• 专利附录
  • 专利说明
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    • 专利摘要:
    Method for regulating the operation of a machine (2) for harvesting root crops (4), in which at least one optical image acquisition unit (6) generates at least one test image (8) of at least one conveyor element (10, 10A, 10B, 10C, 10D, 10M, 10N, 10O, 10Q, 10R) relative to a machine frame (12) transported crop comprising root crops (4) is recorded, with an evaluation device on the basis of a test data set generated on the basis of the at least one test image (8) or formed by this for a driving speed signal Transmission to a driving speed setting driving speed control device generated, as well as the aforementioned machine.
    公开号:BE1026709B1
    申请号:E20195744
    申请日:2019-10-29
    公开日:2020-08-20
    发明作者:Wolfram Strothmann；Daniel Bösenberg
    申请人:Grimme Landmaschinenfabrik Gmbh & Co Kg；
    IPC主号:
    专利说明:

    Method 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. In this case, at least one optical image acquisition unit records at least one test image of harvested crop including root crops, which is moved by means of at least one conveyor element relative to a machine frame.
    The test image shows the crop that was previously picked up by the machine for harvesting root crops. The conveying element as part of the machine serves to move the harvested crop within the machine, with at least a portion of the harvested crop being in direct contact with the conveying element.
    A method is known from the laid-open specification US 2018/0047177 A1 in which the test image is used to calculate a speed of the conveying element. The actual speed of the conveyor element is then set on the basis of the calculated speed.
    The disadvantage of known, generic methods is a poor harvesting performance of the machine. In particular, this means that the actual utilization of the machine remains behind the maximum possible utilization for a significant proportion of the operating time, and when this is exceeded, the machine regularly becomes clogged.
    The object of the present invention is to provide a generic, robust method by which the efficiency and thus the performance of the operation of the machine for harvesting root crops are increased, as well as a machine for carrying out the method.
    According to the invention, the object is achieved by a generic method in which an evaluation device generates a driving speed signal for transmission to a driving speed control device that sets the driving speed.
    In this case, the driving speed signal is generated on the basis of a test data set on which the at least one test image is based or formed by it.
    The machine is a vehicle for harvesting root crops, especially potatoes, beets, carrots or chicory.
    It can be a self-propelled machine or a machine that is pulled during operation.
    While the method is being carried out, the machine is moved in the direction of rows, in particular planting ridges, of the root crops to be harvested and these are picked up from the ground as part of the harvested crop in a continuous process.
    After the harvested crop has been picked up, it is at least partially moved by the at least one conveyor element relative to the machine frame of the machine.
    The conveyor element preferably also serves to separate the root crops from additions and is in particular designed as a circulating sieve belt.
    Alternatively, the machine can also be a machine for separating root crops from trimmings in the crop, e.g. be about clods, stones or earth.
    The optical image acquisition unit is in particular arranged in a stationary manner on the machine above the conveyor element and is directed at the conveyor element and thus, during operation, at a flow of crop material located at least essentially between the image acquisition unit and the conveyor element. The method according to the invention is carried out, in particular, exclusively during harvesting with the machine and is preferably repeated, with it preferably being switched off automatically when the picking up of harvested material is suspended. The test image is in particular a multidimensional, preferably two-dimensional, image on which at least a part of the harvested crop with root crops, additions and / or the conveying element is depicted. On the basis of the test image recorded by the image acquisition unit, the test data set is either already generated by the image acquisition unit or by the evaluation device. Alternatively, the test data set 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, which is at least temporarily present in the system and whose information, e.g. Color information to be evaluated in the evaluation device. He can e.g. as an image file, table, matrix or vector field. The test image or the test data set 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. If, in connection with the processing of the image information in the evaluation device, the test image is subsequently referred to, it can be the test data record in this context. The evaluation device comprises at least one processor and is designed either as a central processing unit or as a decentralized system comprising at least one processor and at least one memory with different positions, in particular on components of the machine. Correspondingly, there can also be a plurality of computer units which carry out decentralized calculations, the results of which can in particular be combined on a central unit of the evaluation device and used further.
    The driving speed signal is used to set the driving speed of the machine. In particular, different driving speed signals trigger an increase, decrease and maintenance of the driving speed during operation. The evaluation device preferably transmits the driving speed signal to the driving speed control device, which is either part of the machine itself or part of a towing vehicle coupled to the machine during operation. In the first case, there is preferably a permanent data connection between the evaluation device and the vehicle speed control device. Alternatively, the evaluation device and the vehicle speed control unit are integral therewith. In the second case, the evaluation device includes, in particular, a transmitter and transmits the driving speed signal to the driving speed control device wirelessly or via a data cable to be coupled to the towing vehicle.
    When using the method with a machine pulled by a towing vehicle, the travel speed signal is preferably used to automatically set the travel speed of the towing vehicle and machine. The machine is part of a tractor implement management system (TIM: Tractor Implement Management), through which implements such as the machine for harvesting root crops can control functions of the towing vehicle such as the driving speed. When the machine is in operation, the method according to the invention is preferably carried out continuously, or repeatedly at specific, preferably predefinable time intervals. In this case, at least one test image is repeatedly recorded and a new driving speed signal is generated on the basis of this or on the basis of the test data set on which it is based and in particular transmitted to the driving speed control device. This results in a continuous regulation of the driving speed of the machine, the driving speed being calculated on the basis of a test image recorded immediately before. The method according to the invention significantly increases the efficiency of the machine to the extent that the total amount of the crop picked up by the machine during harvesting is replaced by a crop picked up immediately beforehand
    Test pattern of the situation on the conveyor element can be varied. This enables the temporary utilization to be optimized and ultimately the overall output to be increased. If the actual load temporarily falls short of the maximum possible load, the driving speed is automatically set to match the maximum possible and actual load, i.e. increased due to the corresponding driving speed signal. As an alternative or in addition, if the machine is subjected to excessive stress on the basis of the test pattern, the travel speed is again set (reduced) in such a way that clogging which occurs during prolonged operation above the maximum load is avoided. This avoids any downtime to loosen the blockages. In any case, overall it is possible to harvest a larger mass of ground crops per time.
