EP3877901A1

EP3877901A1 - Method for controlling the operation of a machine for harvesting root crops

Info

Publication number: EP3877901A1
Application number: EP19808697.7A
Authority: EP
Inventors: Wolfram STROTHMANN; Daniel Bösenberg
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: 2021-09-15
Also published as: EA202191205A1; JP7210724B2; CN112970032A; DE102018127846A1; BR112021005312A2; WO2020094653A1; JP2022506699A; IL282967A; CA3118799A1

Abstract

The invention relates to a method for controlling the operation of a machine (2) for harvesting root crops (4) and/or for separating root crops (4) from other harvested material comprising admixtures (5), in which method: at least one test image (8) of harvested material moved along a conveying path in the conveying direction relative to a machine frame (12) by means of at least one conveying element (10) is recorded using an image acquisition unit (6) which is in particular optical; at least one operating parameter of the machine (2) is adjusted, wherein at least one additional test image (8) is recorded by at least one additional image acquisition unit (6) which is in particular optical and is offset in the conveying direction; and an evaluation device generates at least one operating parameter signal, in particular in the form of a separating device adjusting signal, with the aid of a first test data set generated on the basis of the first test image (8) or formed by same and at least one additional test data set generated on the basis of the additional test image (8) or formed by same, by means of which operating parameter signal the at least one operating parameter of the machine (2), in particular of a separating device, is adjusted. The invention also relates to a machine for harvesting root crops (4).

Description

Process for regulating the operation of a machine

for harvesting root crops

The invention relates to a method for regulating the operation of a machine for harvesting root crops and / or for separating root crops from further crop material, including admixtures, and a correspondingly trained machine. In the method, at least one test image of at least one part of the crop that is moved relative to a machine frame by means of at least one conveying element is recorded by at least one optical image acquisition unit.

The test image shows crop that was previously picked up by the machine for harvesting root crops. The conveyor element as part of the machine serves to move the crop within the machine. At least part of the crop has direct contact with the conveyor element.

The laid-open specification US 2018/0047177 A1 discloses a method in which a recorded test image is used to calculate a speed of the conveying element. The actual speed of the conveyor element is then adjusted on the basis of the calculated speed.

A disadvantage of the known, generic methods is that, depending on the harvesting conditions, there is significant damage to the root crops or to a large amount of additions of root crops unloaded from the machine is coming. In addition, it is therefore generally proposed in US 2018/0047177 A1 to change the harvesting rate or one or more configurations of the machine as a function of a server-based evaluation of three-dimensional data of the crop picked up by the sensors of the machine.

The object of the present invention is to provide a method in which the preservation of root crops is improved while optimizing the overall machine performance.

The object is achieved by a method according to claim 1 and by a machine according to claim 33. Further advantages and details of the invention can be found in the subclaims and the following description.

According to the invention, the object is achieved by a generic method, at least one further test image being recorded by at least one further, in particular optical image acquisition unit displaced in the conveying direction, and an evaluation device based on a first test data set generated on the basis of the first test image or formed by it and at least one Further, on the basis of the further test image generated or formed by this further test data set, at least one operating parameter signal, in particular in the form of a separating device setting signal, is generated, via which the at least one operating parameter of the machine, in particular the separating device, is set. An optical image capturing unit is considered to be offset in the conveying direction in particular when it captures a subsequent area of the conveying path and images it in the further test image. An image acquisition unit monitoring a conveying area is also referred to below as a measuring station. The machine according to the invention in particular has at least one separating device. Accordingly, with the method according to the invention, at least one separating device of a corresponding machine can be controlled.

Since the change in operating parameters, in particular of a separating device arranged along the conveying path or a conveying element of the conveying path, has an influence on the entire cleaning process and in particular influences the separating performance of subsequent separating devices, it is advantageous according to the invention that the information contained in the test data records of the image acquisition unit to consider test patterns along the conveyor line and to link them in particular. Such a link can take place as a simultaneous or temporally coordinated setting of the operating parameter, it can also take into account, in particular, dependencies of individual operating parameters, in particular separator settings along the conveyor line. The corresponding set of rules is stored in a machine-specific and crop-specific manner in the respective evaluation device of the machine, so that the machine can make the desired settings automatically, ie at least largely and in particular completely without interaction with the operating personnel, during operation of the machine. For example, if a separation capacity of a separation device located at the start of the conveyor section is reduced, a subsequent separation device may sharper, ie more aggressive, must be set in order to achieve a stronger separation, for example of soil from root crops. In addition to the operating parameters of the separators, the digging depth or a driving speed can also be one or one of the operating parameters to be set.

In particular, the operating parameter signal is generated on the basis of a comparative analysis of the test data sets, so that the evaluation device takes into account the information from the at least two test images or test data sets in the calculation of the operating parameter signal and combines them with one another for evaluation purposes.

In particular, it can thus be ensured that the proportion of the admixture decreases to a desired extent and in particular evenly over the path of the crop through the machine. Too much cleaning on a cutting device can lead to overloading and excessive wear of the same. At the same time, too early and excessive cleaning, particularly of soil, can result in potato damage, in particular at the end of the sieve chain, due to a soil cushion that is no longer present or reduced. The same applies to other root crops such as beets. Too late cleaning of undesired additives can also lead to increased wear over the entire conveyor line. In addition, the separators, which are created specifically for individual admixtures, may not ideally separate them on the crop flow. This also leads to an additional loss of efficiency and a reduced total lifting power of the machine. Through the invention Proper procedures ensure that the operating parameters that are suitable for a gentle, damage-free and optimal harvesting and cleaning performance are automatically set.

It is provided according to the invention that the further test image represents a further region of the conveyor line, in particular a further conveyor element, offset in the longitudinal direction of the conveyor line. The at least two test patterns are preferably a test pattern at the beginning or entrance and at the end or exit of a separating device. For example, this can be a front and rear section of a screen belt or roller earthing in the conveying direction. Test images from an area in front of and after a stone cutting device can also be used particularly well.

The machine is in particular a self-propelled or towed vehicle for harvesting root crops, in particular potatoes, beets, carrots or chicory. Alternatively, the machine can also be a stationary machine in particular for separating root crops from admixtures of the crop, e.g. of clods, stones or earth.

During the execution of the method, the moving or towed machine is moved in particular in the direction of rows, in particular planting dams of the root crops to be harvested, and these are taken up as part of the crop in a continuous process from the ground. After picking up the crop, at least part of the crop, in particular root crops and / or Additives, at least partially moved away from the at least one conveying element relative to the machine frame of the machine. In particular, the Förderele element is rotating and is designed as a conveyor belt, preferably as a screen belt, or as a rotating screen star.

The separating device is part of the machine with any individually adjustable separating elements and preferably acts together with one or more conveying elements. Alternatively, the separating device is part of the conveying element, is at least formed by it (e.g. in the case of sieve belts provided with vibrating devices) or forms one or more conveying elements (e.g. in the case of roller enterers). In operation, movement of the crop relative to the separation device exerts a movement impulse on at least one component of the crop, in particular on the flack fruits or the additions. The separating device is, for example, in the form of a roller earth electrode, in particular provided with circumferential separating elements in the form of deflecting rollers, with different components of the crop being at least not moved in the same direction by the separating device.

The optical image acquisition unit is in particular arranged above the respective För derelementes stationary on the machine and directed to the conveyor element and thus in operation on a flow of crop located between the image acquisition unit and the conveyor element or a component thereof, in particular root crops or additives. The inventive method is carried out with the machine, in particular during harvesting or separating, and preferably repeats itself.

