Method for operating a root crop conveyor

Abstract

The invention relates to a method for operating a root crop conveyor, in particular a root crop harvester (2), comprising the following steps: receiving sensor data (3a, 3b); calculating quality data from the sensor data by an evaluation device (14); providing yield data (16) calculated at least on the basis of the quality data, wherein the evaluation device (14) generates an adjustment signal (18) for adjusting at least one separating element of a separating device (20) for separating a first portion of the harvested material (12) and another portion of the harvested material (12) on the basis of at least the sensor data (3a, 3b), the quality data and / or the yield data (16), and a root crop conveyor, in particular a root crop harvester, for carrying out the method.

Description

Technical Field

[0001] This invention relates to a method for operating a conveyor for root and tuber crops, particularly a harvester for root and tuber crops, and to a conveyor for root and tuber crops, particularly a harvester for root and tuber crops. According to the method, sensing data is received using at least one optical sensor. The optical sensor is aligned with a measurement area of ​​the material stream being harvested, which is conveyed by at least one conveying element along a conveying direction. A quality assessment device calculates quality data based on at least a mass of at least a portion of the harvested material, using the sensing data. The assessment device calculates and provides yield data, at least based on the quality data. The yield data reflects at least the quality and / or a value calculated based on the quality. Background Technology

[0002] This method is particularly used for recording harvest yield during the harvesting period and is fully disclosed in WO 2018035 082A1. According to this prior art, optical sensors are arranged on a root and tuber crop conveyor and include yield data as the mass of root and tuber crops per unit harvested area. Summary of the Invention

[0003] The purpose of this invention is to improve the quality of the harvested crop with minimal structural cost.

[0004] According to the invention, the objective is achieved by the evaluation device generating an adjustment signal for adjusting at least one separating element based at least on sensor data, quality data, and / or yield data. The separating element is included in a separating device, particularly in a root and tuber crop conveyor. The separating device, and especially the separating element, is configured to separate a first portion of the harvested crop from at least another portion of the harvested crop. The separating element is arranged upstream or downstream of the measurement area along the material flow during operation. Furthermore, the separating element mechanically acts on at least a portion of the harvested crop. The separating element is preferably adjusted directly by the adjustment signal.

[0005] This allows at least a portion of the data acquired for recording yield to be used to adjust the separating device. The adjustment signal is particularly suitable for adjusting the separating characteristics of the separating device and determining, for example, the sensitivity or purity of the separating device and / or the proportion of whole crop unintentionally separated, which typically increases with increasing purity in practice. During operation, the adjustment signal is particularly persistently generated or provided by an evaluation device, applied to the separating device, and / or varies based on sensor data. Through the method according to the invention, the separating device can thus be adapted to the characteristics of the harvest to be separated with minimal structural cost, and therefore its function can be optimally adjusted according to the operator's desired results.

[0006] Specifically, the optical sensors, evaluation devices, and / or separation devices are included in or arranged on the root and tuber crop conveyor. Preferably, the method according to the invention can therefore be performed entirely by a movable root and tuber crop conveyor and, if necessary, a traction machine coupled thereto.

[0007] Within the scope of this invention, the root and tuber crop conveyor also includes a conveyor configured or adapted to transport vegetables. Similarly, the root and tuber crop harvester also includes a harvester configured or adapted to harvest vegetables. In this regard, the root and tuber crops also include vegetables, i.e., plant parts, particularly tubers, stems, and roots.

[0008] The separation device is particularly used to separate impurities included in the harvested crop from root crops included in the harvested crop. The separation device preferably includes, in addition to the separation element, another element that works in conjunction with the separation element. This other element is particularly the conveying element or, especially, another separation element structurally identical to the separation element. The first portion preferably includes only usable root crops, while the other portion includes only impurities and / or unusable root crops, such as root crops of a specific size. Impurities particularly include stones, clods of earth, weeds, leaves, and damaged root crops, wherein the separation device is particularly used to separate one or more of these impurities. Alternatively or additionally, the impurities are root crops of an undesirable size.

