Apparatus and method for improving the conditioning quality of grass and clover prior to the collect

专利摘要:
The invention relates to a conditioning apparatus (100) for the conditioning of a cut agricultural biomass (2) of an agricultural field (4); said cut biomass (2) comprising a crop of grass and clover, said biomass originates from a specific portion (6) of said agricultural field; wherein said apparatus comprises: -a passageway (8) for passing said biomass (2) through at least a part of said apparatus; -a mechanical conditioning device (10) for providing a mechanical impact to a biomass being fed to said mechanical conditioning device; -a control unit (12) for controlling the operation of said mechanical conditioning device (10); -an estimation device (14) for providing estimation information (16) relating toan estimated magnitude of a specific crop coverage being present in said portion of said agricultural field; wherein said mechanical conditioning device (10) is at least partly arranged within said passageway (8); wherein said mechanical conditioning device (10) comprises adjustment means (18) for adjusting the severity of the mechanical impact subjected to said biomass (2) being fed to said mechanical conditioning device (10) in response to a severity adjustment signal (20) being provided thereto; wherein said control unit (12) is configured to receive said estimation information (16) from said estimation device (14); wherein said control unit (12) is configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) in response to said estimation information (16), thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass (2).
公开号:DK201700751A1
申请号:DKP201700751
申请日:2017-12-29
公开日:2019-05-15
发明作者:Green Ole；Lynge Jacobsen Henrik；Arild Steen Kim；Kirkegaard Nielsen Søren
申请人:Agro Intelligence Aps；
IPC主号:

专利说明:

Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof
Field of the invention
The present invention relates in general to the field of agriculture. More specifically the present invention relates in a first aspect to a conditioning apparatus for the conditioning of cut crop of an agricultural field, wherein said cut crop comprising grass and clover. In a second aspect the present invention relates to the use of such a conditioning apparatus for producing a biomass feedstock for silage. In a third aspect the present invention relates to a method for optimizing the conditioning of a cut crop comprising grass and clover to be used as feedstock in a silage manufacturing process.
Background of the invention
Silage has for hundreds of years been used as fodder for cattle and other animals in farming. Silage is formed from lignocellulosic biomass, such as grass and clover by fermentation where lactic acid forming bacteria participate in the fermentation process.
Silage has the advantage that, when stored under conditions in absence of oxygen, it remains relatively stable without any profound change or deterioration in composition during long periods of time.
Accordingly, silage represents a valuable source of fodder to be fed to animals during those seasons where fresh plants are not readily available.
As mentioned above grass is a common feedstock for the manufacture of silage. However, also clover is a common feedstock for the manufacture of silage.
Grass and clover are usually grown in the same agricultural for the purpose of obtaining a good feed composition as com feed and in respect of nutrient value in the resulting silage they complement each other well.
Accordingly, when producing silage from a grass and clover field, the grass and clover are cut by cutting using a mower. Subsequently, the grass and clover are left in the field for a couple
DK 2017 00751 A1 of days where it is being subjected to an appropriate field management, such as performing one or more inversions in order to dry it to a desirable moist content. Hereafter the grass and clover is collected and stacked in a silo.
After the grass and clover have been cut but before any inversion procedures are being performed the grass and clover usually also participated in conditioning process in which the grass and clover is being subjected to a mechanically impact. The purpose of this conditioning process is, by mechanical impact, to crack open the cells of the plant material in order to allow moist within the cells to evaporate or be removed by other means with the view to obtain a faster drying of the grass and clover.
The conditioning process is often performed in connection with the mowing of the field. That is, the agricultural vehicle carrying or towing the mowing apparatus also carries or tows a conditioning apparatus, in which the freshly cut grass and clover is injected into a conditioning part of the apparatus and subjected to the mechanical impact. After this, the conditioned, freshly cut grass and clover is ejected from the conditioning apparatus and left to dry in the agricultural field where it originally grew.
Alternatively, in another cutting and conditioning scheme, the field of grass and clover may first be cut by a mower in a first working operation and subsequently the cut grass and clover may in second working operation be lifted from the ground and processed in a separate conditioning apparatus.
Numerous cycles of growing new batches of grass and clover, cutting it, conditioning it allowing it to partly dry, inverting or tedding it and stacking it in a silo are performed throughout the growth season of the grass and clover.
It has been found that grass, due to its more rough and sturdy structure, compared to clover, needs a more severe mechanical impact in order to ultimately arrive at the same moisture content at the point in time of stacking the biomass in a silo, as in respect of the clover growing in the same area.
Accordingly, most often when harvesting grass and clover for use as feedstock in a silage manufacturing process and using the above process steps of growing, cutting, conditioning, partly drying, inverting, collecting and stacking grass and clover, the grass will at the point in time of stacking the biomass have a higher moisture content than the clover.
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A uniform or homogeneous moisture content is needed to ensure the right conditions for an optimum biochemical silage manufacturing process.
It is an objective of the present invention to provide apparatuses and methods that will allow manufacturing of a biomass feedstock based on grass and clover which, at the time of stacking in a silo, will be more homogenous as to moisture content.
Brief description of the invention
These objectives are fulfilled according to the first, the second and the third aspect of the present invention.
Accordingly, the first aspect of the present invention relates to a conditioning apparatus for the conditioning of a cut agricultural biomass of an agricultural field; said cut biomass comprising a crop of grass and clover, said biomass originates from a specific portion of said agricultural field; wherein said apparatus comprises:
-a passageway for passing said biomass through at least a part of said apparatus;
-a mechanical conditioning device for providing a mechanical impact to a biomass being fed to said mechanical conditioning device;
-a control unit for controlling the operation of said mechanical conditioning device;
-an estimation device for providing estimation information relating to an estimated magnitude of a specific crop coverage being present in said portion of said agricultural field;
wherein said mechanical conditioning device is at least partly arranged within said passageway;
wherein said mechanical conditioning device comprises adjustment means for adjusting the severity of the mechanical impact subjected to said biomass being fed to said mechanical conditioning device in response to a severity adjustment signal being provided thereto;
wherein said control unit is configured to receive said estimation information from said estimation device;
DK 2017 00751 A1 wherein said control unit is configured to provide said severity adjustment signal to said mechanical conditioning device in response to said estimation information, thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass.
In a second aspect the present invention relates to a use of a conditioning apparatus according to the first aspect of the present invention in the manufacture of a biomass feedstock based on grass and clover.
In a third aspect the present invention relates to a method for conditioning a biomass comprising grass and clover, said biomass originating from growth at a portion of an agricultural field;
i) subjecting said biomass to a mechanical impact;
ii) providing estimation information relating to an estimated magnitude of a specific crop coverage located in said portion of the agricultural field;
iii) adjusting the severity of the mechanical impact subjected to said biomass on the basis of said estimation information.
The present invention in its various aspects provides for improving the quality of a biomass in the form of grass and clover prior to its use as a feedstock in a silage manufacturing process.
This result is obtained by utilizing a clever conditioning scheme upon conditioning of the biomass in which the grass and clover is being conditioned at a severity which depend on the coverage of a specific crop, either grass or clover, of the grass and clover originating from a specific portion of the agricultural field being conditioned.
Thereby, in the conditioning of the biomass, account is taken to the fact that grass needs a higher degree of severity, as compared to clover, in the conditioning processing in order to arrive at desired moisture content prior to using the biomass as feedstock in a silage manufacturing process.
Accordingly, with the present invention an improved biomass quality, in terms of increased homogeneity of moisture content of the biomass, can be obtained in respect of grass and clover harvested in a grass/clover field
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Brief description of the figures
Fig. 1 is side view illustrating an embodiment of a conditioning apparatus of the present invention in operation.
Fig. 2a is a diagram illustrating one embodiment of the working mode of a control system to be used with the conditioning apparatus of the present invention.
Fig. 2b is a diagram illustrating another embodiment of the working mode of a control system to be used with the conditioning apparatus of the present invention.
Fig. 3 is a diagrammatic representation of part of the working mode of an image processing device of the conditioning apparatus of the present invention.
Fig. 4a, 4b and 4c are diagrammatic representations of the concept of learning data and learning images as applied in the present application.
Detailed description of the invention
The first aspect of the present invention
In its first aspect the present invention relates to a conditioning apparatus for the conditioning of a cut agricultural biomass of an agricultural field; said cut biomass comprising a crop of grass and clover, said biomass originates from a specific portion of said agricultural field; wherein said apparatus comprises:
-a passageway for passing said biomass through at least a part of said apparatus;
-a mechanical conditioning device for providing a mechanical impact to a biomass being fed to said mechanical conditioning device;
-a control unit for controlling the operation of said mechanical conditioning device;
-an estimation device for providing estimation information relating to an estimated magnitude of a specific crop coverage being present in said portion of said agricultural field;
DK 2017 00751 A1 wherein said mechanical conditioning device is at least partly arranged within said passageway;
wherein said mechanical conditioning device comprises adjustment means for adjusting the severity of the mechanical impact subjected to said biomass being fed to said mechanical conditioning device in response to a severity adjustment signal being provided thereto;
wherein said control unit is configured to receive said estimation information from said estimation device;
wherein said control unit is configured to provide said severity adjustment signal to said mechanical conditioning device in response to said estimation information, thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass.
The apparatus according to the first aspect of the present invention is accordingly configured for allowing the conditioning of cut biomass originating from an agricultural field, where the severity of the mechanical impact imposed by the conditioning device(s) is adjusted in correspondence with the variation of the grass coverage and/or the clover coverage throughout the field or part thereof.
Thereby, an improved quality of the cut biomass is obtained in that the biomass with have a reduced variation as to moisture content. This may be a great advantage upon using the cut biomass in a process for the manufacture of silage, and may also be an advantage in the use of the biomass as fresh feed for animals.
In the present description and in the appended claims the following definitions shall be adhered to:
Grass: The term “grass” may be defined as any plant belonging to the family Poacea or Gramineae, preferably of the genus Lolium or Phleum, such as Westerwolds Ryegrass, Italian Ryegrass, Hybrid Ryegrass, Perennial Ryegrass, Timothy grass.
Preferably, the grass species is a species which traditionally and conventionally has been used as feedstock in a silage manufacturing process.
Clover: The term “clover” may be defined as any plant belonging to the family Fabaceae, preferably of the genus Trifolium, such as red and white clover species.
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Preferably, the clover species is a species which traditionally and conventionally has been used as feedstock in a silage manufacturing process.
