CA3118799A1

CA3118799A1 - Method for controlling the operation of a machine for harvesting root crop

Info

Publication number: CA3118799A1
Application number: CA3118799A
Authority: CA
Inventors: Wolfram STROTHMANN; Daniel Bosenberg
Original assignee: Grimme Landmaschinenfabrik GmbH and Co KG
Current assignee: Grimme Landmaschinenfabrik GmbH and Co KG
Priority date: 2018-11-07
Filing date: 2019-11-05
Publication date: 2020-05-14
Also published as: JP7210724B2; CN112970032A; JP2022506699A; DE102018127846A1; BR112021005312A2; IL282967A; EA202191205A1; EP3877901A1; WO2020094653A1

Abstract

A method for controlling the operation of a machine for harvesting root crop wherein an im¼ age-capturing unit captures a test image of harvested material, which is moved along a con¼ veying path in a conveying direction relative to a machine frame by a conveyor element, and sets an operating parameter of the machine, wherein a further image-capturing unit, which is offset in the conveying direction, captures a further test image, and an evaluation device generates, using the first test data set which is generated on the basis of the first test image or formed thereby and a further test data set which is generated on the basis of the further test image or formed thereby, an operating parameter signal, and the operating parameter of the machine is set by means of said signal; and a machine for harvesting root crop.

Description

Method for controlling the operation of a machine for harvesting root crop The invention relates to a method for controlling the operation of a machine for har-vesting root crop and/or for separating root crop from further extraneous materials comprising harvested material, and to a correspondingly embodied machine. In the method, at least one optical image-capturing unit captures at least one test image of at least one part of the harvested material which is moved relative to a machine frame by means of at least one conveyor element.
The test image represents harvested material which has been previously picked up by the machine for harvesting root crop. As part of the machine, the conveyor ele-ment serves here to move the harvested material within the machine. At least some of the harvested material is in direct contact with the conveyor element here.
Laid-open patent application US 2018/0047177 Al discloses a method in which a captured test image is used to calculate a speed of the conveyor element. The ac-tual speed of the conveyor element is subsequently adapted on the basis of the cal-culated speed.
It is disadvantageous in the known methods of the generic type that, depending on the harvesting conditions, significant damage occurs to the root crop or to a relatively large quantity of extraneous materials among root crop which are unloaded from the Date Recue/Date Received 2021-05-05

- 2 -machine. It is therefore also generally proposed in US 2018/0047177 Al to change the harvesting rate or one or more configurations of the machine in accordance with a server-based evaluation of three-dimensional data of the harvested material which is recorded by the sensors of the machine..
The object of the present invention is to provide a method in which the non-damag-ing handling of the root crop is improved while at the same time the overall machine performance is optimized.
The object is achieved by means of a method as claimed in claim 1 and by means of a machine as claimed in claim 33. Further advantages and details of the invention can be found in the dependent claims and the following description.
According to the invention, the object is achieved by means of a method of the ge-neric type, wherein at least one further, in particular optical, image-capturing unit, which is offset in the conveying direction, captures at least one further test image, and an evaluation device generates, using a first test data set which is generated on the basis of the first test image or formed thereby, and at least one further test data set which is generated on the basis of the further test image or formed thereby, at least one operating parameter signal which is formed, in particular, as a separating device setting signal and the at least one operating parameter of the machine, in particular of the separating device, is set by means of said signal.
Date Recue/Date Received 2021-05-05

- 3 -An optical image-capturing unit is considered to be offset in the conveying direction in particular when it captures a downstream area of the conveying line and repre-sents it in the further test image. An image-capturing unit which monitors a convey-ing area is also referred to below as a measuring station. The machine according to the invention has in particular at least one separating device. Accordingly, with the method according to the invention it is possible to control at least one separating de-vice of a corresponding machine.
Since the change in operating parameters, in particular of a separating device or a conveyor element of the conveying line arranged along the conveying line, influ-ences the entire cleaning process, and in particular influences the separating perfor-mance of downstream separating devices, according to the invention it is advanta-geous for the items of information, contained in the test data sets of the image-cap-turing unit, from test images along the conveying line to be considered together and, in particular, combined with one another. Such a combination can take the form of setting the operating parameter simultaneously or in in such a way that they are co-ordinated with one another, and can also in particular take into account dependen-cies of individual operating parameters, in particular separating device settings along the conveying line. The corresponding control system is stored in a machine-specific and correspondingly harvested-material-specific fashion in the respective evaluation device of the machine so that, during the operation of the machine, said evaluation device can implement the desired settings automatically, i.e. at least largely and in particular completely without interaction with the operating personnel. For example, when a separating performance of a separating device which is located at the start Date Recue/Date Received 2021-05-05

- 4 -of the conveying line is reduced, a downstream separating device will, under certain circumstances, have to be given a sharper, i.e. more forceful, setting in order to bring about more intensive separation, e.g. of earth from root crop. In addition to the operating parameters relating to the separating devices, in particular the grubbing depth or a velocity can also be an operating parameter or one of the operating pa-rameters to be set.
In particular, the operating parameter signal is generated using a comparative analy-sis of the test data sets, so that when calculating the operating parameter signal the evaluation device takes into account the items of information of the at least two test images or test data sets and combines them with one another for evaluation pur-poses.
In particular it is therefore possible to ensure that the portion of extraneous materials decreases to a desired extent and in particular uniformly as the harvested material travels through the machine. For example, excessive cleaning off of a separating de-vice can cause it to experience overloading and excessive wear. At the same time, excessively early and intense cleaning off, in particular of earth, can result in dam-age to potatoes, in particular at the end of the screening chain, owing to a cushion of soil then no longer being present or being reduced. The same applies to other root crop such as for example beets. Excessively late cleaning off of undesired extrane-ous materials can also bring about increased wear over the entire conveying line.
Furthermore, the separating devices which are specifically provided for specific types of extraneous materials can, under certain circumstances, not separate out Date Recue/Date Received 2021-05-05

- 5 -these extraneous materials from the stream of crops in an ideal way. This also again leads to an additional loss of efficiency and a reduced overall grubbing performance of the machine. The method according to the invention ensures that the operating parameters which are suitable for a non-damaging and at the same time optimum harvesting and cleaning performance are set automatically.
The invention provides that the further test image represents a further area of the conveying line, in particular of a further conveyor element, which is offset in the lon-gitudinal direction of the conveying line. The at least two test images are preferably a test image at the start or entry and at the end or exit of a separating device. For ex-ample, these may be a section of a screening belt or roller soil remover, one which is at the front, and one which is at the rear, in the conveying direction. Test images from an area upstream of a stone separating device and an area downstream of a stone separating device can also be used particularly satisfactorily.
The machine is in particular a self-propelled or towed vehicle for harvesting root crop, in particular potatoes, beets, carrots or chicory. Alternatively, the machine can also be an in particular stationary machine for separating root crop from extraneous materials of the harvested material, e.g. clods, stones or soil.
While the method is being carried out, the driving or towed machine is moved, in par-ticular in the direction of rows, in particular cultivation ridges of the root crop to be harvested, and these are picked up from the ground as part of the harvested mate-rial in a continuous process. After the harvested material has been picked up, at Date Recue/Date Received 2021-05-05

- 6 -least some of the harvested material, in particular root crop and/or extraneous mate-rials, is at least partially moved along relative to the machine frame by the at least one conveyor element. In particular, the conveyor element is embodied in a circulat-ing fashion, and as a conveyor belt, preferably as a screening belt or as a rotating screening star.
The separating device is, with any individually adjustable separating elements, part of the machine and preferably interacts with one or more conveyor elements.
Alter-natively, the separating device is part of the conveyor element, is at least also formed by it (e.g. in the case of screening belts which are provided with shaking de-vices) or also forms the one or more conveyor elements (e.g. in the case of roller soil removers). During operation, a movement of the harvested material relative to the separating device applies impetus to at least one component of the harvested mate-rial, in particular to the root crop or to the extraneous materials. The separating de-vice is provided, for example, in the form of a roller soil remover, in particular with ro-tating separating elements in the form of deflection rollers, wherein different compo-nents of the harvested material are at least not moved in the same direction by the separating device.
The optical image-capturing unit is arranged in particular above the respective con-veyor element in a positionally fixed fashion on the machine and is directed at the conveyor element, and therefore during operation at a stream of harvested material, or a component thereof, in particular root crop or extraneous materials, which is lo-Date Recue/Date Received 2021-05-05

- 7 -cated between the image-capturing unit and the conveyor element. The method ac-cording to the invention is carried out with the machine in particular during the har-vesting or separation process, and is preferably repeated here.
The test image is in particular a multidimensional, preferably two-dimensional, repre-sentation in which at least part of the harvested material is represented with root crop, extraneous materials and/or the conveyor element. The test data set is either already generated by the image-capturing unit or by the evaluation device, on the basis of the test image captured by the image-capturing unit. Alternatively, the test data set can be formed by the test image itself. This applies in particular to image-capturing units whose test images are already in a format which is suitable for the subsequent analysis in the evaluation device. The test data set is in particular a data set which is produced by processing, for example filtering and/or other representa-tions and is at least temporarily present in the system and whose information, e.g.
color information, is evaluated in the evaluation device. Said data set can be present e.g. as an image file, table, matrix or vector field. The test image or the test data set which is already produced in the image-capturing unit is transmitted to the evaluation device by the image-capturing unit. The optical image-capturing unit is embodied in particular as a digital photo camera or video camera for the two-dimensional captur-ing of the test image. If reference is made below to the test image in conjunction with the processing of the image information in the evaluation device, this may involve the test data set in this context.
Date Recue/Date Received 2021-05-05