[0009] The at least one separating element is particularly constructed as a screen belt, a closed belt, a puller roller, a rake belt, a mixing device, especially a pivotable pusher in a pusher array, a robotic arm, and / or a comb-like element extending from above into the harvested material during operation. The separating element is preferably a component entirely different from the conveying element. The mechanical action arises from the influence of an object that generates motion or constrains motion. Specifically, the separating element acts mechanically on at least a portion of the harvested material as long as that portion is in direct contact with, or at least partially in contact with, the separating element. The separating device particularly has multiple, preferably identical, separating elements. Specifically, the separating device forms at least one gap that is permissible for at least a portion of impurities but impassable for average-sized root crops. The separating element preferably generates conveying pulses along the direction of the gap.

[0010] The optical sensor is particularly configured as a camera, preferably as an optical camera, and especially preferably as a 3D camera. The optical sensor is aligned with a measurement area through which the conveying element and the harvested material placed on it pass during operation. The measurement area is particularly arranged to be fixed in position relative to the frame of the root crop conveyor. The measurement area is specifically the area recorded or covered by the sensor and / or the area from which sensing data for calculating quality data is received (wherein, the area recorded by the sensor may extend beyond the measurement area). The optical sensor generates sensing data and transmits this sensing data wired or wirelessly to an evaluation device. The root crop conveyor preferably includes only exactly one sensor.

[0011] The evaluation device particularly includes a computing unit or processor and / or a storage unit, and is particularly at least partially included in a root and tuber crop conveyor or traction machine. The evaluation device calculates mass data using sensor data based on a stored algorithm. The mass data preferably represents the weight of the harvested crop or a portion thereof, particularly the weight of root and tuber crops. This mass data is calculated, in particular, by multiplying the volume determined by the evaluation device by the density. The data preferably includes multiple weights or masses based on sensor data received at different time intervals.

[0012] The yield data is based at least on quality data. The yield data preferably represents at least one specific quality per unit of a particular harvested area. In particular, the yield data includes multiple such ratios.

[0013] The yield data is provided by an evaluation device. This provision is preferably at least visual. When providing the data, it is preferably stored on a storage medium.

[0014] To generate the adjustment signal, no unnecessary mechanisms are required for recording yield. Therefore, the costs associated with optimizing the harvest, or more precisely, purifying root and tuber crops, are minimized.

[0015] The method according to the invention is preferably suitable for operating potato harvesters or sugar beet harvesters. These harvesters are characterized by having at least one digging shovel that penetrates the ground during operation. The method is also preferably suitable for operating root and tuber crop conveyors having at least one conveyor belt, particularly a conveyor belt for loading root and tuber crops. Alternatively or additionally, the method is suitable for operating stationary or mobile root and tuber crop purifiers.

[0016] The operating parameters or operation of the separation device depend particularly on adjustment signals. Preferably, the adjustment of the separation device also depends on input variables determined by the user, such as the type of root and tuber crop or the minimum purity of the harvested material after passing through the separation device. As an alternative to purifying the harvested material, or in addition to purifying the harvested material, the separation device can also be used to classify root and tuber crops by size.

[0017] The evaluation device is specifically configured to perform calibration if there is no harvested material on the conveying element. Here, in particular, the conveying grade of the conveying element is identified, which can change during operation due to impurities adhering to the conveying element, and this conveying grade is taken into account when recording yield.

[0018] To calculate quality data and / or to provide yield data, the evaluation device preferably uses sensing data from at least one of the sensors, which is also used by the evaluation device to generate the adjustment signal. This means that when only one optical sensor is used, the adjustment signal and yield data are based on sensing data received by the same sensor. When multiple optical sensors are used, this means that sensing data from at least one sensor is the basis for both generating the adjustment signal and calculating the aforementioned data. This ensures that both the adjustment signal and yield data are based on the best possible database and achieves a structurally particularly simple solution to realize the aforementioned advantages. These advantages are optimally achieved when the evaluation device accesses the same sensing data to generate the adjustment signal and calculate the yield data.

