negative signal pulse same amplitude registered. At a known speed the Sen carried by an agricultural vehicle sors the length of the carcass / Ge leges from the period between the rise and fall of the Si gnals.

As criteria for the detection of an animal (clutch) according to the invention therefore in a first step in depend the typical size (length) of the animal / Type of clutch and the speed of the carrier vehicle time windows calculated in which a positive and a negative Signal pulse, d. H. an increase and decrease in impulses have to follow. The speed is measured using a speedometer,  Radar speedometers and Ä. measured and in a ver work processor entered.

In a second step, the registered, i.e. H. ana log digitally converted and stored sensor signal Pairs of positive and negative signal pulses searched, the occur within the time window. In a third Step are ampli with identified signal pulse pairs tuition amounts formed and compared. Are the heights of the Amplitude amounts within the limits of the measurement uncertainty are the same, so in a fourth step an acoustic and / or op table alarm triggered. However, the ampli differ If you worry about more than the measurement uncertainty, no alarm is triggered solves.

With analog processing instead of processing with a digital processing processor becomes an analog circuit used by the after the occurrence of a signal pulse ses (the size of the animal or clutch species sought suitable) time window is started; after its expiration the second signal pulse in a second set time window expected. If such a pulse is present, then its amplitude compared with that of the first and if they match (in Measurement uncertainty) Alarm triggered.

For the detection methods described above using Time windows or the evaluation of signal pairs is invented according to the sensor used with a rectangular Ge field of view, which ensures that the Visual field shape has no influence on the temporal course of the Has signals. (Different from circular or elliptical Visual fields it is indifferent to a rectangular one, whether the object in the center or on the edge of the visual field lies, since the temporal signal course is not influenced by it becomes.  

Above is the time measurement method for infrared detectors wrote that are sensitive to changing light. However, it can even light-sensitive detectors are used, the constantly deliver a signal that is proportional to the received Irradiance is. If a multi-sensor unit in the Be drifted across a cool meadow and hit with her Ge field of view, for example on a warm fawn or a warm one mere spot in the meadow, the prevailing high here infrared ray density an increase in the sensor signal, that only drops again when the sensor is over the warm one Animal / clutch, or the warmer part is moved and comes back over the cool meadow floor.

Signal processing and analysis is also carried out here speaking, as described above, with the difference that in the second processing step the data according to Paa Their signal rise and fall are searched, the inner are half of the time window.

In particular, false alarms are also generated with this device avoided, due to light-shadow boundaries, (which too Temperature differences), and from transitions to un overgrown places, such as paths, neighboring fields, areas for Turning a tractor, u. Ä. Can be triggered.

In order to find by means of the methods described above len, d. H. Animals and eggs, preferably with eggs, to be detected animals, are by means of infrared radiation sensors and the microwave sensors of the various multi-sensor units th recorded measured values of such a site together with Position data of the detected site, which by means of a GPS device have been determined in the form of a geo-mapped map saved.  

Furthermore, according to the invention, the DGPS (Differential Global Positioning System) facilities with coordinates of a detected and confirmed by the user found location automatically together with the date and Time in an appropriately designed storage medium for example a processor. At the same time can enter data relating to animal / clutch types, meteorological parameters, information on the type, height and Nature of vegetation for archiving on the spit be transferred so that by linking the one given thematic location maps are given can.

According to the invention, this method can be carried out in an analogous manner can also be applied when using only one microwave sensors alone or with a combination of microwaves sensors and an infrared radiation sensor or at Use of an infrared radiation sensor in combination with a microwave sensor and / or a video camera. Fer ner can a microwave sensor and video camera according to the Invention not only for itself but also in Kombina tion with each other or both together with the infra red sensor can be used.

The invention based on a preferred Aus management form with reference to the accompanying drawings explained in detail. Show it

Fig. 1 shows schematically, partly as a block diagram, an embodiment of a device for carrying out the method, and

Fig. 2 shows schematically an embodiment of a microwave sensor provided in a multi-sensor unit.

In Fig. 1, an embodiment of a device for performing the inventive method is shown schematically in part as a block diagram. On a supporting structure 6 or on a bar that can be carried by a person, a number of - for example in FIG. 1 four - downward, that is to say "looking" to the bottom multi-sensor units MS, each having an infrared radiation sensor 1 , one Microwave sensor 3 and a video cameras 2 have. The fields of view of the sensors of each multisensor unit MS are limited by lines indicated by dots.

