Agricultural harvesting machine and method for determining at least one property of harvested crop

Abstract

Agricultural harvesting machine with a harvesting attachment having a cutting and intake device for cutting and taking up crop material, wherein a measuring device is provided for determining at least one property of the crop material, and a method for determining at least one property of the crop material, wherein the crop material is harvested with an agricultural harvesting machine with a harvesting attachment, the harvesting attachment having a cutting and intake device with which the crop material is cut and taken up.

Description

[0001] The application relates to an agricultural harvesting machine with a harvesting attachment having a mowing and intake device for cutting and picking up crops, wherein a measuring device is provided for determining at least one property of the crops, as well as to a method for determining at least one property of crops, wherein the crops are harvested with an agricultural harvesting machine with a harvesting attachment, wherein the harvesting attachment has a mowing and intake device with which the crops are cut and picked up.

[0002] It is known to examine harvested crops for specific properties during harvesting. EP 3 130 213 A1 relates to a measuring device for examining harvested grain for a combine harvester, which measuring device comprises a measuring chamber with an inlet and an outlet for a sample of harvested grain to be examined, wherein the measuring chamber is designed such that the sample, during operation, passes along a flow direction from the inlet into the measuring chamber and from there into the outlet. A transmission spectrometer is equipped with a first element in the form of a light source and a second element with a sensor for light generated by the light source and transmitted through the sample. The sensor is connected to an analyzer for the wavelength-resolved analysis of the received light.

[0003] One task may be to improve an agricultural harvesting machine so that additional non-grain components of the harvested crop can be examined.

[0004] The object is solved by the subject matter of claim 1. The object is further solved by a method according to claim 11. Embodiments are specified in the dependent claims.

[0005] The agricultural harvesting machine comprises a harvesting attachment with a mowing and intake device for cutting and collecting the crop. A measuring device is provided for determining at least one property of the crop. The measuring device comprises at least one optical detection unit arranged on the harvesting machine behind the harvesting attachment. The optical detection unit detects radiation reflected by plant stubble remaining in the soil.

[0006] Detecting the reflected radiation from the plant stubble remaining in the soil has the advantage that the properties of the crop in the lower region of the plant can be determined and that undergrowth can also be taken into account in the determination. Determining the properties of the crop in the lower region of the plant, i.e. at a level at which the crop is cut, has the advantage that straw moisture content in particular can be determined as a property of the crop. Straw moisture content is an important plant physiological characteristic that is particularly important for cutting the crop. Determining straw toughness therefore offers the particularly advantageous option of controlling the mower depending on the straw toughness determined immediately after the crop has been cut. This type of control is particularly advantageous when the crop stand is inhomogeneous with regard to ripening.Straw toughness is also an important parameter for the intake device as well as for a threshing unit and a straw chopper of the harvesting machine, so that these components can also be advantageously controlled depending on the determined straw toughness.

[0007] Another advantage of this solution is that non-grain components are examined at cutting height. The plants can be very dry in the upper area and very moist and therefore tough in the lower third. Undergrowth can only grow a few centimeters above the cutting height. When determining the properties of the entire harvested crop, the properties of the plant parts in the lower third of the growth height are often not taken into account sufficiently. However, these plant properties often have a significant influence on threshing properties and grain quality. In practice, the statement "One centimeter more cutting height can result in up to 1% less grain moisture" is often true, but this is not scientifically proven and certainly does not apply in dry, crumbly stands. In addition, tough straw impairs threshing properties and ultimately also machine performance.Therefore, especially in difficult harvesting conditions, it can be advantageous to examine the crop more closely at cutting height and to adjust the threshing units and cutting unit based on these parameters, for example by raising the harvesting header when there is undergrowth.

[0008] The agricultural harvesting machine, in particular, has a harvesting attachment whose mowing and intake device cuts the crop and immediately collects it. In particular, it is not a so-called swath mower, which deposits the cut crop for later collection. The term "radiation" is to be understood in the sense of electromagnetic radiation, in particular light, which should include at least the wavelength spectrum of sunlight, including visible light, ultraviolet radiation, and infrared radiation.

[0009] According to one embodiment, the detection unit is arranged on an underside of the harvesting machine facing the ground. In particular, the detection unit can be arranged in the area of ​​a front axle of the harvesting machine, i.e., between the drive wheels of the harvesting machine.