- 8 -The evaluation device serves to evaluate the test data set. The evaluation device comprises at least one processor and is embodied either as a central computing unit or as a decentralized system comprising at least one processor and at least one memory with different positions on components of the machine. The system is there-fore a local one for carrying out any evaluations directly in situ and making the re-sults directly available.
The operating parameter is a variable which relates to the geometry of the separat-ing device or a separating element thereof, the position or orientation relative to the machine frame or to the conveyor element, a speed of the separating device or a drive power level or motor power level. The operating parameter can be used to set the way in which or the extent to which the separating device interacts with the har-vested material or at least a component thereof. In particular, by varying the operat-ing parameter it is possible to vary how much extraneous materials remain with the root crop downstream of the separating device, with respect to the conveying line by which the root crop are to be conveyed within the machine. The operating parameter is in particular independent of a conveying speed of the conveyor element, which serves to convey at least the root crop while they are resting on the conveyor ele-ment, and to move them in the same direction as the conveyor element.
The operating parameter defines in particular how forcefully the separating device behaves during the separation of root crop and extraneous materials. When the forcefulness is too low, an excessively large portion of the extraneous materials is Date Recue/Date Received 2021-05-05

- 9 -not separated off from the root crop. When the forcefulness is too high, not only ex-traneous materials but also root crop are separated off or damaged and the yield is reduced. By generating the separating device setting signal and in particular by transmitting it to a separating device control device, the operating parameter is pref-erably set on the basis of the parts of the harvested material which are represented on the test images. The separating device control device increases or reduces, in particular, the operating parameter by means of the separating device setting signal.
The separating device control device outputs for this purpose in particular an electri-cal signal or changes a fluid pressure, wherein the separating device control device is in particular part of the same computing unit as the evaluation device.
The method makes it possible to achieve continuous optimization of the operation of the machine with the separating devices. In particular, the screening out can be opti-mized continuously in accordance with the utilization factor of the conveying line, and therefore it is possible to achieve both non-damaging handling of the root crop over the entire conveying line and effective separation of extraneous materials from the harvested material.
In particular, in order to provide the separating device setting signal ¨ when setting a plurality of separating devices in accordance with the plurality of separating device signals ¨ the evaluation device evaluates the test data sets locally on the machine or on a tractor vehicle which is directly connected thereto. As a result, virtually instanta-neous control is possible when an undesired state is detected at a separating de-vice, and blockages, damage or underperformance is correspondingly avoided.
Date Recue/Date Received 2021-05-05 In one advantageous development of the method according to the invention, the evaluation device calculates at least one first portion of the respective test image which is formed by at least one image area. The at least one image area at least partially represents a defined component of the harvested material or of the ma-chine, and the operating parameter signal or the plurality of operating parameters is/are set on the basis of the respective portions of the respective test images. In particular the portion of the respective part of the harvested material in the monitored area of the conveying line is determined on the basis of the first portion, in particular equated therewith.
The respective parts of the harvested material, i.e. portions, resulting from the indi-vidual test images, of the monitored conveying line areas which are arranged in suc-cession can be easily compared with one another.
The operating parameter or parameters is set in particular in accordance with the portions of all the components of the harvested material, or of individual components thereof, and values which are derived from this for the individual measuring points, i.e. the areas of the conveying line which are captured by the individual image-cap-turing units.
Before the first portion is calculated, the component which is represented statistically by the first portion is predefined. The test image and/or the test data set are subdi-vided in particular into a plurality of image areas of preferably equal size.
The image Date Recue/Date Received 2021-05-05 areas which at least partially show the component, together form the first portion.
The portion is in particular a portion of those image areas of the entire image areas which at least partially show the component, wherein the first portion is formed using a ratio of numbers of image areas or using their entire surfaces.
The first portion is a measure of the extent of image areas which represent the com-ponent and therefore a measure of the density of the component in the field of vision of the image-capturing unit or of that portion of the test image which is being consid-ered. The part is in particular at least partially a component of a root crop, as a result of which the first portion at least approximately indicates a concentration of root crop.
An image area is assessed as representing the part, and classified as being associ-ated with the first portion, in particular when at least 50% to 100% of its area shows the part. In particular, the at least one image area can be classified as being associ-ated proportionally with the first portion or preferably respectively classified as being partially associated with different portions. This is advantageous in particular if it is not possible to make an unambiguous assignment of the image area to a corre-sponding part within the scope of the preferably model-based classification method.
In this case, probabilities for the assignment to different portions are preferably de-termined. The image areas are particularly preferably classified as being proportion-ally or partially associated with different portions in accordance with the probabilities.
As a result, the ratios of the parts to one another is represented more precisely.
The calculation of at least the first portion characterizes in particular the composition of the harvested material. On this basis, a respective operating parameter can be Date Recue/Date Received 2021-05-05 particularly digitally controlled, since the cleaning performance of the conveyor ele-ment or of the separating device comprising the conveyor element is highly depend-ent on the composition of the harvested material. In particular the first portion is a concentration of extraneous materials. In this way the operating parameter of an as-sociated separating device with an increasing first portion can be varied in order to generate a relatively large separating effect or separating performance, in order to relieve downstream separating devices which possibly show critical concentrations.
The first portion is preferably at least approximately assumed to be the portion of the respectively considered part of the harvested material, that is to say is equated therewith.
The at least one image area which forms the first portion is preferably identified, in particular on the basis of a test data subset generated using the image area, as showing the defined part. In particular, the image area is identified on the basis of a test value contained in the test image and/or in the test data subset, preferably color information. The color information comprises in particular black values, white values, gray values and/or color channel values of a color space.
The test data subset, the test value and the color information are preferably classi-fied by a, in particular model-based, statistical classification method. An image area is accordingly classified as being associated with the first portion in particular when the result of the classification method is assigned to the defined part of the harvested Date Recue/Date Received 2021-05-05 material or of the machine. The classification method uses in particular a neural net-work, a random forest, a Bayesian classifier, a support vector machine and/or a deci-sion tree. Applying the classification method makes the result of the calculation of the first portion, in particular of different portions, particularly robust and informative in respect of the composition of the harvested material.
The test value or the color information is particularly preferably compared with one or more reference values or reference ranges and on this basis an image area is either classified as being associated with the first portion or not. The reference image is preferably to be captured, like the test image, by means of the optical image-captur-ing unit, wherein a user has to mark in particular different parts of the reference im-age as showing different components. This form of differentiation permits particularly reliable identification of a respective component in the test image. At least one of the test values of the test data subset, which in particular includes the color information, is particularly preferably compared with at least one reference value, and an image area is added to the first portion in particular when at least the at least one test value of the test data subset lies within an assigned reference value range. This reference value range is limited in particular by a maximum value and by a minimum value, wherein, in order to classify the image area as being associated with the first portion, different test values must preferably lie in respectively assigned reference value ranges.
Date Recue/Date Received 2021-05-05 In one advantageous refinement of the invention, when exemplary image areas, which can be classified as being associated with the first portion, of the reference im-age are input, the evaluation device automatically develops, or automatically further develops, a model on which the classification method is based. Alternatively or addi-tionally, the evaluation device automatically calculates or changes the at least one reference value range when exemplary image areas, which can be classified as be-ing associated with the first portion, of a reference image are input. In particular, the reference values, the reference value ranges and the model or model parameters thereof therefore at least do not have to be completely manually predefined by the user. Instead, to activate the evaluation device it is sufficient to input at least one ex-emplary image area which shows the component. By using the image area, the eval-uation device determines the at least one reference value, the at least one reference value range and the model or model parameters thereof automatically. The evalua-tion device therefore sets itself largely automatically to different application cases.
The higher the number of image areas which are input here, the more precisely the reference values, the reference value ranges and the model or model parameters thereof can be determined.
The method is pretty robust when the image areas which are input show the compo-nent under different brightness conditions and/or soil conditions. The method can therefore also be used reliably under different application conditions. The evaluation device particularly preferably adapts the initial reference value or the reference value ranges during the repeated execution of the method, if appropriate with exemplary Date Recue/Date Received 2021-05-05 identification of relevant components by the operator, on the basis of which training data for the algorithm can be represented.
In particular, using further sensors such as brightness sensors for measuring the ambient brightness, which the evaluation device assigns essentially simultaneously to the recorded test data sets, the evaluation device automatically expands the scope of the reference data. Alternatively or additionally, the user of the method, i.e.