Crop: The term “crop” is defined as being grass or clover or a mixture thereof.
A specific crop: The term “a specific crop” is defined as either being grass or being clover.
Weed: The term “weed” is being defined as any plant not being grass and not being clover.
Biomass: The term “biomass” is being defined as plant material comprising grass and/or clover and/or weed.
A specific crop coverage: The term “a specific crop coverage” is being defined as that relative area of a portion of an agricultural field covered by that specific crop.
In the present description and in the appended claims the term “coverage” may be expressed as a percentage or as a fraction, or as a ratio in relation to the another type of crop and/or in relation to weed.
In one embodiment of the apparatus according to the first aspect of the present invention the estimation information relating to an estimated magnitude of a specific crop coverage is independently selected from the group comprising:
-coverage of grass; and/or
-coverage of clover; and/or
-coverage of weed; and/or
-a ratio relating to: coverage of grass / coverage of clover; and/or
-a ratio relating to: coverage of grass / coverage of clover / coverage of weed.
Using these definitions of the estimation information will in a reliable manner provide information as to the grass coverage and/or the clover coverage of the agricultural field.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device in such a way that a relatively high estimated magnitude of grass coverage and/or a relatively low estimated magnitude of clover coverage of said portion of said agricultural field corresponds to a relatively high degree of severity of the mechanical
DK 2017 00751 A1 impact being provided to said agricultural biomass; whereas a relatively low estimated magnitude of grass coverage and/or a relatively high estimated magnitude of clover coverage corresponds to a relatively low degree of severity of the mechanical impact being provided to said agricultural biomass.
Such a conditioning severity scheme provides for achieving a more homogeneous moisture content in the various parts of a biomass comprising the crop of grass and clover.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device according to a predetermined severity adjustment algorithm.
Hereby the severity of the conditioning can be performed according to a predetermined conditioning scheme.
In one embodiment of the apparatus according to the first aspect of the present invention the predetermined severity adjustment algorithm is based on a correlation between the said estimation information on the one hand and a quantified severity of conditioning on the other hand.
Hereby the severity of the conditioning can be performed, depending on the grass coverage and/or the clover coverage.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is a self-propelled agricultural vehicle.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is an implement to be towed by or suspended on, or otherwise being connected to a self-propelled agricultural vehicle.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is configured to be used together with an agricultural mowing apparatus in a mowing operation, such as in an integrated unit providing for combined mowing and conditioning.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is configured to be used independent of a mowing apparatus.
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These four embodiments provides for great flexibility as to the mode of performing the conditioning of the cut biomass.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus comprises a feeding device for feeding said agricultural biomass into the interior of said passageway.
In one embodiment of the apparatus according to the first aspect of the present invention the feeding device comprises a lifting mechanism for lifting and conveying cut biomass from the surface of the agricultural field and into said passageway.
These two embodiments will aid in conveying the cut biomass into the passageway of the conditioning apparatus, in particular in a situation in which the conditioning device is configured for picking up cut biomass lying in an agricultural field.
In one embodiment of the apparatus according to the first aspect of the present invention the mechanical conditioning device comprises one or more rotating elements which are configured to subject said biomass to said mechanical impact.
Such an embodiment has proven very efficient for providing the conditioning action to the cut biomass.
In one embodiment of the apparatus according to the first aspect of the present invention the adjustment means of said mechanical conditioning device is configured for adjusting said mechanical impact provided to said biomass by means of varying the rotational speed of said one or more rotating elements.
In one embodiment of the apparatus according to the first aspect of the present invention the adjustment means of said mechanical conditioning device is configured for adjusting said mechanical impact by means of varying the compression of said biomass upon passing said one or more rotating elements, such as by varying the mutual distance between two rotating elements, or by varying a cross-sectional area of the passageway for the biomass at a position of one of the rotating elements.
These two embodiments have proven very efficient in providing an adjustable conditioning severity to the cut biomass.
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In one embodiment of the apparatus according to the first aspect of the present invention the control unit is configured for providing said severity adjustment signal in the form of an electric signal, and wherein the severity of said mechanical conditioning device is being adjusted via an actuator and wherein said mechanical conditioning device comprises a regulator configured for adjusting said actuator in response to said electric signal.
In one embodiment of the apparatus according to the first aspect of the present invention the actuator is being an electric actuator, a pneumatic actuator or a hydraulic actuator.
In one embodiment of the apparatus according to the first aspect of the present invention the actuator is being a hydraulic actuator, and wherein said regulator is being a hydraulic valve.
These embodiments accordingly advise ways of performing the regulation of the severity provided of one or more of the conditioning devices and such types of actuators and regulators efficiently will provide for adjustment of the severity of the conditioning provided by one or more of the conditioning devices.
In one embodiment of the apparatus according to the first aspect of the present invention the mechanical conditioning device comprises a sensor for sensing the current severity setting of said mechanical conditioning device and wherein said sensor is coupled to said control unit for providing information to said control unit relating to a current severity setting of said mechanical conditioning device.
Hereby the control unit may continuously monitor the setting of the severity imparted by one or more of the mechanical conditioning devices.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to display means, such as in the form of a monitor for allowing an operator to monitor the set up and operation of said apparatus.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to input means, such as in the form of an alphanumerical keyboard allowing an operator to set up and program said control unit.
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These two embodiments provide for better controlling the operation of the conditioning apparatus.
In one embodiment of the apparatus according to the first aspect of the present invention the estimation device comprises an optical system; wherein said optical system comprises:
an image capturing device configured for capturing images of said portion of said agricultural field;
-an image processing device for analysing an image captured by said image capturing device;
wherein said image processing device, in respect of an image captured by said image capturing device, is configured for analysing said image so as to provide said estimation information.
This embodiment accordingly provides the estimation information while performing the conditioning operation itself.
In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured to perform the following steps:
i) receive information representing an image captured by said image capturing device;
ii) in respect of said representation of said image, performing an image analysis in order to distinguish areas of that image which represents grass and/or clover and/or weed;
iii) summing up all areas determined in step ii) which represent grass and/or summing up all areas determined in step ii) which represent clover and/or summing up all areas determined in step ii) which represent weed;
iv) on the basis of the summing up performed in step iii), providing in respect of said image, said estimation information to be send to said control unit.
Hereby the image processing device may provide to the control unit the magnitude of a specific crop coverage in a specific portion of the agricultural field.
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In one embodiment of the apparatus according to the first aspect of the present invention, step ii) is based on analysis of image patch features, such as colour distinction, edge detection of different plant material and morphology of different plant material, use of texture analysis filter(s), or entropy of image patches, making up such image.
In one embodiment of the apparatus according to the first aspect of the present invention is performed by having said image processing device configured for consulting a representation of a set of learning images, wherein each image in the set of learning images comprises a representation of a real image or an artificial image, such as a computer generated image, of a portion of an agricultural field comprising grass and clover and optionally also weed, and wherein distinct elements of said image has been allocated with information relating to which type of plant (grass, clover and optionally weed) that this element represents.
In one embodiment of the apparatus according to the first aspect of the present invention, step ii) is performed by having said image processing device configured for consulting a representation of learning images in the form of a model capable of performing an algorithm in order to distinguish areas of that image which represents grass and/or clover and/or weed.
In one embodiment of the apparatus according to the first aspect of the present invention the model is being configured for utilizing calculated image patch features as defined above.
In one embodiment of the apparatus according to the first aspect of the present invention the calculated image patch features are analyzed utilizing a numerical mathematical model based on support vector machines, k-nearest neighbours, decision trees, adaboost, gaussian mixture models or linear discriminant analysis in order to distinguish areas of that image as being as either grass and/or clover and/or weed.
In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured for utilizing deep learning algorithms and/or artificial intelligence and/or neural network(s).
These techniques for performing the processing of the image processing device provides for providing the estimation information in an efficient way.
In one embodiment of the apparatus according to the first aspect of the present invention the apparatus comprises two or more image capturing devices which collectively are configured
DK 2017 00751 A1 for capturing images of two or more portions of said agricultural field; wherein said two or more portions of said agricultural field are arranged relative to each other in a mutual staggered arrangement in a direction perpendicular to the moving direction of said conditioning apparatus;
