Method for regulating operation of machine for harvesting root crops

Abstract

The invention relates to a method for regulating the operation of a machine (2) for harvesting a root crop (4) and / or for separating a root crop (4) from other harvests comprising inclusions (5), in which at least one optical image detection unit (6) records the image of the root crop (4) by means of at least one conveying element (10, 10A, 10B, 10C, 10D, 10E, 10F, 10K, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10E, 10T) is moved forward relative to the machine frame (12), and wherein the evaluation device generates a separation device adjustment signal for setting at least one operating parameter of a separation device of the machine (2) on the basis of a test data set generated on the basis of the test image (8) or formed by said test image. The invention further relates to the machine.

Description

[0001] This application is a divisional application of an international application entering the Chinese national phase, with an application date of November 05, 2019, an international application number of PCT / EP2019 / 080264, a national application number of 201980073546.0, and a title of "Method for Adjusting the Operation of a Machine for Harvesting Root Crops". Technical Field

[0002] The invention relates to a method for adjusting the operation of a machine for harvesting root crops and / or for separating root crops from other harvested products, and to the machine. In this method, at least one inspection image of at least a part of the harvested product that is moved forward relative to the machine frame by means of at least one conveying element is recorded by means of at least one optical image detection unit. Background Art

[0003] The inspection image shows the harvested product that has been previously picked up or delivered by the machine for harvesting root crops. Here, a conveying element that is part of the machine is used to move the harvested product forward within the machine, and at least a part of the harvested product is in direct contact with the conveying element here.

[0004] The published document US2018 / 0047177 A1 discloses a method in which the recorded inspection image is used to calculate the speed of the conveying element. Subsequently, the actual speed of the conveying element is adjusted based on the calculated speed.

[0005] The disadvantage of known methods of this type is that, depending on the harvesting conditions, significant damage to the root crops is caused or a large amount of inclusions in the root crops unloaded from the machine are caused. Therefore, additionally, in US2018 / 0047177 A1, it is generally proposed to change the harvesting rate or one or more configurations of the machine based on a server-based evaluation of the three-dimensional data of the harvested product recorded by the sensors of the machine. Summary of the Invention

[0006] The object of the invention is to provide a method in which the protection of the root crops is improved and as large a share as possible of the inclusions is separated from the root crops.

[0007] According to the invention, the object is achieved by a method of this type, in which an evaluation device generates a separation device adjustment signal for setting at least one operating parameter of the separation device of the machine based on an inspection data set generated from or constituted by the inspection image.

[0008] The machine is a self-propelled or towed vehicle in operation for harvesting root crops, in particular potatoes, beets, carrots or chicory. During the implementation of the method, the machine moves forward in particular along the rows, in particular in the direction of the plant ridges of the root crops to be harvested, and picks up the root crops as part of the harvest from the land in a continuous process. After picking up the harvest, at least a part of the harvest, in particular the root crops and / or inclusions, is moved forward at least partially by at least one conveying element relative to the machine's frame. In particular, the conveying element is configured in a surrounding manner and is configured as a conveyor belt, preferably as a screen belt, or as a rotating star screen.

[0009] Alternatively, the machine can also be a machine for separating the root crops of the harvest from inclusions, such as clods, stones or soil.

[0010] The separation elements of the separation device that can possibly be set individually are part of the machine and preferably cooperate with one or more conveying elements here. Alternatively, the separation device is part of the conveying element and is at least jointly constituted by the conveying element (for example in a screen belt provided with a vibrating device), or jointly constitutes one or more conveying elements (for example in a roller cleaner). During operation, a movement pulse is applied to at least one component of the harvest, in particular to the root crops or inclusions, by moving the harvest relative to the separation device. The separation device is provided, for example, in the form of a roller cleaner with rotating separation elements in the form of rollers, wherein the different components of the harvest move at least not in the same direction through the separation device.

[0011] The optical image detection unit is particularly fixedly arranged on the machine at a position above the conveyor element and is directed at the conveyor element and thus, during operation, at the flow of the harvest or its components, in particular the root crops or inclusions, located between the image detection unit and the conveyor element. The method according to the invention is particularly implemented during harvesting or separation by means of the machine and is preferably repeated for this purpose.

[0012] Inspect an image, especially a multi-dimensional image, preferably a two-dimensional image, on which at least a part of a harvest of root crops, inclusions and / or conveying elements is depicted. Based on the inspection image recorded by an image detection unit, an inspection data set is generated either by the image detection unit or by an evaluation device. Alternatively, the inspection data set can consist of the inspection image itself. This especially applies to an image detection unit whose inspection image already has a format matching subsequent analysis in the evaluation device. The inspection data set is especially a data set that is at least temporarily present in the system and is provided by processing, such as filtering and / or otherwise depicting, and the information of the data set, such as color information in the form of one or more color values, is evaluated in the evaluation device. For example, the inspection data set can exist as an image file, a table, a matrix or a vector field. The inspection image or the inspection data set already provided in the image detection unit is transmitted by the image detection unit to the evaluation device. An optical image detection unit is especially configured as a digital camera or a video camera for two-dimensionally recording the inspection image, or as a line scan camera. If an inspection image is subsequently referred to in a description related to processing image information in the evaluation device, it can be the inspection data set in this context.

[0013] The evaluation device is used to evaluate the inspection data set. The evaluation device includes at least one processor and, as a central computing unit or as a decentralized system, the decentralized system includes at least one memory and at least one processor that are configured at different locations at components of the machine. Thus, a local system is involved so that possible evaluations can be directly performed locally and results can be directly provided.

[0014] Operating parameters are variables that relate to the geometry of the separating device or its separating elements, the position or orientation relative to the frame or the conveying element, the speed of the separating device and / or the motor power. By the operating parameters, it can be set in what way or to what extent the separating device interacts with the harvest or at least one of its components. In particular, by changing the operating parameters, it can be changed how much inclusion remains downstream of the separating device relative to the conveying route for conveying root crops within the machine. The operating parameters are especially independent of the conveying speed of the conveying element for at least conveying root crops, and the root crops are placed on the conveying element and move in the same direction as the conveying element.

[0015] By means of the operating parameter definition, it is defined how aggressively the separating device acts when separating root and tuber crops from foreign matter. In the case of too little aggressiveness, too large a proportion of the foreign matter is not separated from the root and tuber crops. In the case of too much aggressiveness, not only the foreign matter, but also the root and tuber crops are separated or damaged, reducing the yield. The operating parameters are preferably set by generating a separating device adjustment signal and in particular by sending it to the separating device controller, based on the crop or a part of the crop imaged by means of the inspection image. The separating device controller increases or reduces the operating parameters in particular according to the separating device adjustment signal. To this end, the separating device controller in particular sends an electrical signal preferably to an actuator. By means of the separating device controller, in particular by means of the electrical signal, the hydraulic pressure, pneumatic pressure, current, voltage, force and / or torque which is in particular suitable for driving or adjusting the separating device or the operating parameters is adapted. Here, the separating device controller is in particular the part of the computing unit which is identical to the evaluation device.