[0019] In order to calculate quality and / or yield data and to generate adjustment signals, the evaluation device preferably distinguishes at least a portion of the root crops included in the harvest from at least a portion of the adulterants included in the harvest. The evaluation device identifies at least a portion of the root crops and / or at least a portion of the adulterants based on sensor data, particularly identifying both the root crops and at least a portion of the adulterants.

[0020] Preferably, based on sensing data, the outlines of each root vegetable and / or adulterant are identified in at least one camera image from the sensor. The camera image should be understood as a file output by the sensor, particularly a raw image, which includes information collected at least approximately at the same point in time and represents the visual situation as seen from the sensor's perspective. Specifically, each camera image is based on exactly one file of sensing data; that is, each camera image is represented by exactly one file. In particular, the file, more precisely the camera image, includes information about resolution, brightness, etc. Specifically, the outlines are compared with stored reference outline curves. Based on the stored data, particularly data relating to the typical size and / or shape of the root vegetable, the volume of the root vegetable is then preferably obtained, and its mass is particularly preferably calculated based on this volume.

[0021] Alternatively or additionally, the shape and / or location of surface segments of root crops or adulterants visible to the sensors are identified. Specifically, the evaluation device calculates at least one proportion of root crops in the harvested crop and / or at least one proportion of adulterants in the harvested crop. This allows the quality or purity of the harvested crop to be determined, and the separation device to be adjusted accordingly.

[0022] In an advantageous embodiment of the invention, the evaluation device calculates at least one quantity of root vegetables included in the harvest based on sensor data. For this purpose, it is preferable to further determine the outlines of the individual root vegetables. In particular, considering mass data, the size distribution of the root vegetables can be inferred from this quantity, and the separation device adjusted accordingly. Alternatively or additionally, the evaluation device calculates at least one dimension of at least a portion of the root vegetables. This dimension is particularly length, width, height, orientation, or volume, and can be directly used to adjust the separation device.

[0023] The evaluation device preferably generates adjustment signals based on characteristic data of root and tuber crops, particularly size data and / or characteristic distribution, particularly size distribution. The characteristic distribution is calculated based on sensor data. The characteristic data represents at least one component of the harvested crop, such as the characteristics of root and tuber crops, and is calculated based on the sensor data. The size data characterizes the size of at least one root and tuber crop, and is calculated based on the sensor data.

[0024] The evaluation device preferably calculates yield data by allocating at least a portion of characteristic data or size data, or data based on characteristic data or size data, or characteristic distribution or size distribution, or data based on characteristic distribution or size distribution, to location data or batch data. The location data is acquired, in particular, by means of a GPS sensor, preferably positioned on the root and tuber crop conveyor. This allocation allows for better planning of the sales of the loaded root and tuber crops, as different quality and size categories can be targeted for localization and sales.

[0025] The evaluation device preferably calculates yield data by at least allocating quality data, or at least a portion of data based on quality data, to location data or batch data. Based on this allocation, the evaluation device preferably outputs the yield of at least one specific portion of the cultivated land area. The batch data particularly characterizes a portion of the harvest processed in a spatial collection manner, which is transported by matching transport vehicles and / or stored in the same container. By allocating quality data to batch data, information included in the quality data can be specifically assigned to each batch, and the extraction order of batches can be determined, for example, based on yield data or batch data related to the quality of root and tuber crops.

[0026] The evaluation device is particularly preferred to virtually establish the cultivated land area on which root and tuber crop conveyors are used, based on location data. Furthermore, the evaluation device divides the virtually established cultivated land area into area segments, which are at least substantially the same size. Specifically, all area segments not bordering the outer contour of the virtually established cultivated land area are of the same size. The evaluation device preferably assigns quality data or at least a portion of the data based on quality data to each area segment. This allows not only the determination of cultivated land yield and automatic allocation via GPS-based cultivated land area identification, but also the local high-resolution resolution of quality data for alternative or supplementary land.