wherein said image processing device, in respect of an image captured by each of said image capturing devices is configured for analysing said image so as to provide an estimation information relating to an estimated magnitude of a specific crop coverage being present in the portion of the agricultural field corresponding to each said image;
wherein said control unit is being configured to receive said estimation information from said image processing device in respect of each said images;
wherein in respect of each of said images being captured by said two or more image capturing devices said control unit is being configured to provide said severity adjustment signal to said adjustment means of said mechanical conditioning device, which is being responsible for conditioning of biomass originating from the portion of said agricultural field corresponding to that specific image, based on said estimation information.
In one embodiment of the apparatus according to the first aspect of the present invention the number of image capturing devices is 1 - 20, such as 2 - 19, for example 3 - 18, such as 4 17, for example 5 - 16, such as 6 - 15, for example 7 - 14, such as 8 - 13, such as 9 - 12, for example 10 - 11.
Hereby a wide width of the agricultural field may be scanned by the optical system.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is configured for receiving a position indicating signal from a global navigation satellite system (GNSS), such as a GPS signal.
Hereby it is possible, during operation of the conditioning apparatus, to correlate the estimation information to the exact location of one or more of the conditioning devices.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to a data storage, wherein said control unit is being configured to
DK 2017 00751 A1 allocate said estimation information which is being provided in respect of said images being captured; and wherein said control unit is being configured to allocate coordinates relating to a geographical position of said images being captured; and wherein said control unit is being configured for storing on said data storage a correlation between an estimated magnitude of a specific crop coverage at said portion of said agricultural field on the one hand, and the geographical position of said portion of said agricultural field on the other hand; said correlation thereby representing a specific coverage map of said agricultural field or part thereof.
Such data storage may be in the form of a data storage of the solid state type, such as based on semiconductor technology, or may be in the form of an electromechanical data storage, such as a hard drive, or may alternatively also be a server based data storage, such as a storage place accessible via the internet.
In this embodiment the estimation information will be stored on a data storage, thereby allowing, in subsequent conditioning operations, to avoid the necessity to use an optical system while performing the conditioning device.
In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device(s) is/are arranged in front of said mechanical conditioning device, relative to the working direction of said conditioning apparatus; and/or wherein said image capturing device(s) is/are arranged at a position corresponding to a distance from said mechanical conditioning device in a direction being perpendicular to the working direction of said conditioning apparatus.
Hereby the image capturing can be performed in respect of biomass which has not yet been cut.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being coupled to a speed sensor for providing information relating to the speed of travel over ground of said agricultural field by said conditioning apparatus.
In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device at a delay commensurate with the speed of travel over ground of said conditioning apparatus; thereby taking into account the time lapse from the moment in time at
DK 2017 00751 A1 which an image of a specific portion of said agricultural field is being captured by said image capturing device to the moment in time at which the mechanical conditioning device arrives at biomass belonging to that specific portion of said agricultural field; so that the biomass of said specific portion of said agricultural field is being conditioned at a severity which is optimum, as based on said image analysis being performed by said image processing device in respect of that specific portion of said agricultural field.
Hereby it can be assured that the severity imparted by the conditioning of the conditioning mechanism(s) will be adjusted according to an optimum adjustment in respect of a specific portion of the agricultural field at the time where the cutting mechanism(s) arrive(s) at that specific position of the agricultural field.
In one embodiment of the apparatus according to the first aspect of the present invention the focus area of said image capturing device(s) of the surface of said agricultural field is having a width, in a direction perpendicular to the direction of movement of said conditioning apparatus, of 50 - 300 cm, such as 100 - 250 cm, for example 150 - 200 cm.
Hereby a wide width of the agricultural field may be scanned by the optical system.
In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device is configured for repeatedly image capturing.
In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device is configured for capturing images at a rate of 0.01 - 60, such as 0.5 40, such as 1 - 30, e.g. 5 - 20, such as 10 - 15 frames per second (fps).
In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured for analysing images at a rate of 0.01 - 30, such as 0.5 - 25, such as 1 - 20, e.g. 5 - 18, such as 10 - 15 frames per second (fps).
These rates provides for rapidly updated provision of information and hence provide for a more accurate estimation of the magnitude of a specific crop coverage of part of the field specifically and the field as a whole generally.
In one embodiment of the apparatus according to the first aspect of the present invention the estimation device comprises a data storage, wherein said data storage comprises a correlation between an estimated magnitude of a specific crop coverage of a portion of said agricultural field, on the one hand, and coordinates relating to geographical positions of said portion of the
DK 2017 00751 A1 agricultural field, on the other hand; said correlation thereby representing a coverage map of said agricultural field, or a part thereof, disclosing the variation of a specific crop coverage depending on position.
In this embodiment the estimation information may have been provided beforehand and being stored on a data storage, thereby avoiding the necessity to use an optical system while performing the conditioning device.
In one embodiment of the apparatus according to the first aspect of the present invention the coverage map had previously been obtained using an optical system as defined above.
The second aspect of the present invention
In a second aspect the present invention relates to a use of a conditioning apparatus according to the first aspect of the present invention in the manufacture of a biomass feedstock based on grass and clover.
The third aspect of the present invention
In a third aspect the present invention relates to a method for conditioning a biomass comprising grass and clover, said biomass originating from growth at a portion of an agricultural field;
i) subjecting said biomass to a mechanical impact;
ii) providing estimation information relating to an estimated magnitude of a specific crop coverage located in said portion of the agricultural field;
iii) adjusting the severity of the mechanical impact subjected to said biomass on the basis of said estimation information.
In one embodiment of the method according to the third aspect of the present invention the estimation information relating to an estimated magnitude of a specific crop coverage located in said portion of the agricultural field is independently selected from the group comprising:
-coverage of grass; and/or
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-coverage of clover; and/or
-coverage of weed; and/or
-a ratio relating to: coverage of grass / coverage of clover; and/or
-a ratio relating to: coverage of grass / coverage of clover / coverage of weed.
Using these definitions of the estimation information will in a reliable manner provide information as to the grass coverage and/or the clover coverage of the agricultural field.
In one embodiment of the method according to the third aspect of the present invention the severity of the mechanical impact is provided to said biomass in such a way that a relatively high estimated magnitude of grass coverage and/or a relatively low estimated magnitude of clover coverage originating from said portion of said agricultural field implies providing a relatively high degree of severity of mechanical impact to said biomass; whereas a relatively low estimated magnitude of grass coverage and/or a relatively high estimated magnitude of clover coverage implies providing a relatively low degree of severity of mechanical impact to said biomass.
Such a conditioning severity scheme provides for achieving a more homogeneous moisture content in the various parts of a biomass comprising the crop of grass and clover
In one embodiment of the method according to the third aspect of the present invention the severity of the mechanical impact subjected to said biomass as performed in step iii) is based on a predetermined severity adjustment algorithm.
Hereby the severity of the conditioning can be performed according to a predetermined conditioning scheme.
In one embodiment of the method according to the third aspect of the present invention the predetermined severity adjustment algorithm is based on a correlation between the said estimation information relating to a specific crop coverage of said portion of the agricultural field on the one hand, and a quantified severity on the other hand.
Hereby the severity of the conditioning can be performed, depending on the grass coverage and/or the clover coverage.
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In one embodiment of the method according to the third aspect of the present invention the method is being performed by using an apparatus according to the first aspect of the present invention.
Referring now to the drawings for illustrating the present invention, Fig. 1 shows in a side view of an embodiment of a conditioning apparatus according to the first aspect of present invention.
The conditioning apparatus 100 is being suspended on a tractor 152 by means of suspension means 154.
For illustration purposes the conditioning apparatus 100 is shown in Fig.1 with a cut-away 52 in the outer body of the apparatus. It is seen that the interior of the conditioning apparatus 100 comprises a passageway 8 for passing said biomass 2, where that passageway extends through at least a part of the apparatus.
Within the passageway 8 are arranged a mechanical conditioning device 10 for providing a mechanical impact to a biomass being fed to that mechanical conditioning device. The mechanical conditioning device 10 comprises two elements 22 which are configured to be brought into rotation in a direction counter-directional to each other as indicated by the arrows on the elements 22.
The mechanical conditioning device 10 of the conditioning apparatus 100 also comprises adjustment means 18 (not shown in Fig. 1) for adjusting the severity of the mechanical impact imparted to the biomass 2 being fed to the mechanical conditioning device.
This adjustment is being performed in response to a severity adjustment signal being provided to the mechanical conditioning device as further explained below.