The test image is, in particular, a multidimensional, preferably two-dimensional, image, on which at least part of the harvested crop with root crops, quantities and / or the conveying element is depicted. On the basis of the test image recorded by the image acquisition unit, the test data record is either already generated by the image acquisition unit or by the evaluation device. Alternatively, the test data record can be formed by the test image itself. This applies in particular to image acquisition units whose test images already have a format suitable for the subsequent analysis in the evaluation device. The test data record is, in particular, a data record created by processing, for example filtering and / or other images, at least temporarily available in the system, the information of which, for example color information, is evaluated in the evaluation device. It can be available as an image file, table, matrix or vector field, for example. The test image or the test data set already created in the image acquisition unit is transmitted from the image acquisition unit to the evaluation device. The optical image acquisition unit is designed in particular as a digital photo or video camera for two-dimensional recording of the test image. Insofar as reference is subsequently made to the test image in connection with the processing of the image information in the evaluation device, it can be the test data record in this context. The evaluation device is used to evaluate the test data set. The evaluation device comprises at least one processor and is designed 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. It is therefore a local system to carry out any evaluations directly on site and to make the results available directly.

The operating parameter is a variable, which relates to the geometry of the separating device or a separating element thereof, the position or orientation relative to the machine frame or to the conveying element, a speed of the separating device or a drive or motor power. The operating parameter can be used to set the manner or to what extent the separator interacts with the crop or at least a part thereof. In particular, by varying the operating parameter, it is possible to vary how much admixture remains with the root crops downstream of the separating device, based on the conveying path over which the root crops are to be conveyed within the machine. The operating parameter is in particular independent of a conveying speed of the conveying element, which serves to convey at least the root crops while they rest on the conveying element and move in the same direction as the conveying element.

The operating parameter defines in particular how aggressive the separating device is when separating root crops and additives. If too little Too much of the additions are not separated from the root crops for aggressiveness. If the aggressiveness is too high, not only additives, but also root crops are separated or damaged, thus reducing the yield. By generating the separating device setting signal and in particular by transmitting it to a separating device control device, the operating parameter is preferably set based on the parts of the crop shown on the test images. On the basis of the disconnect device setting signal, the disconnect device control device in particular increases or decreases the operating parameter. For this purpose, the separating device control unit emits in particular an electrical signal or changes a fluid pressure, the separating device control device being in particular part of the same computing unit as the evaluation device.

The method enables continuous optimization of the operation of the machine with the cutting devices. In particular, the screening can be continuously optimized in accordance with the utilization of the conveyor line, thus ensuring careful handling of the root crops over the entire conveyor line and effective separation of additives from the crop.

In particular, the evaluation device evaluates the test data records locally on the machine or on a towing vehicle directly connected to it, in order to provide the separating device setting signal — when a plurality of separating devices are set correspondingly to the several separating device signals. This enables almost instantaneous control when an undesired condition is detected on a disconnecting device. Loan and blockages, damage or underperformance are avoided accordingly.

In an advantageous development of the method according to the invention, the evaluation device calculates at least one first portion of the respective test image formed by at least one image area. The at least one image area at least partially depicts a defined component of the crop or the machine, and the operating parameter signal or the majority of the operating parameters are set on the basis of the respective proportions of the respective test images. On the basis of the first portion, the portion of the respective crop component in the monitored area of the conveyor line is determined, in particular equated with it.

The respective crop components, i.e. portions of the successively arranged, monitored conveyor section areas resulting from the individual test images can be compared with one another in a simple manner.

The setting of the operating parameter or parameters takes place in particular as a function of the proportions of all or individual crop components or values derived therefrom for the individual measuring points, i.e. the areas of the conveyor line captured by the individual image acquisition units.

Before calculating the first share, the component that is statistically represented by the first share is predefined. The test image and / or the test Data record are divided in particular into a plurality of preferably equally large image areas. The image areas, which at least partially show the component, together form the first portion. The portion is in particular a portion of these image areas, which at least partially show the constituent parts, of the entire image, the first portion being formed on the basis of a ratio of the number of image areas or on the basis of their common areas.

The first portion is a measure of the extent of image areas that depict the component and thus a measure of the density of the component in the field of view of the image acquisition unit or the portion of the test image to be viewed. The component is, in particular, at least partially a root crop component, as a result of which the first fraction at least approximately indicates a concentration of root crops. An image area is in particular evaluated as a component and is assigned to the first component if at least 50% to 100% of its area shows the component. In particular, the at least one image area can only be partially assigned to the first portion or preferably partially assigned to different portions. This is particularly advantageous if, within the framework of the preferably model-based classification method, it is not possible to clearly assign the image area to a corresponding component. In this case, probabilities for the assignment to different proportions are preferably determined. The image areas are particularly preferably assigned proportionately or partly to different proportions according to the probabilities. As a result, the relationships of the components to one another are reproduced even more precisely. By calculating at least the first portion, the composition of the crop is identified in particular. On this basis, a respective operating parameter can be regulated particularly advantageously, since the cleaning performance of the conveying element or of the separating device comprising the conveying element is strongly dependent on the composition of the crop. In particular, the first part is a concentration of admixtures. The operating parameter of an associated separating device can thus be varied with an increasing first proportion in order to produce a greater separating effect or separating performance in order to relieve subsequent separating devices which may show critical concentrations.

The first portion is preferably assumed at least approximately as the portion of the crop component considered in each case, that is to say equated with it.

The at least one image area which forms the first portion is preferably identified as showing the defined component, in particular on the basis of a test sub-record generated on the basis of the image area. In particular, the image area is identified on the basis of a test value contained in the test image and / or in the test sub-data record, preferably color information. The color information includes, in particular, black-and-white, gray and / or color channel values of a color space.

The test sub-data set, the test value or the color information is preferably classified by a model-based, statistical classification method in particular. graces. An image area is therefore assigned to the first portion in particular if the result of the classification process is assigned to the defined component of the crop or the machine. The classification method uses in particular a neural network, a random forest, a Bayesian classifier, a support vector machine and / or a decision tree. By using the classification method, the result of the calculation of the first portion, in particular of different portions, is particularly robust and powerful in terms of the composition of the crop.

The test value or the color information is particularly preferably compared with one or more reference values or reference areas and, based on this, an image area is either assigned to the first portion or not. Like the test image, the reference image is preferably to be acquired by the optical image acquisition unit, with a user in particular having to mark different parts of the reference image as different components. This form of differentiation enables a particularly reliable identification of a relevant component on the test image. Particularly preferably, at least one of the test values of the test sub-data set, which in particular comprises the color information, is compared with at least one reference value and an image area is particularly assigned to the first portion if at least the at least one test value of the test sub-data set lies within an assigned reference value range. This reference value range is limited in particular by a maximum value and by a minimum value. For the first portion of the image area, different test values must lie in assigned reference value areas.

In an advantageous embodiment of the invention, the evaluation device automatically or automatically further develops a model on which the classification method is based upon the input of exemplary image areas of the reference image which are to be attributed to the first portion. Alternatively or additionally, the evaluation device automatically calculates or changes the at least one reference value range upon input of exemplary image areas of a reference image that are to be attributed to the first portion. In particular, the reference values, the reference value ranges or the model or model parameters thereof are therefore at least not completely manually predefined by the user. Instead, it is sufficient to enter at least one exemplary image area, which shows the component, for starting up the evaluation device. Based on the image area, the evaluation device automatically determines the at least one reference value, the at least one reference value area or the model or model parameters thereof. The evaluation device thus adjusts itself to different applications largely independently. The greater the number of image areas entered, the more precisely the reference values, the reference value areas or the model or model parameters thereof can be determined.

The method is particularly robust when the entered image areas show the component under different brightness and / or soil conditions. The method is therefore reliable even under different application conditions. casually applicable. The evaluation device particularly preferably adjusts the at least one reference value or the reference value ranges during the repeated execution of the method, if necessary with exemplary identification of relevant components by the operator, from which training data for the algorithm can be mapped.