4 with the diameter or the distance of the multi sensor units MS detected on the ground, slightly overlapping areas designated, which are adapted to the size of the animal / clutch species sought. The mounting height 5 of an individual multi-sensor units MS is greater than the height of the soil vegetation, not shown in FIG. 1, so that the multi-sensor units MS do not touch the plants.

The multisensor units MS are connected to one another and to a control device 9 via data lines 8 , in which the signals / data of all multisensor units MS converge and are processed. From the controller 10 a signal analysis is carried out and, optionally, optical and acoustic alarm devices 11 are ert gesteu. Further, the control unit 10 of a not shown in FIG. 1 switches on a multi-plexer 9 one or more signals of the video cameras 2 via corresponding video lines 7 to a screen 12 agricultural machine shown in more detail.

In the on-board computer 12 or alternatively in the control unit 10 , the exact position of found animals / clutch is calculated from data that are supplied by a DGPS system. The DGPS system is connected to the control unit 10 via a DPGS receiver 13 , which receives data from the DPGS system via an reception antenna 14 . The control unit 10 has, inter alia, a transmitter which sends data via a transmitting antenna 15 to a receiver (not shown in more detail in FIG. 1), for example a rescue DGPS, which will be described in detail below.

Since, as explained above and shown in FIG. 1, infrared and microwave sensors 1 and 3 or video cameras 2 can be used individually or in any possible combination with one another, the configuration of the other system components can also be correspondingly flexible Requirements are adjusted.

In Fig. 2, a single microwave sensor 3 is shown schematically, with which an observation spot 30 is detected. The direction of movement of the microwave sensor 3 attached to the supporting structure 6 or a portable bar is indicated by an arrow 31 . The elliptical observation spot 30 has, for example, a dimension of 50 to 60 cm perpendicular to the direction of movement and in the direction of movement of approximately 10 to 20 cm. The mounting height 5 (see FIG. 1) is preferably of the order of 80 cm.

According to the invention, one, preferably each, microwave sensor 3 of a multi-sensor unit MS has an integrated transmitting and receiving unit and works according to the principle of the Doppler radar, ie it detects a resting animal while it is being moved due to the difference in speed between the moving sensor 3 and the Doppler shift caused by the resting animal; In addition, the sudden change in the backscatter cross-section is used for detection when the sensor is transferred from the meadow to the body of an animal / egg with eggs. Grass (vegetation) and meadow soil have a low water content compared to the body of a living being; however, a higher water content (a higher water density) results in a higher backscatter cross section. As a result, more microwave radiation is scattered back from animals / eggs with eggs and received by the detector than from the vegetation and the meadow floor.

According to the invention, such a microwave sensor 3 operates preferably in the range of 24 GHz, the ISM (Industry Science Medicine) band, which has the advantage that it can be used without special radio approval. However, other frequency bands are also suitable; the or the micro wave sensors 3 must then be adapted and dimensioned accordingly. The average transmission power of the micro wave sensor 3 is about 5 mW and it can be operated in pulse or cw mode; however, cw operation is preferred because it is technically less complex. The transmitter of the microwave sensor 3 has an active integrated antenna ne with a high electron mobility transistor (HEMT), or a heterostructure bipolar transistor (HBT). Its receiver is preferably designed as a radiation-coupled mixer with a Schottky diode. Alternatively, if the sensitivity is restricted, the active integrated antenna can be used as a receiver in self-oscillating mixed operation.

The beam shaping of the antenna is carried out, for example, by means of a dielectric lens and the beam shape is an elliptical lobe, which corresponds in orientation to that of the other sensors and is adapted in size to the animals / ge sought. The main beam direction of the antenna is inclined 30 ° to 60 ° to the vertical in the direction of movement of the sensor 3 , ie the sensor "looks ahead". As a result, it is sufficient that the difference in intensity of the Doppler signal scattered by animals or scrims compared to the back-scattered signal from the ground or vegetation is significantly higher and that a longer period of time is available than in the case of a main beam direction parallel to the vertical, ie at a viewing direction exactly perpendicular from up to the meadow floor. However, the main beam direction can also be set to other angles.