    According to the invention, the evaluation device compares the test data record with an output data record generated on the basis of an output image or formed by it. The output data set created on the basis of the output image or formed by it was preferably recorded with the same optical image acquisition unit prior to the test image. The output data record arises from processing the same as processing the test data record. In particular, when comparing the test image and output data set, brightness values, contrasts or color values are compared. By comparing the test data set with the initial data set, an evaluation of the dynamic behavior of the harvested crop is simplified, whereby further information on the operating status of the machine and its development can be determined. On the basis of this information, a more well-founded driving speed signal can be provided and a temporarily improved utilization can be achieved. The comparison of brightness values, contrasts or color values can also include a statistical evaluation of these respective values. In an advantageous embodiment of the invention, the test data set is used as an output data set for a first execution of the method in a further execution of the method. The test data record of a first execution of the method is thus the same as the output data record of a further execution of the method. Alternatively, both a test image and an initial image are recorded each time the method is carried out. In particular, the optical image acquisition unit records images at a frequency between 0.1 and 1000 Hertz, the test data set being compared with the output data set at a lower frequency, in particular 0.1 to 10 Hertz. As a result of these method features, the driving speed signal is based on a sufficiently high-resolution data basis and the method can be carried out efficiently, as it were.
    According to the invention, the method according to the invention is characterized in that the evaluation device determines the driving speed signal on the basis of an evaluation of the optical flow of the crop resulting from the test and output data sets. The optical flow that results from the test and the output data record is a data record with movement information of the object or visible in the test image, in particular in the reference system of the imaging optics of the image acquisition unit.
    The evaluation device preferably calculates at least one movement characteristic data set, in particular for determining the optical flow. The movement characteristic data record identifies a movement, in particular a direction of movement, at least one object that is at least partially imaged by the test image, in particular by a part of the test image. In particular, several objects can be imaged simultaneously on at least one part of the test image, so that the movement characteristic data set at least indirectly indicates the direction of movement thereof. The driving speed signal is generated on the basis of the movement data set.
    The movement characteristic data record preferably contains only one item of information or a numerical value or a plurality of items of information or numerical values. The movement characteristic data record is calculated in particular on the basis of both the test data record and the output data record or their comparison, alternatively only on the basis of the test data record.
    The movement characteristic data record contains information by means of which a movement of the object or objects that are at least partially depicted is at least partially specified. In particular, the movement characteristic data record has information on the direction. In the case of several objects, possibly only partially shown, the
    Movement data record have information on several directions or on an overall direction of movement. The object can be any at least partial representation of an imaged body with a physical extent, in particular at least part of a root crop, a stalk, a stone, a clod, earth, the conveying element, or combinations thereof.
    The movement information of any objects or combinations of objects in the test image and in the initial image are determined in the determination of the optical flow by comparing at least parts of areas that can be found again in both images. These retrievable areas can, for example, have the size of a pixel or be characterized by a pixel, so that no object recognition in the sense of a detection of objects in the form of root crops, stones or the like is necessary.
    By taking into account the movement characteristic data set which characterizes the movement of an imaged object, a detailed conclusion about a movement situation of the imaged crop can be calculated. In particular, a movement situation already results from considering the direction of movement, preferably without considering the amount of the speed of the crop.
    In particular, on the basis of such a description of the movement, the driving speed signal and a change in speed triggered by it can be calculated particularly well for the benefit of an increased, nonetheless interference-free throughput of crop.
    The movement characteristic data record preferably contains two numerical values, on the basis of which a vector can be generated. The movement characteristic data set preferably comprises two routes in different directions or, alternatively, an angle and a route. In this way, at least one vector can be generated, which is preferably displayed with the test image on a visualization unit for a user. This gives the user an image of the movement situation and can check the success of the speed change made by the evaluation device.
    In order to calculate the at least one movement characteristic data record, a test sub-data record, which is generated on the basis of a first image area of the test image, is compared with several output sub-data records which are generated on the basis of further image areas of the output image. Alternatively, an output sub-data set that is generated on the basis of a first image area of the output image is compared with several test sub-data sets that are generated on the basis of further image areas of the test image. With each comparison, a match between the respective test and output sub-data sets is assessed. In each comparison, in particular, exactly one test sub-data set is compared with exactly one output sub-data set. A match between a test and an output sub-data set is particularly good if the image areas described by these are, preferably optically, very similar. To determine the similarity, brightness, contrast and / or color values can be compared.
    In particular, the correspondence is only assessed on the basis of the respective test and output data records, alternatively on the basis of further data from the test and output data records. In another preferred refinement, the correspondence is also assessed on the basis of further information that is not part of the test and output data records and that is recorded in particular by sensors of the machine. In particular, an auxiliary variable such as a speed of rotation of the conveying element on which the movement is based is taken into account for evaluating the correspondence. In this way, for example, an expected positional deviation of two image areas is predetermined from the test and the output data set and is included in the evaluation of the correspondence. The correspondence is preferably assessed on the basis of a contrast between the components of the test and output sub-data sets on which the image areas are based. In particular, a determined contrast of the first image area is compared with at least partially matching contrasts of the other image areas and the agreement of the contrasts, in particular on the basis of a brightness or color gradient or a spatial extent of the contrast, is evaluated. Through this form of evaluation of the agreement different
    Image areas can be particularly reliably assigned to image areas which at least partially show the same object and thus a movement of the crop can be traced.
    As a result, the driving speed signal can be calculated on the basis of a larger amount of information and thus the speed of the harvesting machine can be calculated particularly precisely as a function of the movement
    situation can be controlled.
    Particularly preferred is the movement characteristic data set, in particular a movement direction included therein, based on position parameters of the test data set.
    zes and the output data set, which are assigned to the two best matching test and output sub-data sets, are calculated.
    Both the test data set and the output data set thus contain position parameters which reproduce the position of different image areas of the test image or the output image relative to further image areas or image reference markings or in absolute terms.
    The direction of movement is determined in detail, in particular on the basis of a calculation of two different position parameters, for which purpose the position parameters in particular contain position data of at least two different dimensions.
    The direction of movement thus shows from where to where a displayed by the test image or by the output image
    The object has moved between the recording of the initial image and the recording of the test image, and is defined in particular by two movement paths in different reference directions.
    In this way, a particularly precise statement can be made regarding the movement situation on the conveying element and, in particular, a blockage or unhindered movement of the crop can be determined.
    In particular, the evaluation device divides both the test image and the output image into a plurality of image areas preferably of the same size, each image area of the test image or the output image being assigned an image area of the output image or test image that best matches it. In particular, each image area is based on a test or output sub-data record. As a result, a plurality of movement characteristic data sets, in particular movement directions, can be determined and the movement situation can be determined with a higher resolution. In an advantageous embodiment of the invention, a match characteristic characterizing the degree of correspondence between a test sub-data record and an output sub-data record has an influence on the driving speed signal. Depending on how great the degree of correspondence between the test and output sub-data records that best match is, the direction of movement calculated on the basis of this has, in particular, a different significance when calculating the driving speed signal. Thus, a movement of an object that can be clearly traced has a greater influence on the driving speed signal than a movement that could only supposedly be traced on the basis of two relatively different test and output sub-data sets. This increases the informative value of the movement characteristic data sets and thus the value of the driving speed signal.