[0027] Preferably, in the measurement area, the harvested material is irradiated with laser light at least substantially along a line using at least one laser device. The main direction of extension of this line is arranged, in particular, at an angle, preferably perpendicular to the transport direction. Since the surface composed of multiple harvested components, irradiated by the laser light, is not flat in practice, a line profile varying along its height is produced. This line profile, especially its evolution over time, is the basis for profile recognition. A sensor receives the light from the laser device scattered and / or reflected by the material, and more precisely, preferably measures its intensity at high resolution. The laser device particularly includes a laser source and is preferably configured as a line laser. The surface structure of the harvested material can be obtained particularly reliably by measuring the scattered and / or reflected light. In particular, it is possible to determine the defects, damage, soil cover, and structure of root crops.

[0028] In an advantageous embodiment of the invention, the material is irradiated with laser light along at least two lines using a laser device. These lines extend in a segment of an imaginary transport plane, the size of which corresponds to the contact area provided by the transport elements; preferably, the lines do not intersect. The lines are particularly preferably parallel. In this case, the laser device preferably comprises at least two laser sources. The main extension directions of the lines are arranged at an angle, preferably a right angle, relative to the transport direction. Thus, the aforementioned characteristics can be determined along two lines. Preferably, the material is irradiated with laser light along at least three lines using a laser device, the lines being oriented relative to each other as described above.

[0029] The evaluation device preferably identifies at least one image segment of at least one camera image within the camera images based on sensor data associated with a first camera image and sensor data associated with at least one second camera image, the image segment showing at least a portion of the background. The camera images are preferably received consecutively from the same sensor. Therefore, the camera images display substantially the same elements. Then, the sensor data of at least two camera images, more precisely based on them, are preferably offset from each other and the images are optically subtracted from each other. In particular, the evaluation device alters at least a portion of the sensor data, thereby at least partially removing the image segment from the camera image. The evaluation device preferably identifies at least one image segment based at least primarily on path data representing the path distance. The path distance is, in this case, the distance traveled by the transport element along the transport direction between the reception of the two camera images. The path distance is preferably acquired by a rotary encoder on the transport element. One of the camera images is optically shifted backward relative to the path distance during offset. Since the parallel lines are fixed in position relative to the optical sensor, only image structures recognizable by the laser device are retained in the resulting difference image. Based on these image structures, different grayscale values ​​or reflectance characteristics can be determined with particular reliability. These optimized features allow for more targeted offsetting of the aforementioned sensor data. Overall, the data base can thus be focused on relevant parts.

[0030] Particularly preferably, the material is irradiated along a first path using a laser beam of a first wavelength, and along a second path using a laser beam of a second wavelength different from the first wavelength. The two wavelengths are particularly ≥400 nm and / or ≤1000 nm. Using different wavelengths makes it easier to determine different characteristics of the harvested material, thereby enabling a more comprehensive database for generating adjustment signals. The number of different wavelengths is particularly consistent with the number of paths.

[0031] The optical sensor preferably has at least one monochrome camera. The sensing data includes, in particular, grayscale values ​​and / or depth information. By using a monochrome camera that preferably only records brightness information, more precisely, the grayscale value of each pixel, unnecessary data volume can be avoided and all relevant information can be obtained, especially information based on the laser light described above. Additional information about the shape and position of the harvested material on the conveying element can be obtained using the depth information.

[0032] Preferably, at least one root crop is distinguished from the adulterant based at least on the degree of reflection and / or backscattering of laser light by the correspondingly depicted surface, a distinction performed by an evaluation device. Backscattering is here largely influenced by the depth to which light penetrates the various components and the manner in which the light is scattered within those components. Specifically, this is done by comparing the grayscale values ​​of different pixels, and preferably by comparing the brightness gradient along directions angled to one or more lines.

[0033] The separation device is preferably arranged downstream of the measurement area and with respect to the material flow of the harvested crop. Specifically, the separation device is used to separate impurities from root crops. This arrangement allows the separation device to be adjusted by changing the signal to accommodate short-term variations in the composition of the harvested crop. The root crop conveyor preferably includes at least one additional optical sensor located downstream of the separation device, which receives signals for monitoring the separation results. This allows for particularly effective adjustment of the separation device.

[0034] The evaluation device preferably generates adjustment signals based on the position of identified components of the harvested material to be separated, particularly impurities, relative to the lateral direction. This lateral direction extends horizontally, ensuring it is perpendicular to the transport direction. Thus, the components can be selectively separated from the rest of the harvested material without generating unwanted defects in areas offset along the lateral direction. Specifically, based on the adjustment signals, at least one separation element can move only locally or can move more violently locally than other parts.