The adjustment means 18 of the mechanical conditioning device 10 may be configured for adjusting said mechanical impact to the biomass 2 by means of varying the rotational speed of said one or more rotating elements 22. Alternatively, the adjustment means 18 of the mechanical conditioning device 10 may be configured for adjusting the mechanical impact by means of varying the compression of the biomass 2 upon passing the two rotating elements 22. This may be brought about by varying the mutual distance between two rotating elements 22.
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The conditioning apparatus 100 illustrated in fig. 1 also comprises a cutting knife 156.
Accordingly, the apparatus illustrated in Fig. 1 will function as a combined mowing apparatus and conditioning apparatus.
This means that during operation, biomass 2 being cut by the cutting knife 156 will be forced to enter the passageway 8 of the conditioning apparatus where it will be conveyed in the direction shown by the arrows 56, and hence be forced to pass the space between the rotating elements 22 where it will be subjected to a degree of mechanical impact depending on the rotational speed of the rotating elements and on the compression imparted to it as defined by the mutual distance between the two rotating elements 22.
The mechanical impact imparted to the biomass 2 by the mechanical conditioning device 10 of the conditioning apparatus 100 provides for at least a partly disruption of the plant cells, thereby allows the biomass to lose its moisture at a faster rate.
Depending on the degree of severity of the mechanical impact subjected to the biomass, a varying degree of disruption of the plant cells will result.
Also seen in Fig. 1 is that that the conditioning apparatus 100 comprises on optical system 200, comprising an image capturing device 202 which is arranged at a front end of the tractor 152. The optics 212 of the image capturing device 202 is directed towards an area on the ground which represents the focus area F of the optics of the image capturing device. This area F accordingly represents a portion 6 of the agricultural field 4.
During operation of the conditioning apparatus, images 204 are repeatedly being captured by the image capturing device 202. The information representing the images is being processes by an image processing device 206 (not shown in Fig. 1). The image processing device 206 is configured for analysing an image 204 captured by said image capturing device 202, Thereby, the image processing device 206, in respect of an image 204 captured therewith, is configured for analysing said image so as to provide said estimation information 16 and to send this estimation information 16 to a control unit.
The estimation information 16 relates to an estimated magnitude of a specific crop coverage, such as the crop coverage of grass or the crop coverage of clover growing in the portion 6 of the agricultural field as defined by the focus area F.
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Based on this estimation information 16, the severity imparted to the biomass 2 may be adjusted in relation to the magnitude of a specific crop coverage, thereby obtaining a more homogeneous moist content of the biomass.
The specific crop coverage of the focus area F which is being estimated by the image processing device may for example relate to the magnitude of coverage of grass in the focus area F. Alternatively, the specific crop coverage of the focus area F may relate to the magnitude of coverage of clover in the focus area F. Still alternatively, the specific crop coverage of the focus area F may relate to a ratio of coverage of grass and clover.
It is seen in Fig. 1 that the distance between the center of the focus area F and the center of the mechanical conditioning device 10 is X.
Assuming that the tractor 152 moves in a direction from left to right at a constant velocity V, it is clear that it takes the time interval “X/V” before biomass located to the focus area F will reach the center of the mechanical conditioning device 10 (ignoring the movement of the biomass 2 in a vertical direction within the passageway 8).
Now, assuming that the whole conditioning apparatus is working in “real time” in the sense that there will be no inherent sluggishness from the point in time where the image capturing device 202 is capturing an image and to the point in time where the mechanical conditioning device 10 has provided a response thereto. In such a situation, a delay D should be introduced, so that the with reference to the time T0 at which an image is captured, the adjustment of the severity imparted by the mechanical conditioning mechanism 10 should be effected at time T = T0 + D = T0 +X/V.
In the case, where some kind of inherent sluggishness is incorporated in the system so that the whole conditioning apparatus is not able to working in “real time”, then again with reference to the time T0 at which an image is captured, the adjustment of the severity imparted by the mechanical conditioning mechanism 10 should be effected at time T = T0 +X/V - S; wherein S is being the duration of the sluggishness.
Although the apparatus of the first aspect of the present invention has been defined in a way where the image capturing device 202 is carried by the tractor 152, it should be noted that the image capturing device in some specific embodiments may be arranged in a drone which has been configured for flying over the agricultural field and wherein information relating to the
DK 2017 00751 A1 captured images or wherein the estimation information is being transferred, such as wirelessly transferred to the data storage 44 of the control unit of the apparatus 100.
In this way, the estimation information relating to the estimated magnitude of a specific crop coverage being present in the various portions of the agricultural field may be stored on and retrieved from a data store while performing the conditioning of the biomass. Such an embodiment is further illustrated below with reference to Fig. 2b.
Fig. 2a schematically illustrates the working mode of a conditioning apparatus 100 according to one embodiment of the first aspect of the present invention. Fig. 2a shows a control system controlled by a control unit 12 and for controlling the conditioning apparatus 100 according to the first aspect of the preset invention.
The control unit 12 is connected to input means 38, such as an alphanumeric keyboard which may be used for setting up and altering the settings of the operation of the control unit 12. A display 36, such as a monitor is also connected to the control unit 12. The display allows an operator to monitor the settings and the operation of part of the control unit and optionally also of the mowing apparatus.
The control unit 12 is connected to the electronically controlled regulator 26 in the form of a hydraulic valve 30 which comprises an input hose 58 for pressurized hydraulic fluid from a hydraulic pump. The hydraulic valve 30 also comprises a return hose 60 for pressurized hydraulic fluid.
Furthermore, the electronically controlled regulator 26 is via hoses 62 and 64 connected to the actuator 24 in the form of a hydraulic actuator 28.
A sensor 32 arranged at the hydraulic actuator 28 is configured for providing the control unit 12 with information 34 relating to the current degree of extraction of that hydraulic actuator 28.
The control unit 12 is also connected to an estimation device 14. The estimation device comprises an optical system 200 comprising the image capturing device 202 shown in Fig. 1. The image capturing device 202 is connected to the image processing device 206.
During use the image capturing device 202 captures an image 204 and directs the information representing such an image to the image processing unit 206. The image processing device
206 processes the image 204 and on the basis of this analysis the image processing device 206
DK 2017 00751 A1 returns to the control unit 12 estimation information 16 relating to an estimated magnitude of a specific crop coverage of the portion 6 of the agricultural field 4 corresponding to the captured image 204.
The control unit 12 has been preprogrammed so as to make sure that the degree of severity imparted by the mechanical conditioning device 10 of the conditioning apparatus 100 is being adjusted depending on the estimation information 16 being provided thereto.
Such a predetermined severity adjustment algorithm may in a simple form and for a given type of grass and a given type of clover growing in a given climate representing a given typical temperature range and a given amount of sunlight and precipitation and growing in a given type of soil be represented by the Table 1 below.
Grass:clover ratioOptimum severity to be imparted to the biomassHigh, e.g. above 60/40Maximum degree of severityMedium, e.g. 40/60 - 60/40Medium degree of severityLow, e.g. below 40/60Low degree of severity
Table 1
Table 1 simple sets out in, respect of a number of ranges of grass/clover ratios, which are being estimated, an optimum degree of severity to be imparted to the biomass entering the passageway 8 of the of the cutting mechanism 10 of the cultivation apparatus 100.
Based on such a severity adjustment algorithm the control unit 12 which is continuously being provided with information from the sensor 32 relating to the degree of expansion of the hydraulic actuator 28 will then be able to determine whether or not an adjustment of the adjustment means 18 of the mechanical conditioning mechanism 10 of the conditioning apparatus 100 is needed, and in such a case, whether such an adjustment involves a lowering or a raising of the degree of severity of the conditioning and how much such a lowering or raising amounts to.
Based on this determination the control 12 sends a severity adjustment signal 20 to the hydraulic valve 28, via the regulator 26 in the form of a hydraulic valve 30 which may, in
DK 2017 00751 A1 response thereto, effect an expansion or contraction of the hydraulic actuator 38, as the case may be.
The hydraulic actuator 24,28 is coupled to adjustment means 18 of the mechanical conditioning device 10 of the apparatus 100.
Thereby, the hydraulic valve may, via the hydraulic actuator 28, adjust the severity imparted to the biomass 2, for example by varying the rotational speed of said one or more rotating elements 22, or by varying the compression of the biomass 2 upon passing the two rotating elements 22, e.g. by varying the mutual distance between two rotating elements 22, as discussed above.
It is seen in Fig. 2a that the control unit 12 furthermore is coupled to a speed sensor 46 which senses the speed of travel over ground of the conditioning apparatus 100 and provides this speed information 48 to the control unit 12.
It is also seen in Fig. 2a that the control unit 12 is coupled to global navigational satellite system (GNSS) 42, such as a GPS unit and thereby enables providing position indicating information 40 to the control unit.
In Fig. 2b is illustrated an alternative embodiment of a control system for controlling the conditioning apparatus according to the first aspect of the present invention.
The control system illustrated in Fig. 2b comprises the same features as in Fig. 2a, except that instead of providing the estimation device 14 in the form of an optical system 200, the estimation device comprises data storage 300.
The data storage 300 is coupled to the control unit 12 and supplies estimation information 16 relating to an estimated magnitude of a specific crop coverage of various portions of the agricultural field 4.
Accordingly, the data storage 300 comprises embedded therein a coverage map comprising information relating to the magnitude of a specific crop, such as either grass or clover or both, depending on the position of that agricultural field.
The information embedding in the storage 300 could have been provided by the apparatus illustrated in Fig. 2a in which the control unit would furthermore have been coupled to a data storage 44 for storing information relating to a correlation of the estimation information 16 of