[0010] According to a further embodiment, the detection unit is aligned obliquely to the ground, in particular at an angle between 35 degrees and 55 degrees, preferably at an angle of approximately 45 degrees. The detection unit is aligned in particular such that as much light as possible from the plant stubble and as little light reflected by the ground reaches the detection unit. The soil spectrum interferes with the measurement. An arrangement obliquely to the ground, for example at an angle of 45 degrees to the ground, is particularly advantageous. A detection axis, via which the reflected light falls in a straight line into the detection unit, then encloses an angle of, for example, 45 degrees with the ground. At a steeper angle of, for example, more than 55 degrees, more light reflected from the ground reaches the detection unit.At a shallower angle of, for example, less than 35 degrees, only light reflected from the upper part of the stubble and from more distant stubble reaches the detection unit. However, the stubble is preferably detected over as much of its length as possible and in the immediate vicinity of the detection unit.

[0011] According to a further embodiment, the detection unit comprises a light source for illuminating the plant stubble remaining in the soil. This advantageously makes the detection of the reflected radiation independent of natural lighting conditions. The detection unit comprises a spectrometer that detects the intensity of the radiation reflected by the plant stubble remaining in the soil with wavelength resolution. This means that the intensity of the radiation is detected across the detected spectrum. The spectrometer can be an optical spectrometer known to those skilled in the art, in which the wavelengths of the reflected light to be analyzed are differentiated, for example, by directional deflection by means of refraction in a prism or by diffraction at a grating. Alternatively, it is also possible to determine the frequency components using an interferometer based on Fourier analysis (FTIR spectrometer).A spectrometer based on a photodiode array is particularly preferred. This has several semiconductor diodes that respond to individual wavelengths. The resolution is sufficient for the purpose, and the design is significantly less expensive than the previously mentioned spectrometers.

[0012] According to a further embodiment, an evaluation unit can be provided to evaluate a spectrum of the detected light, wherein at least one property of the crop stream can be derived from the spectrum. The evaluation unit can have a computer and the evaluation unit can be connected to the detection unit via a signal line for transmitting measurement signals. The spectrum can be in the visible wavelength range and / or the near infrared range, in particular with wavelengths between 400 nm and 2200 nm. Color properties and chlorophyll content can be advantageously determined up to 900 nm. Between 1000 nm and 2200 nm, interactions resulting in the plant condition take place through substances such as cellulose, lignin and water. The property of the crop stream to be determined is, in particular, straw toughness, which depends on the degree of ripening of the crop in the crop stream.This can be advantageously determined using a comparable method, such as a vegetation index, i.e. a key value that is representative of an analysis of vegetation. Certain radiation characteristics of plants are used to distinguish them from non-vegetation, since a plant's chlorophyll primarily absorbs visible light in the blue and red frequency ranges. In the near-infrared range, between 700nm and 900nm wavelengths, there are regions in which the light is reflected particularly strongly by an intact cell structure of the plant. This principle can be applied to harvested goods, even if the differences in radiation characteristics between different stages of ripeness of the harvested goods are smaller. The degree of ripeness can be determined from the cell structure of the plants and the remaining chlorophyll content.

[0013] The vegetation index is determined, for example, from at least one ratio of the reflection values ​​in different spectral ranges, in particular a ratio of sums and / or differences of reflection values ​​in different spectral ranges. For example, the vegetation index is designed as an NDVI (Normalized Differenced Vegetation Index). The vegetation index designed as an NDVI is calculated, in particular with the computer of the evaluation unit, from a quotient of a difference between a reflection value in the near infrared range of the electromagnetic spectrum (RNIR) and a reflection value in the red visible range of the electromagnetic spectrum and a sum of the reflection value in the near infrared range of the electromagnetic spectrum (RNIR) and the reflection value in the red visible range of the electromagnetic spectrum.In the case of harvest-ready crops, it has proven advantageous to use a frequency band in the blue visible range of the electromagnetic spectrum (RBlu). Furthermore, the received signals are processed and conditioned before the index calculation to achieve better results. However, the red visible range of the electromagnetic spectrum allows for a better assessment of a high proportion of green growth when the chlorophyll content is still sufficiently high. In particular, a formula for calculating the vegetation index, which is a modified NDVI, is: NDVl=(RNlR−RBlue) / (RNlR+RBlue).

[0014] The resulting values ​​range from -1 to +1, with negative values ​​occurring, for example, in the case of radiation from a water surface and not being relevant in this application. The closer the positive index value is to zero, the greater the degree of ripening.