The evaluation device automatically extends the scope of the reference data, in particular on the basis of further sensors such as brightness sensors for measuring the ambient brightness, which the evaluation device assigns to test data records recorded essentially at the same time. Alternatively or additionally, the user of the method, i.e. in particular the driver or operator of the machine or a machine coupled to it, 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. For example, on the basis of the information provided by the user or on the basis of data stored in the evaluation device, this can be distinguished from e.g. Make potatoes, cabbage, stones, earth and clods and calculate the respective proportions.

The method according to the invention is preferably carried out automatically after it has started, with the exception of entering any training data that may be present in the form of marking components. The driver or operator of the machine is easier to operate. Preferably, in the evaluation of the respective test images, the image areas forming the first portion are additionally identified on the basis of image sub-data sets generated on the basis of adjacent image areas or formed by these. In particular, color information included in the test sub-data sets, in particular comprising black-and-white and / or gray values, is in particular used for this purpose. The evaluations of the image areas therefore do not take place solely on the basis of the data assigned to them, but will also use additional data assigned to the surrounding image areas. In this way, brightness and / or color gradients can be determined and the identification takes place on the basis of a broader data basis.

The different image areas are preferably weighted differently when calculating the first portion. The contribution of the image areas forming the first part is therefore different. This makes it possible not to calculate the first portion purely on the basis of the perspective representations of the test image, but rather to give particular weight to image regions which show a component of the crop that is further away from the image acquisition unit than image regions which show a component closer to the image acquisition unit . This enables a perspective-adjusted first portion to be formed and thus a particularly realistic picture of the crop composition on the conveying element can be achieved. This is particularly advantageous for comparing the test images taken from different perspectives along the conveyor line. The entire test image or a coherent part of the test image 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 exactly one pixel.

The test image part is a part or section of the test image which comprises a plurality of partial image areas. To calculate the first portion, only the image areas showing the portion that belong to the part of the test image are taken into account. For this purpose, the part of the test image is defined in particular so that it depicts sensitive and monitored zones within the machine. The image area forming the first portion thus comprises in particular several partial image areas of a test image part.

The test image or part of the test image is in particular rastered into a plurality of partial image areas, each of which is preferably rectangular. When the sub-image areas are formed by exactly one pixel, a particularly large database for evaluating the condition of the crop with regard to its individual components is created, thus enabling particularly sensitive regulation of the respective operating parameters. At the same time, the amount of data supplied by conventional 2D digital cameras, usually with a maximum of a few million pixels, can be processed promptly for an evaluation device equipped with one or more current processors.

The respective test image of the image acquisition units which record along the conveyor section successively in the following passages comprises a plurality of test image parts, for each of which the evaluation device has a first portion, in particular a plurality Shares in image areas are calculated, the test image parts (8A, 8B) preferably depicting crops of different conveying elements conveying away from a separating device. The test image parts in particular show different sections of the same conveyor element or different conveyor elements. In particular, the test image parts show sections of a conveying element, one of which is arranged in the conveying direction in front of a separating device or a separating element thereof and another behind the separating device or a separating element thereof. Alternatively, the test image parts show different conveying elements, which represent alternative conveying paths for different components of the crop (for example a conveying element for a crop flow with preferably cleaned root crops, a conveying element for sorted out admixtures). Preferably, the composition of the crop of the conveying elements adjoining a separating device and thus conveying away therefrom is determined in each case, once for the harvested crop and once for the crop to be conveyed. By calculating the first part and further parts for these different parts of the test pattern, the cleaning or separation performance along the entire conveyor line can be evaluated particularly comprehensively.

Likewise, the test image parts depicted or present in the respective test data records can show part of a conveying element in front of a separating or deflecting element of the separating device and part of the conveying element after the separating or deflecting element. If the image analysis shows that excessive proportions of e.g.

Ground crops behind a deflecting element in an undesired area, this deflecting element can be different, eg lower above the conveying element are positioned, which increases the deflection performance, subsequent separating devices can then be adjusted to optimize the entire machine depending on the further settings of the operating parameters along the conveyor line, ie more aggressively or sharply, in order to process increased quantities of root crops.

In a further embodiment of the invention, the test image parts preferably show different conveying elements after a separating device, in particular a conveying element for discharging a root crop mixture and a conveying element for discharging additions after the same separating device. For both parts of the test pattern, the respective proportions of a constituent of root crops and additives are preferred. Alternatively, different parts are calculated for the different parts of the test pattern. This allows, for example, a proportion of admixtures in the root crop mix flow or crop flow to be compared with a proportion of root crops in a stream of sorted admixtures and, based on this, a separating element comprised by the separating device, e.g. adjust in terms of its location to Förderele elements and / or in terms of its speed.

The image areas forming the first portion preferably show root crops or parts thereof and a second portion forming image areas or portions thereof. The evaluation device thus calculates at least two different proportions for the respective test images. The evaluation device particularly preferably calculates at least four parts, a first part for root crops, a second part for soil, a third part for herbs and a fourth part for damaged te root crops. If necessary, at least a further proportion for stones and / or clods can be determined. The total of the shares is in particular <1. Alternatively, the first portion can also be a blended portion, the second portion a root crop portion, etc.

Alternatively or additionally, in a further development according to the invention, at least two image acquisition units and at least two conveying elements are provided, the first image acquisition unit taking a first test image of a crop part conveyed by a separating device by means of the first conveying element, the second image acquisition unit a further test image one of the separating devices Harvested crop part removed by means of the second conveying element and the separating device setting signal is generated on the basis of at least one of the test data records formed by, preferably both, the two test images or based on the water generated test data records. The test data records are evaluated in each case as described above or in particular with regard to the respective proportions.

A plurality of parts in the calculation of the evaluation device can provide a more precise picture of the composition of the crop or the occupancy of the conveying element. This results in a precise mapping of the crop composition for the different areas of the conveyor line, so that the evaluation device can carry out an exact and coordinated adjustment of the respective operating parameters. As an alternative to identifying image areas on the basis of limit values, all image areas of the respective test image or part of a test image are necessarily assigned to a portion. In this case, a degree of correspondence between test sub-data sets calculated on the basis of the image areas and reference sub-data sets is preferably evaluated and each image area is assigned to the portion for which the match is greatest.

In an advantageous embodiment of the invention, the respective operating parameter signal, in particular a disconnecting device setting signal, is calculated on the basis of a plurality of components, in particular those calculated successively in time, or at least one previously calculated component is included in the calculation or control of the operating parameters. By means of these measures, the setting of the operating parameters is carried out with foresight in the method according to the invention and is learned during operation.

In an advantageous embodiment of the invention, at least one sensor transmits sensor data to the evaluation device, which flow into the calculation of the operating parameter signal. The sensor is in particular a sensor, preferably a touch sensor or an ultrasonic sensor, for measuring a crop layer thickness on the conveying element, a sensor for measuring a drive power, for example a pressure sensor for measuring a hydraulic oil pressure, and / or a speed sensor in particular for measuring a speed of a conveyor element drive. In particular, a slip of the conveying element is determined on the basis of the speed sensor and is transmitted to the evaluation in the form of the sensor data. device is transmitted. Using a moisture sensor, further information can flow into the calculation of the separating device component or operating parameter signal.

On the basis of this additional information present in the sensor data, which goes beyond that provided on the basis of the test image, the evaluation device has a much more precise picture of the cleaning situation along the respective conveying elements, which in turn can influence the respective operating parameters in a better coordinated manner.