DK 2017 00751 A1 a portion 6 of the agricultural field 4 on the one hand and the position of that portion 6 on the other hand, during operation of the apparatus shown in Fig. 1.
Accordingly, early in the season an apparatus as illustrated in Fig. 1 and comprising the system illustrated in Fig. 2a may be used for mapping the coverage of a specific crop, and for storing information relating to such a mapping of the data storage 44.
The information of this map may then subsequently throughout part of the season be retrieved and used in an apparatus as illustrated in Fig. 2b.
However, as the specific crop coverage may change relatively rapidly over time during the growth season, it will be desirable, in order to achieve optimum reliability of the estimation information relating to a specific crop coverage, to perform such mapping of the agricultural field regularly.
In such a situation the information relating to the mapping stored in data storage 44 will be transferred to the data storage 300 of the estimation device prior to using the conditioning apparatus for conditioning cut biomass.
The mapping information stored in the data storage 300 is useful during a conditioning operation of an agricultural field in that it has been found out that the severity of subsequent conditioning treatments of the cut grass and clover advantageously may be varied depending on a specific crop coverage being present at a specific portion of the agricultural field.
It should be noted that whereas a numerical correspondence between an estimated magnitude of a specific crop coverage of a portion 6 of the agricultural field 4 corresponding to a captured image 204 on the one hand and an optimum conditioning severity on the other hand will provide for the most optimum increase in overall yield of crop in a grass and clover field during several cycles of growing and cutting, even a qualitative adjustment of the severity of the of the conditioning mechanism 10 of the agricultural mowing apparatus 100 in response to the estimation information 16 will provide significant increases in crop yield.
By the term “qualitative adjustment of severity of the conditioning mechanism” shall be understood a simple conditioning scheme which is conducted according to the following instructions:
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- Whenever the crop coverage of grass increases; or the crop coverage of clover decreases, the severity of the mechanical impact of the conditioning mechanism is to be reduced;
- Whenever the crop coverage of grass decreases; or the crop coverage of clover increases, the severity of the mechanical impact of the conditioning mechanism is to be raised.
Accordingly, even in a case where the most optimum severity of the conditioning has not been quantitatively and numerically correlated to a corresponding estimated magnitude of a specific crop coverage, it will be possible to benefit and take great advantage of the present invention.
Fig. 3 is a schematic illustration serving the purpose, at a very general level, of explaining the working mode of the image processing device 206 which may be included in the conditioning apparatus according to the present invention. The image processing device 206 comprises a printed circuit board PCB comprising a plurality of electronic components. For the sake of simplicity only a few of these components are shown in Fig. 3.
The circuit board PCB of the image processing device 206 comprises an input port 250 for providing an electronic signal representing an image 204 originating from the image capturing device 202 of the optical system 200 of the conditioning apparatus.
Additionally, the printed circuit board PCB of the image processing device comprises an output port 252 for providing an electronic signal representing estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in that portion 6 of an agricultural field 4 which corresponds to that specific image 204 being processed by said image processing device 206.
A central processing unit CPU in the circuit board provides for controlling the operation of the image processing device 206.
Also included in the printed circuit board PCB of the image processing device 206 is a graphic processing unit GPU. The graphic processing unit GPU is responsible for performing the operations relating to the image processing.
The circuit board PCB of the image processing device also comprises a data storage 254. The data storage 254 has been supplied with a representation of learning data which will aid the
DK 2017 00751 A1 image processing device 206 in providing the estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in that portion 6 of an agricultural field 4 which corresponds to image 204 being processed by said image processing device 202.
It is preferred that the representation of learning data which is stored in the data storage 254 is being in the form of a model of learning data. Such a model of learning data may be computer program product embedded in said data storage 254 and being able to perform an algorithm for image processing of information relating to an image being analyzed by said image processing device 206.
For the purpose of understanding the concept of the image processing device, such an algorithm based on the learning data may obtained by analyzing a set 208 of learning images each of which represents a learning image 210 an agricultural field comprising grass and clover.
The concept of learning images is illustrated in Fig. 4a, 4b and 4c.
Fig. 4a illustrates such a set 208 of learning images 210 which set for the sake of simplicity comprises only five learning images 210.
Fig. 4b illustrates the middle learning image 210 of the five learning images from Fig. 4a.
Fig. 4c is a close-up depiction of a portion 220 of the learning image 210 in Fig. 4b. Such a portion may represent an image patch comprising a relatively limited number of image pixels.
Fig. 4c shows that the learning data in portion 220 of the learning image 210 shown in Fig. 4b comprises an array of different elements of plant material which have been annotated so that each specific element in the learning image shown in Fig. 4c has been provided with information as to which type of plant (grass or clover) that specific element belongs to.
The annotation shown in Fig. 4C illustrates that clover material has been annotated “C”, whereas grass material has been annotated “G”.
Optionally, also information relating to annotations of weed could have been provided in the leaning date of the learning image shown in Fig. 4b. Such a weed annotation could have been “W” for weed.
DK 2017 00751 A1
Accordingly, the learning data represents an array of learning images 208,210 which have been annotated so as to assign the type of plant material (grass, clover and optionally also weed) to each element of each of the images of the learning data.
The set 208 of learning images 210 may be a set of real images or artificial images, such as a computer generated image, of a portion 6 of an agricultural field 4.
Based on such learning data originating from annotated images, a model of learning data may be constructed and such a model of learning data may, as already mentioned, be a computer program product embedded in said data storage 254 and being able to conduct an algorithm for image processing of information relating to an image 204 being analyzed by said image processing device 206.
Now returning to Fig. 3: During operation of the conditioning apparatus100 according to the present invention, when the image processing device via the input port receives information relating to an image 204 captured by the image capturing device 202, the CPU arranges for processing this information and the processing itself is being performed by the graphic processing unit GPU. This is brought about by allowing the model of the learning data stored in the data storage 254 of the image processing device to analyze that image.
In such an analysis operation, the image processing device 206 is assigning various elements of the image to various types of plants such as grass (G), clover (C) and optionally also weed (W).
The analysis performed by the image processing device 206 may be based on colour distinction, edge detection of different plant material and morphology of different plant material, use of texture analysis filter(s), or entropy of image patches, making up the captured image.
Further, the analysis performed by the image processing device may be based utilizing a numerical mathematical model based on support vector machines, k-nearest neighbours, decision trees, adaboost, gaussian mixture models or linear discriminant analysis in order to distinguish areas of that image as being as either grass (G) and/or clover (C) and/or weed (W).
The analysis performed by the image processing device may furthermore involve deep learning algorithms and/or artificial intelligence and/or neural network(s) may be used.
DK 2017 00751 A1
Moreover, in the analysis of the representation of the image 204 received, the image processing device 206 also provides for summing up the area of a specific crop coverage in that image. In this way, the image processing device provides for estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in the portion 6 of the agricultural field 4 corresponding to said image 204.
The estimation information 16 relating to an estimated magnitude of a specific crop coverage may relate to one or more of the following: coverage of grass; and/or coverage of clover; and/or coverage of weed; and/or a ratio relating to: coverage of grass / coverage of clover; and/or a ratio relating to: coverage of grass / coverage of clover / coverage of weed.
It should be noted that image processing analysis have been known for many years and that a person skilled in the art will be able to provide the required equipment and the correct set up of such equipment for performing such analysis.
Special reference is made to the following documents which specifically deal with image processing analysis of images of an agricultural field comprising grass and clover with the purpose of determining a clover grass ratio of a portion of such a field:
A. K. Mortensen et al., J. Imaging 2017, 3, 59; and
S. Skovsen et al., Sensors 2017, 2930.
It should be understood that all features and achievements discussed above and in the appended claims in relation to one aspect of the present invention and embodiments thereof apply equally well to the other aspects of the present invention and embodiments thereof.
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List of reference numerals
2Cut agricultural biomass4Agricultural field6Specific portion of the agricultural field8Passageway of conditioning apparatus10Mechanical conditioning device12Control unit14Estimation device16Estimation information18Adjustment means20Severity adjustment signal22Rotating element of mechanical conditioning device24Actuator26Regulator28Hydraulic actuator30Hydraulic valve32Sensor of mechanical conditioning device34Information provided by sensor36Display means38Input means40Position indicating signal42Global navigation satellite system (GNSS)
Data storage coupled to control unit
DK 2017 00751 A1
Speed sensor
Information relating to speed over ground of the conditioning apparatus
Conditioning part of apparatus
Cut-away for ease of illustration
Flow direction of biomass
58, 60 Hydraulic hose
62, 64 Hydraulic hose
100 Agricultural mowing apparatus
150 Mowing part of apparatus
152 Tractor
154 Suspension means
156 Cutting knife
200 Optical system
202 Image capturing device
204 Image captured by said image capturing device
206 Image processing device
208 Set of learning images
210 Learning image
212 Optics of Image capturing device
220 Portion or patch of learning image
250 Input port of image processing device
252 Output port of image processing device
254 Data storage of image processing device
DK 2017 00751 A1
300Data storage of estimation devicePCBPrinted circuit boardCPUCentral processing unitGPUGraphic processing unitVVelocityXDistance