[0015] According to a further embodiment, the spectrometer can be configured to detect the intensity of at least one calibration wavelength range, wherein the calibration wavelength range lies outside a wavelength spectrum emitted by the light source and wherein the calibration wavelength range lies within a wavelength spectrum of sunlight. The evaluation unit can be configured to determine the property of the harvested crop as a function of a development of the intensity of the radiation in the calibration wavelength range. In this way, the intensity of the sunlight radiation that influences the detection can advantageously be determined. The calibration wavelength range is advantageously selected such that the reflection properties of the stubble and the soil are as independent as possible of ripening and moisture and of green growth within its spectral range.A frequency band from the UV range is an example of a usable calibration wavelength range. If the spectrometer experiences more or less intense sunlight, this can be registered by the measured intensity of the calibration wavelength range. The evaluation unit can then advantageously differentiate whether changing light intensities in the spectral ranges being evaluated are caused by a change in the crop characteristics or whether other lighting conditions are the reason for the changed light intensities.

[0016] According to a further embodiment, the detection unit can have a housing with a transparent cover. The spectrometer and, if applicable, the illumination are advantageously protected from external influences in the housing. The transparent cover can, for example, be a glass pane made of safety glass, wherein the safety glass has an impact and shock resistance of at least 80 MPa, in particular between 120 MPa and 200 MPa, in a pendulum impact test according to DIN EN 12600. Such safety glass is advantageously scratch-resistant and can, for example, be borosilicate glass, aluminosilicate glass, thermally toughened soda-lime glass, or chemically toughened glass. The reflected radiation advantageously passes through the transparent cover to the spectrometer. A cleaning device can be provided to remove dirt from an outer side of the transparent cover.

[0017] According to a further embodiment, the detection unit can have a calibration light source, wherein a light beam from the calibration light source is directed onto the transparent cover such that a portion of the light beam reflected by the cover strikes a light receiver. The calibration light source is arranged within the housing such that the light beam strikes an inner side of the transparent cover. The light receiver can be integrated into the spectrometer or arranged spatially separate from the spectrometer in the housing. The light receiver is designed in particular such that no reflections of the light beam from outside the housing reach the light receiver. As the transparent cover becomes increasingly dirty, the portion reflected by the transparent cover increases and the light receiver measures an increasing intensity.Advantageously, this information can be used to correct the determined property of the crop and / or to trigger cleaning of the transparent cover.

[0018] According to a further embodiment, a control system for at least one component of the harvesting machine can be configured to control the component depending on the at least one property of the crop, wherein the components include the harvesting attachment, conveyor elements, the threshing element, a drive system, and a straw chopper. The drive system can be used to control the driving speed to adapt the throughput to the crop.

[0019] A further aspect for solving the above-mentioned problem relates to a method for determining at least one property of a crop, wherein the crop is harvested with an agricultural harvesting machine having a harvesting attachment, the harvesting attachment comprising a mowing and intake device with which the crop is cut and collected. After the crop is cut, radiation reflected by plant stubble remaining in the soil is detected by at least one optical detection unit.

[0020] According to one embodiment, a spectrum of the detected light is evaluated, and at least one property of the crop flow is derived from the spectrum. The plant stubble remaining in the soil can be illuminated with a light source.

[0021] According to a further embodiment, an intensity of at least one calibration wavelength range is detected, wherein the calibration wavelength range lies outside a wavelength spectrum emitted by the light source and wherein the calibration wavelength range lies within a wavelength spectrum of sunlight. The property of the harvested crop can be determined depending on a development of the intensity of the radiation in the calibration wavelength range. The calibration wavelength range is advantageously selected such that the reflection properties of the stubble and the soil are as independent as possible of ripening and moisture content and of green growth within its spectral range. A frequency band from the UV range is an example of a usable calibration wavelength range.If the spectrometer is exposed to more or less intense sunlight, this can be registered by the measured intensity of the calibration wavelength range. The evaluation unit can then advantageously differentiate whether changing light intensities in the spectral ranges being evaluated are caused by a change in the crop characteristics or whether other lighting conditions are the reason for the changed light intensities.

[0022] According to a further embodiment, a light beam from a calibration light source of the detection unit is directed onto a transparent cover of the detection unit in such a way that a portion of the light beam reflected by the cover strikes a light receiver. The intensity of the reflected portion of the light beam can advantageously be used to determine the degree of contamination of the transparent cover. The light receiver is, in particular, designed such that no reflections of the light beam from outside the housing reach the light receiver. In particular, the light beam can be pulsed in order to form a difference between reflected radiation from outside the detection device and the portion of the light beam reflected by the transparent cover plus the reflected radiation from outside the sensor. A measure of the contamination of the transparent cover can advantageously be derived from the difference.The spectral range of the light beam from the calibration light source can be within the spectrometer's range or in an independent spectral range. If the light receiver and the spectrometer use the same wavelengths and / or the same installation space, the spectral values ​​of the stubble can be measured, especially during the pulse pauses.