[0035] Preferably, the adjustment signal or its variation depends on the conveying speed of the conveying element. In particular, if the adjustment signal depends on individual harvested components to be identified, the evaluation device preferably calculates the time point at which the identified harvested components arrive at the separation element so as to adjust the configuration of the separation element at that time. Preferably, the evaluation device can be adjusted to respond to different harvested quantities, root crop-adulterant-ratios, etc., in the form of adjustment signals.

[0036] Particularly preferably, a plurality of separating elements of the separating device can be activated by adjusting a signal. These separating elements are arranged so that they are adjacent to each other when viewed along the conveying direction and are configured as pusher elements. Activation of one of the pusher elements depends particularly on the position of the identified and to-be-separated components of the harvested material, especially impurities, relative to the lateral direction. The separating device particularly has at least five pusher elements distributed along the width of the conveying element and configured to act on at least a portion of the harvested material, particularly in the region during the descent phase. Separation can be achieved particularly efficiently by using such a separating device.

[0037] Preferably, the position of the separating edge, formed by the separating element and included in the separating device, is adjusted by an adjustment signal to separate root crops and impurities. The separating edge is arranged, in particular, below the pusher element in a vertical direction. The separating edge may optionally be constructed circumferentially during operation. The separating edge is particularly used to introduce portions of the harvested crop into different branch streams, depending on the flight characteristics of the harvested portion during the descent phase or the action of the pusher element during the descent phase. This design of the separation device has proven particularly effective in the field of root and tuber crops.

[0038] The evaluation device preferably calculates yield data based at least on operational characteristic data of the root and tuber crop conveyor, particularly on travel speed and / or the position of the digging shovel of the root and tuber crop conveyor. Especially in the absence of GPS sensors, travel speed can be used to obtain an acceptable yield report based on the harvested area segment. The position of the digging shovel is preferably used to distinguish between the inactive and active states of the root and tuber crop conveyor.

[0039] The conveying element preferably forms multiple root crop receiving areas, at least partially located at greater depths, which are separated from each other in the conveying direction and in a transverse direction orthogonal to it by longitudinal and transverse separating elements of the conveying element. Specifically, the conveying element has both transverse and conveying barrier elements that prevent root crops from crossing from one root crop receiving area into another. Thus, different components of the harvest can be more easily distinguished from each other, and can be separated more specifically, particularly when using pusher elements.

[0040] The objective is also achieved by a root and tuber crop conveyor, particularly a root and tuber crop harvester, having at least one conveying element, at least one optical sensor, and an evaluation device. According to the invention, the root and tuber crop conveyor is used to perform the methods described above and / or below. This particularly means that the root and tuber crop conveyor includes a separation device with a separation element.

[0041] The root crop conveyor is preferably configured as a potato harvester or a sugar beet harvester. The root crop conveyor preferably has at least one digging shovel that extends into the ground during operation. The digging shovel is specifically configured to lift the tubers from the ground during operation, and the tubers are subsequently conveyed away from the digging shovel by rotating conveying elements, particularly a screen belt. Specifically, multiple interconnected conveying elements and a hopper, preferably for storing tubers, are arranged downstream of the digging shovel, into which the harvested material flows during operation until the digging shovel is emptied.

[0042] Preferably, the root and tuber crop conveyor includes multiple optical sensors aligned with different, and particularly non-overlapping, measurement areas, specifically the conveying element. The root and tuber crop conveyor also preferably includes multiple, and particularly different, separating devices for which different adjustment signals are generated. The adjustment signal for each separating device is preferably based on sensing data from exactly one sensor or based on sensing data from multiple sensors.