[0016] By means of this method, continuous optimization of the operation of the separating device can be achieved. In particular, the aggressiveness of the separating elements or the separating device can be continuously optimized, enabling gentle treatment of the root and tuber crops and at the same time effective separation of foreign matter from the crop.

[0017] In particular, the evaluation device evaluates the inspection data set locally on the machine or on a towing vehicle directly connected to the machine in order to provide the separating device adjustment signal. As a result, in the event of an undesirable state being detected at the separating device, almost instantaneous adjustment can be carried out and blockages or damage can be avoided accordingly.

[0018] In an advantageous refinement of the method according to the invention, the evaluation device calculates at least one first portion formed by at least one image region of the inspection image. At least one image region at least partially depicts the crop or a defined component of the machine. A cleaning characteristic value is calculated in particular based on the first portion.

[0019] Before calculating the first portion, the components represented by the first portion in statistical terms are predefined. The inspection image and / or the inspection data set are in particular divided into a plurality of preferably identically sized image regions. The image regions which at least partially show the component together form the first portion, which portion in particular shows the component at least partially over the entire image region, where the first portion is formed according to the ratio of the number of image regions or according to their total area.

[0020] The first share is a measure of the scale of the image area depicting the component parts and thus a measure of the density of the component parts in the field of view of the image detection unit or the share to be observed of the inspection image. The component parts are in particular at least partly root crop component parts, whereby the first share approximately indicates the density of the root crops. The image area is in particular evaluated as depicting the component parts and assigned to the first share if at least 50% to 100% of the area of the image area shows the component parts. Alternatively, the share can be obtained by adding up the individual pixels depicting the component parts. In particular, at least one image area can also be assigned to the first share only in part or preferably partly assigned to different shares. This is particularly advantageous if the image area cannot be uniquely associated with the corresponding component parts within the scope of a preferably model-based classification method. In this case, the probabilities of the associations with the different shares are preferably determined. The image area is particularly preferably assigned to the different shares in part or according to the probabilities. Thereby, the proportions of the component parts to one another are depicted even more precisely.

[0021] The eigenvalue is calculated by calculating the first share, and the eigenvalue in particular characterizes the composition of the harvest. Based on this, the operating parameters can be adjusted particularly advantageously, since the cleaning performance of the conveying element or the separating device including the conveying element is closely related to the composition of the harvest. In the case where the first share represents the inclusion density, the operating parameters can preferably be changed as the first share increases in order to achieve a greater separating effect or separating performance. The cleaning eigenvalue is preferably calculated at least based on the first share or is equal to the first share.

[0022] Preferably, at least one image area forming the first share is in particular explicitly identified as a defined component part based on the test sub-data set generated from the image area. In particular, the image area is identified based on the test values, preferably color information, contained in the inspection image and / or the test sub-data set. The color information in particular includes the black-and-white, gray-scale, and / or color channel values of the color space.

[0023] Preferably, the test sub-data set, the test values, or the color information is classified by a particularly model-based statistical classification method. Thus, the image area is in particular assigned to the first share only if the result of the classification method corresponds to a defined component part of the harvest or the machine. The classification method in particular uses neural networks, random forests, Bayesian classifiers, support vector machines, and / or decision trees. By using the classification method, the calculation results of the first share, in particular the different shares, are particularly stable and effective with respect to the composition of the harvest.

[0024] Particularly preferably, the test value or color information is calibrated with one or more reference values or reference regions, and based on this, the image region is either assigned to the first share or not. The reference image can preferably be detected by an optical image detection unit in the same way as the test image, wherein in particular different parts of the reference image can be visibly marked as different components by the user. By means of this form of differentiation, a particularly reliable identification of the relevant components on the test image is achieved. Particularly preferably, at least one of the test values of the test sub-dataset, which particularly includes color information, is compared with at least one reference value, and the image region is assigned to the first share only when at least one test value of the test sub-dataset is at least within the associated reference value range. The reference value range is particularly limited by a maximum value and a minimum value, wherein preferably, in order to assign the image region to the first share, different test values must be within the respectively associated reference value ranges.

[0025] In an advantageous design of the invention, when an exemplary image region to be assigned to the first share of the reference image is input, the evaluation device automatically develops or further develops the model on which the classification method is based. Alternatively or additionally, when an exemplary image region that can be assigned to the first share of the reference image is input, the evaluation device automatically calculates or changes at least one reference value region. Thus, in particular, it is not at all necessary to manually predefine the reference value, the reference value range or the model or its model parameters completely by the user. Instead, it is sufficient that, in order to put the evaluation device into operation, at least one exemplary image region of the display component is input. The evaluation device automatically determines at least one reference value, at least one reference value range or the model or its model parameters based on the image region. Thus, the evaluation device adapts as autonomously as possible to different application situations. Here, the larger the number of input image regions, the more precisely the reference value or the reference value range or the model or its model parameters can be determined.

[0026] If the input image region shows components under different brightness and / or soil conditions, the method is particularly stable. Thus, the method can be reliably used under different application conditions. Particularly preferably, when the method is repeatedly implemented, the evaluation device adapts at least one reference value or reference value range, if necessary in the case of an exemplary identification of the relevant component by the operator, from which training data for the algorithm can be depicted.

[0027] In particular, based on other sensors, such as a brightness sensor for measuring the ambient brightness associated with the inspection data set recorded substantially simultaneously by the evaluation device, the evaluation device automatically scales the reference data. Alternatively or additionally, the user of the method, i.e., in particular the driver or operator of the machine or a machine coupled thereto, can manually mark at least one component on the visualized inspection image in order to scale the reference data of the evaluation device. Thus, based on the instructions made once by the user or based on the data stored in the evaluation device, the evaluation device performs the differentiation of, for example, potatoes, stems, leaves, stones, loose soil, and soil clods and calculates the corresponding shares.

[0028] Preferably, in addition to inputting the training data that may exist in the form of component markings, the method according to the invention is automatically executed after its start. It is simpler for the machine driver or operator to control.

[0029] Preferably, the image sub-data set generated based on or composed of the respectively adjacent image regions additionally discriminates the image regions forming the first share. In particular, for this purpose, the color information included in the inspection sub-data set is also used, especially the color information including black and white and / or gray values. Thus, the image regions are evaluated not only based on the data associated with the image regions but also additional data associated with the surrounding image regions. Thereby, the brightness change curve and / or the color change curve can be obtained, and further discrimination can be performed based on a wider data basis.

[0030] Preferably, when calculating the first share, different image regions are weighted differently. Thus, the contributions of the image regions forming the first share are different. This achieves that the first share is not calculated simply based on the stereogram of the inspection image, but compared with the image regions showing the components closer to the image detection unit, in particular, the image regions showing the components of the harvest further away from the image detection unit are weighted with a higher weight. Thereby, a cleared stereogram of the first share can be formed, and thus a particularly realistic image of the harvest composition on the conveying element can be achieved.