[0023] Another subject matter of the application relates to a method for controlling at least one component of a harvesting machine, wherein at least one property of a crop is determined according to the method described above, and wherein the component is controlled depending on the at least one property of the crop flow. The components include at least the harvesting attachment, conveyor elements, the threshing element, a drive system, and a straw chopper.

[0024] The invention will be explained in more detail below using an exemplary embodiment with reference to the accompanying drawings. The explanations apply equally to the agricultural harvesting machine and the described methods. Fig. 1 an embodiment of an agricultural harvesting machine in a schematic representation; Fig. 2 the measuring device Fig. 1 as a detail in a schematic view.

[0025] The Fig. Figure 1 shows a combine harvester as an example of an agricultural harvesting machine with a harvesting header 14 hinged to the front of a combine harvester frame in the direction of travel and a conveyor belt 9, via which a mown crop stream reaches a threshing unit 10. The frame has front drive wheels 1 and a rear wheel axle with steering wheels 2. A driver's cab 3 is arranged on the frame in the area in front of the drive wheels 1. Directly behind it is a grain tank 4, to which a drive motor 5 is connected. In the rear area of ​​the combine harvester there is a straw chopper 16 and an outlet 7 for the part of the crop that has been separated from the grains as unusable. A straw walker 11 is designed to rise from a central area of ​​the combine harvester towards the rear.

[0026] The harvesting attachment 14 has a mowing and intake device for cutting and collecting the crop. A measuring device is provided to determine at least one property of the crop. The measuring device has at least one optical detection unit 12 arranged on the harvesting machine behind the harvesting attachment 14. The optical detection unit 12 detects radiation 8 reflected by plant stubble 6 remaining in the soil after the harvesting has been cut. The detection unit 12 can be arranged on an underside 15 of the harvesting machine facing the ground, as in the exemplary embodiment, in the region of a front axle of the harvesting machine between the drive wheels 1.

[0027] An evaluation unit 20 is provided to evaluate a spectrum of the detected light, wherein a straw toughness as at least one property of the crop can be derived from the spectrum. The evaluation unit can be arranged at the installation location of the detection unit 12. In the illustrated embodiment, the evaluation unit 20 is arranged in the driver's cab 3 and receives the measurement signals from the detection unit 12 via a signal connection (not shown), which can be wired, wireless, or via an optical fiber. A controller 19 of at least one component of the harvesting machine is configured to control the component depending on the straw toughness of the crop, wherein the controller 19 receives the information from the evaluation unit 20 via a further signal connection (not shown).The components controlled by the control system 19 depending on the straw toughness can be the harvesting header 14, conveying elements 21, the threshing element 10 and the straw chopper 16.

[0028] In the Fig. 2 is from the measuring device Fig.1 shows a detail of the detection unit 12 in a schematic view. To illuminate the plant stubble 6 remaining in the soil, the detection unit 12 has two light sources 22. The radiation 8 reflected by the plant stubble 6 remaining in the soil passes via a lens 23 to a spectrometer 18, which detects an intensity of the broadband radiation 8 reflected by the plant stubble 6 remaining in the soil with wavelength resolution. The spectrometer 18 is further configured to detect the intensity of at least one calibration wavelength range, wherein the calibration wavelength range lies outside a wavelength spectrum emitted by the light source 22 and wherein the calibration wavelength range lies within a wavelength spectrum of sunlight.The evaluation unit 20 determines the property of the crop depending on a development of the intensity of the radiation in the calibration wavelength range in order to compensate for the influence of sunlight on the measurement.

[0029] The detection unit 12 has a housing 28 with a transparent cover 17. The transparent cover 17 can be a glass pane made of scratch-resistant safety glass. An additional calibration light source 24 is provided in the housing 28, with a light beam 25 from the calibration light source 24 being directed onto the transparent cover 17 such that a portion 26 of the light beam 25 reflected by the transparent cover 17 strikes a light receiver 27. The intensity of the reflected portion 26 of the light beam 25 is used to determine the degree of contamination of the transparent cover 17.