The evaluation device preferably triggers either an increase or a decrease, in particular a plurality of the operating parameters, by means of different separator setting signals. In particular, the evaluation device or the disconnecting device control device or any control devices for setting further operating parameters comprises a three-point controller, a fuzzy controller and / or a PID controller, as a result of which, alternatively to one another, either increasing, reducing or maintaining the at least one current operating parameter is triggered. An increase is triggered in particular if any proportions exceed a predefined first threshold value and in particular the evaluation of the further test images does not speak against a further increase, possibly with further adjustment of an operating parameter, a decrease is in turn possibly taking into account the evaluation of further test images accordingly triggered when the respective proportion falls below a predefined, second threshold value. The operating parameter is preferably a distance between two conveying elements to one another or a separating element of the separating device or the separating device to a conveying element. In particular, the operating parameter is a distance between two conveyor rollers of a roller table rotating during operation. Alternatively, the operating parameter is a distance between a conveyor element designed as a screen belt and a separating element designed as a deflecting roller, the separating element extending across the conveying element and causing lateral deflection of the root crops from the conveying element. The deflection roller rotates during operation about a rotation axis which is angled in a plan view of the conveying element by less than 90 ° to the conveying direction of the conveying element. Alternatively, the separating element is designed as a rotating finger band during operation, which is located above the conveying element and whose fingers projecting outwards comb during operation through the crop arranged on the conveying element. Again, alternatively, the separating element is designed as a non-rotating stripping device, which is arranged above a cooperating with a sieve belt large herb belt and causes stripping of root crops from herb deposited on the coarse herb belt. The distance is in each case particularly adjustable by a hydraulically or mechanically controlled actuating device, so that the aggressiveness of the separating element of the separating device in cooperation with the conveying element or the separating performance of the conveying elements can be changed in a particularly simple manner. Alternatively, the or one of the operating parameters is a depth of penetration of at least one digging share of the machine into the ground. This allows the amount of additives in the crop to be influenced in a simple manner.

Alternatively or in addition to the above, the / one of the operating parameters is a driving speed of the machine or a cutting speed, in particular a rotational or rotational speed, of the cutting device or a cutting element of the cutting device. In particular, the separation speed is a rotational speed of the above-described finger band or a rotational speed of the above-described deflecting roller. Alternatively, the separating speed is a rotational speed of an angled separating device which is in operation when the quantity is increasing, e.g. in the form of a fine herb belt, which is operated in such a way that admixtures are conveyed upwards as far as possible and flavours are moved downward against the direction of movement of the section of the separating device facing them.

Preferably, the or one of the operating parameters is alternatively expressed as the angle of attack of the conveying element and / or the separating device, ie at least one separating element of the separating device. In particular, the operating parameter is the angle of attack of the separation device referred to as fine-grain elevator. The angle of inclination changes the inclination of the conveying plane of a fine herb belt of the separating device relative to a horizontal line and thus adjusts the aggressiveness of the separating device. In an alternative advantageous embodiment of the invention, the operating parameter causes a change in an air flow speed or an air mass flow rate per time. Here, an engine power, for example represented by an engine speed, can be the corresponding operating parameter of a separating device which separates due to air flow. The air in turn causes separation of root crops and admixtures, in particular herbs are blown off from a crop of crops and thus removed. The operating parameter can be a speed of an associated blower or the angle of attack of an associated unit in the form of an air baffle, which, for example, divides an air flow into main air flow and a cross air flow, in such a, in particular also stationary, air separation device.

In an advantageous embodiment of the method according to the invention, in particular several of the aforementioned operating parameters are set by the same or different operating parameter signals. For this purpose, a set of rules can be stored in the evaluation device, which, for the desired additional or minimum separation power of the respective separating device, gives corresponding signals for the respective adjustable quantities.

Preferably, after triggering an operating parameter change for a defined period or a defined conveying path of the conveying element, no further operating parameter change is triggered. This relates in particular to only the same operating parameter and / or at least one operating parameter of at least one separator arranged downstream during operation. This ensures ensures that there is no over-regulation of the respective operating parameter, for example a separating element, and that each operating parameter change is based on a well-founded data basis which already takes into account a previous operating parameter change.

The disconnecting device setting signal is preferably transmitted to the disconnecting device control unit in a wired manner, in particular by means of CAN bus or Ethernet, or wirelessly, the disconnecting device setting preferably being released beforehand by an operator via an input at an interface. As a result, existing or at least established systems for communication transmission can be used to set the separating element and the reliability of the method can be increased in particular by the fact that an operator is shown the resulting or to be made setting of the separating device in particular in the driver's cab and at an interface (a so-called Human Interface Device (HID) has to be released via a corresponding entry.

Preferably, to carry out the method according to the invention, more than two, preferably three to twelve, image acquisition units are arranged along the conveyor path of the machine, each of which acquires one or more test images. The associated test data sets are evaluated in the evaluation device, which may be decentralized with several units, and are used to set the at least one operating parameter, but in particular a plurality of operating parameters. In this way, the setting of the respective cutting devices or digging depth can be set to optimal machine performance over the entire conveyor line be made. It goes without saying that the evaluation device can consist of a plurality of evaluation units, in particular in order to evaluate the data supplied by the image acquisition unit in good time. In order not to overwhelm the operator, the setting of the at least one operating parameter is preferably carried out automatically. In the case of shorter conveying paths, it can also be advantageous for the operating parameter signal to be represented in an understandable format for an operator and for the operating personnel to then carry out an operating parameter change, but such a representation is preferably only for the information of the operating personnel.

The method according to the invention can be implemented particularly well when one or more optical image acquisition units, preferably all image acquisition units, acquire only 1 D or 2D information. For example, this is a line scan camera or a digital camera with a two-dimensional sensor. Extensive tests have established that the test images recorded in two dimensions contain sufficient information for setting the corresponding operating parameters, in particular without using information from depth sensors. Thus, the algorithms that can be used to evaluate the test image data sets are sufficiently fast to evaluate the data obtained, even without external, remote from the self-propelled machine or towed machines or their towing vehicle on ordered servers on site. Accordingly, it is advantageous that the evaluation device evaluates the test data records locally on the machine or on a directly connected towing vehicle. The commu- nication within the machine between the image acquisition units and the evaluation device can be wired. Communication can take place via the often already existing CAN bus system, a similar machine network or with an internal connection between the image acquisition units and the evaluation device. If necessary, wireless transmissions can also be used locally from one part of the system to another part of the system, a large number of different technologies being available on account of the short distances. These (e.g. Bluetooth, W-LAN, ZigBee, NFC, Wibree or WiMAX, IDA, FSO) can also be used together with wired transmissions.

For a comparatively simple, robust control, the evaluation device in a method according to the invention is designed in such a way that it compares the proportions or values derived therefrom for crop components along the conveying path of successively arranged conveying elements with associated setpoints and, based on this, generates the at least one operating parameter signal . Optimal values or ranges of optimal values for the individual portions of harvested material under different conditions can thus be stored in the system for the individual conveyor route areas depicted by the test images.

According to a further advantageous embodiment of the invention, the individual portions determined as described above or described below or values derived therefrom for crop components can be arranged one after the other along the conveyor line Conveying elements with respectively associated prescribed or post-described setpoints are preferably initially displayed to an operator on a display unit without generating the operating parameter signal or at least without automatically changing the operating parameter. The setting of the operating parameters can - if the at least one operating parameter signal has already been generated - then released by an operator or alternatively carried out directly by an operator.

Based on e.g. On the basis of a large number of data collected, setpoints for crop components, in particular minced fruit or mixed fractions, can be determined for individual machine types in individual conveying positions along the conveying path. Correspondingly, an optimal target value can be empirically determined and specified for a range of shares at a specific position along the conveyor line for optimal machine throughput depending on different lifting conditions. In particular, the setpoints are designed to be specific to root crops and additives and can be selected or specified in advance of an operation by the operating personnel, for example. Different lifting conditions, e.g. B. dry, moist, stony, loamy soils or the like. For the selection of a target value for a specific separator or the composition on a conveyor belt, for example, formed as a conveyor belt.