    The evaluation device preferably generates a movement characteristic data set for different objects at least partially represented with the test image or different first image areas, which in particular include exactly one pixel of the test image and / or the output image. In particular, one movement characteristic data record is determined for a plurality of test and / or output sub-data records, regardless of the objects shown by the respective images. Particularly preferably, a movement characteristic data set is generated, in particular comprising a direction of movement, for several pixels of the test image and / or the output image.
    In particular, a movement characteristic data set is generated for each pixel of the test image and / or the output image or, alternatively, preferably at least for each pixel of a selected, coherent section of the test image and / or the output image. With this number of movement characteristic data records and the resolution when determining these, the movement situation on the conveyor element can be traced particularly precisely and the travel speed can accordingly be adjusted particularly closely based on the movement situation. This further increases the efficiency of the machine.
    The evaluation device preferably calculates in a first calculation step for a plurality of image areas comprising at least a first number of pixels a movement characteristic data record each and in a later calculation step and taking into account the movement characteristic data records calculated in the first calculation step a further movement characteristic data record for a height - here number of deviating image areas that comprise a smaller number of pixels.
    In particular, in the first calculation step the evaluation device calculates a movement characteristic data record for a smaller number of larger image areas and in the later calculation step a larger number of movement characteristic data records for smaller image areas which, when put together, produce the same overall image as the larger image areas. In this way, the movement characteristic data records calculated in the last calculation step, which are each assigned to a pixel, are determined by an iterative approximation and thus the probability of incorrect movement characteristic data records, which in particular contain movement directions that are not the real movement directions of the ob - objects on the conveying element are minimized.
    The at least one movement characteristic data set preferably includes at least temporarily a first movement path in a first direction and a second movement path in a second direction that deviates from the first, in particular by 90 ° in the image plane, and / or a directional information and / or a direction-independent total movement path. In particular, on the basis of the first and the second movement path, the indication of the direction and thus the direction of movement for the movement characteristic data set is calculated. The movement distances and / or the total movement distance are specified in particular as relative values which are dependent on the positioning, in particular on the orientation, of the image acquisition unit and do not require any separate calibration.
    According to the invention, the evaluation device calculates a utilization parameter on the basis of at least one movement parameter characterizing a direction of movement of the at least one movement data record and in particular on the basis of at least one reference parameter assigned to the movement parameter.
    worth.
    In particular, only movement parameters characterizing a direction of movement are used for the calculation of the movement characteristic data sets, and in particular no further data based on the test and / or the output data record.
    The movement characteristic thus in particular exclusively characterizes the direction of movement.
    In particular, the utilization
    characteristic value calculated on the basis of a plurality of movement characteristic values, each movement characteristic value can be part of another movement characteristic data set which is assigned to the same test image.
    Alternatively, the movement identification data record can have the directions of movement of all identified objects of a respective test image.
    The characteristic movement value indicates in particular the extent of a movement in a transverse direction that deviates from the conveying direction of the conveying element or indicates a direction of movement, for example an angle, of the respective object.
    These numbers can be calculated particularly well for calculating the utilization characteristic.
    The movement parameters either become the utilization parameter as such or initially each with the assigned one
    Reference value offset.
    The reference parameter indicates in particular an ideal or global direction in which the crop has to move.
    Deviations in the characteristic movement values from the characteristic reference value or the characteristic reference values are thus preferably used to calculate the characteristic utilization value.
    The reference characteristic values are preferably either all the same and identify the same direction in which the crop has to move overall or have different values which assign each image area or test or output sub-data record its own direction of movement to be compared. In the case of a uniform reference parameter for several movement parameters, if there is no computational adjustment of a perspective-related distortion of the test image due to an objective of the image acquisition unit, a basic deviation between the reference parameter and at least a large part of the movement parameters occurs, even if there is no crop, e.g. in the form of beets or potatoes or this has no movement component in a transverse direction deviating from the reference direction.
    According to the invention, the evaluation device statistically evaluates a plurality of characteristic movement values, which are comprised by different characteristic movement data sets, in order to calculate the characteristic utilization value. These are preferably the characteristic movement values of the pixels of at least a part of the test image. In particular, the evaluation device calculates a standard deviation of the movement characteristic values, which in particular characterize a direction of movement, from the respective reference characteristic values or from the uniform reference characteristic value. For this purpose, in particular, the amounts of the deviation from the movement and reference parameters are used insofar as an average amount-related deviation is initially calculated.
    In a preferred exemplary embodiment of the invention, the differences between the deviations from the mean deviation are then formed and then squared. The squared differences are summed up and divided by the number of movement parameters and the square root is taken from the result.
    This form of statistical evaluation correlates the utilization parameter particularly well with the risk of a blockage in the area of the conveyor element, which means that the travel speed signal can be used particularly reliably to set an actual utilization that comes close to the maximum possible utilization. This is due to the fact that, in the event of an impending blockage, the crop flow has to avoid local micro blockages that have initially formed. In this case, crop flow components are at least partially displaced transversely to the conveying direction, with the crop flow components moving both to the right and to the left when viewed in the conveying direction. Therefore, the spread of the deviations increases overall when there is a threat of blockage.
    According to the invention, a statistical evaluation of only the directions of movement of the objects at least partially depicted on the test images, in particular using the standard deviation of the direction of movement from a reference direction given by the main conveying direction of the associated conveying element, is particularly well suited for determining the driving speed signal.
    As an alternative or in addition to calculating the standard deviation, the load factor is calculated as the mean value of the movement parameters which indicate the direction of movement, or their amounts or their absolute deviation from the reference parameter (s). Again, as an alternative, the mean value is calculated for characteristic movement values which indicate a total distance of movement or a mean square deviation of these characteristic movement values is calculated. In these cases, too, the load factor has a significant correlation with the actual tendency of the machine to clog.
    Other statistical features that can describe the flow behavior and can thus serve individually or together with other values as input variables for speed regulation are percentiles over flow lengths or orientations, statistical, absolute or central moments 1., 2., .. k-th order, or in particular histogram comparisons of the current histograms with pre-configurable normal histograms can be used.
    In an advantageous embodiment of the invention, the driving speed signal is calculated on the basis of a plurality of utilization parameters, in particular calculated one after the other, or at least one previously calculated utilization parameter is included in the calculation of the utilization parameter. In particular, a sliding mean value of the load factor is calculated and forms the basis for the driving speed signal, or the load factor profile is smoothed, in particular using a low-pass filter. Through this
    Measures, the method according to the invention is particularly insusceptible to failure and can therefore be used particularly robustly.
    The utilization parameter is preferably independent of the amount of the speed of the crop represented by the test image and the
    renden conveying element.
    In this case, the load factor is obtained only on the basis of at least one direction of movement.