in particular the driver or operator of the machine or of a machine coupled thereto, has the possibility of manually marking the at least one component on visualized test images, in order to expand the scope of the reference data of the evaluation device.
Therefore, on the basis of the details specified by the user or on the basis of data stored in the valuation device, said device can differentiate e.g. potatoes, weeds, stones, earth and clods and calculate respective portions.
The method according to the invention is, with the exception of the inputting of any training data present in the form of the marking of components, executed automati-cally after its start. This facilitates control of the machine for the driver or operator.
In the evaluation of the respective test images, the image areas which form the first portion are preferably additionally identified on the basis of image data subsets which are generated using respectively adjacent image areas or formed by means thereof. In particular, color information, in particular comprising black values, white values and/or gray values, in turn included in the test data subsets, are used for this.
The assessments of the image areas are therefore not carried out solely using the Date Recue/Date Received 2021-05-05 data assigned thereto, but rather additionally use further data which is assigned to the surrounding image areas. As a result, brightness profiles and/or color profiles can be determined, and thus the identification can be carried out on a wider data ba-sis.
The different image areas are preferably weighted differently in the calculation of the first portion. The contribution of the image areas which from the first portion is there-fore different. This makes it possible for the first portion not to be calculated solely using the perspective representations of the test image but rather in particular to give a higher weighting to image areas which show a component of the harvested mate-rial which is further away from the image-capturing unit as image areas which show a component which is closer to the image-capturing unit. As a result, a first part from which perspectives are removed can be formed, and therefore an image of the com-position of the harvested material on the conveyor element which is particularly close to reality can be obtained. This is advantageous in particular for the comparison of the test images which are captured from different perspectives along the conveying line.
In each case the entire test image or a coherent test image part is preferably divided into partial image areas. The partial image areas in particular each comprise the same number of pixels of the test image, preferably precisely one pixel. The test im-age part is a part or excerpt of the test image which comprises a plurality of partial image areas. For the calculation of the first portion, in particular only the image areas which show this portion and are associated with the test image part are taken into Date Recue/Date Received 2021-05-05 account. For this purpose, the test image part is in particular defined in such a way that it represents sensitive zones, which are to be monitored, within the machine.
The image area which forms the first portion therefore comprises in particular a plu-rality of partial image areas of a test image part.
The test image or the test image part is in particular divided into a grid of a plurality of partial image areas, which are each preferably rectangular. When the partial im-age areas are formed by precisely one pixel, a particularly large database is pro-vided for the assessment of the state of the harvested material with respect to its in-dividual components, and particularly sensitive control of the respective operating parameter is therefore made possible. At the same time, the data quantities which are usually supplied by conventional 2D digital cameras with a maximum of several million pixels can readily be processed in close to real-time conditions by an evalua-tion device which is equipped with one or more current processors The respective test image of the image-capturing units which capture passages which follow one another along the conveying line preferably comprises a plurality of test image parts for which the evaluation device respectively calculates a first por-tion, in particular a plurality of portions of image areas, wherein the test image parts (8A, 8B) preferably represent harvested material from different conveyor elements which convey away from a separating device. The test image parts show in particu-lar different sections of the same conveyor element or different conveyor elements.
In particular, the test image parts show sections of a conveyor element, one of which is arranged upstream of a separating device or of a separating element thereof in the Date Recue/Date Received 2021-05-05 conveying direction, and a further one of which is arranged downstream of the sepa-rating device or of a separating element thereof. Alternatively, the test image parts show different conveyor elements which represent alternative conveying paths for different components of the harvested material (for example one conveyor element for a stream of harvested material with preferably cleaned root crop, one conveyor element for extracted extraneous materials). Therefore, in each case the composi-tion of the harvested material of the conveyor elements which adjoin a separating device and therefore convey away from it is preferably determined once for sepa-rated-out harvested material and once for harvested material which is to be con-veyed onward. The cleaning performance or separating performance along the en-tire conveying line can be evaluated particularly comprehensively through the calcu-lation of the first portion and of further portions for these different test image parts.
Likewise, the test image parts which are represented or present in respective test data sets can show part of a conveyor element upstream of a separating element or deflection element of the separating device and part of the conveyor element down-stream of the separating element or deflection element. Insofar as the image analy-sis reveals that excessively large portions of e.g. root crop appear downstream of a deflection element in an undesired area, this deflection element can be positioned differently, e.g. at a lower point above the conveyor element, which improves the de-flection performance. In order to optimize the entire machine, downstream separat-ing devices can then be given a more intensive, i.e. more forceful or sharper, setting in accordance with the further settings of the operating parameters along the con-veying line, in order to process increased quantities of root crop.
Date Recue/Date Received 2021-05-05 In a further embodiment of the invention, the test image parts preferably show differ-ent conveyor elements downstream of a separating element, in particular one con-veyor element for carrying away a mixture of root crop and one conveyor element for carrying away extraneous materials downstream of the same separating device.
Re-spective portions of a component of root crop and of extraneous materials are pref-erably determined for both test image parts. Alternatively, different portions are cal-culated for the different test image parts. In this way, for example one portion of ex-traneous materials in the outgoing stream of root crop mixture or stream of har-vested material can be compared with a portion of root crop in a stream of extracted extraneous materials, and on the basis thereof a separating element which is in-cluded in the separating device can be set e.g. with respect to its position in relation to the conveyor element and/or with respect to its speed.
The image areas which form the first portion show root crop or parts thereof and im-age areas which form a second portion show extraneous materials or parts thereof.
Therefore, the evaluation device calculates at least two different portions for the re-spective test images. The evaluation device particularly preferably calculates at least four portions, a first portion for root crop, a second portion for earth, a third portion for weeds and a fourth portion for damaged root crop. If appropriate, at least one fur-ther portion can also be determined for stones and/or clods. The sum of the portions is in particular 1. Alternatively, the first portion can also be a portion of extraneous materials, the second portion a portion of root crop etc.
Date Recue/Date Received 2021-05-05 Alternatively or additionally, in a further development according to the invention at least two image-capturing units and at least two conveyor elements are provided, wherein the first image-capturing unit captures a first test image of a part of the har-vested material which is conveyed away from a separating device by means of the first conveyor element, the second image-capturing unit captures a further test im-age of a part of the harvested material which is conveyed away from the separating device by means of the second conveyor element, and the separating device setting signal is generated on the basis of at least one of the test data sets which are formed on the basis of at least one of the two test images, and preferably on the ba-sis of both test images, or which are generated on the basis of said images.
The test data sets are evaluated here in particular in relation to the respective portions, as re-spectively described above or below.
A plurality of portions in the calculation of the evaluation device make it possible to obtain a more precise picture of the composition of the harvested material and/or the allocation of the conveyor element. This results in a precise representation of the composition of the harvested material for the various areas of the conveying line, so that the evaluation device can carry out precise adaptation of the respective operat-ing parameters in such a way that they are matched to one another.
As an alternative to identifying image areas using limiting values, all the image areas of the respective test image or of a part of the test image are necessarily assigned to a portion. In this context, preferably a degree of correspondence between test data subsets calculated using the image areas and reference data subsets is assessed, Date Recue/Date Received 2021-05-05 and each image area is assigned to the portion for which the correspondence is greatest.
In one advantageous refinement of the invention, the respective operating parameter signal, in particular a separating device setting signal, is calculated using a plurality of portions which are, in particular, calculated in chronological succession, or at least one previously calculated portion is also input into the calculation or control process of the operating parameters. In the method according to the invention, the setting of the operating parameters is carried out by means of these measures in a predictive fashion and in a learning fashion during operation.
In one advantageous refinement of the invention, at least one sensor transmits sen-sor data to the evaluation device, which data is input into the calculation of the oper-ating parameter signal. The sensor is in particular a sensor, preferably a tactile sen-sor or an ultrasonic sensor, for measuring a layer thickness of the harvested material on the conveyor element, a sensor for measuring a drive power level, for example a pressure sensor for measuring a hydraulic oil pressure, and/or a rotational speed sensor in particular for measuring a rotational speed of a conveyor element drive. In particular, slip of the conveyor element is determined using the rotational speed sen-sor and transmitted in the form of sensor data to the evaluation device.
Further infor-mation can be input into the calculation of the separating device setting signal or op-erating parameter signal by means of a moisture sensor.
Date Recue/Date Received 2021-05-05 By virtue of this further information which is present in the sensor data and goes be-yond that which is made available on the basis of the test image, the evaluation de-vice is provided with a significantly more precise picture of the cleaning situation along the respective conveyor elements, as a result of which the respective operat-ing parameters can in turn be influenced in a way which is matched better thereto.