With the usual plurality of operating parameters that can be set, an optimal one can thus preferably be carried out automatically via the conveyor line during operation Specify separation performance and / or appropriately appropriate proportions and strive for. The individual operating parameter signals for the respective separation devices or the machine can be determined as a function of one another using simple and sufficiently intelligent algorithms. For example, it could be stored in such a control system that if a very strong cleaning of the product flow in the comparison between inlet and outlet is already effected on a separator positioned early in the conveyor line, the control module in the separator specifies that more admixtures may be continued there. Conversely, in the case of a separating device for which it is recognized that no significant cleaning takes place between the entrance and the exit, the higher-level cleaning could stipulate that slight root crop losses can / must be accepted here in order to improve the overall cleaning performance of the machine. Furthermore, as an alternative or in addition, the regulation can ensure that certain crop flow conditions are set in a targeted manner at specific crop flow points in the machine. For example, the earth cushion on the sieve chains can be increased by increasing the digging depth or increasing the driving speed. The determination of the at least one operating parameter, preferably the plurality of operating parameters for the respective adjustable elements of the machine, takes place in particular by means of a neural network, a random forest, a Bayesian classifier, a support vector machine or a decision tree.

In particular, such a regulation can also indicate the extent to which admixtures may be continued in the respective separating device or Losses z. B. in the form of potatoes or beets can be accepted. These variables are important input variables for the control of the specific individual separation control and thus the calculation of the operating parameter signal.

To avoid excessive loads on the adjustable devices and corresponding abrupt or frequent changes in the separating units, ranges can be assigned to the respective setpoints within which, depending on the deviation from the setpoint, a proportion or a value derived therefrom can be regarded as acceptable. In this respect, a reasonable algorithm will only find a balance between the optimal cleaning performance on a device and the associated influencing of subsequent separating and possibly also sorting devices.

Correspondingly, the separating devices previously positioned in the conveyor line and the portions assigned to them and derived from the respective test images or values derived therefrom can have different weightings for determining the respective parameters.

According to a further advantageous embodiment of the invention, different parameter sets of target values are thus stored in the evaluation device, in particular in order to meet the different conditions described above, and / or different parameter sets can be predetermined for the evaluation device, so that for the corresponding rode or Separation situation adjusted setpoints are available. To check the machine (cleaning) performance, it is advantageous if the operating parameter signal is stored with the at least one portion resulting from the subsequent operation or 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 that are recorded, so that a retrospective picture of the effect of the change in the operating parameters can also be obtained.

In general, the control algorithm can be provided with a predetermined, or also with a suitable pause value, so that the machine does not control continuously.

Such a pause value can also be selected depending on the speed of the crop being transported. In particular, after an operating parameter change has been triggered, no further operating parameter change is triggered until the crop picked up by the machine when triggered is at least partially shown by a test image subsequently taken along the conveyor line.

The object stated at the outset is also achieved according to the invention by a machine for harvesting root crops and / or for separating root crops from further amounts of crop. The machine has a machine frame, a conveying element, at least two, in particular optical image acquisition units, which are arranged one after the other along a conveying path which in particular has a separating device, a separating device and an evaluation device. The machine is trained to carry out the method described above or after. An optical image capturing unit is in particular considered to be offset in the conveying direction if it captures a subsequent area of the conveying path and maps 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 Pur pose Graphical Processing Unit) and / or an FPGA (Field Programmable Gate Array) -based processor unit. This type of evaluation device enables the test data set to be evaluated in a particularly resource-saving manner and in particular locally. It is understood that the evaluation device designed as an EDP device has other usual means, e.g. for power supply, interfaces and memory.

In an advantageous embodiment of the invention, the machine has at least one sensor coupled to the evaluation device, in particular a tactile or ultrasonic sensor for measuring a crop layer thickness on the conveying element, a sensor for measuring a drive power, for example a pressure sensor for measuring a hydraulic oil pressure, and / or an ordered speed sensor on a conveyor element. By means of this sensor, the conveying speed signal can be calculated in addition to the movement characteristic data sets also on the basis of measured physical quantities, whereby the meaningfulness of the quantities calculated with the evaluation device is significantly increased and their susceptibility to errors is reduced. A humidity sensor can also provide additional information which contribute to the setting of one or more of the separation devices as part of the analysis of the evaluation device.

In accordance with the method described above or after, an analysis is carried out for the conveyor route areas detected by the respective test images in the at least one evaluation device. While preferably only one central evaluation device is provided for evaluating the data of the image acquisition units, the respective image acquisition units can also be assigned their own evaluation devices. These can then control the respectively assigned separating devices, in particular in coordination with further evaluation devices. In this case, individual units such as Processors available several times. Alternatively or in addition, a central evaluation device is responsible for the creation of the disconnector setting signals and forwards these to a machine control.

At least one of the image capture units is preferably arranged in such a way that the test image shows at least two alternative conveying paths for different crop components. As a result, two conveying elements can be monitored with the aid of an image capturing unit, one test image part of the test image each depicting a section of the different conveying elements or crops thereon. In particular, one of the funding elements for the promotion of sorted out additions and another of the funding elements for the promotion of cleaned root crops is designed. This enables a particularly comprehensive picture of the cleaning performance of an associated separation device to be achieved. One of the image capturing units can preferably be arranged in such a way that, during operation, the test image at least partially depicts at least two conveyor element sections separated by a separating element. The conveyor element sections are only separated by the separating element in the representation by the test image and are each encompassed by the conveyor element. The separating element is closer to the image capture unit than the conveying element and the latter is thereby covered by the separating element on the test image. This positioning of the image capture unit makes it possible to calculate at least a first portion for two individual test image parts and thus to directly evaluate the effectiveness of the separating element or separating device. In particular, the composition of a crop prior to reaching the separating element is compared with the composition of at least a portion of the crop after passing the separating element.

Preferably, the at least one conveying element is designed as a sieve belt or hedgehog belt, which in operation runs through at least one deflecting roller which extends laterally across the conveying element and deflects the crop laterally therefrom. Alternatively, the conveyor element is designed as a screen star or conveyor roller, the conveyor roller being in particular comprised of a roller table.

As an alternative or in addition to the foregoing, the machine is designed as a machine for cleaning and / or sorting root crops. The machine especially stationary, that is without a continuous, local advance of the

Machine operated during operation.

Further details and advantages of the invention can be found in the exemplary embodiments described schematically below. It shows:

1 shows a program flow chart of a method according to the invention,

2 shows a detailed view for the determination of crop components on a monitored conveyor section,

3 shows a detailed view for determining the operating parameter signal,

4 target curves for the relative composition of the crop along the conveyor line,

5 is a view of a test image and its partial evaluation,

6 shows an exemplary representation of the relative crop composition over the monitored conveyor line,

7 shows an exemplary representation of the relative crop composition over the monitored conveyor line, which results from the method according to the invention, 8 shows an object according to the invention,

Fig. 9 u. 10 the object according to FIG. 8 in different side views,

Fig. 1 1 like a partial view of the object. 8 element with a Förderele,

12 is a detailed view of a portion shown in FIG. 1 1 of the device according to FIG. 8,

13 the object according to FIG. 12 from a different perspective,

14 is a representation of the test image of the image acquisition unit according to FIG. 12,

Fig. 15 a separator of the machine like. 8 with an image acquisition unit,

16 is a schematic test image taken from the perspective of the image acquisition unit shown in FIG. 15,

Fig. 17 another separator of the machine like. 8 with an image acquisition unit, 18 is a schematic representation of a test image taken from the perspective of the image acquisition unit shown in FIG. 17,

19 likes a further detailed view of a machine. 8 with a wide ren image acquisition unit,

20 is a schematic representation of a test image viewed from the perspective of the image capture unit of FIG. 19;

21 shows a detailed view of a further device according to the invention.

Parts with the same or similar effect are provided with identical reference numerals, where appropriate. Individual technical features of the exemplary embodiments described below can also lead to further developments according to the invention with the features of the above-described exemplary embodiments, but always at least in combination with the features of one of the independent claims.

The items listed in the list of figures are sometimes only partially shown in individual figures.

The method according to the invention serves to regulate the operation of a machine 2 for harvesting root crops 4 (cf. FIGS. 6 to 8). In the method, at least one test image 8 is recorded by at least one, in particular optical, image acquisition unit 6, which is initially generally referenced 10 by means of at least one numbered conveyor element relative to a machine frame 12 of the machine 2 shows harvested crop comprising root crops 4. Furthermore, at least one further test image 8 is recorded by at least one further, in particular optical image acquisition unit 6 displaced in the conveying direction, and an evaluation device is generated on the basis of a first test data set generated on the basis of the first test image 8 and at least one further one on the basis of the further test image of the further test data set generated, at least one operating parameter signal, in particular in the form of a separating device setting signal, via which the at least one operating parameter of the machine 2, in particular the separating device, is set.

5 only schematically show the parts relevant to the invention without any borders or loading limits. Digital images, in particular digital images recorded by an image capturing unit 6 may have further information not shown in the figures. In addition, for the purposes of visualization, the illustrations show any details that have already come from the analysis of an evaluation device.

In an embodiment according to the invention, starting from a crop flow created by a digging device and varying during a conveying route, using the method described above, in front of a first separating element, alternatively already during a first separation immediately after picking up the crop, for example on a first screen belt or a roller earth electrode, an evaluation of the composition of the crop taken (block 1.2) (Fig. 1). In addition, the composition of the crop flow is calculated again at further points, in particular before the entrance and after the exit of further separating devices (blocks 1.3 to 1.n). Vorzugswei se registration units are available at the beginning and end of the conveyor line at least for the root crops 4.

In the evaluation, the respective proportions A1_1 to A1_n, A2_1 to A2_n, A3_1 to A3_n and A4_1 to A4_n of root crops 4 and additions 5 in the form of herbs, earth and stones (blocks 1.4, 1.5, 1.6) at the respective measuring points 1 to n, that is areas of the conveyor line captured by the image acquisition units. Depending on the desired separation performance at the individual separation devices, the proportions of root crops 4 or admixtures 5 are offset against one another in the evaluation device (block 1.7) and preferably checked for deviations on the basis of target values. This results in control variables for the individual operating parameters, which are determined in block 1.8. The operating parameters are then set, e.g. the driving speed, the digging depth and / or the cutting devices (Block 1.9). This results in a new crop flow (block 1.1)

The determination of the material flow composition is shown in a greater degree of detail in FIG. 2. Starting from a crop flow or crop flow (block 1.1) at a measuring point, test image 8 is first recorded. In order to create the test data record, the relevant parts of the test image are extracted (block 2.1). For this, a mask or region of interest (ROI) can be predefined based on the position of the image acquisition unit (block 2.2), on the basis of which distances of the test pattern 8 to be taken into account and not taken into account are distinguished. On the basis of the relevant image section of the test image 8 and the test data set now available for processing, the calculation of portions of the image regions showing the individual crop components is now carried out (block 2.3). To this end, in particular the color information, in particular comprising black-and-white and / or gray values, can be evaluated. These values can be taken from a reference table or specified by an operator (block 2.4). This results in the respective proportions A1 for root crops, A2 for soil, A3 for cabbage and A4 for clods (block 2.5).

By means of the method according to the invention, the relationships between the products present in a crop flow and admixtures are initially recorded separately for each measuring point along the conveying path. The conditions are then compared with setpoints which are stored in the evaluation device specifically for the respective measuring point, so that deviations from the desired setpoints can be determined at the respectively monitored conveyor section areas (FIG. 3, block 3.1). The setpoints or curves are also specific to the respective lifting conditions and are formed depending on how the machine 2 is to be operated (cf. FIG. 4).

In addition to the determination of the deviations from the setpoint, in block 3.2 for conveyor sections located in each case between successive measuring points, which in particular comprise a separating device or separating element of a separating device. evaluates how the current flow components develop depending on the respective disconnector setting. Based on this, the respective operating parameter signals are generated for the entire considered conveyor route, taking into account the interactions of the respective setting variables (block 3.3). This leads to the setting of the operating parameters (block 3.4). For example, an optimal soil cushion for protecting the root crops 4 can be implemented over the entire conveying route with maximum conveying capacity.

The desired values can be specified in many ways, for example as table values, function curves or matrices. Fig. 4 shows schematically and by way of example the possible scenarios for any harvesting process, which can be selected by the operating personnel. The relative crop flow composition is shown on the y-axis, the conveying path is shown on the x-axis. The difference between 100% and the value of the curve corresponds to the relative number of root crops. The dash-dotted curve corresponds to balanced operation. The machine 2 carries out a uniform cleaning, so that good protection of the product is achieved due to the earth cushion which decreases uniformly over the conveying path. The lower, dashed curve corresponds to a setting scenario in which the admixtures are separated as early as possible; the relative root crop proportions rise sharply at the start of the conveying route. At the expense of a higher driving speed / harvesting performance, the screening / separating performance is increased in accordance with the specification in the evaluation unit. Accordingly, the evaluation device would reduce the driving speed and, for example, increase the separation performance of a first separation device. The solid curve is a setting for maximum digging capacity, at which at the beginning of the conveyor line so much crop is picked up that separation is more efficient with subsequent separators than passively with sieve belts. With such maximum crop flows, the wear on the machine 2 is increased.

The measuring points distributed along the conveyor route with the optical image acquisition units 6 each show conveyor route sections, discrete sections of the conveyor route are monitored, for which preferably also discrete nominal values, possibly derived from curves according to FIG. 4, are specified.

Fig. 5 shows an example in the upper part of the figure, a test image 8, which shows the transition from a conveyor element 10a to a conveyor element 10b. On this conveyor section there are root crops 4 and 5 admixtures, which can include stones and herbs. According to the classifiers defined in the training of the algorithm or specified via a database, for example a table with color information, in particular comprising black-and-white and / or gray values, individual partial image areas 16 are checked for the presence of the same components. The assignment of the respective image areas to the individual portions, for example in FIG. 5 at the bottom left, results in a portion distribution of individual portions of root crops and additions in test image 8. A1 thus shows the proportion of root crops 4 in the test image or the corresponding test data set, A2 the share of soil, A3 the share of herb and A4 the share of stones (not shown). This assignment is preferably carried out The color information of the individual pixels, ie an image area 19 which is assigned to a portion, corresponds in particular to an area of a pixel. The values determined on the individual conveyor route areas can be represented along the conveyor route analogously to FIG. 4 (FIG. 6). Based on the measured values, for example, starting from the respective material flow compositions at the individual measuring points MS1 to MS5, an adjustment of the operating parameters is carried out with the aim of treating the flare fruits 4 more gently over the conveying path by means of a larger earth cushion. A corresponding regulation, which specifies less sieving at the beginning of the conveying route, results, for example, in the distribution of the crop components according to FIG. 6. The regulation in the evaluation device preferably takes into account that the specified values cannot all be achieved exactly and simultaneously, so that deviations D (= delta) can be tolerated by the desired values.

An arrangement of the optical image capturing units 6 is disclosed in FIG. 8. The machine 2 according to the invention is designed as a pulled potato harvester, with a large number of conveying elements 10 and their associated separating devices being held by a machine frame 12 which is only partially numbered. Along the conveying route there are a plurality of image capturing units 6 which include the crops transported on the conveying elements 10 comprising root crops 4. The optical image acquisition units 6 form the individual measuring points. The positions indicated in FIG. 8 for image acquisition units 6 are an area immediately after a lifting device 29 (measuring point MS1), a transition from a first conveying element 10A in the form of a screen belt a second conveying element 10B in the form of a sieve belt, which is additionally enclosed by a coarse herb belt (measuring point MS2), around the transition from this second sieving belt 10B to a further conveying element 10C, comprising a further separating device (measuring point MS3). In addition, on the output side of this separating device, a conveying element 10E leading to the picking table is monitored with a further image acquisition unit 6 (measuring point MS4), at the same time a further conveying element 10F provided for residues of admixtures 5, in particular stones, is detected. Finally, another optical image acquisition unit 6 is present at the picking table 45 (measuring point MS5).

An evaluation device can be positioned at any, but preferably in the vicinity of the reading table, centrally accessible location.

A driving speed signal or information relating to the setting of the separating devices can be given to a towing vehicle by the evaluation device, for example via a cable 12.1 which can be seen in FIG. 8.

The machine 2 shown in FIGS. 9 and 10 in the side view clarifies the positions of the optical image acquisition units 6. In particular, the image acquisition unit 6 located at the reading table 45 in the United States can be arranged directly at a drop stage leading to a bunker 33.

11 and 12 show the arrangement of an optical image capturing unit 6 arranged above a first drop stage between a conveying element 10A and a conveying element 10B, the field of view of which is directed downward (Measuring point 2). A light source 7 provides illumination of the field of view in order to capture a sufficiently illuminated test image 8. The conveying element 10A is a screen belt which, coming from a digging device 29, already sifts a portion of admixtures 5, in particular soil and / or clods, and via a drop step passes further conveying element 10B designed as a sieve belt. This conveying element 10B additionally has a coarse herb belt which is provided for separating the herb present on the potatoes or in the crop. Accordingly, stripping devices 32 are arranged across the width of the conveying element 10B.

A height H of the stripping device 32 above the conveying plane of the conveying element 10B can be set by means of the operating parameter signal which is designed as a separating device setting signal. This is one way of influencing the separation performance of the separation device designed as a herb band. In addition, a relative speed of sieve belt to coarse herb belt 43 can be set. For the sake of clarity, FIG. 12 shows only the coarse herb belt 43 and not the actual conveyor element 10B which is designed in the form of a sieve belt (cf. FIG. 14).

A test image 8 resulting from the field of view of the optical image acquisition unit 6 shown in dashed lines in FIG. 13 is shown in detail in FIG. 14. The evaluations described above are carried out on the basis of the proportions of the objects recorded and classified using a test data record created from this test image. Starting from the conveying element 10B, the crop still present is transferred to a further conveying element 10C with a conveying direction 1C. This is a separator in the form of several superimposed, rotating Umlenkwal zen 24 assigned. The crop is transported in the direction of the conveying element 10D by means of a pulse exerted by the latter (FIG. 15).

A distance H between the conveying element 10C and the lower deflecting roller 24 can be adjusted for the purpose of varying a separation performance and thus represents the adjustable operating parameter. If necessary, there are further distances between the individual deflecting rollers 24 in order to intensify the deflection or a possible separation function in the herb between the Deflection rollers 24 is drawn, variable in terms of the distance from each other. Alternatively or additionally, a variation of the separation performance or deflection results from the adjustability of the circulation speeds of the deflection rollers 24.

A height H of the lower ends of fingers 26 of a separating device designed as a finger band 26.1 and belonging to the conveying element 10D can also be set as one of several operating parameters. The height H describes the distance of the fingers 26 from the upper edge of the conveyor element designed as a hedgehog belt. In addition, an angle of attack of the finger band 26.1 can be designed to be adjustable with respect to a perpendicular to the conveying plane of the conveying element. The same applies to the rotating speed of the finder tape 26.1. The image acquisition unit 6 (measuring point MS3) shown in FIG. 15 generates the test image shown in FIG. 16, in which a test image part 8A relevant in the present exemplary embodiment is defined by filtering or masking. For monitoring a separation device performance, in the present case a separation performance of the deflection rollers 24, a test image part 8B, which is viewed behind the deflection rollers 24 from a conveying direction 1 C, can additionally be selected. In particular, the area in front of the deflection rollers 24 is monitored for the travel speed setting. The test data record then results from the corresponding test image part 8A.

If an associated setpoint for the test image part 8A results in a too low separation performance of an upstream or illustrated separation device, the separation device can be aggressively adjusted depending on the further requirements of the preceding and subsequent separation devices. Alternatively, in the event that respective proportions or values derived therefrom in the test image part 8B indicate an excessive separation performance, for example due to excessive proportions of admixtures 5 in the form of clods behind the deflecting rollers 24, which are at least partially used to protect the potatoes on the subsequent conveying path can be required, a distance H of the deflecting rollers 24 from the conveying element can be reduced and the separating device can thus be set less aggressively.

A further optical image acquisition unit 6 arranged in the region of the conveyor belts 10C and 10D is shown in FIGS. 17 and 18. This image capturing unit 6 can be supplementary or alternative to the image capturing unit according to FIG. 6 be used. In particular, it serves to monitor the effect of the separating and deflecting device formed by the steering rollers 24. This water monitoring unit is also assigned a light source 7 for better illumination of the monitored area.

Another optical image acquisition unit 6 is arranged with an associated light source 7 above a reading table with a view of a conveying element 10E and a conveying element 10F (FIG. 19). By means of masking, the test image parts 8A and 8A shown in the test image 8 according to FIG. 20 are selected which, on the one hand, serve as a conveying path, the conveying element 10E with conveying direction 1E for the removal of root crops 4, and, on the other hand, as another conveying path, the conveying element 10F with conveying direction 1F for conveying away monitor of admixtures 5 in the form of stones and clods. The evaluation described above is used to check whether the proportions of root crops on the conveying element 10F are too large. If this is the case, the method according to the invention becomes the upstream one

Separator set sharper or more aggressive depending on the control specifications for the entire conveyor line. This separating device is located above the conveyor element 10D designed as a hedgehog belt and is provided in particular as a finger belt with fingers 26 shown by way of example and in dashed lines, nevertheless arranged in the figure shown behind the cover 40 located in front of it. For example, the distance of the fingers 26 from the conveying element 10D is reduced in order to convey more crop material in the form of root crops onto the conveying element 10E via an associated chute 41. If too many admixtures in the form of stones are recognized on the conveying element 10E, the Running speed of deflection rollers 24 can be changed so that a less impulse exerted on admixtures takes place to better deflect any stones in the direction of the conveying element 10F. Mixtures then slip over a slide 42 improved on the conveying element 10F.

Fig. 21 illustrates the arrangement of measuring points MS1 to MS5 in a schematically illustrated conveyor line of a machine designed as a beet harvester 2. Optical image acquisition units are arranged after a lifting device above a roller table 10M and at the end of a conveyor element 10N designed as a belt conveyor (measuring points MS1 and MS2). Another optical image acquisition unit 6 monitors, in particular, a conveyor element 10P (measuring point MS3) designed as a screen star. The subsequent conveying element 10Q designed as a sieve star is likewise monitored in the same way as a conveying element 10R which is designed as a ring elevator (measuring points MS4 and MS5).

Claims

Expectations

1. A method for regulating the operation of a machine (2) for harvesting root crops (4) and / or for separating root crops (4) from further harvesting, including admixing (5), in which, in particular, an optical image recording unit (6) at least one test image (8) of crops moved by means of at least one conveying element (10) relative to a machine frame (12) along a conveying path in the conveying direction and at least one operating parameter of the machine (2) is set, characterized in that at least one At least one further test image (8) is recorded in the conveying direction, in particular an optical image acquisition unit (6), and an evaluation device is based on a first test data record generated on the basis of the first test image (8) or formed by this and at least one further one on the basis of the further test image (8) generated or formed by this further test data set z at least one operating parameter signal, in particular in the form of a separating device setting signal, is generated, via which the at least one operating parameter of the machine (2), in particular a separating device, is set.