[0043] The root and tuber crop conveyor is specifically configured as a stationary machine or a mobile machine. Preferably, it is a loading or purifying machine. Specifically, it includes a chassis. Attached Figure Description

[0044] Further details and advantages of the invention can be derived from the illustrative embodiments described below. Wherein:

[0045] Figure 1 A side view of a root and tuber crop harvester according to the present invention is shown;

[0046] Figure 2 A schematic diagram of a first delivery element with an optical sensor is shown;

[0047] Figures 3a to 4b A schematic diagram of a second delivery element with an optical sensor is shown;

[0048] Figure 5 The image received by the optical sensor is illustrated in the diagram.

[0049] Figure 6 A schematic diagram of the separation device is shown; and

[0050] Figure 7 A schematic flowchart illustrating an embodiment of the method according to the present invention is shown. Detailed Implementation

[0051] The features explained below according to embodiments of the invention may also be used individually or in combinations other than those shown or described, but always in combination with at least the features of claim 1. Components with the same function are given the same reference numerals, as long as it makes sense.

[0052] The method according to the invention is particularly used for... Figure 1 The illustrated root and tuber crop harvester 2 includes multiple conveying elements 8 and an optical sensor 4, wherein the optical sensor is in... Figure 1 It is shown only schematically. Figure 2One of the conveying elements 8 of a root crop harvester 2 is shown, with an optical sensor 4 positioned above it. During operation of the root crop harvester 2, the return section of the conveying element 8 closer to the optical sensor 4 moves along the conveying direction 10. The optical sensor 4 is aligned with a fixed measurement area 6.

[0053] According to the method of the present invention, sensing data 3a and 3b are received by means of optical sensor 4. Optical sensor 4 is aligned with measurement area 6, and conveying element 8 moves the material flow of harvested crop 12 along conveying direction 10 through measurement area 6 (see also...). Figures 3a to 4b The harvested crop 12 includes root and tuber crops 22 and adulterants 24, said adulterants being... Figure 3a The example shown is a component of weeds.

[0054] The optical sensor 4 is specifically arranged in a housing that is open in the transport direction 10 for the transport element 8 (see...). Figure 3b and Figure 4b The housing also surrounds the conveying element 8 in the transverse direction 32.

[0055] The evaluation device 14 calculates quality data based on sensor data 3a and 3b, the quality data representing at least one mass of at least a portion of the harvested material 12. The evaluation device 14 then provides yield data 16 calculated at least based on the quality data. The yield data 16 at least reflects the quality and / or a value calculated based on the quality. Figure 7 The method according to the invention is illustrated schematically in which the evaluation device 14 obtains, in particular, basic data 15 stored for calculating yield data 16 from the storage of the evaluation device 14, which generally includes the density of root and tuber crops 22.

[0056] In addition, the evaluation device 14 also generates an adjustment signal 18 for adjusting at least one separating element of the separating device 20, particularly included in the root and tuber crop harvester 2 (see, for example...). Figure 6 The adjustment signal 18 is generated here based at least on sensor data (3a, 3b), quality data, and / or yield data 16. The separation device 20 is used to separate a first portion of the harvested crop 12 from another portion of the harvested crop 12, wherein in the current example, the first portion is a root crop 22 and the other portion is a contaminant 24. To calculate the yield data 16 and to generate the adjustment signal 18, the evaluation device 14 uses sensor data 3a, 3b from the same optical sensor 4 or uses sensor data 3a from the first optical sensor 4 and additional sensor data 3b from another optical sensor 4 (see [link to evaluation device]). Figure 7To calculate quality data, the evaluation device 14 distinguishes between root crops 22 included in the harvest 12 and impurities 24 included in the harvest 12. Furthermore, the evaluation device 14 calculates the quantity and size of root crops 22 that move through the measurement area 6 based on sensor data 3a and 3b. The evaluation device 14 calculates yield data 16 by assigning the quality data to location data acquired using a GPS sensor (not shown).

[0057] Using a laser device along the second lines 26, 28 (see Figure 5 In measurement area 6, the material flow of harvested crop 12 is illuminated with a laser beam. Lines 26 and 28 extend parallel and straight at the height of conveying element 8 to a horizontal transverse direction 32 perpendicular to the conveying direction 10. Optical sensor 4 receives the light scattered and reflected by the material flow from the laser device. Figure 5 In the middle, lines 26 and 28 encounter root crops 22 arranged on the left and dopants 24 arranged on the right, respectively, which scatter and reflect light in different ways.