    With this form of calculating the load factor, it is highly informative and the calculation can be carried out particularly quickly due to the low computing capacity required.
    In general, the method according to the invention is carried out locally on the machine or on an associated towing vehicle.
    Any remote, powerful servers are not necessary due to the two-dimensional database in particular and surprisingly robust statistical, yet simple relationships.
    In a particularly alternative preferred embodiment of the method, based on at least one movement characteristic data set and a time span between the point in time when the test image was taken and the point in time
    Taking the initial image, a speed of movement is calculated, on the basis of which the load factor is calculated in particular.
    Due to the movement speed to be provided by a relatively high computing effort, the utilization parameter is based on an even more comprehensive wealth of information relating to the movement situation of the harvested crop, whereby the method further increases the efficiency of the operation of the machine.
    Taking into account the speed of rotation of the conveyor element, in particular a speed deviation between the conveyor element and the crop conveyed by it can be calculated.
    However, due to the additional temporal compo-
    nent an additional error must be taken into account, so that a consideration of the directions is also particularly advantageous with regard to the calculations.
    The driving speed signal is preferably calculated on the basis of different test data records that are generated with the same image acquisition unit or with different
    different image acquisition units are based on test images recorded.
    The driving speed signal is calculated in particular on the basis of movement characteristic data records that were generated on the basis of test images of different conveyor elements.
    As a result, the driving speed signal has an even more comprehensive picture of the movement situation of the crop in the entire
    machine and the driving speed can be adjusted even better with it.
    In an advantageous embodiment of the invention, at least one sensor transmits sensor data to the evaluation device, which data are included in the calculation of the driving speed signal.
    The sensor is in particular one
    Sensor, preferably a touch sensor or an ultrasonic sensor, for measuring a crop layer thickness on the conveyor element, a speed sensor in particular for measuring a speed of a conveyor element drive and / or a moisture sensor.
    It is preferably a sensor for measuring the drive power, for example in the form of a pressure sensor for measuring a
    Hydraulic oil pressure. In particular, the speed sensor is used to determine a slip of the conveyor element, which is transmitted to the evaluation device in the form of the sensor data. On the basis of this additional information available in the sensor data, which goes beyond what is provided on the basis of the test image, the evaluation device has a much more exact image of the load situation in the area of the conveyor element, which in turn can influence the driving speed better coordinated. The evaluation device preferably triggers either an acceleration or a deceleration of the root crop harvesting machine by means of different travel speed signals. In particular, the evaluation device or the driving speed control device comprises a fuzzy controller, PID controller or a three-point controller, whereby either the acceleration, the deceleration or the maintenance of the current driving speed is triggered as an alternative to one another.
    An acceleration is triggered in particular when the load factor exceeds a predefined first threshold value; a deceleration is triggered accordingly if the load factor falls below a predefined, second threshold value.
    A speed gradient triggered by the driving speed signal and / or the difference between the driving speeds before and after acceleration or deceleration is particularly preferred as a function of the load factor. In particular, the amount of the speed gradient is greater during deceleration than during acceleration, in order to avoid clogging as reliably as possible and at the same time to avoid vibrations of the crop on the conveying element.
    In addition, a speed increment is preferably greater, the smaller the load factor and / or smaller, the greater the load factor.
    characteristic is.
    Alternatively, exactly one driving speed is assigned to each load factor, which is continuously readjusted to the load factor.
    Preferably, after a change in driving speed has been triggered, no further change in driving speed is triggered until the triggering of the
    Machine picked up from the ground crop is shown at least partially by a test image then recorded.
    As a result, after a change in the driving speed triggered by the driving speed signal, in particular an acceleration or a deceleration, there is no further change until an effect of the triggered change in driving speed is assessed.
    that came.
    In order to determine the period between the change in driving speed and the point in time at which the crop picked up during the change in driving speed reaches the test pattern, the evaluation device receives in particular at least one signal from at least one speed or
    Speed sensor, which is used to monitor the rotational speed of at least the conveying
    derelementes is used.
    On the basis of the signal or the rotational speed and the position of the image acquisition unit in the machine, in particular along a conveyor line of the machine, it can be calculated how long the time period is theoretically.
    This refinement of the method avoids overregulation of the driving speed and takes into account the necessary inertia of the change in the movement situation of the harvested crop and thus the load factor.
    The driving speed signal is preferably transmitted to the driving speed control device in a wired manner, in particular by means of a CAN bus or Ethernet, or wirelessly. This form of data transmission allows the vehicle speed signal to be integrated particularly easily into existing data infrastructures and thus to easily change the vehicle speed on the basis of the vehicle speed signal.
    The evaluation device preferably uses the test data set to generate a conveying speed signal for setting a conveying speed of the conveying element. The conveyor speed signal is generated in addition to the travel speed signal. The conveying speed signal is generated in particular like the driving speed signal in accordance with the method steps described above. The conveying speed signal triggers an increase, a decrease or a maintenance of the conveying speed, in particular the speed of rotation of the conveying element, the relationship between the conveying speed signal and the conveying speed being particularly similar to that between the driving speed signal and the driving speed. The conveying speed signal enables blockages to be prevented particularly effectively without having to wait for the reaction time during which the crop is picked up by the machine and conveyed into the area of the machine shown in the test pattern.
    The object is also achieved by a machine for harvesting root crops, which has at least one image acquisition unit and an evaluation device and is designed to carry out the method described above.
    In particular, the machine is a potato, a beet, a chicory or a carrot or
    Carrot harvester.
    The machine preferably has a coupling device for coupling the machine to a towing vehicle and is thus designed as a harvesting machine pulled during operation.
    Alternatively, the machine preferably has a drive device comprising a motor for the independent movement of the machine, which is then designed as a self-propelled machine.
    Although the image capturing unit can also be designed as a 3D camera, the image capturing unit is preferably designed as a 2D camera and in particular a camera designed to capture color or black-and-white images.
    At least one light source is preferably assigned to the image acquisition unit, which illuminates the objects represented by the test image during operation.
    As a result, the movement characteristic data sets can be calculated in a simplified and more reliable manner, in particular on the basis of the contrasts to be determined.
    As described, the images recorded by a 2D camera can be viewed without any depth information, be it from a 3D camera or an additional depth or
    Evaluate the distance sensor meaningfully, especially locally.
    In an advantageous embodiment of the invention, the image acquisition unit is aligned such that the test image shows two conveying elements adjoining one another along the conveying path of the machine or crops conveyed by them. In particular, at least one of the conveyor elements, in particular both, is designed as a sieve belt or as a sieve star. The conveying elements form, in particular, a fall step for the crop in which the movement situation of the crop is particularly meaningful for the utilization.