2. The method according to claim 1, characterized in that the operating parameter signal is generated on the basis of a comparative analysis of the test data records.

3. The method according to claim 1 or 2, characterized in that the evaluation device calculates at least one of at least one image area (19) formed, first portion (A1) of the respective test image (8), the at least one image area (19) at least partially depicts a defined component of the crop or the machine (2) and the operating parameter signal is set on the basis of the respective portions (A1), a particular crop component in particular being determined on the basis of the first portion (A1).

4. The method according to claim 3, characterized in that the at least one image area (19) forming the first portion (A1) is preferably based on a respective test sub-data record generated on the basis of the image area (19), in particular at least one of the color information comprised thereof identified component of the crop or machine (2) is identified.

5. The method as claimed in claim 3 or 4, characterized in that the test sub-data record, in particular at least one test value comprised thereof, preferably the color information, is classified by a model-based, statistical classification method in particular, and an image area (19) in particular then the first part ( A1) is added if the result of the classification procedure is assigned to the defined component of the crop or the machine (2).

6. The method according to claim 4 or 5, characterized in that the we at least one test value of the test sub-data set, in particular the color information, is compared with at least one reference value and an image area (19) is particularly assigned to the first portion (A1) if at least the at least one test value of the test sub-data set lies within an assigned reference value range.

7. The method according to claim 5 or 6, characterized in that the evaluation device upon input of exemplary, the first portion (A1) attributed to the image areas (19) of a reference image automatically further develops a model to be based on the classification method and / or the at least one reference value range automatically calculated or changed.

8. The method according to any one of claims 3 to 7, characterized in that different image areas (19) are weighted differently when calculating the first portion (A1).

9. The method according to any 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 have the same number of pixels of the test image (8), preferably exactly one pixel.

10. The method according to any one of claims 3 to 9, characterized in that the test image (8) comprises a plurality of test image parts (8A, 8B), for each of which the evaluation device has a first part (A1), in particular several parts (A1, A2, A3, A4) are calculated on image areas (19), the test image parts (8A, 8B) preferably being images of different conveying elements conveying from a separating device.

1 1. The method according to any one of claims 3 to 10, characterized in that the image areas (19) forming the first portion (A1) show root crops (4) or parts thereof and adding a second portion (A2, A3, A4) forming image areas show gene (5) or parts thereof.

12. The method according to any one of the preceding claims 3 to 1 1, characterized in that the operating parameter signal is calculated on the basis of a plurality of portions (A1, A2, A3, A4), or values derived therefrom, in particular one after the other, or at least one previously calculated Is included in the calculation of the operating parameter signal.

13. The method according to any one of the preceding claims, characterized in that at least one further sensor, in particular an ultrasonic or tactile sensor, for measuring a crop layer thickness on the conveying element, a sensor for measuring a drive power, a speed sensor and / or a moisture tesensor, sensor data transmitted to the evaluation device, which flow into the calculation of the separating device setting signal.

14. The method according to any one of the preceding claims, characterized in that the evaluation device triggers either an increase or a decrease in the operating parameter by means of respective operating parameter signals.

15. The method according to claim 14, characterized in that after triggering an operating parameter change for a defined period of time or a defined conveying path of the conveying element (10) no further operating parameter change is triggered.

16. The method according to any one of the preceding claims, characterized in that the / one of the operating parameters a distance (Fl) of two Förderele elements (10) to each other or the separating element (24, 26, 30, 32) of the separating device to the or another Conveying elements (10).

17. The method according to any one of the preceding claims, characterized in that the / one of the operating parameters is a digging depth and / or a driving speed.

18. The method according to any one of the preceding claims, characterized in that the / one of the operating parameters is a separation speed, in particular a particular rotational or rotational speed, a separating element (24, 26, 30) or the separating device.

19. The method according to any one of the preceding claims, characterized in that the / one of the operating parameters is an angle of attack (a) of the Förderele element (10) or the separating device.

20. The method according to any one of the preceding claims, characterized in that the / one of the operating parameters is a drive and / or motor power and / or an angle of attack of an associated unit.

21. The method according to any one of the preceding claims, characterized in that the separating element setting signal is transmitted by wire, in particular by means of CAN bus or Ethernet, or wirelessly to a separating element control device, the separating device setting preferably being released beforehand by an operator via an input at an interface .

22. The method according to any one of the preceding claims, characterized in that the further test image (8) represents a further conveying area, in particular a further conveying element (10), offset in the longitudinal direction of the conveying path.

23. The method according to any one of the preceding claims, characterized in that preferably more than two, in particular 3 to 12 image capture units (6) along the conveyor path of the machine capture several test images (8) and the associated test data sets are evaluated in the evaluation device and in particular for adjustment a plurality of operating parameters can be used.

24. The method according to any one of the preceding claims, characterized in that the operating parameter signal is mapped for an operator and / or is used automatically for setting the at least one operating parameter.

25. The method according to any one of the preceding claims, characterized in that the optical image acquisition units capture only 1 D or 2D information.

26. The method according to any one of the preceding claims, characterized in that the evaluation device evaluates the test data records locally on the machine (2) or a directly connected towing vehicle.

27. The method according to any one of the preceding claims including claim 3, characterized in that the evaluation device comprises the portions (A1, A2, A3, A4) of individual crop components or values derived therefrom for crop components along the conveying path of conveyor elements arranged in succession (10 ) is compared with the associated setpoints and generates the at least one operating parameter signal based thereon.

28. The method according to claim 27, characterized in that the target values are specifically designed for root crops and admixtures.

29. The method according to any one of claims 27 or 28, characterized in that different parameter sets of target values are stored in the evaluation device and / or different parameter sets can be predefined in the evaluation device.

30. The method according to any one of the preceding claims including claim 3, characterized in that the operating parameter signal and at least one portion (A1, A2, A3, A4) of the respective test images (8) resulting in the subsequent operation are stored and in a database is filed.

31. The method according to any one of the preceding claims, characterized in that after triggering an operating parameter change, no further operating parameter change is triggered until the crop picked up by the ground when triggered by the machine (2) is at least partially taken from a test image subsequently taken along the conveyor line ( 8) is shown.

32. Machine for harvesting root crops (4), which has at least one machine frame (12), a conveying element (10), at least two successively arranged, in particular optical image acquisition units (6) and an evaluation device along a conveying line, in particular having a separating device, and is designed to carry out the method according to any one of the preceding claims.

33. Machine according to claim 32, characterized in that the evaluation device comprises a graphic processor unit, in particular a GPGPU, and / or an FPGA-based processor unit.

34. Machine according to claim 32 or 33, characterized by at least one sensor coupled to the evaluation device, in particular an ultrasound or tactile sensor for measuring a crop layer thickness on the conveying element (10), a sensor for measuring a drive power, a speed sensor arranged on a conveying element (10) and / or a moisture sensor.

35. Machine according to one of claims 32 to 34, characterized in that the conveying element comprises a screen belt (10A, 10B, 10E), in particular comprising a ring elevator, a hedgehog belt (10C, 10D), a sieve star (10P, 10Q, 10S) , A conveyor roller (10T), in particular comprises a roller table (10M), a deflecting roller, a herb band, a finger band, a vibrating or tapping device or an air supply or air discharge device.

36. Machine according to 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 image (8) has at least two alternative conveying paths for different crop components, in particular a conveying path at least for flare fruits (4). and a conveying path for admixtures (5).