权利要求:
Claims (50)
[1]
1. A conditioning apparatus (100) for the conditioning of a cut agricultural biomass (2) of an agricultural field (4); said cut biomass (2) comprising a crop of grass and clover, said biomass originates from a specific portion (6) of said agricultural field; wherein said apparatus comprises: -a passageway (8) for passing said biomass (2) through at least a part of said apparatus; -a mechanical conditioning device (10) for providing a mechanical impact to a biomass being fed to said mechanical conditioning device; -a control unit (12) for controlling the operation of said mechanical conditioning device (10); -an estimation device (14) for providing estimation information (16) relating to an estimated magnitude of a specific crop coverage being present in said portion of said agricultural field; wherein said mechanical conditioning device (10) is at least partly arranged within said passageway (8); wherein said mechanical conditioning device (10) comprises adjustment means (18) for adjusting the severity of the mechanical impact subjected to said biomass (2) being fed to said mechanical conditioning device (10) in response to a severity adjustment signal (20) being provided thereto; wherein said control unit (12) is configured to receive said estimation information (16) from said estimation device (14); wherein said control unit (12) is configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) in response to said estimation information (16), thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass (2).
[2]
A conditioning apparatus (100) according to claim 1, wherein said estimation information (16) relating to an estimated magnitude of a specific crop coverage is independently selected from the group comprising: -coverage of grass; and / or -coverage of clover; and / or -coverage of weed; and / or -a ratio relating to: coverage of grass / coverage of clover; and / or -a ratio relating to: coverage of grass / coverage of clover / coverage of weed.
[3]
A conditioning apparatus (100) according to claim 1 or 2, wherein said control unit (12) is being configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) in such a way that a relatively high estimated magnitude of grass coverage and / or a relatively low estimated magnitude of clover coverage of said portion (6) of said agricultural field (4) corresponds to a relatively high degree of severity of the mechanical impact being provided to said agricultural biomass (2) ; whereas a relatively low estimated magnitude of grass coverage and / or a relatively high estimated magnitude of clover coverage corresponds to a relatively low degree of severity of the mechanical impact being provided to said agricultural biomass (2).
[4]
A conditioning apparatus (100) according to any of the claims 1 - 3, wherein said control unit (12) is being configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) according to a predetermined severity adjustment algorithm.
[5]
A conditioning apparatus (100) according to claim 4, wherein said predetermined severity adjustment algorithm is based on a correlation between the said estimation information (16) on the one hand and a quantified severity on the other hand.
[6]
A conditioning apparatus (100) according to any of the claims 1 - 5, wherein said apparatus is a self-propelled agricultural vehicle.
[7]
A conditioning apparatus (100) according to any of claims 1 - 5, wherein said apparatus is an implement to be towed by or suspended on, or otherwise being connected to a self-propelled agricultural vehicle.
[8]
A conditioning apparatus (100) according to any of the previous claims, wherein said apparatus is configured to be used together with an agricultural mowing apparatus in a mowing operation, such as in an integrated unit providing for combined mowing and conditioning.
[9]
9. A conditioning apparatus (100) according to any of the claimssl - 7, wherein said apparatus is configured to be used independently of a mowing apparatus.
[10]
A conditioning apparatus (100) according to any of claims 1 - 9, wherein said apparatus comprises a feeding device for feeding said agricultural biomass into the interior of said passageway (8).
[11]
A conditioning apparatus (100) according to claim 10, wherein said feeding device comprises a lifting mechanism for lifting and conveying cut biomass (2) from the surface of the agricultural field (4) and into said passageway (8).
[12]
12. A conditioning apparatus (100) according to any of the claims 1 - 11, wherein said mechanical conditioning device (10) comprises one or more rotating elements (22) which are configured to subject said biomass to said mechanical impact.
[13]
13. A conditioning apparatus according to claim 12, wherein said adjustment means (18) of said mechanical conditioning device (10) is configured for adjusting said mechanical impact to said biomass (2) by means of varying the rotational speed of said one or more rotating elements (22).
[14]
14. A conditioning apparatus (100) according to claim 12 or 13 wherein said adjustment means (18) of said mechanical conditioning device (10) is configured for adjusting said mechanical impact by means of varying the compression of said biomass (2) upon passing said one or more rotating elements (22), such as by varying the mutual distance between two rotating elements (22), or by varying a cross-sectional area of the passageway for the biomass at a position of one of the rotating elements (22 ).
[15]
15. A conditioning apparatus (100) according to any of the claims 1 - 14, wherein said control unit (12) is configured for providing said severity adjustment signal (20) in the form of an electric signal, and wherein the severity of said mechanical conditioning device (10) is being adjusted via an actuator (24) and wherein said mechanical conditioning device comprises a regulator (26) configured for adjusting said actuator (24) in response to said electric signal.
[16]
A conditioning apparatus (100) according to claim 15, wherein said actuator (24) is being an electric actuator, a pneumatic actuator or a hydraulic actuator.
[17]
17. A conditioning apparatus (100) according to claim 16, wherein said actuator (24) is being a hydraulic actuator (28), and wherein said regulator (26) is being a hydraulic valve (30).
[18]
18. A conditioning apparatus (100) according to any of the claims 1 - 17 wherein said mechanical conditioning device (10) comprises a sensor (32) for sensing the current severity setting of said mechanical conditioning device (10) and wherein said sensor ( 32) is coupled to said control unit (12) for providing information to said control unit relating to a current severity setting of said mechanical conditioning device (10).
[19]
19. A conditioning apparatus (100) according to any of the claims 1 - 18, wherein said control unit (12) is coupled to display means (36), such as in the form of a monitor for allowing an operator to monitor the set up and operation of said apparatus.
[20]
20. A conditioning apparatus (100) according to any of the claims 1 - 19, wherein said control unit (12) is coupled to input means (38), such as in the form of an alphanumerical keyboard allowing an operator to set up and program said control unit (12).
[21]
21. A conditioning apparatus (100) according to any of the claims 1 - 20, wherein said estimation device (14) comprises an optical system (200); wherein said optical system comprises: an image capturing device (202) configured for capturing images (204) of said portion (6) of said agricultural field (4); -an image processing device (206) for analyzing an image (204) captured by said image capturing device (206); wherein said image processing device (206), in respect of an image (204) captured by said image capturing device (202), is configured for analyzing said image so as to provide said estimation information (16).
[22]
22. A conditioning apparatus (100) according to claim 21, wherein said image processing device (206) is configured to perform the following steps: i) receive information representing an image (204) captured by said image capturing device (202); ii) in respect of said representation of said image (204), performing an image analysis in order to distinguish areas of that image (204) which represents grass (G) and / or clover (C) and / or weed (W); iii) summing up all areas determined in step ii) which represent grass (G) and / or summing up all areas determined in step ii) which represent clover (C) and / or summing up all areas determined in step ii) which represent weed (W); iv) on the basis of the summing up performed in step iii), providing in respect of said image (204), said estimation information (16) to be sent to said control unit (12).
[23]
23. A conditioning apparatus (100) according to claim 22, wherein step ii) is based on analysis of image patch features, such as color distinction, edge detection of different plant material and morphology of different plant material, use of texture analysis filter ( s), or entropy of image patches, making up such image (202).
[24]
24. A conditioning apparatus (100) according to claim 22 or 23, wherein step ii) is performed by having said image processing device (206) configured for consulting a representation of a set (208) of learning images (210), wherein each image (210) in the set (208) of learning images comprises a representation of a real image or an artificial image, such as a computer generated image, of a portion of an agricultural field comprising grass and clover and optionally also weed, and wherein distinct elements of said image has been allocated with information relating to which type of plant (grass (G), clover (C) and optionally weed (W)) that this element represents.
[25]
25. A conditioning apparatus (100) according to any of the claims 21 - 24, wherein step ii) is performed by having said image processing device configured for consulting a representation of learning images in the form of a model capable of performing an algorithm in order to distinguish areas of that image which represents grass (G) and / or clover (C) and / or weed (W).
[26]
26. A conditioning apparatus (100) according to claim 25, wherein said model is being configured for utilizing calculated image patch features as defined in claim 23.
[27]
27. A conditioning apparatus (100) according to claim 26, wherein said calculated image patch features are analyzed utilizing a numerical mathematical model based on support vector machines, k-nearest neighbors, decision trees, adaboost, gaussian mixture models or linear discriminant analysis in order to distinguish areas of that image as being as either grass (G) and / or clover (C) and / or weed (W).
[28]