[0031] Preferably, the entire inspection image or a coherent inspection image part is divided into partial image regions. In particular, each partial image region respectively includes the same number of pixels of the inspection image, preferably just one pixel. The inspection image is a part or segment of the inspection image including a plurality of partial image regions. In order to calculate the first share, in particular, only the image regions belonging to the inspection image part showing the share are considered. For this purpose, in particular, the inspection image part is defined such that it depicts the sensitive and monitored area within the machine. Thus, the image regions forming the first share particularly include a plurality of partial image regions of the inspection image part.

[0032] The inspection image or the inspection image part is in particular grid-divided into a plurality of partial image regions, which are preferably rectangular respectively. When a partial image region consists of just one pixel, a particularly large data basis is provided, which is used to evaluate the state of the harvested product in terms of its individual components, and thus to achieve a particularly sensitive adjustment of the operating parameters. At the same time, a data set provided by a conventional 2D digital camera with usually up to several million pixels can be easily and quickly processed by an evaluation device equipped with one or more current processors.

[0033] Preferably, the inspection image comprises a plurality of inspection image parts, and the evaluation device calculates for each of the inspection image parts a first share of the image region, in particular a plurality of shares of the image region, where preferably the inspection image parts depict the harvested product of different conveying elements conveyed out by the separating device. Thus, the inspection image parts particularly show different sections of the same conveying element, one of which is arranged in front of the separating device or its separating element in the conveying direction and the other is arranged behind the separating device or its separating element. Alternatively, the inspection image parts show different conveying elements, which are alternative conveying routes for different components of the harvested product (for example, a conveying element for the cleaned root crops, a conveying element for the sorted-out inclusions). By calculating the first shares of the different inspection image parts, the cleaning or separating performance of the associated separating device can be evaluated particularly comprehensively. In particular, the first share of the input stream of the harvested product to the separating device can be compared with the first share of the discharge stream of the root crop mixture of the separating device or the separating equipment to determine the effectiveness of the separating device. Alternatively, preferably the composition of the harvested product of the conveying element connected to and conveyed out by the separating device is determined once for the separated harvested product and once for the harvested product to be further conveyed.

[0034] The operating parameters are set in particular according to the effectiveness of the separating device. Similarly, the inspection image parts depicted or present in the corresponding inspection data set can show the part of the conveying element before the separating or deflecting element and the part of the conveying element after the separating or deflecting element. If the image analysis shows that the share of the root crops in the undesired area after the deflecting element is too large, the deflecting element can be positioned differently, for example lower, above the conveying element, which improves the separating performance.

[0035] In an advantageous embodiment of the present invention, the inspection image portions preferably show different conveying elements after the separating device, in particular the conveying elements for discharging the root crop mixture and the conveying elements for discharging inclusions after the same separating device. For these two inspection image portions, in this case, preferably, a first share of the components, for example, a first share of the root crops, is determined. Alternatively, different shares are calculated for different inspection image portions. Thereby, for example, the share of inclusions in the discharge stream of the root crop mixture can be compared with the share of root crops in the stream of sorted inclusions, and based on this, the separating elements included in the separating device can be set in terms of their orientation relative to the conveying elements or in terms of their speed.

[0036] Preferably, the image region forming the first share shows the root crops or parts thereof, and the image region forming the second share shows the inclusions or a part thereof. Thus, the evaluation device calculates at least two different shares. The evaluation device particularly preferably calculates at least four shares, a first share for the root crops, a second share for the foliage components, a third share for the soil, and a fourth share for the damaged parts. In particular, the sum of the shares ≤ 1. Alternatively, the first share can also be the inclusion share, the second share can also be the root crop share, and so on. Additionally or alternatively, preferably, the share of clods and / or stones is calculated.

[0037] Alternatively or additionally, in another improved form according to the present invention, there are provided at least two image detection units and at least two conveying elements, wherein the first image detection unit records a first inspection image of the harvested product portion conveyed by the separating device by means of the first conveying element, the second image detection unit records another inspection image of the harvested product portion conveyed by the separating device by means of the second conveying element, and a separating device adjustment signal is generated based on at least one, preferably two, of the two inspection images or the inspection data sets generated therefrom. Here, the inspection data sets are evaluated in particular in terms of the respective shares as described above or below.

[0038] By calculating multiple shares in the evaluation device, a more accurate image of the composition of the harvested product or the occupancy of the conveying elements can be achieved. Instead of discriminating the image regions according to the limit values, it is necessary to associate all the image regions of the inspection image or an inspection image portion with a share. Here, preferably, the degree of consistency between the inspection sub-data set calculated according to the image regions and the reference sub-data set is evaluated, and each image region is associated with the share having the greatest consistency.

[0039] In an advantageous design of the present invention, the cleaning characteristic value is determined by means of the deviation of the first share calculated by the evaluation device from the threshold value. In particular, the threshold value characterizes the optimal loading rate of the conveying element, and the deviation from its defined absolute value triggers a change in the operating parameters. The cleaning characteristic value is particularly based on a plurality of shares and preferably on other data, in particular sensor data.

[0040] In an advantageous design of the present invention, the separation device adjustment signal is calculated based on a plurality of cleaning characteristic values calculated in particular successively in time or at least one previously calculated cleaning characteristic value is included in the calculation of the cleaning characteristic value. In particular, the sliding average value of the cleaning characteristic value is calculated and used as the basis for the separation device adjustment signal or the curve of the cleaning characteristic value is smoothed in particular according to a low-pass filter. By means of these measures, the method according to the present invention is particularly less susceptible to interference and can thus be used particularly stably.

[0041] In an advantageous design of the present invention, at least one additional sensor transmits sensor data to the evaluation device, and the sensor data is incorporated into the calculation of the separation device adjustment signal. The sensor is in particular a sensor for measuring the thickness of the crop layer on the conveying element, in particular a touch sensor or an ultrasonic sensor, a sensor for measuring the drive power, for example a pressure sensor in the form of a pressure sensor for measuring the hydraulic oil pressure, and / or in particular a speed sensor for measuring the rotational speed of the conveying element drive. In particular, the slip of the conveying element is determined based on the speed sensor and is transmitted to the evaluation device in the form of sensor data. By means of a humidity sensor, additional information can be included in the calculation of the separation device adjustment signal.

[0042] Based on the additional information present in the sensor data that goes beyond these other information provided based on the inspection image, a significantly more accurate image of the cleaning situation in the area of the conveying element is available to the evaluation device, and the operating parameters can thus be influenced in better coordination therewith.

[0043] Preferably, the evaluation device triggers an increase or decrease in the operating parameters by means of different separation device adjustment signals. In particular, the evaluation device or the separation device controller includes a fuzzy regulator, a PID regulator or a three-point regulator, whereby the current operating parameters are alternately triggered to increase, decrease or remain unchanged. In particular, an increase is triggered only if the cleaning characteristic value exceeds a predefined first threshold value, and a decrease is triggered accordingly if the cleaning characteristic value is below a predefined second threshold value.