[0030] The detection unit 12 is oriented obliquely to the ground, in particular such that as much light as possible from the plant stubble 6 and as little light reflected by the ground reaches the detection unit 12. The soil spectrum interferes with the measurement. An arrangement oblique to the ground, for example, at an angle α of 45 degrees to the ground, is particularly advantageous. A detection axis E, along which the light 8 falls directly into the detection unit 12, then forms an angle α of, for example, 45 degrees with the ground. List of reference symbols 1 drive wheels 2 steering wheels 3 Driver's cab 4 grain tanks 5 Drive motor 6 plant stubble 7 Outlet 8 Reflected radiation 9 inclined conveyors 10 threshing organ 11 shakers 12 Optical detection unit 14 Harvesting header 15 Bottom 16 straw choppers 17 Transparent cover 18 spectrometers 19 Control 20 Evaluation unit 21 Funding body 22 Light source 23 lens 24 Adjustment light source 25 light beam 26 Reflected portion 27 light receivers 28 housings E detection axis QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 3 130 213 A1

[0002]

Claims

[1] Agricultural harvesting machine with a harvesting attachment, the harvesting attachment having a mowing and intake device for cutting and collecting crops, wherein a measuring device is provided for determining at least one property of the crop, wherein the measuring device has at least one optical detection unit (12) arranged on the harvesting machine behind the harvesting attachment, and wherein the optical detection unit detects radiation (8) reflected by plant stubble remaining in the soil. [2] Agricultural harvesting machine according to claim 1, characterized by that the detection unit is arranged on an underside of the harvesting machine facing the ground, in particular in the area of ​​a front axle of the harvesting machine. [3] Agricultural harvesting machine according to one of the preceding claims, characterized bythat the detection unit (12) is aligned obliquely to the ground, in particular at an angle (α) between 35 degrees and 55 degrees. [4] Agricultural harvesting machine according to one of the preceding claims, characterized by that the detection unit (12) has at least one light source (22) for illuminating the plant stubble (6) remaining in the ground. [5] Agricultural harvesting machine according to one of the preceding claims, characterized by that the detection unit (12) has a spectrometer (18) which detects an intensity of the radiation (8) reflected by the plant stubble remaining in the soil in a wavelength-resolved manner. [6] Agricultural harvesting machine according to claims 3 and 4, characterized byin that the spectrometer (18) is designed to detect the intensity of at least one calibration wavelength range, wherein the calibration wavelength range lies outside a wavelength spectrum emitted by the light source (22) and wherein the calibration wavelength range lies in a wavelength spectrum of sunlight. [7] Agricultural harvesting machine according to one of the preceding claims, characterized by in that an evaluation unit (20) is provided in order to evaluate a spectrum of the detected radiation (8), wherein the at least one property of the harvested material can be derived from the spectrum, wherein a control (19) of at least one component of the harvesting machine is set up to control the component as a function of the at least one property of the harvested material, wherein the components comprise the harvesting attachment (14), conveying elements (21), the threshing element (10), a straw chopper (16) and a travel drive. [8] Agricultural harvesting machine according to claim 6, characterized by that the evaluation unit (20) is designed to determine the property of the crop as a function of a development of the intensity of the radiation in the calibration wavelength range. [9] Agricultural harvesting machine according to one of the preceding claims, characterized by that the detection unit (12) has a housing (28) with a transparent cover (17) and a calibration light source (24), wherein a light beam (25) of the calibration light source is directed onto the cover (17) in such a way that a portion (26) of the light beam reflected by the cover strikes a light receiver (27). [10] Method for determining at least one property of crop material, wherein the crop material is harvested with an agricultural harvesting machine having a harvesting attachment (14), wherein the harvesting attachment has a mowing and intake device with which the crop material is cut and collected, wherein after the harvest material has been cut, radiation (8) reflected by plant stubble (6) remaining in the soil is detected by at least one optical detection unit (12). [11] Method according to claim 10, characterized by that a spectrum of the detected radiation (8) is evaluated, wherein at least one property of the crop is derived from the spectrum. [12] Method according to one of the preceding claims 10 or 11, characterized bythat the plant stubble (6) remaining in the ground is illuminated with a light source (22), wherein an intensity of at least one calibration wavelength range is detected, wherein the calibration wavelength range lies outside a wavelength spectrum emitted by the light source and wherein the calibration wavelength range lies in a wavelength spectrum of sunlight. [13] Method according to claim 12, characterized by that the property of the crop is determined as a function of a development of the intensity of the radiation in the calibration wavelength range. [14] Method according to one of the preceding claims 10 to 13, characterized by that a light beam (25) of a calibration light source (24) of the detection unit (12) is directed onto a transparent cover (17) of the detection unit (12) in such a way that a portion (26) of the light beam reflected by the cover strikes a light receiver (27). [15] Method according to claim 14, characterized by that a degree of contamination of the transparent cover (17) is inferred from an intensity of the reflected portion (26) of the light beam (25).

Images