    The evaluation device preferably comprises a graphic processor unit, in particular a GPU (Graphical Processing Unit) or GPGPU (General Purpose Graphical Processing Unit) and / or an FPGA (Field Programmable Gate Array) -based processor unit. This version of the evaluation device allows the test data set to be evaluated in a particularly resource-saving manner.
    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 a speed sensor arranged on a conveyor element. With this sensor, the driving speed signal can also be calculated on the basis of measured physical quantities in addition to the movement characteristic data records, which significantly increases the informative value of the quantities calculated with the evaluation device and reduces their susceptibility to errors.
    Further details and advantages of the invention are the following described-
    NEN can be seen schematically illustrated embodiments; show it:
    1 shows a program flow chart for the method according to the invention using several image acquisition units,
    2 shows a program flow chart to illustrate the calculation steps of a method according to the invention,
    3 shows a program flow chart for driving speed control on the basis of a load factor,
    4 shows a program flow chart relating to the dependency on driving speed
    health signal and driving speed,
    5 shows a schematic representation of a test image and an output image with visualized movement parameters indicating a direction and their statistical evaluation.
    6 shows an overview of a machine according to the invention for harvesting potatoes,
    7 shows a side view of the machine according to FIG. 6,
    8 shows a side view of the machine according to FIG. 6 from a perspective opposite that of FIG. 7, FIG. 9 shows an overview of a part of the machine according to FIG. 6 with one conveyor element, FIG. 10 shows two conveyor elements within the machine according to FIG 6, 11 the two conveyor elements according to FIG. 10 from a different perspective, FIG. 12 the two conveyor elements according to FIG. 10 in a plan view largely corresponding to the test pattern,
    13 shows a separating device of the machine according to FIG. 6 with an image acquisition unit, FIG. 14 shows a schematic test image recorded from the perspective of the acquisition unit shown in FIG. 13,
    15 shows a further separating device of the machine according to FIG. 6 with an image acquisition unit,
    16 shows a schematically illustrated test image recorded from the perspective of the image acquisition unit shown in FIG. 15, FIG. 17 shows a schematically illustrated test image of an image acquisition unit arranged above the first sieve belt, FIG. 18 shows a side view of a machine according to the invention designed as a beet harvester 19 shows a schematic representation of the conveying elements of the machine according to FIG. 18, which form a conveyor line, FIG. 20 shows an overview of three star screens of the machine according to FIG. 18, FIG. 21 shows an overview of the ring elevator of the machine according to FIG or parts with a similar effect are provided with identical reference numbers, provided that they are useful.
    Individual technical features of the exemplary embodiments described below can also lead to further developments according to the invention with the features of the exemplary embodiments described above.
    The items listed in the list of figures are sometimes only partially shown in individual figures.
    The features of the exemplary embodiments according to the invention explained below can also be the subject matter of the invention individually or in combinations other than those shown or described, but always at least in combination with the features of one of the independent claims.
    The method according to the invention is used to regulate the operation of a machine 2 for harvesting root crops 4 (cf. FIGS. 5 and 6). In the method, at least one test image 8 is recorded by at least one optical image acquisition unit 6, which shows harvested crop including root crops 4 moved relative to a machine frame 12 of the machine 2 by means of at least one conveyor element initially numbered generally 10. The test image 8 is transmitted to an evaluation device which, on the basis of a test data set generated on the basis of the test image or formed by this, generates a driving speed signal for transmission to a driving speed control device. For this purpose, the test data set is compared in particular with an output data set generated on the basis of a previously recorded output image 9 or formed by this output data set. The images shown as test images or initial images show only schematically the parts relevant to the invention without any borders or boundaries. In particular digital images recorded by a camera may have additional information not shown in the images. In addition, for the purposes of visualization, the images show any details relating to the characteristic movement values 20 that have already come from the analysis of an evaluation device.
    1 is a program flow diagram of the method according to the invention with a plurality of image acquisition units 6. A crop flow visualized by a block 3 within the machine 2 with a plurality of conveying elements is generated along a conveying path of the machine at different positions by four image acquisition units 6 in the present embodiment pictured. It goes without saying that further exemplary embodiments can have more or fewer image capturing units. According to the invention, the image acquisition units 6 each record a test image 8, in particular at the same time. In addition or as an alternative to one of the image acquisition units 6, one or more further measuring points can be oriented towards the acquisition of further sensor data which indicate a load. This can be, for example, a sensor for determining a drive power, in particular a pressure sensor for measuring the hydraulic oil pressure.
    The test data sets based on the test images 8 are evaluated by the evaluation device (block 13). If available, the sensor data of other measuring points indicating a load are also taken into account. According to FIG. 1, the evaluation device also takes into account time offsets dT_1 to dT_4, which characterize the arrangement of the different image acquisition units 6 one behind the other along the conveyor line. By means of the time offsets dT assigned to the test images 8, the evaluation device receives, in particular, information about the time interval dT after which the crop is to be expected after it has been picked up by the machine 2 in the respective test image 8 or after which time interval.
    vall dT a crop represented by a first test image 8 can be expected in a second test image 8. The harvested crop can thus be tracked along the image acquisition units 6 and a driving speed signal or a load factor can be calculated on the basis of a broad sample of comparable test images (block 15). After the driving speed signal has been sent to a driving speed control device, the driving speed of the machine is maintained, reduced or increased depending on the workload of the machine or of the conveyor element 10 (block 17). This in turn influences the crop flow (block 3), illustrated by the dashed line between blocks 17 and 3.
    2 shows a program flow chart to clarify the evaluation of an individual test image. Accordingly, a test image 8 comprising the crop is first recorded by the image recording unit on a conveyor element 10 (block 3). After the test image 8 has been recorded, a relevant image section or part of the test image is extracted by means of appropriate filtering or masking. For this purpose, based on the position of the image acquisition unit 6, a mask or a region of interest (ROI) is predefined, on the basis of which sections of the test image 8 that are to be taken into account and those that are not to be taken into account are distinguished (block 13.1). On the basis of the relevant image section of the test image 8 and the associated test data set, a characteristic movement value is calculated for a plurality of image areas, in particular for each pixel of the image section (block 13.2). The movement parameter includes, in particular, a direction of movement. The plurality of characteristic movement values is then statistically evaluated (block 13.3). For this purpose, the characteristic movement values are compared with assigned reference characteristic values, which are provided from a preferably machine-specific and, in particular, update-capable database (block 13.4), and a difference between these is calculated or the characteristic movement values are compared with a uniform reference characteristic value and a deviation calculated from it. The characteristic movement values or the calculated deviations are statistically evaluated by the evaluation device, in particular a standard deviation of the characteristic movement values from the reference characteristic values is calculated.