The evaluation device preferably either triggers an increase or a reduction in, in par-ticular, a plurality of the operating parameters by means of different separating de-vice setting signals. In particular, the evaluation device or the separating device con-trol device, or possible control devices for setting further operating parameters, com-prises a three-point controller, a fuzzy controller and/or a PID controller, as a result of which it is possible to trigger, as alternatives to one another, processes of increas-ing, reducing or retaining the value of the at least one current operating parameter.
An increase is triggered in particular when any portions exceed a predefined first threshold value, and in particular the evaluation of the further test images does not argue against a further increase, possibly with further adaptation of an operating pa-rameter, if the respective portion undershoots a predefined second threshold value.
The operating parameter is preferably a distance between two conveyor elements or a distance between a separating element of the separating device and a conveyor element or between the separating device and a conveyor element. In particular, the operating parameter is a distance between two conveying rollers of a roller table which are rotating during operation. Alternatively, the operating parameter is a dis-tance between a conveyor element which is embodied as a screening belt and a Date Recue/Date Received 2021-05-05 separating element which is embodied as a deflection roller, wherein the separating element extends transversely over the conveyor element and brings about lateral de-flection of the root crop from the conveyor element. In this context, during operation, the deflection roller rotates about a rotational axis which, in a plan view of the con-veyor element, is at an angle of less than 900 with respect to the conveying direction of the conveyor element. The separating element is alternatively embodied as a fin-ger web which circulates during operation and is located above the conveyor ele-ment and whose outwardly projecting fingers mesh during operation through the har-vested material arranged on the conveyor element. Again alternatively, the separat-ing element is embodied as a stripping device which does not rotate during operation and which is arranged above a coarse weed belt which interacts with the screening belt and causes root crop to be stripped from weeds which have accumulated on the coarse weed belt. The distance can be respectively set in particular by a hydrau-lically or mechanically actuated adjustment device, which permits the forcefulness of the separating element of the separating device in its interaction with the conveyor element or the separating performance of the conveyor elements to be changed par-ticularly easily.
Alternatively, the operating parameter or one of the operating parameters is a pene-tration depth of at least one grubbing coulter of the machine into the ground.
As a re-sult, the quantity of extraneous materials in the harvested material can be easily in-fluenced.
Date Recue/Date Received 2021-05-05 As an alternative to or in addition to the above, the operating parameter or one of the operating parameters is/are a velocity of the machine or a separating speed, in par-ticular a circulating speed or rotational speed, of the separating device or of a sepa-rating element of the separating device. In particular, the separating speed is a circu-lating speed of the finger web described above or a rotational speed of the deflection roller described above. Alternatively, the separating speed is a circulating speed of a separating device e.g. in the form of a fine weed belt, which is positioned at an angle and conveys extraneous materials upward during operation and is operated in such a way that as far as possible extraneous materials are conveyed upward and root crop are moved down counter to the direction of movement of the section of the sep-arating device which faces them.
The operating parameter or one of the operating parameters is preferably alterna-tively embodied as an attitude angle of the conveyor element and/or of the separat-ing device, i.e. of at least one separating element of the separating device.
In partic-ular, the operating parameter is the attitude angle of the separating device which is referred to as a fine weed elevator. The attitude angle changes the inclination of the conveying plane of a fine weed belt of the separating device relative to a horizontal and therefore sets the forcefulness of the separating device.
In an alternative advantageous refinement of the invention, the operating parameter brings about a change in an air flow speed or in an air mass throughput rate over time. In this context, a motor power level, e.g. represented by a motor rotational speed, can be the corresponding operating parameter of a separating device which Date Recue/Date Received 2021-05-05 separates on the basis of air flow. The air in turn brings about the separation of root crop and extraneous materials, in particular weeds are blown out from a stream of harvested material and therefore removed. The operating parameter in the case of such an air separating device which can also be used in particular in a stationary fashion can be a rotational speed of an associated blower or the attitude angle of an associated assembly in the form of an air deflector, which e.g. divides an air stream into a main air stream and a transverse air stream.
In one advantageous refinement of the method according to the invention, in particu-lar a plurality of the above-mentioned operating parameters are set by the same op-erating parameter signal or different operating parameter signals. A control system for this can be stored in the evaluation device, which system produces correspond-ing signals for the desired increased or reduced separating performance of the re-spective separating device for the respective adjustable variables.
Preferably, after the triggering of a change in an operating parameter, no further change in an operating parameter is triggered for a defined time period or a defined conveying distance of the conveyor element. This relates in particular only to the same operating parameter and/or at least one operating parameter of at least one separating device which is arranged downstream during operation. This ensures that over-regulation of the respective operating parameter, e.g. of a separating element, does not occur, and each change in an operating parameter is based on a sound data basis which already takes into account a preceding change in an operating pa-rameter.
Date Recue/Date Received 2021-05-05 The separating element-setting signal is preferably transmitted in a wired fashion, particular by means of CAN bus or ethernet, or in a wireless fashion, to the separat-ing element control device, wherein the separating device setting is preferably to be enabled in advance by an operator by means of an input at an interface. As a result, already existing or at least established systems can be used for transmitting commu-nications for setting the separating element, and the reliability of the method can be increased in particular by virtue of the fact that a resulting setting or the setting which is to be made for the separating device is displayed to an operator in particular in the driver's cab and said operator has to enable it at an interface (referred to as a hu-man interface device (HID)) using a corresponding input.
In order to carry out the method according to the invention, preferably more than two, preferably three to twelve, image-capturing units are arranged along the con-veying line of the machine, said units each capturing one or more test images.
The associated test data sets are evaluated in the evaluation device which is, if appropri-ate, constructed in a decentralized fashion with a plurality of units, and said data sets are used to set the at least one operating parameter, but in particular a plurality of operating parameters. In this way, the respective separating devices or grubbing depth can be set to an optimum machine performance over the entire conveying line.
Of course, the evaluation device can be composed of a plurality of evaluation units, in particular in order to evaluate in good time the data supplied by the image-captur-ing unit. In order to avoid overloading the operator, the at least one operating param-eter is preferably set automatically. When there are relatively short conveying lines, it Date Recue/Date Received 2021-05-05 may also be advantageous that the operating parameter signal for an operator to be represented in an understandable format, and for a change in an operating parame-ter to then be performed by the operating personnel themselves, but such a repre-sentation preferably merely serves to inform the operating personnel.
The method according to the invention can be implemented particularly well if one or more optical image-capturing units, preferably all the image-capturing units, capture only 1D or 2D information. For example, this therefore involves a line scan camera or a digital camera which is provided with a two-dimensional sensor. It has been found with extensive testing that the test images captured in two dimensions com-prise, in particular when the use of information originating from depth sensors is dis-pensed with, sufficient information for setting the corresponding operating parame-ters. Therefore, the algorithms which can be used to evaluate the test image data sets are sufficiently fast to evaluate the captured data in situ even while dispensing with external servers which are arranged remotely from the self-propelled machine or towed machines or the tractor vehicle thereof. It is correspondingly advantageous that the evaluation device evaluates the test data sets locally on the machine or on a directly connected tractor vehicle. The communication within the machine between the image-capturing units and the evaluation device can take place in a wired fash-ion. The communication can take place via the often already present CAN bus sys-tem, a similar machine network or else with a dedicated connection between the im-age-capturing units and the evaluation device. If necessary it is also possible to use wireless transmissions from one part of the system to a further part of the system on Date Recue/Date Received 2021-05-05 a local basis, wherein, owing to the short distances, a multiplicity of different technol-ogies can be used. These (e.g. Bluetooth, W-LAN, ZigBee, NFC, Wibree or WiMAX, IDA, FSO) can also be used together with cable-bound transmissions.
For a robust means of control which is of comparatively simple design in one method according to the invention the evaluation device is constructed in such a way that it compares the portions or values derived therefrom for components of the harvested material along the conveying line of conveyor elements which are arranged in suc-cession with respectively associated setpoint values and generates the at least one operating parameter signal on the basis thereof. Optimum values or bandwidths of optimum values for the individual portions of harvested material under different con-ditions in the system can therefore be stored for the individual conveying line areas which are represented by the test images.
According to a further advantageous embodiment of the invention, the individual por-tions or values derived therefrom, determined as described above or below, for com-ponents of the harvested material along the conveying line of conveyor elements which are arranged in succession can be represented with respectively associated setpoint values as described above or below, preferably firstly without generating the operating parameter signal or at least without automatically changing the operating parameter on a display unit for an operator. If the at least one operating parameter signal has already been generated, the setting of the operating parameter can be enabled by an operator or alternatively performed directly by an operator.
Date Recue/Date Received 2021-05-05 Setpoint values for components of the harvested material, in particular portions of root crop or portions of extraneous materials can be determined at individual convey-ing positions along the conveying line for individual machine types on the basis of e.g. a multiplicity of collected data items. Accordingly, an optimum setpoint value can be determined empirically and specified for a bandwidth of portions at a specific po-sition along the conveying line for an optimum machine throughput rate in accord-ance with different grubbing conditions. In particular, the setpoint values are embod-ied specifically with respect to root crop and extraneous materials and can be se-lected or specified in advance of operation by the operating personnel, for example.