Basically, the difference in intensity of the backscatter signal between animals / areas and soil / vegetation is greater, the flatter the observation angle is, ie the closer the beam direction in the direction of movement approaches the parallel to the meadow ground; the main beam direction must be matched to the height of the vegetation to be searched and adapted to the mounting height of the multi-sensor units. If a microwave sensor 3 is used together with an infrared sensor and / or a video camera 2 of a multi-sensor unit (the latter two having to "look down" vertically from above to the floor), the microwave sensor 3 is so far behind in the direction of movement other sensors mounted so that all sensors simultaneously detect the same area on the floor; ie mounting height and angle of the main beam direction of the microwave sensor 3 must be taken into account accordingly.

In operation, directed microwave radiation is sent to the observation spot 30 ( FIG. 2) on the ground, depending on the water content and radar backscatter cross section of the detected ground spot 30 partially absorbed there or partially scattered back from there to the sensor 3 , received by it and registered. If the water content is low, little radiation is reflected, if it is high, much is reflected. Due to the inclination of the main beam direction of the transmitting / receiving antenna, only a very small part of the transmitted signal is scattered back to the sensor from flat ground and vegetation. Due to the typical surface shape of animals and clutches, in contrast to the soil and vegetation, they have strong backscattering centers in the direction of the sensor, so that a much larger part of the transmitted signal is scattered back to the sensor. Similar strong backscatter centers, such as animals and clutches, have round stones, for example, but due to their low water content reflect practically no radiation and thus only lead to a weak Doppler signal in the receiver. For the detection of living beings in a subordinate to the micro wave sensor 2 evaluation electronics, a threshold value for the backscattered, Doppler-shifted microwave lens signal is set, which is slightly above the signal from the vegetation and the meadow ground, including a mound of earth, for example mole heap and am stones lying on the ground.

If this threshold value is exceeded by a backscatter signal, this indicates a higher water content, ie the backscatter signal must come from an animal; an acoustic and / or visual alarm is therefore triggered. So with moving the sensor 3 over the floor, the rela tive course of the water content in the swept floor area can be recorded and analyzed. Due to the inclination of the main direction of radiation cause objects protruding from the meadow floor, for example animals, clutch, but also mounds of earth, e.g. B. in the form of moles, a particularly ho hes Doppler shifted backscatter signal, which in turn is the highest for objects with a high water content.

At the beginning of a mission, the facility must be in a one adjustment phase is initially carried out over areas of the site the one in which there are no animals or clutch. The one there when backscatter signals are received are used as a threshold for used the detection of animals and scrims.

According to the invention, this can be done in two ways:

• 1. The detection threshold value is set on the control unit 10 during a setting phase so that the threshold value et is higher than the backscatter signals that occur, so that there is no alarm. If the device is then passed over animals / clutches that produce a larger backscatter signal, the threshold value is exceeded and an alarm is triggered. The set threshold value and the backscatter signal are compared in a comparator. If the moisture conditions change in the searched area, for example if the floor is very damp or very dry, it may make sense to readjust and adjust the threshold value if necessary.
• 2. In the control unit 10 , a "moving average" is determined automatically from the backscatter signals, from which the somewhat higher threshold value is derived; otherwise, the procedure is as described above. The advantages of this second variant are that the system automatically sets the "moving threshold", which relieves the user and no setting errors can occur, and that the threshold is automatically updated when the backscatter conditions of the underground change. On the one hand, this achieves an optimal detection probability and, on the other hand, false alarms are largely avoided.

If infrared sensors 1 and microwave sensors 3 are used in combination, the following detection method according to the invention is used in addition to that described. The signals from both sensors 1 and 3 are checked in the control unit 10 in a location-correlated manner for the coincidence of a threshold value being exceeded. That is, it is checked whether there is an overrun and an alarm for both sensors 1 , 3 for the same observation spot . In this case the probability of a false alarm is particularly low. It is also possible to carry out this mode of operation exclusively.

According to the invention, a video camera 2 , preferably a color video camera of preferably miniaturized construction, is generally installed in each multisensor unit MS parallel to each of the infrared sensors 1 and / or microwave sensors 3 . If necessary, a black and white camera can also be used as camera 2 . Here, the camera 2 and the other sensors 1 and 3 are dimensioned, mounted and adjusted relative to one another such that they simultaneously detect (observe) the same floor spots of the same size, for example the spots 30 in FIG. 2. Here, the size of the soil patch according to the invention is adapted to the size of the animal / clutch species sought, ie approximately as large as this.

The video camera 2 is attached and aligned on the support structure 6 or on the portable beam so that it "looks" unhindered vertically or approximately vertically down to the floor. (Oblique angles are only permissible under the condition that the direct line of sight to the animal / clutch you are looking for is not impaired by the vegetation surrounding the camp, for example grass.) To display an image recorded by means of the video camera, there is advantageously a field of vision an operator / vehicle driver attached monitor, for example the monitor 12 , is provided. The video outputs of all cameras 2 are routed via the multiplexer 9 to the common monitor 12 , on which the image of only one camera 2 of one of the multi-sensor units is displayed during the search phase.

In the event of an alarm - triggered by an infrared or microwave sensor 1 or 3 or by both - the current image of the corresponding camera 2 is "frozen" during the alarm phase that begins and is displayed as a still image on the monitor 12 . If several multi-sensor units MS are operating in parallel, the current image of the camera, whose associated infrared and / or microwave sensor 1 or 3 has triggered the alarm, is "frozen" during an alarm phase and is displayed as a still image on the monitor 12 provides, the selection is made via the control of the multiple xer 9 from the control unit 10 .

If more than one multisensor unit MS gives an alarm, the associated "frozen" images are displayed sequentially and periodically for a few seconds each on the monitor 12 during an alarm phase, the respective number of the numbered multisensor units MS also being shown. The alarm, which is indicated acoustically and / or optically in all cases, causes the user, for example the driver of an agricultural machine, to stop the vehicle and to look at the monitor 12 .

The search arrangement continues in the alarm phase until the vehicle comes to a standstill. This makes it possible to record additional animals / clutch. If there is a further detection in the alarm / hold phase, this is also indicated by an alarm (acoustically / optically) and the associated still image is displayed on the monitor 12 in alternation with the already existing still image (s).

The monitor 12 is preferably a color monitor, so that the user can quickly recognize from the individual color image whether an animal / clutch has actually triggered the alarm, in order to then possibly bring the animal out of the danger zone, or to take other appropriate measures, for example to exclude the area around the clutch from processing / mowing.

Regardless of whether there is an alarm or false alarm, the device is brought back from the alarm phase to the search phase before continuing. The video camera can also be coupled to a fast, digital image processor, which works with special analysis and pattern recognition algorithms, which in turn are tailored to the animal / clutch species sought and analyze the images. If the animal / clutch sought is recognized, an optical and / or acoustic alarm is triggered and, if desired, also displayed on the monitor 12 by a still image. In a further embodiment, only video cameras / s 2 are used as sensors, the dimensions, assembly, alignment and mode of operation of which are the same in this case as described above.

All of the embodiments described above can be supplemented with a reception and evaluation unit of a position measuring system, for example GPS (Global Positioning System), or the GLONASS (Global Navigation Satellite System). A preferred measuring system is the DGPS (Differential Global Positioning System), which allows position determination with a reproducible spatial resolution of a few centimeters. Here, multisensor unit (s) MS and DGPS are linked via interfaces to a processor, for example the processor 10 , which contains a writable and readable storage medium. In the event of an alarm, the processor 10 detects the determined, current coordinates of the DGPS receiver 13 , as well as the numbers of the multisensor units. Furthermore, a display unit, for example the monitor 12 , prompts the user to confirm alarm / false alarm at each alarm-generating multisensor unit MS, for example by inputting into a suitable input unit, for example a keyboard.

In the event of an alarm, the processor "asks" the user about the type of animal / clutch found. After input and additional confirmation, the processor 10 calculates from the DGPS data, the previously stored position of the DGPS receiver 13 on the vehicle and the position of the alarming multisensor unit (s) MS on the vehicle the exact coordinates of the alarming multisensor unit (s) at the time of the alarm and saves this together with the date / time and information about the type of animal / clutch in the storage medium.

This is preferably followed by long-term storage and the output and display of this data. For example, a terrain map can be displayed on the monitor 12 , on which the sites are entered in the correct position, for example also with the date, and the type of animal / clutch is identified by suitable symbols and / or colors. These cards can also be printed out.