[0058] The separation device 20, adjusted by the adjustment signal 18, includes multiple separation elements, configured as pusher elements 30 arranged adjacent to each other when viewed along the conveying direction 10. These separation elements are arranged along the material flow after the measuring area. Activation of one of the pusher elements 30 depends on the position of the identified and to-be-separated component of the harvested material 12 relative to the lateral direction 32; activation means that the pusher element 30... Figure 6 The position in the middle pivots to the left.

[0059] The position of another separating element, formed by the separating edge 34 included in the separating device 20, also depends on the adjustment signal. This position is moved horizontally according to the adjustment signal 18, such that the whole root crop 22 falls to the right of the separating edge 34 when the pusher element 30 is not activated, and the pusher element 30 deflects the dopant 24 so that the dopant falls to the left of the separating edge 34.

Claims

1. A method for operating a root and tuber crop conveyor (2), the method comprising the following steps: - Sensing data (3a, 3b) are received by means of at least one optical sensor (4), which is aligned with the measurement area (6) of the material flow of the harvested material (12), which is conveyed by at least one conveying element (8) along the conveying direction (10); - The evaluation device (14) calculates at least one mass of at least a portion of the harvested crop (12) based on the sensor data; - The evaluation device (14) provides production data (16) calculated at least based on the quality data, the production data reflecting at least the quality and / or a value calculated based on the quality; The evaluation device (14) is characterized in that it generates an adjustment signal (18) based at least on the sensor data (3a, 3b), the quality data, and / or the yield data (16), the adjustment signal being used to adjust at least one separation element of the separation device (20) included in the root crop conveyor (2), the separation element being arranged downstream of the measurement area along the material flow during operation and acting at least mechanically on a portion of the harvested material, the separation device being used to separate a first portion of the harvested material (12) and another portion of the harvested material (12). The adjustment signal (18) can activate the multiple pusher elements (30) of the separation device (20) arranged adjacent to each other along the conveying direction (10), and the position of the separation edge (34) formed by the separation element and included in the separation device (20) for separating root crops (22) and adulterants (24) is adjusted by the adjustment signal (18), the separation edge being arranged below the pusher element (30) in the vertical direction.

2. The method according to claim 1, characterized in that, In order to calculate the quality data and / or to provide the production data (16), the evaluation device (14) uses at least the sensing data (3a, 3b) of one of the optical sensors (4), which is also used by the evaluation device (14) to generate the adjustment signal (18).

3. The method according to claim 1 or 2, characterized in that, In order to calculate the quality data and to generate the adjustment signal (18), the evaluation device (14) distinguishes at least a portion of the root crops (22) included in the harvest (12) and the adulterants (24) included in the harvest (12), and calculates at least one share of the root crops (22) or the adulterants (24) in the harvest (12).

4. The method according to claim 1 or 2, characterized in that, The evaluation device (14) calculates at least one quantity of the root crops (22) included in the harvest (12) and / or calculates at least one size of at least a portion of the root crops (22) based on the sensing data (3a, 3b).

5. The method according to claim 1 or 2, characterized in that, The evaluation device (14) generates the adjustment signal (18) based on characteristic data calculated from the sensing data (3a, 3b) and / or based on the characteristic distribution calculated from the sensing data (3a, 3b) of at least one component of the harvest.

6. The method according to claim 5, characterized in that, The evaluation device (14) generates the adjustment signal (18) based on the characteristic data calculated from the sensor data (3a, 3b) that characterizes the size of the root and tuber crop (22) and / or based on the characteristic distribution of the root and tuber crop (22) calculated from the sensor data (3a, 3b).

7. The method according to claim 5, characterized in that, The evaluation device (14) calculates the production data (16) by at least assigning the characteristic data or data based on the characteristic data or the characteristic distribution or data based on the characteristic distribution to location data or batch data acquired by means of a GPS sensor.

8. The method according to claim 1 or 2, characterized in that, The evaluation device (14) calculates the production data (16) at least by assigning the quality data or data based on the quality data to location data or batch data obtained by means of GPS sensors.