It is also possible to specify different grubbing conditions, e.g. dry, wet, stony, loamy soils or the like for the selection of a setpoint value for a specific separating device or the composition on a conveying line which is embodied, for example, as a screening belt.
Given the customary plurality of operating parameters which can be adjusted, it is therefore preferably possible to specify an optimum separating performance and/or correspondingly appropriate portions of extraneous materials automatically over the conveying line during operation and work toward them. The individual operating pa-rameter signals for the respective separating devices or the machine can be deter-mined here in accordance with one another using simple and sufficiently intelligent algorithms. For example, it would also be possible for such a control system to store information indicating that, if very intensive cleaning of the product flow in compari-son is already brought about between the inflow and outlet at a separating device which is positioned early in the conveying line, the cleaning module in the separating Date Recue/Date Received 2021-05-05 device specifies that more extraneous materials may be carried along there.
Con-versely, in the case of a separating device for which it is recognized that no appre-ciable cleaning off is taking place between the inlet and the outlet, the superordinate cleaning means can specify that slight losses of root crop can/must be accepted here in order to improve the overall cleaning performance of the machine.
Further-more, the control system can alternatively or additionally ensure that specific crop stream ratios are set selectively at specific crop flow points in the machine.
Thus, for example it is possible to achieve an increase in the cushion of soil on the screening chains by increasing the grubbing depth or increasing the velocity. The at least one operating parameter, preferably the plurality of operating parameters, for the respec-tive adjustable elements of the machine is/are preferably determined, in particular, by means of a neural network, a random forest, a Bayesian classifier, a support vec-tor machine or a decision tree.
In particular, in such a control system it is also possible to store information indicat-ing the degree to which extraneous materials may be carried along in the respective separating device or product losses, e.g. in the form of potatoes or beets, can be ac-cepted. These variables are important input variables for the control of the specific individual separating performance control and therefore the calculation of the operat-ing parameter signal.
In order to avoid dynamics which leads to large loads on the adjustable devices and correspondingly abrupt or frequent changes in the separating assemblies, the re-Date Recue/Date Received 2021-05-05 spective setpoint values can be assigned areas within which a portion or a value de-rived therefrom can be considered acceptable depending on the difference from the setpoint value. In this respect, a reasonable algorithm will find just one point of bal-ance between the optimum cleaning performance at a device and the associated in-fluencing of downstream separating devices and, if appropriate, also sorting devices.
Correspondingly, the separating devices which are positioned upstream in the con-veying line and the portions which are assigned to said devices and originate from the test images or values derived therefrom have different weightings for the deter-mination of the respective parameters.
According to a further advantageous refinement of the invention, different parameter sets of setpoint values are therefore stored in the valuation device, in particular in or-der to satisfy the different conditions described above and/or different parameter sets can be specified for the evaluation device so that setpoint values which are adapted for the corresponding grubbing situation or separating situation are present.
In order to check the machine (cleaning) performance, it is advantageous if the oper-ating parameter signal is saved with the at least one portion, resulting during the subsequent operation, or with a value derived therefrom, and in particular with the associated operating parameter, and stored in a database. This applies in particular to any operating parameters which are recorded so that a picture of the effect of the change in the operating parameters can still be captured even retrospectively.
Date Recue/Date Received 2021-05-05 Generally, the control algorithm can be provided with a specified or even adaptable rest value so that the machine does continuously carry out control operations.
Such a rest value can also be selected in accordance with the speed of the transported harvested material. In particular, after the triggering of a change in an operating pa-rameter, no further change in an operating parameter is triggered until the harvested material which is picked up from the ground when the machine is triggered is shown at least partially by a test image which is captured thereafter along the conveying line.
The object which was defined at the beginning is also achieved according to the in-vention by means of a machine for harvesting root crop and/or for separating root crop from further extraneous materials in the harvested material. The machine has a machine frame, a conveyor element, at least two, in particular optical, image-captur-ing units which are arranged in succession along a conveying line which has, in par-ticular, a separating device, a separating device and an evaluation device.
The ma-chine is designed to carry out the method as described above or below. An optical image-capturing unit is considered to be offset in the conveying direction in particular when it captures a downstream area of the conveying line and represents it in the further test image.
The evaluation device preferably comprises a graphic processor unit, in particular a GPU- (Graphical Processing Unit) or GPGPU- ( General Purpose Graphical Pro-cessing Unit) and/or an FPGA- (Field Programmable Gate Array) based processor unit. This embodiment of the evaluation device makes it possible to evaluate the test Date Recue/Date Received 2021-05-05 data set in a way which is particularly economical in terms of resources and, in par-ticular on a local basis. Of course, the evaluation device which is embodied as an EDP device has further customary means e.g. for the power supply, interfaces and working memory.
In one advantageous refinement of the invention, the machine has at least one sen-sor which is coupled to the evaluation device, in particular a tactile sensor or ultra-sonic sensor for measuring a layer thickness of the harvested material on the con-veyor element, a sensor for measuring a drive power level, for example a pressure sensor for measuring a hydraulic oil pressure, and/or a rotational speed sensor ar-ranged on a conveyor element. By means of this sensor it is also possible to calcu-late both the conveying speed signal and the movement characteristic data sets on the basis of measured physical variables, which significantly increases the informa-tive power of the variables calculated with the evaluation device and reduces the susceptibility to faults of said device. Likewise, a moisture sensor can additionally provide information which contributes to setting one or more of the separating de-vices within the scope of the analysis of the evaluation device.
According to the method which is described above or below, an analysis of the con-veying line areas which are acquired by the respective test images is carried out in the at least one evaluation device. While just one central evaluation device is prefer-ably provided for the evaluation of the data of the image-capturing units, the respec-tive image-capturing units can also be assigned separate evaluation devices.
These devices can then actuate the respectively assigned separating devices, in particular Date Recue/Date Received 2021-05-05 in accordance with further evaluation devices. In this case, a plurality of individual units such as e.g. processors are present. Alternatively or additionally, a central evaluation device is responsible for the production of the separating device setting signals and passes them on to a machine controller.
At least one of the image-sensing units is preferably arranged in such a way that the test image shows at least two alternative conveying paths for different components of the harvested material. As a result, two conveyor elements can be monitored us-ing one image-capturing unit, wherein in each case one test image part of the test image represents a section of the different conveyor elements or of harvested mate-rial thereon. In particular, one of the conveyor elements is designed to convey ex-tracted extraneous materials and a further conveyor element of the conveyor ele-ments is designed to convey cleaned root crop. As a result, a particularly compre-hensive picture of the cleaning performance of an associated separating device can be obtained.
One of the image-capturing units can preferably be arranged in such a way that, dur-ing operation, the test image respectively at least partially represents at least two conveyor element sections which are separated by a separating element. The con-veyor element sections are separated only by the dividing element in the representa-tion by the test image and are each included in the conveyor element. The separat-ing element is closer to the image-capturing unit than the conveyor element and as a result in the test image the latter is covered by the separating element.
Through this positioning of the image-capturing unit it is possible to calculate in each case at least Date Recue/Date Received 2021-05-05 one first portion for two individual test image parts, and therefore to assess the effec-tiveness of the separating element or separating device directly. In particular, for this purpose the composition of harvested material before it reaches the separating ele-ment is compared with the composition of at least one portion of the harvested mate-rial after it passes the separating element.
The at least one conveyor element is preferably embodied as a screening belt or hedgehog web which, during operation, runs in particular under at least one deflec-tion roller which extends transversely over the conveyor element and deflects har-vested material therefrom in a lateral direction. Alternatively, the conveyor element is embodied as a screening star or conveyor roller, wherein the conveyor roller is in particular included in a roller table.
As an alternative to or in addition to the above, the machine is embodied as a ma-chine for cleaning and/or sorting root crop. In this context, the machine is operated in particular in a stationary fashion, that is to say without continuous local advancing of the machine during operation.
Further details and advantages of the invention can be found in the schematically il-lustrated exemplary embodiments which are described below. In the drawing:
Fig. 1 shows a program flow diagram of a method according to the invention, Date Recue/Date Received 2021-05-05 Fig. 2 shows a view of a detail relating to the determination of components of the harvested material at a monitored conveying line area, Fig. 3 shows a view of a detail relating to the determination of the operating parameter signals, Fig. 4 shows setpoint curves of the relative composition of the harvested ma-terial along the conveying line, Fig. 5 shows a view of a test image and its partial evaluation, Fig. 6 shows an exemplary illustration of the relative composition of the har-vested material over the monitored conveying line, Fig. 7 shows an exemplary illustration of the relative composition of the har-vested material over the monitored conveying line which results from the method according to the invention, Fig. 8 shows a subject matter according to the invention, Figs. 9 and 10 shows the subject matter according to fig. 8 in different side views, Date Recue/Date Received 2021-05-05 Fig. 11 shows a partial view of the subject matter according to fig. 8 with a con-veyor element, Fig. 12 shows a view of a detail of an area of the device according to fig. 8 which is partially illustrated in fig. 11, Fig. 13 shows the subject matter according to fig. 12 from a different perspec-tive, Fig. 14 shows an illustration of the test image of the image-capturing unit ac-cording to fig. 12, Fig. 15 shows a separating device of the machine according to fig. 8 with an image-capturing unit, Fig. 16 shows a schematic test image captured from the perspective of the im-age-capturing unit shown in fig. 15, Fig. 17 shows a further separating device of the machine according to fig. 8 with an image-capturing unit, Fig. 18 shows a schematically illustrated test image captured from the perspec-tive of the image-capturing unit shown in fig. 17, Date Recue/Date Received 2021-05-05 Fig. 19 shows a further view of a detail of a machine according to fig. 8 with a further image-capturing unit, Fig. 20 shows a schematic illustration of a test image considered from the per-spective of the image-capturing unit according to fig. 19, and Fig. 21 shows a view of a detail of a further device according to the invention..
Identically or similarly acting parts are, where expedient, provided with identical ref-erence symbols. Individual technical features of the exemplary embodiments de-scribed below can also be combined with the features of the exemplary embodi-ments described above to form developments according to the invention, but always at least in combination with the features of one of the independent claims.
The subject matters specified in the list of the figures are in some cases only illus-trated partially in individual figures.
The method according to the invention serves to control the operation of a machine 2 for harvesting root crop 4 (cf. figs 6 to 8). In the method, at least one, in particular optical, image-capturing unit 6 captures at least one test image 8 which shows har-vested material comprising root crop 4 which is moved along relative to a machine frame 12 of the machine 2 by means of at least one conveyor element which is firstly designated generally by 10. Furthermore, at least one further, in particular optical, image-capturing unit 6, which is offset in the conveying direction, captures at least Date Recue/Date Received 2021-05-05 one further test image 8, and an evaluation device generates, using a first test data set which is generated on the basis of the first test image 8 and at least one further test data set which is generated on the basis of the further test image, at least one operating parameter signal which is formed, in particular, as a separating device set-ting signal and the at least one operating parameter of the machine 2, in particular of the separating device, is set by means of said signal.
The representations according to fig. 5 illustrated as test images 8 merely show schematically the parts which are relevant for the invention without any borders or limitations. Images, in particular digital images, which are captured by an image-cap-turing unit 6, comprise, under certain circumstances, information which is not illus-trated in the representations. Furthermore, for the purposes of the visualization the representations show any details which already originate from the analysis of an evaluation device.
In one exemplary embodiment according to the invention, by means of the method which is described above, an evaluation of the composition of the harvested material is carried out on the basis of a crop flow 1.1 which is produced by a grubbing device and varies during a conveying line, upstream of a first separating element, and alter-natively already during a first separation directly after the harvested material is picked up, e.g. on a first screening belt or a roller soil remover (block 1.2) (fig. 1).
Moreover, the composition of the stream of harvested material is also calculated again at further locations, in particular upstream of the inlet and downstream of the Date Recue/Date Received 2021-05-05 outlet of further separating devices (blocks 1.3 to 1.n). Capturing units are preferably present at the start and at the end of the conveying line, at least for the root crop 4.
In the evaluation, the following respective portions are obtained: A1_1 to A1_n, A2_1 to A2_n, A3_1 to A3_n and A4_1 to A4_n of root crop 4 and extraneous materials in in the form of weeds, earth and stones (blocks 1.4, 1.5, 1.6) at the respective measuring points 1 to n, i.e. areas of the conveying line which are captured by the image-capturing units. Depending on desired separating performances at the individ-ual separating devices, the portions of root crop 4 or extraneous materials 5 are combined with one another in the evaluation device (block 1.7) and preferably checked for deviations on the basis of setpoint values. This results in control varia-bles for the individual operating parameters which are determined in block 1.8. This is followed by the setting of the operating parameters, e.g. of the velocity, the grub-bing depth and/or the separating devices (block 1.9). This results in a new crop flow (block 1.1).
The determination of the composition of the crop stream is illustrated in fig.
2 with a higher level of detail. The test image 8 is firstly captured starting from a crop flow or crop stream (block 1.1) at a measuring point. For the purpose of producing the test data set, the relevant test image parts are then extracted (block 2.1). For this pur-pose, a mask or region of interest (ROI) can be predefined on the basis of the posi-tion of the image-capturing unit (block 2.2) and used to differentiate distances in the test image 8 which are to be taken into account and ones which are not to be taken Date Recue/Date Received 2021-05-05 into account. The calculation of portions of the individual image areas showing com-ponents of the individual components of the harvested material is now performed on the basis of the relevant image section of the test image 8 and of the test data set which is now provided for processing (block 2.3). For this purpose, in particular the color information, in particular comprising black values, white values and/or gray val-ues can be evaluated. These values can be obtained from a reference table or else specified by an operator (block 2.4). This results in the respectively considered por-tions Al for root crop, A2 for earth, A3 for weeds and A4 for clods (block 2.5).
By means of the method according to the invention the ratios between the products present in a flow of harvested material and extraneous materials are first detected separately for respective measuring points along the conveying line. The ratios are then compared with setpoint values which are stored in the evaluation device specifi-cally for the respective measuring point so that deviations from the desired setpoint values can be determined in the respectively monitored conveying line areas (fig. 3, Block 3.1). The setpoint values or setpoint curves are also formed specifically for the respective grubbing conditions and in accordance with how the machine 2 is to be operated (cf. fig. 4).
In addition to the determination of the deviations from the setpoint value, in block 3.2, for conveying lines which are respectively located between successive measur-ing points and which comprise in particular a separating device or separating ele-ment of a separating device, it is assessed how the components of the crop stream develop in accordance with a respective separating device setting. On this basis, the Date Recue/Date Received 2021-05-05 respective operating parameter signals are generated for the entire conveying line under consideration, while taking into account the interactions between the respec-tive setting variables (block 3.3). This brings about the setting of the operating pa-rameters (block 3.4). In this way, e.g. a cushion of soil which is optimum for non-damaging treatment of the root crop 4 can be implemented over the entire conveying line with a maximum conveying performance.
The aimed-at setpoint values can be specified in a variety of ways, for example as table values, function curves or matrices. Fig. 4 shows a schematic and exemplary view of the scenarios which are possible for any harvesting process and which can be selected by the operating personnel. The relative composition of the crop stream is indicated on the Y axis, and the X axis represents the conveying line. The differ-ence between 100% and the value of the curve corresponds to the relative portion of root crop. The dot-dash curve corresponds to balanced operation. The machine 2 carries out uniform cleaning off, so that good non-damaging treatment of the product is achieved by the cushion of soil which decreases uniformly over the conveying line.
The lower, dashed line corresponds to a setting scenario, in which the extraneous materials are separated off as early as possible and the relative portions of root crop already rise markedly at the start of the conveying line. The screening/separating performance is increased in accordance with the specification in the evaluation unit, at the expense of a higher driving speed/harvesting performance. Accordingly, the evaluation device would reduce the velocity and e.g. increase the separating perfor-mance of a first separating device.
Date Recue/Date Received 2021-05-05 The continuous curve is a setting for a maximum grubbing performance in which so much harvested material is picked up at the start of the conveying line that separa-tion occurs more intensively by downstream separating devices than passively by screening belts. With such maximum flows of harvested material the wear of the ma-chine 2 is increased.
The measuring points which are distributed along the conveying line, with the optical image-capturing units 6, each show conveying line sections, and discreet sections of the conveying line are monitored, for which sections discreet setpoint values are also specified, if appropriate derived from curves according to fig. 4.
Fig. 5 shows by way of example a test image 8 in the upper part of the figure, which image shows the transition from one conveyor element 10a to a conveyor element 10b. Root crop 4 and extraneous materials 5 which comprise stones and weeds are located in this conveying line area. According to the classifiers which are defined in the training of the algorithm or specified by means of a database, for example a table with color information, comprising in particular black values, white values and/or gray values, individual partial image areas 16 are checked for the presence of identical components. Therefore, the assignment of the respective image areas to the individ-ual portions, illustrated by way of example at the bottom left in fig. 5, results in a por-tion distribution of individual portions of root crop and extraneous materials in the test image 8. Al therefore shows the portion of the root crop 4 in the test image or the corresponding test data set, A2 shows the portion of earth, A3 shows the portion of weeds and A4 shows the portion of stones (not illustrated). This assignment is Date Recue/Date Received 2021-05-05 preferably made on the basis of the color information of the individual pixels, i.e. an image area 19 which is assigned to a portion corresponds in particular to an area of a pixel. The values determined at the individual conveying line areas can be repre-sented in a way analogous to fig. 4 along the conveying line (fig. 6) . Using the measured values, the operating parameters are adapted, for example on the basis of the respective compositions of the crop stream at the individual measuring points MS1 to MS5, with the objective of treating the root crop 4 in a more gentle way over the conveying line by means of a relatively large cushion of soil.
Corresponding con-trol, which specifies less screening out at the beginning of the conveying line, pro-duces, for example, the distribution of the components of the harvested material ac-cording to fig. 6. The control in the evaluation device preferably takes into account the fact that the specified values cannot all be obtained precisely and simultane-ously, so that deviations A (=Delta) from the desired values are tolerated.
An arrangement of the optical image-capturing units 6 is disclosed in fig. 8.
The ma-chine 2 according to the invention is embodied as a towed potato harvester, wherein a multiplicity of conveyor elements 10 and their associated separating devices are secured by means of a machine frame 12, which is only partially designated.
Along the conveying line there are a plurality of image-capturing units 6 which capture im-ages of the harvested material which is transported on the conveyor elements

10 and comprises root crop 4. The optical image-capturing units 6 form the individual measuring points. The positions of the image-capturing units 6 which are indicated in fig. 8 are an area directly after a grubbing device 29 (measuring point MS1), a transi-tion from a first conveyor element 10A in the form of a screening belt to a second Date Recue/Date Received 2021-05-05 conveyor element 10B in the form of a screening belt which is additionally sur-rounded by a coarse weed belt (measuring point MS2), and the transition from this second screening belt 10B to a further conveyor element 10C comprising a further separating device (measuring point MS3). Moreover, on the output side of this sepa-rating device a conveyor element 10E which leads to the sorting table and has a fur-ther image-capturing unit 6 is monitored (measuring point MS4), wherein at the same time images of a further conveyor element 1OF which is provided for residues of extraneous materials 5, in particular stones, are captured. Finally, a further optical image-capturing unit 6 is present at the sorting table 45 (measuring point MS5).
An evaluation device can be positioned at any desired centrally accessible location, but preferably in the vicinity of the sorting table. A velocity signal or information relat-ing to the setting of the separating devices can be sent to a towing vehicle from the evaluation device, for example via a cable 12.1 which can be seen in fig. 8.
The machine 2 which is illustrated in a side view in figs 9 and 10 clarifies the posi-tions of the optical image-capturing units 6. In particular, the image-capturing unit 6 which is located at the sorting table 45 can be arranged directly at a drop step lead-ing to a bunker 33.
Figs 11 and 12 show the arrangement of an optical image-capturing unit 6 which is arranged on the frame side above a first drop step between a conveyor element and a conveyor element 10B and whose field of vision is directed downward (meas-uring point 2). A light source 7 ensures that the field of vision is illuminated in order Date Regue/Date Received 2021-05-05 to capture a sufficiently lit test image 8. The conveyor element 10A is a screening belt which already screens out some of the extraneous materials 5, in particular earth and/or clods, coming from a grubbing device 29 and transfers them to a further conveyor element 10B, embodied as a screening belt, via a drop step. This con-veyor element 10B additionally has a coarse weed belt which is provided for separat-ing off the weeds present with the potatoes or in the harvested material.
Stripping devices 32 are correspondingly arranged over the width of the conveyor elements 10B.
A height H of the stripping device 32 above the conveying plane of the conveyor ele-ment 10B can be adjusted by means of the operating parameter signal which is em-bodied as a separating device setting signal. This constitutes a possible way of influ-encing the separating performance of the separating device which is embodied as a weed belt. Moreover, a relative speed of the screening belt to the coarse weed belt 43 can be set. Fig. 12 illustrates only the coarse we'd belt 43, and not the actual con-veyor element 10B (cf. fig. 14), embodied in the form of a screening belt, for pur-poses of clarity.
A test image 8 which is obtained from the field of vision of the optical image-captur-ing unit 6, which is shown by means of dashes in fig. 13, is illustrated in detail in fig.
14. The evaluations described above are made on the basis of the portions of the captured and classified objects, using a test data set produced from this test image.
Date Recue/Date Received 2021-05-05 The harvested material which is still present is transferred from the conveyor ele-ment 10B to a further conveyor element 10C with a conveying direction 1C. A
sepa-rating device in the form of a plurality of rotating deflection rollers 24 which are posi-tioned one above the other is assigned to said further conveyor element 10C.
The harvested material is transported in the direction of the conveyor element 10D
by means of a pulse which is applied by said separating device (fig. 15).
A distance H between the conveyor element 10C and the lower deflection roller can be set for the purpose of varying a separating performance and it therefore con-stitutes the adjustable operating parameter. Under certain circumstances, further dis-tances between the individual deflection rollers 24 can be varied in respect of the distance from one another for the purpose of intensity of the deflection or any sepa-rating function in which weeds are drawn in between the deflection rollers 24.
Alter-natively or additionally, a variation in the separating performance or deflection arises from the adjustability of the circulating speeds of the deflection rollers 24.
Likewise, a height of each of the lower ends of fingers 26 of a separation device which is embodied as a finger web 26.1, which is associated with the conveyor ele-ment 10D, can be set as one of a plurality of operating parameters. The height H de-scribes the distance between the fingers 26 and the upper edge of the conveyor ele-ment which is embodied as a hedgehog web. Moreover, an attitude angle of the fin-ger web 26.1 is configured in such a way that it can be set with respect to a vertical to the conveying plane of the conveyor element. The same applies to the circulating speed of the finger web 26.1.
Date Recue/Date Received 2021-05-05 The image-capturing unit 6 illustrated in fig. 15 (measuring point MS3) generates the test image which is illustrated in fig. 16 and in which a test image 8A which is rele-vant in the present exemplary embodiment is defined by means of filtering or mask-ing. A test image part 8B which is located behind the deflection rollers 24 when viewed from a conveying direction 1C can additionally be selected in order to moni-tor a separating device performance, in this case a separating performance of the deflection rollers 24. In particular, the area upstream of the deflection rollers 24 is monitored for the setting of the velocity. The test data set is obtained from the corre-sponding test image part 8A.
Insofar as an associated setpoint value for the test image part 8A produces an ex-cessively low separating performance of a separating device which is arranged up-stream or illustrated, the separating device can be given a more forceful setting in accordance with the further specifications for upstream and downstream separating devices. Alternatively, if respective portions or values derived therefrom in the test image part 8B indicate an excessively large separating performance, for example owing to excessively large portions of extraneous materials 5 in the form of clods be-hind the deflection rollers 24, which can still be required at least partially to prevent damaging handling of the potatoes on the following conveying line, a distance H be-tween the deflection rollers 24 and the conveyor element can be reduced, and the separating device can therefore be given a less forceful setting.
Date Recue/Date Received 2021-05-05 A further optical image-capturing unit 6, which is arranged in the vicinity of the con-veyor belts 10C and 10D is illustrated in fig. 17 and fig. 18. This image-capturing unit 6 can be used in addition to or as an alternative to the image-capturing unit accord-ing to fig. 6. In particular, said image-capturing unit 6 serves to monitor the effect of the separating and deflection device embodied by the deflection rollers 24. A
light source 7 for better illumination of the monitored area is also assigned to this monitor-ing unit.
A further optical image-capturing unit 6 is arranged with an associated light source 7 above a sorting table with a view of a conveyor element 10E and a conveyor ele-ment 1OF (fig. 19). By means of masking, the test image parts 8A and 8A which are represented in the test image 8 according to fig 20 are selected, and, on the one hand, monitor the conveyor element 10E, as a conveyor path, with a conveying di-rection lE for transporting away root crop 4 and, on the other hand, monitor the con-veyor element 10F, as a further conveyor path, with a conveying direction 1F
for transporting away extraneous materials 5 in the form of stones and clods. By means of the evaluation described above it is checked whether the portions of root crop on the conveyor element 1OF are too large. If this is the case, by means of the method according to the invention the separating device located upstream is given a sharper or more forceful setting in accordance with the control specifications for the entire conveying line This separating device is located above the conveyor element which is embodied as a hedgehog web, and said separating device is provided, in particular as a finger web, with fingers 26 which are illustrated by way of example Date Recue/Date Received 2021-05-05 and by means of dashes, even though in the representation shown they are ar-ranged behind the cover 40 located in front of them. For example, the distance be-tween the fingers 26 and the conveyor element 10D is reduced in order to convey away a greater amount of harvested material, in the form of root crop, onto the con-veyor element 10E via an associated chute 41. If too many extraneous materials in the form of stones are detected on the conveyor elements 10E, for example the cir-culating speed of deflection rollers 24 can be changed so that there is a smaller pulse applied to extraneous materials, thus bringing about better deflection of any stones in the direction of the conveyor element 10F. Extraneous materials then slide onto the conveyor element 1OF in an improved way via a chute 42.
Fig. 21 illustrates the arrangement of measuring points MS1 to MSS on a schemati-cally illustrated conveying line of a machine 2 embodied as a beet lifter.
Optical im-age-capturing units are arranged downstream of a grubbing device above a roller ta-ble 10M and at the end of a conveyor element 10N which is embodied as a screen-ing belt (measuring points MS1 and MS2). A further optical image-capturing unit 6 monitors in particular a conveyor element 10P which is embodied as a screening star (measuring point MS3). The subsequent conveyor element 10Q which is em-bodied as a screening star is also monitored in precisely the same way as a con-veyor element 1OR which is embodied as a ring elevator (measuring points MS4 and MSS).
Date Recue/Date Received 2021-05-05

Claims

1. A method for controlling the operation of a machine (2) for harvesting root crop (4) and/or for separating root crop (4) from the rest of the harvested material comprising extraneous materials (5), in which an, in particular optical, image-captur-ing unit (6) captures at least one test image (8) of harvested material which is moved along a conveying path in a conveying direction relative to a machine frame (12) by means at least one conveyor element (10) and sets at least one operating parameter of the machine (2), characterized in that at least one further, in particular optical, image-capturing unit (6), which is offset in the conveying direction, captures at least one further test image (8), and an evaluation device generates, using a first test data set which is generated on the basis of the first test image (8) or formed thereby, and at least one further test data set which is generated on the basis of the further test image (8) or formed thereby, at least one operating parameter signal which is formed, in particular, as a separating device setting signal and the at least one oper-ating parameter of the machine (2), in particular of a separating device, is set by means of said signal.

2. The method as claimed in claim 1, characterized in that the operating parame-ter signal is generated using a comparative analysis of the test data sets.

3. The method as claimed in claim 1 or 2 characterized in that the evaluation de-vice calculates at least one first portion (A1), formed by at least one image area (19), Date Recue/Date Received 2021-05-05 of the respective test image (8), wherein the at least one image area (19) represents at least partially a defined component of the harvested material or of the machine (2), and the operating parameter signal is set on the basis of the respective portions (A1), wherein in particular a respective component of the harvested material is deter-mined on the basis of the first portion (A1).

4. The method as claimed in claim 3, characterized in that the at least one image area (19) which forms the first portion (A1) is identified, preferably on the basis of a respective test data subset which is generated using the image area (19), in particu-lar at least one color information item included therein, as showing the defined com-ponent of the harvested material or machine (2).

5. The method as claimed in claim 3 or 4, characterized in that the test data sub-set, in particular at least one test value included therein, preferably the color infor-mation, is classified by means of a, in particular model-based, statistical classifica-tion method, and an image area (19) is added to the first portion (A1) in particular when the result of the classification method is assigned to the defined component of the harvested material or the machine (2).

6. The method as claimed in claim 4 or 5, characterized in that the at least one test value of the test data subset, in particular the color information, is compared with at least one reference value, and an image area (19) is added to the first portion (A1) in particular when at least the at least one test value of the test data subset lies within an assigned reference value range.
Date Recue/Date Received 2021-05-05

7. The method as claimed in claim 5 or 6, characterized in that when exemplary image areas (19), which can be classified as being associated with the first portion (A1), of a reference image are input, the evaluation device automatically further de-velops a model on which the classification method is based and/or automatically cal-culates or changes the at least one reference value range.

8. The method as claimed in one of claims 3 to 7, characterized in that different image areas (19) are weighted differently during the calculation of the first portion (A1).

9. The method as claimed in one of claims 3 to 8, characterized in that the entire respective test image (8) or a coherent respective test image part (8A) is divided into the partial image areas (16) which in particular each comprise the same number of pixels of the test image (8), preferably precisely one pixel.

10. The method as claimed in one of claims 3 to 9, characterized in that the test image (8) comprises a plurality of test image parts (8A, 8B) for which the evaluation device respectively calculates a first portion (A1), in particular a plurality of portions (Al, A2, A3, A4) of image areas (19), wherein the test image parts (8A, 8B) prefera-bly represent harvested material from different conveyor elements which convey away from a separating device.
Date Recue/Date Received 2021-05-05

11 . The method as claimed in one of claims 3 to 10, characterized in that the im-age areas (19) which form the first portion (A1) show root crop (4) or parts thereof and image areas (19) which form a second portion (A2, A3, A4) show extraneous materials (5) or parts thereof.

12. The method as claimed in one of the preceding claims 3 to 11, characterized in that the operating parameter signal is calculated using a plurality of portions (Al, A2, A3, A4), which are in particular calculated in chronological succession, or values derived therefrom, or at least one previously calculated portion is input into the cal-culation of the operating parameter signal.

13. The method as claimed in one of the preceding claims, characterized in that at least one further sensor, in particular an ultrasonic sensor or tactile sensor, for measuring a layer thickness of the harvested material on the conveyor element, a sensor for measuring a drive power level, a rotational speed sensor and/or a mois-ture sensor, transmits sensor data to the evaluation device which data is input into the calculation of the separating device setting signal.

14. The method as claimed in one of the preceding claims, characterized in that the evaluation device triggers either an increase or a reduction in the operating pa-rameter by means of respective operating parameter signals.

15. The method as claimed in claim 14, characterized in that, after the triggering of a change in an operating parameter, no further change in an operating parameter Date Recue/Date Received 2021-05-05 is triggered for a defined time period or a defined conveying distance of the conveyor element (10).

16. The method as claimed in one of the preceding claims, characterized in that the/one of the operating parameters is a distance (H) between two conveyor ele-ments (10) or between the separating element (24, 26, 30, 32) of the separating de-vice and the conveyor element (10) or a further conveyor element (10).

17. The method as claimed in one of the preceding claims, characterized in that the operating parameter/one of the operating parameters is a grubbing depth and/or a velocity.

18. The method as claimed in one of the preceding claims, characterized in that the operating parameter/one of the operating parameters is a separating speed, in particular a circulating speed or rotational speed, of a separating element (24, 26, 30) or of the separating device.

19. The method as claimed in one of the preceding claims, characterized in that the operating parameter/one of the operating parameters is an attitude angle (a) of the conveyor element (10) or of the separating device.

20. The method as claimed in one of the preceding claims, characterized in that the operating parameter/one of the operating parameters is a drive power level and/or motor power level and/or an attitude angle of an associated assembly.
Date Recue/Date Received 2021-05-05

21. The method as claimed in one of the preceding claims, characterized in that the separating element-setting signal is transmitted in a wired fashion, in particular by means of CAN bus or ethernet, or in a wireless fashion, to a separating element control device, wherein the separating device setting is preferably to be enabled in advance by an operator by means of an input at an interface.

22. The method as claimed in one of the preceding claims, characterized in that the further test image (8) represents a further conveying area in particular of a fur-ther conveyor element (10), said area being offset in the longitudinal direction of the conveying line.

23. The method as claimed in one of the preceding claims, characterized in that preferably more than two, in particular 3 to 12 image-capturing units (6) along the conveying line of the machine capture a plurality of test images (8), and the associ-ated test data sets are evaluated in the evaluation device and used to set in particu-lar a plurality of operating parameters.

24. The method as claimed in one of the preceding claims, characterized in that the operating parameter signal is represented for an operator and/or is used auto-matically to set the at least one operating parameter.

25. The method as claimed in one of the preceding claims, characterized in that the optical image-capturing units only acquire 1D or 2D information.
Date Recue/Date Received 2021-05-05

26. The method as claimed in one of the preceding claims, characterized in that the evaluation device evaluates the test data sets locally on the machine (2) or on a directly connected tractor vehicle.

27. The method as claimed in one of the preceding claims, including claim 3, characterized in that the evaluation device compares the portions (A1, A2, A3, A4) of individual components of the harvested material or values for components of the har-vested material derived therefrom along the conveying line of conveyor elements (10) which are arranged in succession with respectively associated setpoint values and generates the at least one operating parameter signal on the basis thereof.

28. The method as claimed in claim 27, characterized in that the setpoint values are embodied in a root-vegetable-specific and extraneous-material-specific fashion.

29. The method as claimed in one of claims 27 and 28, characterized in that dif-ferent parameter sets of setpoint values are stored in the evaluation device and/or different parameter sets can be specified to the evaluation device.

30. The method as claimed in one of the preceding claims, including claim 3, characterized in that the operating parameter signal and at least one portion A1, A2, A3, A4), resulting during the subsequent operation, of respective test images (8) is saved and stored in a database.
Date Recue/Date Received 2021-05-05

31. The method as claimed in one of the preceding claims, characterized in that, after the triggering of a change in an operating parameter, no further change in an operating parameter is triggered until the harvested material which is picked up from the ground when the machine (2) is triggered is shown at least partially by a test im-age (8) which is captured thereafter along the conveying line.

32. A machine for harvesting root crop (4) which has at least one machine frame (12), a conveyor element (10), at least two, in particular optical, image-capturing units (6) arranged in succession along a conveying line which has in particular a separating device, and an evaluation device, and is designed to carry out the method as claimed in one of the preceding claims.

33. A machine as claimed in claim 32, characterized in that the evaluation device comprises a graphic processor unit, in particular a GPGPU- and/or FPGA-based pro-cessor unit.

34. The machine as claimed in claim 32 or 33, characterized by at least one sen-sor which is coupled to the evaluation device, in particular an ultrasonic sensor or tactile sensor for measuring a layer thickness of the harvested material on the con-veyor element (10), a sensor for measuring a drive power level, a rotational speed sensor arranged on a conveyor element (10) and/or a moisture sensor.

35. The machine as claimed in one of claims 32 to 34, characterized in that the conveyor element is a screening belt (10A, 10B, 10E), in particular included in a ring Date Recue/Date Received 2021-05-05 elevator, a hedgehog web (10C, 10D), a screening star (10P, 10Q, 10S), a conveyor roller (10T), in particular included in a roller table (10M), a deflection roller, a haulm web, a finger web, a shaking or knocking device or an air supply device or air dis-charge device.

36. The machine as claimed in one of claims 32 to 35, characterized in that at least one of the image-capturing units (6) is arranged in such a way that the test im-age (8) shows at least two alternative conveying lines for different components of the harvested material, in particular one conveying path at least for root crop (4) and one conveying path for extraneous materials (5).
Date Recue/Date Received 2021-05-05