    A low-pass filter then goes over the continuously evaluated statistics to smooth the determined values (block 13.5). For this purpose, a predefined and, in particular, predeterminable filter time constant is used (block 13.6) which specifies the extent of the smoothing.
    On the basis of the filtered or smoothed statistics of the above-described deviations, a load factor of the conveyor line area shown in the test image is determined (block 13.7). This represents the movement situation of the crop or the crop flow in the machine 2, in particular on the conveyor element 10 or in the transition area between two conveyor elements 10. The travel speed signal is then calculated on the basis of the load factor (block 13.8). For this purpose, the utilization parameter is particularly e.g. compared with predefined threshold values by means of a 3-point controller, an intended load, an overload or an underload of the machine 2 determined and based on this
    rend the vehicle speed signal is output. During operation, this triggers an increase, maintenance or reduction in the vehicle speed in the vehicle speed control device. An underload of the machine 2 is accordingly a utilization of such a kind under an optimal utilization that the throughput can be increased.
    3 shows a program flow chart for offsetting the load factor LS for the driving speed signal. In this embodiment, the load factor LS has a value of -1, 0 or 1 and was generated by comparing movement data sets or data calculated on their basis with reference data or reference data sets. After the start of the method, a new load factor LS is heard or waited for in the device (block 14.1). It goes without saying that, for the purpose of programming, the respective utilization characteristic values, which in the present case are only numbered together with “LS”, must be differentiated and are therefore designated in FIG. 3 with LS_x. After the utilization parameter has been handed over, the process continues depending on its size. A load factor LS_x of 0 represents a desired load, a load factor of -1 represents an underload, i.e. Too little utilization of the machine and a utilization parameter of 1 means an overload, i.e. excessive utilization or overloading of the machine. In the event that the load factor is 0, this is entered in the memory 14.2 of the last load factor (block 14.3) without sending out a driving speed signal to change the driving speed. In the event that the occupancy
    If the characteristic value is 1, a previous utilization characteristic value stored in the memory 14.2 is queried (block 14.4) and it is then determined whether an overload has already been determined after the last stored utilization characteristic value of 0 (block 14.5). If this is not the case, the evaluation device sends out a driving speed signal to reduce the speed (brake signal, block 14.6). If this is the case, the new utilization parameter is stored in the memory
    14.2 and no (further, the driving speed reducing) driving speed signal transmitted. The cruise control according to the invention results from the driving speed signal according to block 14.6 (block
    14.7), i.e. the adaptation of the travel speed to the utilization of the individual monitored areas of the conveyor line. If the utilization parameter has a value of -1, there is again a in the memory
    14.2, the load factor entered is queried (block 14.8) and, in accordance with the above-described distinction, it is decided whether a driving speed signal for accelerating the driving speed is being sent out or has already been sent out. Optionally, the program sequence can be optimized in that an acceleration is triggered only after a certain sequence in the number of load characteristic values indicating underload or underload. For example, it is monitored for the respective areas of the conveyor line whether there is an underload (block 14.9) and only then is an acceleration pulse sent (block 14.10). Before the vehicle speed signal is transmitted, it can be checked in advance whether this is the case when the last vehicle is triggered.
    The change in speed is already shown by the test image on which the new utilization parameter is based, a conveying speed of the conveying element 10 in particular being used for this calculation (block 14.11).
    4 shows a program flow chart for evaluating the driving speed signal and thus a more precise specification of block 17. In the method sequence shown, a driving speed increment or decrement for changing the driving speed is calculated on the basis of driving speed signal 17.1 (block
    17.2). Due to an existing, in particular predeterminable and variable rule base (block 17.3), values such as the extent of the load factor can be included in the calculation. To calculate the increment or decrement, it can also be taken into account whether the machine 2 is in a fine control range of the speed, e.g. is close to the utilization limit (e.g. difference less than 10%) or still in a rough control area further (e.g. more than 50%) away from the utilization limit. For this purpose, the current driving speed is also taken into account (block 17.4). The utilization limit can preferably be defined in the evaluation device as that value from which an excessively large deviation, signaling a build-up of material, occurs.
    The driving speed increment or decrement is transmitted via TIM to a control unit of a tractor, which is coupled to the machine for harvesting root crops 4 in operation and moves it. Alternatively, the machine 2 is a self-propelled working machine, the driving speed signal or the driving speed increment or decrement being sent directly to the driving speed control device of the machine (block 17.5 in each case). This results in a speed specification (17.6) that is implemented by the respective traction unit (self-propelled or towed machine,
    Block 17.7). This then leads back to the current speed according to 17.4. 5 shows schematically an initial image 9 as well as a test image 8, each with ground crops 4 on a conveyor line consisting of two conveyor elements 10. In a preferred
    In the second embodiment of the method according to the invention, the evaluation device compares the initial image 9 with the test image 8 to the extent that directions of movement of objects shown on the images are determined.
    In particular, the evaluation device calculates a direction of movement for each pixel of the test image 8 in this way, FIG. 5 exemplarily showing a calculated movement in each case.
    the direction of travel in the form of an overlaid vector per root crop 4.
    Each arrow represents a movement characteristic value 20. To calculate the utilization characteristic value 14, the movement characteristic values are evaluated statistically.
    The movement parameters only include 20
    20 a direction of movement, not a movement path possibly indicated by the arrow length.
    5 also shows a histogram with one column for each characteristic movement value 20. Each column characterizes an absolute deviation of the corresponding characteristic movement value 20 from a standard reference characteristic value 22.
    In order to calculate a load factor LS, indicated by the line 14, a standard deviation of these movement parameter deviations from the reference parameter 22 is formed. For this purpose, the deviations can in particular be squared and then added together. This sum is then divided by the number of movement parameters 20 and the square root of the resulting quotient is formed. The resulting value is the load factor LS, which is given as an example in the histogram shown.
    Advantageously, to calculate the characteristic movement values 20, first image areas 16 of the test image 8 are compared with further image areas 18 of the output image 9, each image area 16, 18 comprising the same number of pixels and in particular being rectangular. To simplify the illustration, FIG. 9 shows only a few exemplary image areas 16, 18. This results in a characteristic movement value 20 for each image area 16, in particular for each pixel of the test image 8. Depending on the conveyor line area, the evaluation device can determine which utilization leads to a reduction or increase in the driving speed. For example, if the standard deviation is less than 20 °, the speed can be increased, if the standard deviation is between 20 ° and 30 °, the speed can be maintained, and if the standard deviation is greater, the driving speed can be reduced.
    A machine 2 according to the invention is designed according to FIG. 6 as a pulled potato harvester, a plurality of conveyor elements 10 and their transitions being carried over a machine frame 12, which is only partially numbered.
    A plurality of image acquisition units 6 are present along the conveying path, which take up the harvested crop including root crops 4 transported on the conveying elements 10.
    The indexed positions for image acquisition units 6 shown in FIG. 6 are a transition from a first conveying element 10 A in the form of a sieve belt to a second conveying element 10 B in the form of a sieve belt, which is additionally enclosed by a weeds belt In order to encompass the transition from this second sieve belt 10 B to a further conveying element 10 C, a further separating device, which is designed in particular as a finger belt.
    In addition, on the output side of this separating device, a conveyor element leading to the picking table is monitored with a further image acquisition unit 6, whereby at the same time a further conveyor element provided for residues of admixtures, in particular stones, is acquired.
    An evaluation device can be positioned at any centrally accessible location, preferably in the vicinity of the reading table.
    From the evaluation device, for example, the driving speed signal can be given to a towing vehicle via a cable 12.1 that can be seen in FIG. 6.
    The machine shown in side view in FIGS. 7 and 8 can be provided with optical image acquisition units at further positions.
    In addition, further image acquisition units can be arranged directly in the area of a lifting device 29 or a drop step leading to a bunker 33.
    9 and 10 show the arrangement of an optical image acquisition unit 6 which is arranged above a first drop step between a conveyor element 10A and a conveyor element 10B on the frame side and whose field of view is directed downwards. A light source 7 illuminates the field of vision to capture a sufficiently illuminated test image 8. The conveyor element 10A is a sieve belt, which from a lifting device 29 already sifts off a part of trash, especially clods, and over a drop step to another, designed as a sieve belt - Detes conveying element 10B passes. This conveying element 10B additionally has a haulm belt which is provided for separating the weeds present on the potatoes or in the crop. Correspondingly, stripping devices 32 are arranged across the width of the conveying element 10B.
    A conveying direction corresponding to the conveying direction 1A in the plan view is preferably assumed as the reference parameter 22. In particular, the reference parameters 22 correspond in terms of direction to the main conveying direction in the conveying plane of the respective conveying element. The same applies to the conveying direction 1B of the conveying element 10B. Depending on the design of the associated conveying element, several reference parameters can be assigned to each test data record.
    A height H of the stripping device 32 above the conveying plane of the conveying element 10B is adjustable. This represents a possibility of influencing the cutting performance of the cutting device designed as a haulm band. In addition, a relative speed of the main web to the haulm web can be set.
    A test image 8 resulting from the field of view of the optical image detection unit 6 shown in dashed lines in FIG. 11 is shown in detail in FIG. 12. Using a test data set created from this test image 8, the evaluations described above are carried out on the basis of the deviations of the directions of movement of the detected objects from the direction 1A and 1B of the conveyor elements 10A and 10B assumed as the reference parameter. Starting from the conveying element 10B, the remaining crop is transferred to a further conveying element 10C with a conveying direction 1C. A separating device in the form of a plurality of rotating deflection rollers 24 standing one above the other is assigned to this. The crop is transported in the direction of the conveying element 10D via an impulse exerted by this. A height H between the conveying element 10C and the lower deflecting roller 24 can be adjusted for the purpose of varying a separation performance. If necessary Further distances between the individual deflection rollers 24 can be varied with regard to the distance from one another for the purpose of the intensity of the deflection or any separating function in which the haulm is drawn in between the deflection rollers 24. As an alternative or in addition, a variation in the separating performance or deflection results from the adjustability of the rotational speeds of the deflecting rollers 24. A height H of the lower ends of fingers 26 is also a finger band
    26.1 formed separating device, which belongs to the conveying element 10D, adjustable. In addition, the angle of incidence of the finger strap 26.1 can be configured to be adjustable. The same applies to the speed of rotation of the finder belt 26.1. The image acquisition unit 6 shown in FIG. 13 generates the test image 8 shown in FIG. 14, in which a test image area 8A relevant in the present exemplary embodiment is defined via filtering or masking. In order to monitor the performance of the separating device, in the present case the performance of the deflecting rollers 24, an image area 8B, which, viewed from a conveying direction 1C, lies behind the deflecting rollers 24, can also be selected. In particular, the area in front of the deflecting rollers 24 is monitored for setting the driving speed. The test data record then results from the corresponding test image area 8A. If an associated utilization parameter LS for the test image area 8A results in too little utilization, the driving speed can possibly be increased. Alternatively, if a utilization parameter LS is exceeded and the associated detection of a build-up in the area in front of the deflecting rollers 24, the driving speed can be reduced by a driving speed signal output by the evaluation device.
    Another optical image acquisition unit 6 arranged in the area of the conveyor belts 10C and 10D is shown in FIG. This image acquisition unit 6 can be used in addition to or as an alternative to the image acquisition unit according to FIG. 6. In particular, it serves to monitor the effect of the separating and deflecting device formed by the deflecting rollers 24. A light source 7 is also assigned to this monitoring unit for better illumination of the monitored area.
    A further optical image acquisition unit 6 can monitor the picking up of the harvested crop on the first conveyor element 10A in the area of the lifting device 29. In this first area of the conveying path, in addition to a change in the driving speed signal, the utilization of the conveying element 10A can also be changed by lowering or raising the lifting coulters 28. Here, however, as mentioned at the beginning, it must be taken into account that the change in driving speed should preferably take place as a function of the utilization parameters of all monitored relevant conveyor elements 10 or their transitions to one another.
    In a further alternative embodiment of the invention (FIGS. 18 and 19) the machine 2 is designed as a self-propelled beet harvester. This has a plurality of conveyor elements 10. Following a lifting device 29, the harvested crop is picked up in the direction of a roller table 10M
    Sieve belt trained conveyor element 10N transported.
    An optical image acquisition unit monitors in particular the transition from the conveyor element 10M to the significantly narrower conveyor element 10N.
    Another optical image acquisition unit in the form of another 2D camera records the transition from the conveyor element 10N in the direction of the conveyor element designed as a sieve star
    10S.
    The subsequent critical transition from conveying element 10S to conveying element 10P, which is also designed as a sieve star and which is somewhat smaller in diameter, is monitored, as is the transition from the last conveying element 10Q, which is designed as a sieve star, to conveying element 10R, which is
    ches is designed as a ring elevator.
    Due to the rotation of the conveyor elements 10S, 10P and 10Q during operation, reference parameters are stored in the evaluation device, which reflect the direction of rotation of the conveyor elements 10S, 10P and 10Q.
    What is desired is a possible
    Mostly laminar movement in the area of the transitions between the individual suspension elements 10S, 10P and 10Q.
    Turbulent movements, which can be a sign of clogging or congestion, show high standard deviations from the reference characteristic values, so that again there is a good correlation with the setting of a conveying speed, in the case of congestion a reduction of the same results (FIGS. 19 and 20). Using an optical image acquisition unit 6 with a corresponding test image 8 on the conveyor element 10R, which is provided directly for transporting the remaining harvested material into a bunker 33, the utilization of the entire conveyor line can be determined according to the invention together with the further optical image acquisition units 6.
    In particular, taking into account conveyor speeds, a time delay in the evaluation can be taken into account in such a way that the crop information contained in a first test image 8
    components can be successively followed through the machine 2.
    Alternatively, the capacity utilization can be determined at the same points in time at specific positions of the machine 2, so that the driving speed can be optimally adjusted depending on the application situation.
    权利要求:
    Claims (19)
    [1]
    1. A method for regulating the operation of a machine (2) for harvesting root crops (4), in which at least one test image (8) of at least one conveyor element (10, 10A, 10B, 10C, 10D, 10M, 10N, 100, 10Q, 10R) relative to a machine frame (12) transported crop comprising root crops (4) is picked up, characterized in that an evaluation device generates a test data set based on the at least one test image (8) or is formed by this compares with an output data set generated on the basis of an output image (9) or formed by this, calculates at least one movement characteristic data set which characterizes a movement of at least one object at least partially represented by the test image (8), a utilization characteristic value (LS) based on at least one one Movement characteristic characterizing the direction of movement (20) of the at least one movement characteristic data set and in particular is calculated on the basis of at least one characteristic reference value (22) assigned to the characteristic movement value (20) and generates a driving speed signal for transmission to a driving speed control device based on the characteristic movement data set, the evaluation device having several characteristic movement values (20) derived from different characteristic movement data records are statistically evaluated to calculate the load factor (LS), in particular a standard deviation of the movement parameters (20) from the assigned reference parameter (22) or the assigned reference parameters (22) is calculated.
    [2]
    2. The method according to claim 1, characterized in that the test data record is used as the initial data record for a first execution of the method in a further execution of the method.
    [3]
    3. The method according to any one of the preceding claims 1 or 2, characterized in that the evaluation device determines the driving speed signal on the basis of an evaluation of the optical flow of the crop resulting from the test data and the output data set.
    [4]
    4. The method according to any one of the preceding claims, characterized in that the evaluation device in each case generates a movement characteristic data set for different objects at least partially displayed with the test image (8) or different, first image areas (16), which in particular contain exactly one pixel of the test (8 ) and / or the output image (9).
    [5]
    5. The method according to claim 4, characterized in that the evaluation device in a first calculation step for a plurality of first image areas (16) comprising at least a first number of pixels each calculates a movement characteristic data set and in a later calculation step and under Be - taking into account the movement characteristic data records calculated in the first calculation step, a further movement characteristic data record is calculated for a higher number of different, first image areas (16) which comprise a lower number of pixels.
    [6]
    6. The method according to any one of the preceding claims, characterized in that the driving speed signal is calculated on the basis of a plurality of utilization parameters (LS), in particular calculated sequentially in time, or at least one previously calculated utilization factor (LS) is included in the calculation of the utilization factor (LS).
    [7]
    7. The method according to any one of the preceding claims, characterized in that the utilization parameter (LS) is independent of the magnitude of the speed of the crop represented by the test image (8).
    [8]
    8. The method according to any one of the preceding claims, characterized in that a movement speed is calculated on the basis of at least one movement characteristic data set and a time span between the point in time when the test image (8) was recorded and the point in time when the initial image (9) was recorded.
    [9]
    9. The method according to any one of the preceding claims, characterized in that the driving speed signal is calculated on the basis of different test data records which are generated on the basis of test images (8) recorded with the same image acquisition unit (6) or with different image acquisition units (6) .
    [10]
    10. The method according to any one of the preceding claims, characterized in that at least one sensor, preferably a sensor for measuring the drive power, a touch sensor for measuring a crop layer thickness on the conveying element, a moisture sensor and / or a speed sensor, sensor data the
    Evaluation device transmitted, which flow into the calculation of the driving speed signal.
    [11]
    11. The method according to any one of the preceding claims, characterized in that the evaluation device triggers either an acceleration or a deceleration of the machine (2) by means of different travel speed signals.
    [12]
    12. The method according to claim 11, characterized in that a speed gradient triggered by the driving speed signal and / or the difference in driving speeds before and after acceleration or deceleration is dependent on the load factor (LS).
    [13]
    13. The method according to claim 11 or 12, characterized in that after a change in driving speed has been triggered, no further change in driving speed is triggered until the crop picked up from the ground by the machine (2) at least partially from a test image recorded thereafter ( 8) is shown.
    [14]
    14. The method according to any one of the preceding claims, characterized in that the vehicle speed signal is transmitted to the vehicle speed control device in a wired manner, in particular by means of CAN bus or Ethernet, or wirelessly.
    [15]
    15. The method according to any one of the preceding claims, characterized in that the evaluation device uses the test data set to generate a conveyor speed signal for setting a conveyor speed of the conveyor element (10, 10A, 10B, 10C, 10D, 10M, 10N, 100, 10Q , 10R).
    [16]
    16. Machine for harvesting root crops (4), the at least one machine frame (12), a conveyor element (10, 10A, 10B, 10C, 10D, 10M, 10N, 100, 10Q, 10R), an optical image acquisition unit (6) and has an evaluation device and is designed to carry out the method according to one of the preceding claims.
    [17]
    17. Machine according to claim 16, characterized in that the image acquisition unit (6) is arranged in such a way that it has two conveyor elements (10, 10A, 10B), in particular that adjoin one another along a conveyor line and preferably form a drop step (11) Sieve belts, recorded.
    [18]
    18. Machine according to claim 16 or 17, characterized in that the evaluation device comprises a graphic processor unit, in particular a GPGPU, and / or an FPGA-based processor unit.
    [19]
    19. Machine according to one of claims 16 to 18, characterized by at least one sensor coupled to the evaluation device, in particular a touch sensor for measuring a crop layer thickness on the conveying element, a sensor for measuring a drive power and / or one arranged on a conveying element Speed sensor.
    类似技术:
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    同族专利:
    公开号 | 公开日
    DE102018127843A1|2020-05-07|
    BE1026709A1|2020-05-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20180047177A1|2016-08-15|2018-02-15|Raptor Maps, Inc.|Systems, devices, and methods for monitoring and assessing characteristics of harvested specialty crops|
    DE102016118244A1|2016-09-27|2018-03-29|Claas Selbstfahrende Erntemaschinen Gmbh|Gutflussüberwachung a crop collection device|
    法律状态:
    2020-10-12| FG| Patent granted|Effective date: 20200820 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102018127843.8A|DE102018127843A1|2018-11-07|2018-11-07|Process for regulating the operation of a machine for harvesting root crops|
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