Especially in the field processing, in which, as in the case of contract work (for cost reasons), rapid uninterrupted implementation is important, as described above, the device provided on the processing machine is equipped with a DGPS device 13 , which is hereinafter referred to as Detection DGPS is designated; the detection DGPS is preferably connected to the processor 10 and also to a short range transmitter (from a few tens to a few hundred meters). The detection device is mounted on the processing machine so that it does not search the terrain strip currently being processed, but the next one. The strip to be subsequently processed is therefore always "searched for in advance.

According to the invention has an accompanying object, for example a Escort vehicle with accompanying person or the accompanying person even a second DGPS facility or carries it with them themselves, hereinafter referred to as rescue DGPS; the Rescue DGPS has a processor, a graphic Display device, for example an LCD display, and a Receiving device for signals sent by the detection DGPS to recieve.

Is used by a multi-sensor unit MS on the Mach also detects a site and has the detection DGPS whose position coordinates are determined exactly, so the Po location data of the site is transmitted by means of the transmitter,  received by the rescue DGPS and ge in its processor saves.

The processor queries the current position coordinates of the Rescue DGPS, save it, then compare the coordinates the detected site with that of the current Po sition of the rescue DGPS and creates information from it for the user (companion) of the rescue DGPS, where the Find where to find your own location. This information can be displayed on a graphic map be on which, for example, together with the heavens directions the marked positions of the user of the ret tion DGPS and the locality are indicated.

In addition, an indication of the distance between Be user and location are made. While the user This information becomes lukewarm when it is moved towards the site fend updated by the current coordinates of the ret tion DGPS can be determined continuously with the stored Po position coordinates of the site are compared, and the new situation is displayed. It can, like with GPS systems known to take place at regular time intervals.

However, this can also be done using the processor of the rescue DGPS depending on the current distance and that of the Be distance traveled, for example every 5 m for distances over 30 m, every 2 m for distances over 10 m, every meter at distances over 4 m, every 50 cm at Ent distances less than 4 m, or similar. In this way the user guided precisely and quickly to the site. The field work process continues without interruption, since the strip, in which the site is located, has not yet been processed, son which is only processed next.

If several sites are found simultaneously or shortly after one another who found, so with each site as above  described, since the system has a large number of mel process and store applications. It shows how Many sites have been found and where to find them are. The display is preferably carried out on the display of the Rescue DGP again in the form of a card on which next to the Position of the user several or all detected finds put in the actual location and distance from each other are shown. In practice, the user of the Ret tion DGPS, for example, with an off-road vehicle behind the Drive the processing machine in order to always be as close as possible to possible location.

Alternatively, only the detection DGPS on the Processing machine can be used and look ahead the detection by the multi-sensor units MS in the as "look" at the next strip to be mowed (processed), save the position of the detected sites. In the actual processing of the strip can then be done with the help the current one determined by means of the detection DGPS Position of the machine and its tools in good time before reaching the saved position of a site automatically raised, i.e. processing temporarily interrupted or get abandoned. Sufficiently far behind the critical bottom the tool is automatically lowered again and the Processing continues. This mode of operation is particularly in Protected areas with ground breeders to apply, because around this Ge no processing should be done around, for example the grass should remain standing for protection and cover purposes. According to an advantageous development of the invention this mode of operation also for machines with large work wide are used where a because of the large width complete advance search of the next processing strip would require a great deal of effort. For example use a front and rear mower in combination detects forward-looking multises on both mowers for the next strip.  

The multi-sensor units on the front mower are looking for the strip which is then processed by the rear mower immediately afterwards. Upon detection of a site and a corresponding one The driver of the machine cannot stop the alarm in time ten, since the distance between the front sensor unit (s) and Rear mower is driven through too quickly. In one Fall will automatically slow down (the gas will automatically withdrawn) and / or the mower raised; that means, processing is briefly interrupted or suspended. After crossing the spot, the mower automatically becomes like the lowered.

The multi-sensor units on the rear mower are looking for the next one Strips for the front mower, which is actually only in next pass is detected. The positions of the of the Multi-sensor units on the rear mower detected sites are determined and saved using the detection DGPS. You can then either use the rescue DGPS by a second processor or by the driver of the machine be visited yourself, or the front mower will be fine timely, as already indicated above, before reaching the Point automatically raised and then lowered again, for example 4 to 5 m before and after.

The conversion of the registered infrared radiation (irradiated strength) can be measured in temperatures using known radiomas cal calibration of the sensors take place, for which known Use procedures and radiation standards (black emitters) be det.

Claims (13)

1. A method for the detection of animals and / or nesting of breeders in their natural habitat, such as meadows and fields, by means of a number attached to an agricultural vehicle at approximately the same height and at the same distance from one another, to the ground on approximately the same soil Aligned multi-sensor units (MS), each consisting of an infrared radiation sensor ( 1 ) and / or a microwave sensor ( 3 ) and / or a video camera ( 2 ), where the following steps are carried out:
By means of the multisensor units (MS), in the three spectral ranges of visible, infrared and microwave radiation or in one of the three possible combinations of two of these three spectral ranges, temporally and spatially correlated reflected or emitted radiation is detected.
The reflected or emitted radiation with the multisensor units (MS) is processed in a subordinate electronics temporally and spatially simultaneously in such a way that
with a movement of the agricultural vehicle over a surface to be searched, the sizes, relative infrared radiation difference and / or relative moisture profile along the respective terrain strip scanned during the movement of the vehicle are determined, and
if the infrared radiation difference and / or moisture difference in the scanned area strip corresponds to an animal / clutch, an acoustic and / or visual alarm is triggered, and / or
a video image belonging to the corresponding measuring field and measuring time is displayed as a still image on a screen. 2. The method according to claim 1, characterized in that when moving the agricultural vehicle by means of a working on the principle of Doppler radar, attached to the vehicle microwave sensor ( 3 ) of a multi-sensor unit (MS) a resting animal or a clutch with eggs on the one hand due to the Doppler shift resulting from the difference in speed between the moving sensor and the fixed animal / clutch and on the other hand due to a sudden change in the backscatter cross section due to the high water density in the body of an animal or of eggs in a clutch compared to vegetation and meadow soil , an acoustic and / or optical alarm is triggered. 3. The method according to claim 1, characterized in that with spatial and temporal coincidence of the corresponding animal / clutch by means of the infrared radiation sensor ( 1 ) of a multi-sensor unit (MS) detected, relative infrared radiation difference and / or by means of the micro-wave sensor ( 3 ) of the multi-sensor unit detected microwave radiation corresponding to the moisture content, an acoustic and / or optical alarm is triggered, and / or a video image that is locally correlated by means of the video camera ( 2 ) of the multisensor unit is displayed on a monitor. 4. The method according to claim 1, characterized in that an acoustic and / or optical alarm is triggered in the detected by means of the microwave sensor ( 3 ) a Multisen sensor unit, an animal / clutch corresponding difference in the backscattering behavior of microwave radiation in the swept terrain area, and / or a video image spatially correlated by means of the video camera ( 2 ) of a multi-sensor unit is displayed on a monitor. 5. The method according to claim 1, characterized in that from measuring signals of the infrared radiation sensor ( 1 ) and / or the microwave sensor ( 3 ) of a multi-sensor unit (MS) continuously a "moving average" is formed in such a way that the measuring signals after digitizing them and Saving over adjustable time intervals, which correspond to the distance traveled by the vehicle, are averaged where
each of the time intervals is selected such that the distance corresponding to it is a multiple of the body length of a sought-after animal or the diameter of a sought-after clutch,
a somewhat larger "slide the threshold" is derived from the "moving" mean value, which is constantly compared with the current measurement signal, and
if the "moving threshold" is exceeded in the field of view of the multi-sensor unit (MS) when an animal or clutch that is warmer and / or wetter (ie has a higher water content) than the surface is exceeded, an acoustic and / or visual alarm is triggered becomes. 6. A method for mapping by means of the method according to any one of claims 1 to 5 sites, wherein the by means of the infrared radiation sensors ( 1 ) and the micro wave sensors ( 3 ) of the multisensor units (MS) detected measured values of a site together with by means of a DGPS device ( 13 ) determined position data of the detected site are stored in the respective terrain strip in the form of a geo-map. 7. The method according to claim 6, characterized in that coordinates determined by DGPS of a detected and confirmed site are automatically stored together with the date and time in a writable and readable storage medium.
data to be entered interactively regarding animal / nesting species, metereological parameters, information on the type, amount and nature of vegetation are transferred to the storage medium for archiving, and
by linking the entered data, thematic found maps are created. 8.Device for the detection of animals and / or nesting of breeders in their natural habitat with a number of multi-sensor units (MS) attached to an agricultural vehicle at approximately the same height and at the same distance from one another and oriented towards the ground on approximately the same ground stain, Consisting of an infrared radiation sensor ( 1 ), a microwave sensor ( 3 ) and / or a video camera ( 2 ), with a control device (processor 10 ) for controlling the infrared radiation sensors ( 1 ) and the microwave sensors ( 3 ) of the multisensor units ( MS) and of optical and / or acoustic alarm devices ( 11 ), and / or for controlling the video cameras ( 3 ) of the multi-sensor units (MS) via a multiplexer ( 9 ) and with a visualization device ( 12 ) which can be acted upon via the multi plexer ( 9 ) . 9.Portable device for the targeted search for wild animals and / or nesting of ground breeders in their natural living space with a number of terisers attached to a support beam at approximately the same height and at the same distance from one another, aligned to the ground with approximately the same ground stain. MS), each consisting of an infrared radiation sensor ( 1 ), a microwave sensor ( 3 ) and / or a video camera ( 2 ), with a control device (processor 10 ) for controlling the infrared radiation sensors ( 1 ) and the microwave sensors ( 3 ) the multisensor units (MS) and optical and / or acoustic alarm devices ( 11 ), and / or for controlling the video cameras ( 3 ) of the multisensor units (MS) via a multiplexer ( 9 ) and with a visualization that can be acted upon via the multiplexer ( 9 ) tion device ( 12 ). 10. The device according to claim 8 or 9, characterized in that each microwave sensor ( 3 ) assigned, in the Be range of 24 GHz working transmitter a medium Sendelei performance in the order of a few mW and an active integrated antenna with a high electron Has a mobility transistor (HEMT) or a heterostructure bipolar transistor (HBT) and operates in pulse or cw mode,
that a receiver assigned to the microwave sensor ( 3 ) leads out as a radiation-coupled mixer with a Schottky diode or the active integrated antenna is used as a receiver even in self-oscillating mixed operation,
the beam shaping of the antenna is carried out by means of a dielectric lens and the beam shape has an elliptical lobe, the alignment of which corresponds to the orientations of the other sensors and the size of the animals / clutches sought is adjusted, and
the main beam direction of the antenna is inclined at 30 ° to 60 ° to the vertical in the direction of movement of the microwave sensor ( 3 ). 11. The device according to claim 8 or 9, characterized in that a video camera ( 2 ) at least one Multisen sensor unit (MS) is coupled to a very fast digital image processor, which uses pattern recognition and image analysis algorithms to detect whether an animal / Clutch is present in the picture, and in such a case triggers an acoustic and / or visual alarm. 12. Device for mapping by means of the device according to claim 6 and / or 7 found sites of Tie ren / scrims, characterized by a position detection unit in the form of a DPGS receiving device ( 13 ) to by means of the infrared radiation sensors ( 1 ) and the microwell sensors ( 9 ) of the multisensor units (MS), together with the position data of a detected site determined by means of the DPGS device ( 13 ), save the respective terrain strip in the form of a geocarded map. 13. The device according to claim 12, characterized in that in addition to a first, provided on the processing machine DGPS device ( 13 ), which is connected to multi-sensor units (MS), egg nem processor and a transmitter, a second, carried by an accompanying object DGPS Is provided, which is connected to a processor, a graphic display device (display) and a receiving device for receiving signals sent by the first DGPS device,
when a site is detected by one or more multi sensor units (MS), the location coordinates of the site are exactly determined by the first DGPS device, sent via its transmitter to the receiving device of the second DGPS device, received there and stored in its processor,
This processor queries and then stores the current location data of the second, DGPS device
compares the coordinates of the site with those of the actual position of the second DGPS facility and uses them to provide information regarding the site in relation to the current location of the second DGPS facility,
in a simple graphic map on the display of the second DGPS device in such a way as to indicate that the positions of the second DGPS device and the location are marked in addition to the cardinal points, and if necessary additionally, while the second DGPS device is open moves the location to find a constantly updated information about the respective distance between the second DGPS facility and the location by comparing the current coordinates of the second DGPS facility with the stored location coordinates of the location in a short period of time.