[0044] Preferably, the operating parameter is the spacing between two conveying elements by which the conveying elements can jointly act as a separating device, or the separating element of the separating device or the spacing of the separating device from the conveying element. In particular, the operating parameter is the spacing between two conveying rollers that rotate during operation of the roller table, and soil is screened out between the conveying rollers. Alternatively, the operating parameter is the spacing of the conveying element configured as a screen belt from the separating element configured as a reversing roller, where the separating element extends transversely over the conveying element and causes the root crops to deflect laterally from the conveying element. Here, the reversing roller rotates about a rotation axis during operation, and the rotation axis forms an angle of less than 90° with respect to the conveying direction of the conveying element in a top view of the conveying element. Alternatively, the separating element is configured as a finger belt that rotates during operation, the finger belt being located above the conveying element, and the outwardly projecting fingers of which engage the harvested product provided on the conveying element during operation. Alternatively, the separating element is again configured as a peeling device that does not rotate during operation, the peeling device being provided above a coarse foliage belt that acts together with the screen belt and causing the root crops to be peeled off from the foliage piled up on the coarse foliage belt. This spacing can in particular be set by a hydraulic or mechanical adjusting device, whereby it is possible to particularly simply change the aggressiveness of the separating element of the separating device in cooperation with the conveying element or the separating performance of the conveying element.

[0045] Alternatively, the operating parameter is the penetration depth of at least one digging shovel of the machine into the ground. Thereby, the amount of inclusions in the harvested product can be influenced in a simple manner.

[0046] Alternatively to or in addition to the above, the operating parameter is the separating speed of the separating device or the separating element of the separating device, in particular the rotational speed or the revolving speed. In particular, the separating speed is the revolving speed of the above-mentioned finger belt or the rotational speed of the above-mentioned reversing roller. Alternatively, the separating speed is the revolving speed of a separating device that is angled and conveys inclusions upwards during operation, the separating device being in the form of a fine foliage belt for example, and the separating device being operated such that the inclusions are conveyed upwards as much as possible and the root crops roll downwards contrary to the direction of movement of the section of the separating device facing the root crops.

[0047] Preferably, the operating parameter is alternatively expressed as the angle of attack of the conveying element, of the separating device, i.e. of at least one separating element of the separating device. In particular, the operating parameter is the angle of attack of the separating device also referred to as the fine foliage lifter. By the angle of attack, the conveying plane of the fine foliage belt of the separating device is inclined relative to the horizontal line, thereby setting the aggressiveness of the separating device.

[0048] In an alternative advantageous design of the present invention, the operating parameter causes a change in the air flow velocity or the air mass throughput per unit of time, and the corresponding separation device separates due to the air flow. Here, for example, the motor power depicted by the motor speed can be the corresponding operating parameter. Here, the air in turn causes the separation of the root crops and the inclusions, in particular by blowing out the stems and leaves from the harvest stream and then removing them. In such an air separation device, which can also be fixedly installed in particular, the operating parameter is preferably the speed of the associated blower or the angle of attack of the associated unit in the form of an air deflector, which divides the air flow, for example, into a main air flow and a lateral air flow.

[0049] In an advantageous design of the method according to the invention, a plurality of the aforementioned operating parameters are set, in particular by means of separation device adjustment signals that are the same or different. For this purpose, rules can be stored in the evaluation device, and the rules obtain the corresponding signals for the corresponding adjustable variables for the desired additional or minimum separation performance of the corresponding separation device.

[0050] Preferably, after triggering a change in the operating parameter, no other change in the operating parameter is triggered for a defined period of time or for a defined conveying route of the conveying element. In particular, this only relates to the same operating parameter and / or at least one operating parameter of at least one separation device arranged downstream during operation. This ensures that there is no overregulation of the separation elements, and each change in the operating parameter is based on a reliable data basis that has taken into account the operating parameter changes that have occurred.

[0051] The separation device adjustment signal is preferably transmitted to the separation element controller wired, in particular by means of a CAN bus or Ethernet, or wirelessly, and preferably the separation device setting can be enabled in advance by the operator via an input on the interface. Thereby, an existing or at least established system can be used for communication transmission to set the separation element, and in particular the reliability of the method is increased in the following way: instead of automatically setting the separation device, the operator obtains, in a displayed manner, the obtained or to-be-executed setting of the separation device, in particular in the driver's cab, and activates it via the corresponding input at the interface.

[0052] Furthermore, according to the present invention, this object is achieved by a machine for harvesting root crops and / or for separating root crops from other harvest inclusions. The machine has a frame, a conveying element, an image detection unit, a separation device, and an evaluation device. The machine is used to perform the aforementioned or the method described below.

[0053] The evaluation device preferably includes a graphical processor unit, in particular a processor unit based on a GPU (Graphics Processing Unit) or GPGPU (General-Purpose Graphics Processing Unit) and / or an FPGA (Field-Programmable Gate Array). This form of the evaluation device enables particularly resource-saving and in particular local evaluation of the test data set. It is to be understood that the evaluation device configured as an EDV device has other common mechanisms for power supply, interfaces, and working memory, for example.

[0054] In an advantageous design of the invention, the machine has at least one sensor coupled to the evaluation device, in particular a touch or ultrasonic sensor for measuring the thickness of the crop layer on the conveying element, a sensor for measuring the drive power, for example a pressure sensor for measuring the hydraulic oil pressure, and / or a rotational speed sensor arranged at the conveying element. Based on the measured physical variables, a conveying speed signal can be calculated by means of the sensors, thereby significantly increasing the effectiveness of the variables calculated by means of the evaluation device and reducing its error proneness. Similarly, a humidity sensor can additionally provide information that is helpful for setting one or more of the separating devices within the analysis scope of the evaluation device.

[0055] Preferably, the machine has a plurality of image recording units that each record at least one inspection image of the same conveying element during operation. Alternatively, the machine preferably has a plurality of image detection units that each record at least one inspection image of different conveying elements conveyed in particular by the same separating device during operation. Alternatively, one of the two image detection units can be directed, for example, onto the output area of the separating device separated by an air stream. By means of the plurality of image detection units, the composition of the crop, in particular the variation curve of the first fraction, can be tracked along the conveying route and in particular at different parts of the conveying route after the separating device of the machine. Thus, in particular, the conveying speeds of different conveying elements can be set according to different first fractions. Correspondingly, the analysis of the conveying route areas detected by the respective inspection images is performed in at least one evaluation device according to the method described above or below. Preferably, only one central evaluation agency is provided for evaluating the data of the image detection units, or a plurality of self-contained evaluation devices can also be associated with the respective image detection units. Then, the evaluation devices can in particular control the respectively associated separating devices in coordination with other evaluation devices. Alternatively or additionally, the central evaluation device is responsible for creating separating device adjustment signals and forwarding them to the machine control device.

[0056] The image detection unit is preferably arranged such that the inspection image shows at least two alternative conveying paths of the entire conveying route for different crop components, in particular for root crops and for foreign matter. Thereby, two conveying elements can be monitored based on the image detection unit, wherein each inspection image part of the inspection image depicts a different conveying element or a section of the crop thereon. In particular, one of the conveying elements is configured for conveying sorted foreign matter, and the other of the conveying elements is configured for conveying cleaned root crops. Thereby, a particularly comprehensive image of the cleaning performance can be achieved and the load on the conveying element and / or the separating device including the conveying element can be detected.

[0057] The image detection unit is preferably arranged such that during operation, the inspection image at least partially depicts at least two conveying element sections separated by a separating device, in particular a separating element of the separating device. The conveying element sections are only separated in the figure by the separating element of the separating device passing through the inspection image and are each surrounded by a conveying element. The separating element is closer to the image detection unit than the conveying element, and the conveying element is thus covered by the separating element in the inspection image. By this positioning of the image detection unit, it is possible to calculate at least one first share for each of two separate inspection image parts and thereby directly evaluate the effectiveness of the separating element and the associated separating device. In particular, for this purpose, the composition of the crop before reaching the separating element is compared with the composition of at least one share of the crop after passing through the separating element.

[0058] Preferably, the conveying element is configured as a screen belt or a rake belt, which extends in operation in particular under at least one reversing roller that extends transversely across the conveying element and deflects the crop laterally therefrom. Alternatively, the conveying element is configured as a star screen or a conveying roller, wherein the conveying roller is in particular surrounded by a roller table.

[0059] As an alternative to or in addition to the above, the machine is configured as a machine for separating root crops from other crops. Here, the machine operates in a particularly stationary manner during operation according to an advantageous refinement, i.e., without a continuous local forward movement of the machine.

[0060] According to another advantageous refinement, the machine is a potato harvester or a sugar beet harvester. Description of the Drawings

[0061] Other details and advantages of the present invention can be derived from the schematically illustrated embodiments described below. The drawings show:

[0062] Figure 1 A program flow chart showing the method according to the present invention,

[0063] Figure 2Shows the program flowchart for obtaining the adjustment signal of the separation device,

[0064] Figure 3 Shows the program flowchart for processing the cleaning eigenvalue,

[0065] Figure 4 Shows the program flowchart for the separation device settings,

[0066] Figure 5 Shows the view of the inspection image and its partial evaluation,

[0067] Figure 6 Shows the object according to the present invention,

[0068] Figure 7 and 8 Shows according to Figure 6 The different side views of the object,

[0069] Figure 9 Shows according to Figure 6 The partial view of the object and the conveying element,

[0070] Figure 10 Shows according to Figure 6 Of the device Figure 9 The detailed view of the locally shown area in,

[0071] Figure 11 Shows the object according to Figure 10 From different perspectives,

[0072] Figure 12 Shows according to Figure 10 The view of the inspection image of the image detection unit,

[0073] Figure 13 Shows according to Figure 6 The separation device and the image detection unit of the machine,

[0074] Figure 14 Shows from Figure 13 The perspective of the image detection unit shown and the schematic inspection image recorded,

[0075] Figure 15 Shows according to Figure 6 Another separation device and the image detection unit of the machine,

[0076] Figure 16 Shows from Figure 15 The perspective of the image detection unit shown and the schematic inspection image recorded and shown.

[0077] Figure 17 Shows according to Figure 6A detailed view of another machine and another image detection unit

[0078] Figure 18 shows a schematic view of an inspection image observed from the perspective of an image detection unit according to Figure 17 of the inspection image of the harvested product including the root crop

[0079] Figure 19 shows a detailed view of another device according to the present invention

[0080] Figure 20 shows another detailed view of another device according to the present invention.

[0081] If necessary, identical or similarly acting components are provided with the same reference numerals. Each technical feature of the embodiments described below can also be combined with the features of the previously described embodiments to achieve an improved solution according to the present invention, but is always produced in combination with at least one of the features of the independent claims. The objects listed in the list of figures are sometimes only partially shown in the individual figures. Detailed Description of the Invention

[0082] A method according to the present invention is used to adjust the operation of a machine 2 for harvesting root crops 4 (see Figures 6 to 8 ). In this method, at least one inspection image 8 is recorded by at least one optical image detection unit 6, and the inspection image presents a harvested product including root crops 4 that is moved forward relative to the frame 12 of the machine 2 by means of at least one conveying element generally designated by the reference numeral 10 first.

[0083] The inspection image 8 is transmitted to an evaluation device, and the evaluation device generates a separating device adjustment signal based on an inspection data set generated from or constituted by the inspection image, and the separating device adjustment signal is used to set at least one operating parameter of the separating device of the machine (2). The drawing shown as the inspection image only schematically shows the parts important for the present invention, without possible boundaries or limits. Digital images recorded by the camera may have other information not shown in the drawing. The other information may have been marked or filtered on the camera side or when creating or processing the inspection data set, for example.

[0084] In one embodiment according to the present invention, starting from the harvest stream 1.1, the composition of the harvested product is evaluated before the first separating element by means of the above method (block 1.2) ( Figure 1)。In addition, the composition of the harvested stream is again calculated before the inlet and after the outlet of another separation device (boxes 1.3 and 1.4). Finally, the composition of the harvested stream is also determined at the inlet of the third separation device. The corresponding shares A1 and A2 of the root crops and inclusions are obtained therefrom (boxes 1.6, 1.7, 1.8 and 1.9). Depending on the desired separation performance at the respective separation device, the individual shares A1 and A2 of the root crops or inclusions are mutually settled in the evaluation device for the respective separation device (box 1.10). Subsequently, the operating parameters of the respective separation device are set (box 1.11) in order to optimize the performance at the respective separation device.

[0085] The determination of the separation device adjustment signal is shown in more detail in Figure 2 . Starting from the inspection image 8, relevant parts of the inspection image are first extracted in order to set up the inspection data set (box 2.1). For this purpose, a mask or region of interest (ROI) can be predefined based on the position of the image detection unit (box 2.2), and the inspection image intervals to be considered and not to be considered are distinguished according to the mask or region of interest. Based on the relevant image segments of the inspection image and the existing inspection data set for processing, the shares of the image regions showing the individual components of the harvested product are now calculated (box 2.3). For this purpose, color information can in particular be evaluated. The values can be obtained from a reference table or can also be preset by the operator (box 2.4).

[0086] Based on the threshold definition (box 2.5), the deviation of the calculated share from the threshold is calculated (box 2.6). The threshold is, for example, the ideal value for the respective shares involved (e.g., root crops, inclusion 1, inclusion 2). Then, low-pass filtering is performed in order to smooth the determined deviation (box 2.7). Here, the filter time constant defined according to box 2.8 is used. Then, based on the smoothed values of the deviations at the respective positions along the conveying route and the respective shares, a cleaning characteristic value RS is calculated (box 2.9). Here, regulator parameters can be simply used, according to which, for example, if the deviation is too large and thus there are too many inclusions in the observed inspection image (part), the cleaning characteristic value RS_1(A1) for the share A1 in the form of root crops is set to 1 at the monitored first conveying route. In the case where the deviation from the ideal value is small enough, the cleaning characteristic value RS for the share A1 can be set to zero. Based on the cleaning characteristic value RS_1(A1) of box 2.9, a separation device adjustment signal can be generated, for example, by means of a three-point regulator (box 2.10).

[0087] Thus, by means of the method according to the invention, the ratio between the products present in the harvest stream is evaluated individually, for example, before and subsequently after a separating device, for example, on the conveying elements for the output of the product, i.e., the root crop (4), and for the output of the inclusions (5). For the case where a single camera monitors two conveyor elements, separate regions are defined for the conveyor element for the output of the inclusions and for the conveyor element for the output of the root crop. Depending on whether there are too many potatoes (root crop 4) on the conveyor element for the output of the inclusions or whether there are too many inclusions on the conveyor element for the output of the product, the parameters of the separating device are adapted accordingly, and these parameters affect the separation threshold. Thus, in particular, the fingers of the finger belt or the bristles of the brush belt are set higher or lower, and / or the finger belt or the brush belt can run more slowly or more quickly.

[0088] In an exemplary implementation of a three-point adjustment system according to Figure 3 , first, the cleaning characteristic values RS_1(A2) - RS_n(A2) are obtained, i.e., the cleaning characteristic values (block 3.1) that describe the share A2 of the inclusions. Exemplarily, this involves observing the share of inclusions in the form of stones in the harvest before and after the separating device or before and after a conveying route including multiple separating devices. The cleaning characteristic value is "zero" or "one" according to the above description. Then, in block 3.2, it is checked whether the sum of the cleaning characteristic values RS_i(A2) (where i = 1...m) is equal to zero. If the answer is negative, then in block 3.3, first, the last cleaning characteristic value at the corresponding position and the memory 3.4 of the possible associated harvest composition are queried. If the check in block 3.5 indicates that the change in the setting of the separating device has been long enough, then in block 3.6, a decreasing operating parameter signal is generated for the corresponding separating device. The cleaning characteristic value obtained from the query in the memory can also be considered here. The setting of one or more separating devices (block 3.7) is made less aggressive so that less of the root crop share remains in the inclusion stream or the harvest stream on the conveying route. One or more of the last cleaning characteristic values RS_i(A2) are registered in the memory 3.4, if necessary, together with the respective share A2 (block 3.15).

[0089] For the case where the sum of the cleaning characteristic values ​​RS_i (A2) (where i=1...m) is equal to zero, then in box 3.8, the cleaning characteristic values ​​RS_i (A1) relating to the portion A1, for example root crops, are obtained, or the cleaning characteristic values ​​are queried accordingly. Subsequently, it is checked whether the sum of the cleaning values ​​is zero again (box 3.9). If so, the last cleaning characteristic value RS_i (A1) is also registered in the memory 3.4 again (box 3.10). No operating parameters need to be changed, and a neutral operating parameter signal or no operating parameter signal is output (box 3.11). If the sum of the cleaning values ​​of the portion A1 is not equal to zero, the old value is queried from the memory again under 3.12, and it is checked in box 3.13 whether enough time has passed since the last operating parameter change. If this is the case, the operating parameters for setting the separation device more aggressively are output in 3.14.

[0090] In order to implement the Figure 3 To this end, the separation device actuator must be controlled according to the preset Figure 4 In the control device 4.1, separation-device-specific operating parameter changes are determined based on the specifications of blocks 3.6, 3.11 and 3.14, taking into account the current settings of the respective separation device (4.2). For this purpose, for example, speeds, rotational speeds, spacings or inclinations of separation device elements are defined. From this, in block 4.3, controlled variables for the separation device actuators of the respective separation device are defined, via which controlled variables the separation device is set (block 4.4).

[0091] Figure 5 In the upper part of the figure, a test image 8 is shown by way of example, which shows the transition from conveyor element 10a to conveyor element 10b. In the conveyor path area, there are root crops 4 and inclusions 5, which may include stones and stems. The individual partial image areas 16 are checked for the presence of identical components according to classifiers defined in the algorithm training or predefined via a database, for example a table with color information in HSV format, for example. Thus, based on the comparison of the respective image area with the example in Figure 5The association of the respective shares shown in the lower left of the figure results in the share distribution of the root crops 4 and the inclusions 5 in the inspection image 8. Thus, A1 shows the share of the root crops 4 in the inspection image or the corresponding inspection dataset, A2 shows the share of the foliage, and A3 shows the share of the stones. Preferably, the association is carried out based on the color information of the respective pixels, i.e., the image area 19 associated with a share corresponds in particular to a face of the pixel. The cleaning characteristic value, typically denoted by RS, is exemplarily and still preferably based on the deviation of the first share A1 from the threshold R, which indicates the optimal share distribution of the root crops 4 at the observation point on the conveying route. For example, the cleaning characteristic value RS is set to 1 in the case of a deviation from the cleaning value ≥ 50%, and to 0 in the case of a deviation from the cleaning value < 50%. The value is then stored accordingly or processed in a further program flow according to Figures 1 to 4 in the process.

[0092] The machine 2 according to the invention is configured as a trailed potato harvester, in which a plurality of conveying elements 10 and their associated separating devices are held via a frame 12 that is only partially numbered. Along the conveying route, there are a plurality of image detection units 6, which record the harvest including the root crops 4 being transported on the conveying elements 10. At Figure 6 the positions of the image detection units 6 shown in are the transition from the first conveying element 10A in the form of a screen belt to the second conveying element 10B in the form of a screen belt, and the transition from the second screen belt 10B to another conveying element 10C including another separating device, where the second conveying element 10B is additionally surrounded by a coarse foliage belt. Furthermore, on the outlet side of the separating device, another image detection unit 6 monitors the conveying element 10E leading to the sorting table, where at the same time another conveying element 10F provided for the residues of the inclusions 5, especially stones, is detected. Figure 6 The evaluation device can be located at an arbitrary, yet preferably centrally accessible position near the sorting table. By means of the evaluation device, for example, information regarding the settings of the separating device or a travel speed signal can be provided to the towing vehicle via

[0093] the recognizable cable 12.1 in. Figure 6 The machine shown in side view in and can be provided with optical image detection units 6 at other positions. Thus, additional image detection units can be provided directly in the area of the tillage device 29 or in the area of the descending steps leading to the storage room 33.

[0094] At Figure 7 and 8 The machine shown in side view in and can be provided with optical image detection units 6 at other positions. Thus, additional image detection units can be provided directly in the area of the tillage device 29 or in the area of the descending steps leading to the storage room 33.

[0095] Figure 9 and Figure 10The arrangement of an optical image detection unit 6 above a first descending step provided on the frame side between a conveying element 10A and a conveying element 10B is shown, the field of view of the image detection unit being directed downwards. A light source 7 serves to illuminate the field of view for detecting a sufficiently illuminated inspection image 8. The conveying element 10A is a screening belt which has had a portion of the inclusions 5, in particular soil and / or lumps of earth, screened out by a reclamation device 29 and is delivered via the descending step onto another conveying element 10B designed as a screening belt. The conveying element 10B additionally has a coarse foliage belt which is provided for separating the foliage present on the potatoes or in the harvest. Accordingly, a stripping device 32 is arranged over the width of the conveying element 10B.

[0096] The height H of the stripping device 32 above the conveying plane of the conveying element 10B can be set by means of a separation device adjustment signal. This can influence the separation performance of the separation device designed as a foliage belt. Furthermore, the relative speed of the screening belt relative to the coarse foliage belt 43 can be set. In Figure 10 only the coarse foliage belt 43 is shown for the purpose of overview without showing the actual conveying element 10B designed in the form of a screening belt (see Figure 14 ).

[0097] In Figure 12 the inspection image 8 derived from the field of view of the optical image detection unit 6 shown by the dashed line in Figure 11 is shown in detail. Based on the deviation of the detected and classified share of objects from a threshold R in the inspection data set provided by or formed by the inspection image 8, the evaluation described above is carried out.

[0098] Starting from the conveying element 10B, the remaining harvest is delivered in the conveying direction 1C onto another conveying element 10C. A separation device in the form of a plurality of mutually superposed rotating reversing rollers 24 is associated with the other conveying element. Via the pulses exerted by the separation device, the harvest is transported in the direction of the conveying element 10D ( Figure 13 ).

[0099] In order to vary the separation performance, the spacing H between the conveying element 10C and the lower reversing roller 24 can be set and thus represents an adjustable operating parameter. If necessary, the other spacings between the individual reversing rollers 24 can be varied in terms of their mutual spacing for the intensity of the reversing or the possible separating function of the foliage being drawn into the space between the reversing rollers 24. Alternatively or additionally, the variation of the separation performance or the reversing results from the adjustability of the rotational speed of the reversing rollers 24.

[0100] Likewise, the height H of the lower end of the separating device configured as the finger belt 26.1 can be set as one of a plurality of operating parameters, and the separating device belongs to the conveying element 10D. The height H describes the spacing of the finger 26 from the upper edge of the conveying element configured as a rake belt. In addition, the angle of attack of the finger belt 26.1 with respect to the perpendicular to the conveying plane of the conveying element may be configured. The same applies to the rotational speed of the finger belt 26.1.

[0101] Figure 13 The image detection unit 6 shown in Figure 14 generates the inspection image 8 shown in, wherein the relevant inspection image portion 8A is defined via a filter or a masking portion in the current embodiment. In order to monitor the separating device performance, here the separating performance of the reversing roller 24, an additional inspection image portion 8B can also be selected, which is located behind the reversing roller 24 when viewed from the conveying direction 1C. In particular, for the separating device, the area before the reversing roller 24 is monitored. The inspection data set is then derived from the corresponding inspection image portion 8A.

[0102] If the separating performance of the upstream or the shown separating device for which the associated cleaning characteristic value RS for the inspection image portion 8A is set is too low, the separating device can be set more aggressively. Alternatively, for a situation where the cleaning characteristic value in the inspection image portion 8B indicates too high a separating performance, for example due to an excessive share of inclusions 5 in the form of lumps of soil behind the reversing roller 24, the spacing H between the reversing roller 24 and the conveying element 10 can be reduced and the conveying device can be set less aggressively, wherein the excessive share also at least partially serves to protect the potatoes on the subsequent conveying route.

[0103] In Figure 15 and Figure 16 Another optical image detection unit 6 is shown in the area of the conveyor belts 10C and 10D. Supplementary to or alternatively to the image detection unit 6 according to Figure 6 , this image detection unit 6 can be used. In particular, this image detection unit is used to monitor the separating and reversing device formed by the reversing roller 24. A light source 7 is also associated with the monitoring unit to better illuminate the monitored area.

[0104] Another optical image detection unit 6 and the associated light source 7 are arranged above the sorting table to observe the conveying element 10E and the conveying element 10F ( Figure 17 ). By means of a masking portion, the selection is made according to Figure 18The inspection image portions 8A and 8B imaged in the inspection image 8, the inspection image portion on the one hand serving as a conveying path monitor having a conveying direction 1E for conveying out root and tuber crops 4 by a conveying element 10E and on the other hand serving as another conveying path monitor having a conveying direction 1F for conveying out inclusions 5 in the form of stones and / or lumps of earth by a conveying element 10F. By means of the evaluation check described previously, whether the share of root and tuber crops 4 on the conveying element 10F is too large. If this is the case, the upstream-connected separating device is set more strictly by means of the method according to the invention. The separating device is located above the conveying element 10D configured as a rake belt and is particularly provided with exemplary and dashed-line shown fingers 26 as a finger belt, although in the drawing shown it is arranged behind the covering 40 located in front of it. For example, the spacing of the fingers 26 from the conveying element 10D is reduced in order to convey more of the harvest in the form of root and tuber crops 4 via the associated chute 41 onto the conveying element 10E. As long as an excessive amount of inclusions 5 in the form of stones and / or lumps of earth are recognized on the conveying element 10E, for example, the rotational speed of the reversing roller 24 can be reduced in order to apply a smaller impulse to the inclusions 5 so that possible stones are deflected better in the direction of the conveying element 10F. Subsequently, the inclusions 5 slide better via the chute 42 onto the conveying element 10F.

[0105] Figure 19 Illustrate the use of the method according to the invention in another separating device, which other separating device is in the form of a fine-stem elevator here. Accordingly, Figure 19 the inspection image 8 shown in shows a conveying element 10K that conveys with a conveying direction 1K, which conveying element is guided via a descending step onto a separating device configured as a fine-stem elevator having a stem belt 30. The separating device conveys further in the direction 31 any fine stems that may be present in the harvest stream, while the potatoes and heavier inclusions in the harvest stream that fall onto the stem belt 30 fall back into the gap between the conveying element 10K and the fine-stem elevator due to the tilt orientation of the stem belt 30 that can be preset via an angle α that can be set. If the share of root and tuber crops 4 or inclusions 5 in the inspection image portions 8A and 8B is outside the reference value, for example, the separating device can be set to be more aggressive or correspondingly less aggressive by setting the angle of attack α or by changing the rotational speed of the stem belt 30 in order to thereby achieve the desired separation performance.

[0106] In the case of use preferably in the field of warehousing technology according to Figure 20In the roller weeder, the spacing H between the respective conveying elements 10T is configured to be adjustable. Thus, the conveying elements 10T directly together form the separating device. In the respective inspection image portions 8A and 8B of the inspection image 8, the inclusion fraction is preferably calculated and used to set the performance of the separating device. Here, as described above, the perspective adjustment is performed based on the "fisheye" display of the image detection unit 6.

[0107] Other alternative embodiments of the invention may for example be configured as a self-propelled sugar beet harvester or a cleaning line in potato or sugar beet storage technology.

Claims

1. A method for adjusting the operation of a machine (2) for harvesting root crops (4) and / or for separating root crops (4) from other harvested products including inclusions, wherein at least one inspection image (8) of at least a part of the harvested products moved forward relative to the machine frame (12) by means of at least one conveying element (10, 10A, 10B, 10C, 10D, 10E, 10F, 10K, 10T) is recorded by at least one optical image detection unit (6). Characterized in that, The evaluation device generates a separation device adjustment signal for adjusting at least one operating parameter of the separation device of the machine (2) based on an inspection data set generated according to or formed by the inspection image (8). The evaluation device calculates at least one first share (A1) formed by at least one image region (19) of the inspection image (8), wherein the at least one image region (19) at least partially images the harvested products or defined components of the machine (2), and particularly calculates a cleaning characteristic value (14) based on the first share (A1). The inspection image (8) includes a plurality of inspection image parts (8A, 8B). The evaluation device calculates the first share (A1) of the image region (19), particularly a plurality of shares (A1, A2, A3) for each of the plurality of inspection image parts. Preferably, the inspection image parts (8A, 8B) image the harvested products of different conveying elements conveyed away from the separation device.

2. The method according to claim 1, Characterized in that, The evaluation device evaluates the inspection data set locally on the machine (2) or on a directly connected tractor.

3. The method according to claim 1 or 2, Characterized in that, The at least one image region (19) forming the first share (A1) is preferably identified as a defined component of the harvested products or the machine (2) based on an inspection sub-data set generated according to the image region (19), particularly at least one color information included therein.

4. The method according to claim 3, Characterized in that, The inspection sub-data set, particularly at least one inspection value included therein, preferably the color information is classified by a statistical classification method based on a model, and particularly the image region (19) is included in the first share (A1) only if the result of the classification method corresponds to the defined component of the harvested products or the machine (2).

5. The method according to any one of claims 1 to 4, Characterized in that, At least one inspection value of the inspection sub-data set, particularly the color information, is compared with at least one reference value (R), and particularly the image region (19) is included in the first share (A1) only if at least the at least one inspection value of the inspection sub-data set is within the corresponding reference value range.

6. The method according to claim 4 or 5, Characterized in that, When an exemplary image region (19) of the input reference image to be assigned to the first share (A1) is input, the evaluation device automatically further develops the model on which the classification method is based and / or automatically calculates or changes at least one reference value region.

7. The method according to any one of claims 1 to 6, characterized in that when calculating the first share (A1), different image regions (19) are weighted differently.

8. The method according to any one of claims 1 to 7, characterized in that the entire inspection image (8) or a coherent inspection image part (8A) is divided into partial image regions (16), and the partial image regions each particularly include the same number of pixels of the inspection image (8), preferably exactly one pixel.

9. The method according to any one of claims 1 to 8, characterized in that the image region (19) forming the first share (A1) shows a root crop (4) or a part thereof, and the image region forming the second share (A2) shows an inclusion (5) or a part thereof.

10. The method according to any one of the preceding claims 1 to 9, characterized in that the cleaning characteristic value (14) is determined by means of the deviation of the first share (A1) calculated by the evaluation device from a threshold value (R).

11. The method according to any one of the preceding claims 1 to 10, characterized in that the separation device adjustment signal is calculated based on a plurality of cleaning characteristic values (RS) calculated especially successively in time, or at least one previously calculated cleaning characteristic value (RS) is included in the calculation of the cleaning characteristic values (RS).

12. The method according to any one of the preceding claims, using at least two image detection units (6) and at least two conveying elements (10), characterized in that the first image detection unit (6) records a first inspection image of the harvested product part conveyed out of the separation device by means of the first conveying element (6), the second image detection unit (6) records another inspection image of the harvested product part conveyed out of the separation device by means of the second conveying element (6), and the separation device adjustment signal is generated based on at least one of two inspection data sets constituted by the two inspection images or generated based on the inspection images.

13. The method according to any one of the preceding claims, characterized in that at least one additional sensor for measuring the thickness of the harvested product layer on the conveying element, especially an ultrasonic or touch sensor, a sensor for measuring the drive power, a humidity sensor and / or a rotational speed sensor transmits sensor data to the evaluation device, and the sensor data is included in the calculation of the separation device adjustment signal.

14. The method according to any one of the preceding claims, characterized in that the evaluation device triggers an increase or decrease of the operating parameters by means of different separation device adjustment signals.

15. The method according to claim 14, characterized in that After a change in the operating parameters is triggered, no other change in the operating parameters is triggered for a defined period of time or for a defined conveying route of the conveying element(s) (10, 10A, 10B, 10C, 10D, 10E, 10F, 10K, 10T).

16. The method according to any one of the preceding claims, characterized in that the operating parameter is the spacing (H) between two conveying elements (10T) from each other or the spacing (H) of the separating device or the separating element (32) from the conveying element or a further conveying element (10C).

17. The method according to any one of the preceding claims, characterized in that the operating parameter is the separating speed, in particular the rotational speed or the revolving speed, of the separating element(s) (24, 26, 30) or of the separating device.

18. The method according to any one of the preceding claims, characterized in that the operating parameter is the angle of attack (α) of the conveying element (10) or of the separating device.

19. The method according to any one of the preceding claims, characterized in that the operating parameter is the motor power and / or the angle of attack of the associated unit.

20. The method according to any one of the preceding claims, characterized in that the separating device is arranged for the signals to be transmitted, either wired, in particular by means of a CAN bus or Ethernet, or wirelessly, to a separating device controller, where preferably the separating device is arranged to be enabled in advance by an operator via an input on an interface.

21. The method according to any one of the preceding claims, characterized in that the adjustment signals and / or the operating parameters of the separating device are depicted for the operator and / or are automatically used for setting the at least one operating parameter.

22. The method according to any one of the preceding claims, characterized in that the optical image detection unit only detects 1D or 2D information.

23. A machine (2) for harvesting root crops (4) and / or for separating root crops (4) from other harvests, the machine having at least one frame (12), a conveying element (10), an image detection unit (6), a separating device and an evaluation device, and the machine being adapted to carry out the method according to any one of the preceding claims.

24. The machine (2) according to claim 23, characterized in that the evaluation device comprises a graphics processing unit, in particular a GPGPU, and / or a processor unit based on an FPGA.

25. The machine (2) according to claim 23 or 24, characterized in that at least one sensor is provided, which is coupled to the evaluation device, in particular an ultrasonic or touch sensor for measuring the thickness of the harvest layer on the conveying element (10), a sensor for measuring the drive power, a rotational speed sensor arranged at the conveying element (10) and / or a humidity sensor.

26. The machine (2) according to any one of claims 23 to 25, characterized in that There are multiple image detection units (6), and during operation, the image detection units respectively record at least one inspection image (8) of the same conveying element (10) or the same separating device or different conveying elements (10) or separating devices, especially those conveyed from the same separating device.

27. The machine (2) according to any one of claims 23 to 26, characterized in that the image detection unit (6) is arranged such that during operation, the inspection image (8) at least partially images at least two conveying element segments separated by at least one separating element (24, 32).

28. The machine (2) according to any one of claims 23 to 27, characterized in that the image detection unit (6) is arranged such that the inspection image (8) shows at least two alternative conveying elements (10) forming a conveying path for different harvest components of the machine (2), especially showing the conveying path for root crops (4) and the conveying path for impurities (5).

29. The machine (2) according to any one of claims 23 to 27, characterized in that the conveying element (10) is configured as a screen belt (10A, 10B, 10E), or as a rake belt (10C, 10D), and during operation, the conveying element extends especially below at least one reversing roller (24) that extends transversely on the conveying element (10) and deflects the harvest therefrom, or is configured as a star screen (10P, 10Q, 10S) or as a conveying roller (10T) especially surrounded by a roller table (10M) or as a rising shovel.

Images