9. The method according to claim 8, characterized in that, The evaluation device (14) virtually establishes a cultivated land area based on the location data, divides the cultivated land area into at least some area segments of the same size, and assigns the quality data or at least a portion of the data based on the quality data to each area segment, wherein the root and tuber crop conveyor (2) is used on the cultivated land area.

10. The method according to claim 1 or 2, characterized in that, In the measurement area (6), the material flow of the harvested (12) is illuminated by laser light using at least one laser device at least substantially along the lines (26, 28), the main extension direction of the lines being arranged at an angle relative to the conveying direction (10), and the optical sensor (4) receiving the light scattered and / or reflected by the material flow from the laser device.

11. The method according to claim 10, characterized in that, The material is irradiated with laser light by means of the laser device along at least two parallel lines (26, 28), the main extension directions of the lines being arranged at an angle relative to the conveying direction (10).

12. The method according to claim 11, characterized in that, The material is irradiated along the first line (26) with a laser beam having a first wavelength, and along the second line (28) with a laser beam having a second wavelength different from the first wavelength.

13. The method according to claim 1 or 2, characterized in that, The optical sensor (4) has at least one monochrome camera, wherein the sensing data (3a, 3b) includes grayscale values ​​and / or depth information.

14. The method according to claim 1 or 2, characterized in that, The evaluation device (14) identifies at least one image segment of at least one camera image based on sensor data (3a, 3b) associated with a first camera image and sensor data (3a, 3b) associated with a second camera image, the image segment showing at least a portion of the background, and modifies at least a portion of the sensor data (3a, 3b) to at least partially remove the image segment from the camera image.

15. The method according to claim 14, characterized in that, The evaluation device (14) identifies the at least one image segment based on path data reflecting a path distance, and the transport element (8) traverses the path distance along the transport direction (10) between the reception of two camera images.

16. The method according to claim 1 or 2, characterized in that, The outlines of each root and tuber crop (22) and / or dopant (24) are identified in at least one camera image of the optical sensor (4) based on the sensing data (3a, 3b) and their volumes are obtained based on the stored underlying data.

17. The method according to claim 3, characterized in that, The evaluation device (14) distinguishes at least one root crop (22) from the dopant (24) at least based on the sensing data (3a, 3b) and at least based on the degree of reflection and / or backscattering of laser light by the correspondingly depicted surface.

18. The method according to claim 1 or 2, characterized in that, The separation device (20) is arranged downstream of the measurement area (6) and the flow of the harvested material (12), and is used to separate the adulterants (24) and root crops (22).

19. The method according to claim 1 or 2, characterized in that, The evaluation device generates the adjustment signal based on the position of the identified and separable components of the harvested material (12) relative to the lateral direction (32).

20. The method according to claim 19, characterized in that, The evaluation device generates the adjustment signal based on the position of the identified and to-be-separated dopants (24) of the harvested material (12) relative to the lateral direction (32).

21. The method according to claim 1 or 2, characterized in that, The evaluation device (14) calculates the yield data (16) based at least on the operating characteristic data of the root and tuber crop conveyor (2).

22. The method according to claim 21, characterized in that, The evaluation device (14) calculates the yield data (16) based on the travel speed of the root and tuber crop conveyor (2) and / or the position of the digging shovel of the root and tuber crop conveyor.

23. The method according to claim 1 or 2, characterized in that, The conveying element (8) forms a plurality of root and stem crop containing areas located at least partially at a deeper depth, the root and stem crop containing areas being separated from each other not only along the conveying direction (10) but also along the transverse direction (32) by the separating elements of the conveying element (8).

24. The method according to claim 1, characterized in that, The root and tuber crop conveyor (2) is a root and tuber crop harvester.

25. A root and tuber crop conveyor, comprising at least one conveying element (8), an optical sensor (4), and an evaluation device (14), characterized in that, The root and tuber crop conveyor is used to perform the method according to any one of claims 1 to 24.

26. The root and tuber crop conveyor according to claim 25, characterized in that, The root and tuber crop conveyor (2) is a root and tuber crop harvester.

Images