28. A conditioning apparatus (100) according to any of the claims 21 - 27, wherein said image processing device is configured for utilizing deep learning algorithms and / or artificial intelligence and / or neural network (s).
[29]
29. A conditioning apparatus (100) according to any of the claims 21 - 28, wherein said apparatus comprises two or more image capturing devices (202) which are collectively configured for capturing images (204) of two or more portions (6) of said agricultural field (4); wherein said two or more portions of said agricultural field are arranged relative to each other in a mutual staggered arrangement in a direction perpendicular to the moving direction of said conditioning apparatus (100); wherein said image processing device (206), in respect of an image (204) captured by each of said image capturing devices (202) is configured for analyzing said image so as to provide an estimation information (16) relating to an estimated magnitude of a specific crop coverage being present in the portion (6) of the agricultural field (4) corresponding to each said image (204); wherein said control unit (12) is being configured to receive said estimation information (16) from said image processing device (206) in respect of each said images (204); wherein in respect of each of said images (204) being captured by said two or more image capturing devices (202) said control unit (12) is being configured to provide said severity adjustment signal (20) to said adjustment means (18) of said mechanical conditioning device (10), which is being responsible for conditioning of biomass (2) originating from the portion (6) of said agricultural field (4) corresponding to that specific image (204), based on said estimation information (16) .
[30]
30. A conditioning apparatus (100) according to claim 29, wherein the number of image capturing devices (202) is 1 - 20, such as 2 - 19, for example 3 - 18, such as 4 - 17, for example 5 - 16, such as 6 - 15, for example 7 - 14, such as 8 - 13, such as 9 - 12, for example 10 - 11.
[31]
31. A conditioning apparatus (100) according to any of claims 1 - 30, wherein said control unit (12) is configured for receiving a position indicating signal (40) from a global navigation satellite system (GNSS) (42), such as a GPS signal.
[32]
32. A conditioning apparatus (100) according to any of the claims 1 - 31, wherein said control unit (12) is coupled to a data storage (44), wherein said control unit (12) is being configured to allocate said estimation information (16) which is being provided in respect of said images (204) being captured; and wherein said control unit (12) is being configured to allocate coordinates relating to a geographical position of said images (204) being captured; and wherein said control unit (12) is being configured for storing on said data storage (44) a correlation between an estimated magnitude of a specific crop coverage at said portion (6) of said agricultural field (4) on the one hand, and the geographical position of said portion (6) of said agricultural field (4) on the other hand; said correlation thereby representing a specific coverage map of said agricultural field (4) or part thereof.
[33]
33. A conditioning apparatus (100) according to any of the claims 1 - 32, wherein said image capturing device (s) (202) is / are arranged in front of said mechanical conditioning device (10), relative to the working direction of said conditioning apparatus (100); and / or wherein said image capturing device (s) (202) is / are arranged at a position corresponding to a distance from said mechanical conditioning device (10) in a direction being perpendicular to the working direction of said conditioning apparatus (100).
[34]
34. A conditioning apparatus (100) according to any of the claims 1 - 33, wherein said control unit (12) is being coupled to a speed sensor (46) for providing information (48) relating to the speed of travel over ground of said agricultural field (4) by said conditioning apparatus (100).
[35]
35. A conditioning apparatus (100) according to any of the claims 1 - 34, wherein said control unit (12) is being configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) at a delay (D ) commensurate with the speed of travel (V) over ground of said conditioning apparatus (100); thereby taking into account the time lapse (T) from the moment in time at which an image (204) of a specific portion (6) of said agricultural field (4) is being captured by said image capturing device (202) to the moment in time at which the mechanical conditioning device (10) arrives at biomass (2) belonging to that specific portion (6) of said agricultural field (4); so that the biomass (2) of said specific portion (6) of said agricultural field (4) is being conditioned at a severity which is optimum, as based on said image analysis being performed by said image processing device (206) in respect of that specific portion (6) of said agricultural field (4).
[36]
36. A conditioning apparatus (100) according to any of the claims 1 - 35, wherein the focus area (F) of said image capturing device (s) (202) of the surface of said agricultural field (4) is having a width , in a direction perpendicular to the direction of movement of said conditioning apparatus (100), of 50 - 300 cm, such as 100 - 250 cm, for example 150 - 200 cm.
[37]
37. A conditioning apparatus (100) according to any of the claims 1 - 36, wherein said image capturing device (202) is configured for repeatedly image capturing.
[38]
38. A conditioning apparatus (100) according to claim 37, wherein said image capturing device (202) is configured for capturing images (204) at a rate of 0.01 - 60, such as 0.5 - 40, such as 1 - 30, e.g. 5 - 20, such as 10 - 15 frames per second (fps).
[39]
39. A conditioning apparatus (100) according to any of the claims 1 - 38, wherein said image processing device (206) is configured for analyzing images (204) at a rate of 0.01 - 30, such as 0.5 - 25, such as 1 - 20, eg 5 - 18, such as 10 - 15 frames per second (fps).
[40]
40. A conditioning apparatus (100) according to any of the claims 1 - 20, wherein said estimation device (14) comprises a data storage (300), wherein said data storage (300) comprises a correlation between an estimated magnitude of a specific crop coverage of a portion (6) of said agricultural field (4), on the one hand, and coordinates relating to geographical positions of said portion (6) of the agricultural field (4), on the other hand; said correlation thereby representing a coverage map of said agricultural field (4), or a part thereof, disclosing the variation of a specific crop coverage depending on position.
[41]
41. A conditioning apparatus (100) according to claim 40, wherein said coverage map had previously been obtained by using an optical system (200), as defined in any of the claims 21 - 39.
[42]
42. Use of a conditioning apparatus (100) according to any of the claims 1 - 41 in the manufacture of a biomass feedstock based on grass and clover.
[43]
43. Use according to claim 42 for the manufacture of a biomass feedstock for use in silage production.
[44]
44. Use according to claim 42 or 43 for manufacturing of a biomass feedstock having improved quality as to variation in moisture content.
[45]
45. A method for conditioning a cut biomass (2) comprising grass and clover, said biomass originating from growth at a portion (6) of an agricultural field (4); i) subjecting said biomass (2) to a mechanical impact; ii) providing estimation information (16) relating to an estimated magnitude of a specific crop coverage located in said portion (6) of the agricultural field (4); iii) adjusting the severity of the mechanical impact subject to said biomass (2) on the basis of said estimation information (16).
[46]
46. A method according to claim 45, wherein said estimation information (16) relating to an estimated magnitude of a specific crop coverage located in said portion (6) of the agricultural field (4) is independently selected from the group comprising: -coverage of grass; and / or -coverage of clover; and / or -coverage of weed; and / or -a ratio relating to: coverage of grass / coverage of clover; and / or -a ratio relating to: coverage of grass / coverage of clover / coverage of weed.
[47]
47. A method according to claim 45 or 46, wherein the severity of the mechanical impact is provided to said biomass (2) in such a way that a relatively high estimated magnitude of grass coverage and / or a relatively low estimated magnitude of clover coverage originating from said portion (6) of said agricultural field (4) implies providing a relatively high degree of severity of mechanical impact to said biomass (2); whereas a relatively low estimated magnitude of grass coverage and / or a relatively high estimated magnitude of clover coverage implies providing a relatively low degree of severity of mechanical impact to said biomass (2).
[48]
48. A method according to any of the claims 45 - 47, wherein the adjustment of the severity of the mechanical impact subjected to said biomass as performed in step iii) is based on a predetermined severity adjustment algorithm.
[49]
49. A method according to claim 48, wherein said predetermined severity adjustment algorithm is based on a correlation between the said estimation information (16) relating to a specific crop coverage of said portion (6) of the agricultural field (4) on the one hand, and a quantified severity on the other hand.
[50]
50. A method according to any of the claims 45 - 49, wherein said method is being performed by using an apparatus (100) according to any of the claims 1 - 41.

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同族专利:

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公开号 | 公开日

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EP3731620A1|2020-11-04|

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DK179768B1|2019-05-15|

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WO2019129334A1|2019-07-04|

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法律状态:
2019-05-15| PAT| Application published|Effective date: 20190515 |

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2019-05-15| PME| Patent granted|Effective date: 20190515 |

优先权:

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申请号 | 申请日 | 专利标题

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DKPA201700751A|DK179768B1|2017-12-29|2017-12-29|Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof|DKPA201700751A| DK179768B1|2017-12-29|2017-12-29|Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof|

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PCT/DK2018/050371| WO2019129334A1|2017-12-29|2018-12-18|Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof|

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EP18839809.3A| EP3731620A1|2017-12-29|2018-12-18|Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof|