SOIL PREPARATION MACHINE

Description

[0001] The invention relates to a detection system for seeds, a method for detecting seeds in a seed conveying line and a method for adjusting a metering device.

[0002] When sowing grain or other bulk seeds, the usual intention is to distribute a specific number of seeds per unit area onto the agricultural land. For this purpose, a suitable setting is made on the metering device of the seed drill. The setting for the metering device has previously been determined by a calibration test.

[0003] During the calibration test, the sowing process is simulated. A hand crank is used to mimic the forward movement, and the metered seed is collected in troughs or trays. A specific number of crank rotations corresponds to a certain distance traveled. Multiplying this distance by the working width of the seed drill yields the area sown. By weighing the calibrated quantity and the thousand-seed weight, a conversion from weight to number of seeds can be performed.

[0004] Determining the setting value for the dosing device by means of a calibration test is prone to errors and inaccuracies, as the thousand-grain weights and flow properties can constantly change due to humidity or pickling agents. Furthermore, a calibration test is cumbersome and labor-intensive.

[0005] Seed counting devices that eliminate the need for calibration are already known in the art. These known devices operate, for example, using indirect measurement, where the change in inductance of a coil wound around a seed delivery line of the seed drill is measured as the seeds flow through the line. Another known method is the use of a piezoelectric quartz crystal for counting seeds, where the seed flow is directed onto the crystal, causing it to generate electrical impact pulses. These measurement methods are comparatively imprecise, particularly given the significant differences in application rates, seed frequencies, and seed size spectra that can occur with different seeds, such as rapeseed, cereals, or beans.

[0006] Furthermore, from publication US 2007 / 266917 A1, an evaluation device is known which is designed to evaluate one or more images of the recording area produced by a camera in order to detect the seeds passing through the recording area.

[0007] Furthermore, grain counting devices with an optical sensor are known. These devices use, for example, light barriers for grain counting. The accuracy of such systems is comparatively low. In addition, contamination can distort the measurement result.

[0008] The object underlying the invention is therefore to improve and / or simplify the grain counting on a seed drill.

[0009] The problem is solved by the features according to claim 1 and by a method according to claim 7.

[0010] The mounting device has a receptacle for attaching a mobile device equipped with a camera. The mobile device can then be mounted, for example, on a seed delivery line and / or a coulter of a pneumatic or mechanical seed drill.

[0011] The holding device allows for precise detection of the grains using the camera of the mobile device. Modern mobile devices feature high-quality camera systems and high processing power, enabling fast and precise image capture and analysis.

[0012] The holding device is further advantageously developed by the fact that the device holder is configured to fix the mobile device to the holding device by means of a force-fit and / or form-fit connection. For this purpose, the device holder can, for example, comprise one or more device clamping elements by which the mobile device can be clamped to the holding device. Alternatively or additionally, the fastening device is configured to attach the holding device to a seed delivery line and / or a seed coulter by means of a force-fit and / or form-fit connection. The fastening device can comprise one or more line clamping elements and / or one or more coulter clamping elements by means of which the holding device can be clamped to a seed delivery line and / or a seed coulter.

[0013] In a further development of the holding device, the device mount is adjustable such that the relative position of a mobile device fixed in the device mount and a seed delivery line and / or a seed coulter, to which the holding device is attached via the mounting device, can be changed. The adjustable device mount allows the camera, lens, or lens system of the mobile device's camera to be positioned and / or aligned with the seed delivery line and / or the seed coulter.

[0014] Furthermore, a holding device is preferred in which the device holder is designed to fix mobile devices of different sizes and / or shapes to the holding device. The device clamping elements of the holding device can be adjusted within an adjustment range so that mobile devices from different manufacturers and / or series can be fixed to the holding device.

[0015] In another preferred embodiment, the holding device includes a triggering device that can be used to actuate a control element of the mobile device. The triggering device can initiate image capture by the mobile device. For example, the triggering device can be configured to touch a touchscreen of the mobile device and / or to activate a button, key, or switch on the mobile device. The triggering device can simulate a finger touch on the mobile device. The triggering device can be actuated mechanically and / or manually. The triggering device can be actuated by a remotely controlled actuator. Remote control of the actuator can be manual or automated.

[0016] The holding device is further advantageously enhanced by a movement mechanism by means of which the device holder or a mobile device fixed in the device holder can be moved from a recording position to a passive position. The movement mechanism can be a pivoting mechanism by means of which the device holder or a mobile device fixed in the device holder can be pivoted from the recording position to the passive position. In the recording position, the mobile device is oriented such that images of a recording area within the seed delivery line can be generated by the camera. In the passive position, the mobile device or a lens or lens system of the camera of the mobile device is positioned at a distance from the seed delivery line.The lens or lens system of the mobile device's camera is, for example, only briefly positioned over an opening in the seed delivery line during one or more recording sessions. Afterwards, the mobile device is moved to a passive position, in particular by swiveling, and is no longer exposed to contamination. During the swiveling process, the mounting device can be cleaned using a cleaning device, for example, with a fine brush or cloth, or with a cleaning agent. The opening in the seed delivery line can be automatically closed during the swiveling process. The mounting device can also include a movable protective flap, screen, or cover located in the area of ​​the lens or lens system of the mobile device's camera.The protective cover, screen, or shutter can be designed to briefly expose the camera lens or lens system via a release movement. This release movement can be a pivoting motion. An electric, hydraulic, pneumatic, or mechanical drive can be used for this pivoting action. The protective cover, screen, or shutter can be cleaned during the release movement by an integrated cleaning device.

[0017] In another preferred embodiment of the holding device, the holding device is designed as a mounting box or comprises a mounting box, wherein the mobile device can be mounted within the mounting box. The mounting box ensures a secure connection to the seed delivery line and a minimum distance to the seed delivery line. This allows for the generation of sharp images. The mounting box prevents contamination and damage to the mobile device.

[0018] The seed conveying line can enclose an internal conveying path for the seed, wherein the line wall of the seed conveying line has a receiving window through which a receiving area located inside the seed conveying line can be viewed from outside the seed conveying line, so that images of the receiving area can be generated via the receiving window using a camera of a mobile device located outside the seed conveying line.

[0019] The recording window allows images of the seed flow to be taken using a mobile device, so that a grain count can be implemented by evaluating the images.

[0020] The seed delivery line is advantageously further developed by making the line wall transparent in the area of ​​the receiving window. Alternatively or additionally, the receiving window is designed as a receiving opening. The line wall can be transparent in the area of ​​the receiving window. The camera lens or lens system can be protected by a transparent cover. The cover can be cleaned or replaced manually or automatically. The receiving opening in the seed delivery line can be closed by a transparent film. The film can be replaceable. The receiving opening in the seed delivery line can be closed by a stack of several transparent films, the films of which can be torn off. Replaceable films allow particles that impair image capture, such as dust particles or seed dressing, to be removed from the receiving window.

[0021] In another embodiment of the seed conveying line, the line wall has an inner section visible through the camera window, which has a contrasting color that differs from adjacent inner sections not visible through the camera window. This visible inner section can alternatively or additionally be radiation-reflecting and / or designed as a luminous surface. The inner section visible through the camera window serves as a background for photographs. This section can be color-coded. An external lighting unit can be arranged on the seed conveying line to illuminate the area being photographed.The external lighting unit can be used as an alternative or in addition to the lighting and / or flashing light device of the mobile device to illuminate the visible interior wall surface section.

[0022] In another preferred embodiment of the seed conveying line, the cross-sectional area of ​​the line in the receiving section is larger than in adjacent sections. Alternatively or additionally, one or more guide elements are arranged within the receiving section, designed to direct and / or guide the seeds passing through it. The seed conveying line is designed so that the seed flow fans out without altering the seed delivery pattern. In mechanical seed drills, this prevents backflow. In pneumatic seed drills, this prevents pressure drops. The enlarged cross-sectional area in the receiving section fans out the seed flow. The individual seeds are guided over a wider area, resulting in a thinner layer. This significantly reduces the likelihood of seeds overlapping.The guiding elements can be guide vanes or guide plates. The inner contour of the seed delivery line can be corrugated in the intake area or in the immediate vicinity of the intake area to fan out the seed flow. The fanning section is designed so that clogging does not occur in mechanical seed drills and that, in pneumatic seed drills, the pressure drop of the airflow along the fanning section corresponds to the pressure drop of a comparable seed delivery line.

[0023] In another embodiment, the seed conveying line has a closing mechanism by means of which the receiving window in the line wall can be covered and / or closed. The lens or lens system of the mobile device's camera can thus only be positioned temporarily within the receiving window during the recording process. After the recording process is complete, the mobile device is moved from a recording position to a passive position, in particular by pivoting. Moving the mobile device from the recording position to the passive position can then trigger the closing mechanism to cover and / or close the receiving window. Moving the mobile device from the passive position to the recording position can trigger the closing mechanism to open the receiving window.

[0024] The problem underlying the invention is solved by a detection system according to claim 1.

[0025] The detection system according to the invention is preferably modular in design. The mobile device, mounted in the holding device, makes it possible to determine the number of seeds dispensed per unit of time, i.e., for example, a value in seeds per second. The holding device can be interchangeable, allowing, for example, the use of a device-specific holding device. An attachment can be located on the seed delivery line to further distance the camera of the mobile device from the recording area, thus facilitating easy focusing of the recording area.

[0026] The detection system according to the invention is further advantageously enhanced by a mobile device, wherein the mobile device has a camera for generating images of a recording area of ​​the seed delivery line located within the seed delivery line, and on which a seed detection application for generating and / or managing images of the recording area is installed. The mobile device serves as a measuring device. The mobile device can be a mobile phone, in particular a smartphone. The mobile device can have a lighting and / or flash device which is controlled by the seed detection application during the generation of the images. The seed detection application can cause the camera to generate single images, series images, and / or video recordings. The mobile device can be equipped with a specific camera module.The camera module's camera can be, for example, a line scan camera to ensure that every single seed can be measured, even during very rapid seed flight. The mobile device can have a macro lens, allowing the camera to be positioned relatively close to the object being photographed. The camera module can also be wirelessly connected to the mobile device. The mobile device can be configured to send an alarm if a blockage in the seed delivery line is detected.

[0027] The detection system according to the invention is further developed by an evaluation unit, which is configured to evaluate one or more images of the detection area generated by the camera of the mobile device in order to detect the seeds passing through the detection area. The evaluation unit can be configured to determine the number of seeds passing through the detection area per second. The evaluation unit can be configured to take into account the mutual coverage of seeds according to statistical principles when determining the seed flow. The evaluation unit can take into account that the mutual coverage of the seeds increases with increasing seed flow. The evaluation unit can be part of the mobile device. The evaluation unit can also be designed separately from the mobile device.The grain measurement application on the mobile device preferably initiates the provision or transmission of one or more images. These images can be transmitted wirelessly, particularly via mobile network or Bluetooth, and / or via the internet to the evaluation unit. The evaluation unit can be an electronic display and / or control unit for the seed drill, for example, a terminal, particularly an ISOBUS terminal. The evaluation unit can be part of an on-board computer or a control center computer. The mobile device can also be used as an on-board computer.In this case, the grain measurement application on the mobile device can also be configured to record or determine the movement speed of the mobile device and / or the seed drill, the position of the mobile device and / or the seed drill, the distances of the mobile device and / or the seed drill to areas on the agricultural field, and / or the inclinations of the mobile device and / or the seed drill. The images can be temporarily stored on the mobile device. The measurement system can also include two communicating mobile devices. One mobile device could, for example, be used as a grain counter, while the other mobile device serves as an onboard computer.

[0028] In another preferred embodiment of the detection system according to the invention, the evaluation unit is configured to take into account one or more current setting parameters of the seed drill when detecting the seeds passing through the detection area. By taking one or more current setting parameters of the seed drill into account, the evaluation quality can be improved and / or the plausibility of the seed flow determined by the evaluation unit can be checked. The setting parameters taken into account by the evaluation unit can, for example, relate to the rotational speed of a rotary-driven seed metering unit of the seed drill, the size of a metering shaft of the seed drill, and / or, in the case of pneumatic conveying, also the fan speed of a fan of the seed drill.

[0029] In another preferred embodiment of the detection system according to the invention, the evaluation unit is configured to detect a motion trail of at least one seed in one or more image captures, resulting from motion blur, and to evaluate the motion trail of the seed to determine the speed and / or direction of movement of the seed passing through the detection area. The evaluation of the motion trail can include determining the trail length and / or the trail orientation.

[0030] The detection system according to the invention comprises a velocity sensor by means of which the seed velocities of the seeds passing through the detection area can be measured. The evaluation unit is configured to analyze the one or more images of the detection area generated by the camera of the mobile device in order to determine the quantity of seeds passing through the detection area during a unit of time, taking into account the seed velocities measured by the velocity sensor. The evaluation unit and the velocity sensor can be connected to each other for data transmission. For example, a single image of the metered seed flow can be taken with the mobile device. Simultaneously, the velocity of the seed flow is measured by the velocity sensor. The velocity sensor can, for example, be a radar sensor that operates according to the Doppler principle.Both data packets, the image data and the velocity data, are then combined by the evaluation unit, allowing the number of seeds per second to be calculated. Alternatively or additionally, two individual images can be taken with a very short time interval. By blending the images, it is possible to identify the displacement of the seed(s). Using the displacement distance, which is determined via a linear scale, and the time interval between the individual images, the movement speeds of the seeds can be calculated. The movement speeds and the number of seeds yield the dosing rate in seeds per second.

[0031] The problem underlying the invention is further solved by a method for detecting seeds according to claim 7. The method is preferably carried out with a detection system according to one of the embodiments described above. With regard to the advantages and modifications of the method according to the invention, reference is therefore first made to the advantages and modifications of the detection system according to the invention.

[0032] The method can include attaching, in particular non-destructively detachable, a fastening device to the seed delivery line and / or a seed coulter. Accuracy can be further improved if several mobile devices, for example two, simultaneously capture images of a section of the seed delivery line located within it. The second mobile device can, for example, be positioned at a right angle to the first.

[0033] The method according to the invention is further advantageously developed by evaluating one or more image recordings, in particular by means of a seed detection application installed on the mobile device. The evaluation preferably serves to detect seeds passing through the recording area of ​​the seed delivery line. When evaluating the one or more image recordings, the seed flow in seeds per second is preferably determined. When evaluating the one or more image recordings, the speed of movement of one or more seeds and / or the direction of movement of one or more seeds can also be determined. It is possible for the seeds to cover each other. The risk of this covering increases with increasing metering quantity.When evaluating one or more images, the seed coverage can be taken into account by considering a coverage factor, for example, a statistical one. Preferably, the degree of coverage is evaluated when evaluating one or more images, so that the degree of coverage is considered when evaluating the camera images and subsequently calculating the metered seed quantity. Furthermore, it is possible that, for example, two seeds are lying directly adjacent to each other. This can be detected when evaluating one or more images by considering the seed size distribution.

[0034] In another preferred embodiment of the method according to the invention, when evaluating one or more image recordings, a motion trail of at least one seed grain caused by motion blur is detected, and the motion trail of the seed grain is evaluated to determine the speed and / or direction of movement of the seed grain passing through the recording area. The evaluation of the motion trail can include determining the trail length and / or trail orientation.

[0035] In the method according to the invention, the grain velocities of the seeds passing through the recording area are measured by means of a velocity sensor. The one or more images of the recording area generated by the camera of the mobile device are evaluated to determine the quantity of seeds passing through the recording area during a unit of time, taking into account the grain velocities measured by the velocity sensor.

[0036] A preferred method is furthermore in which a grain detection application installed on the mobile device causes the mobile device's camera to generate one or more images. Alternatively or additionally, the grain detection application installed on the mobile device can cause the mobile device's camera to take one or more single images, one or more series of images, and / or one or more video recordings of the recording area when generating the one or more images. Alternatively or additionally, the grain detection application installed on the mobile device can activate a lighting and / or flash unit of the mobile device to illuminate the recording area when generating the one or more images.It is important to note that the movement speed of seeds differs significantly between mechanical and pneumatic seed drills. Seeds move relatively slowly in mechanical drills, while they move relatively quickly in pneumatic drills. A single image allows for a quick assessment of the seed flow. However, since a single image only captures a brief segment of the seed flow and does not provide a direct indication of its movement speed, its usefulness is limited. Analyzing a single image might suggest that only two seeds per second are being metered per seed tube, whereas analyzing other images could indicate that two or four seeds per second are being metered per seed tube.Analyzing multiple single or series images can improve the results accordingly. A single image only captures the instantaneous uptake of the seeds within the examined section of the seed flow. The seed speed is not necessarily determined from this single image. A correlation between the number of seeds and their speed must be established. In a series of images, several images are taken in quick succession. From the duration of the image sequence and the number of seeds counted in each individual image, the seed flow in seeds per second can be calculated. Accuracy can be increased by taking several consecutive series of images. If necessary, a statistical average can be calculated.

[0037] The seed flow rate in grains per second can be calculated from the duration of the image sequence and the number of seeds counted in each individual image. Accuracy can be increased by taking several consecutive images and averaging the results. Depending on the seed speed and the timing of the image sequence, individual seeds may be captured multiple times, for example, twice, or not at all. With slow seed speeds, especially in mechanical seed drills, it is possible for individual seeds to be captured by two or more consecutive images. The evaluation unit can identify duplicate seeds during the image analysis routine. This is possible, for example, because the individual seeds differ in shape, size, surface, and other properties.The evaluation system must take into account that the seeds change their position during movement, and certain characteristics may not be captured, thus making seed identification difficult. If identical seeds are captured in different images, the seed speed can be directly calculated from the time interval between the images. At very high seed speeds, it is possible that individual seeds will not be captured by the images. Furthermore, the evaluation system can also identify and track individual seeds within the images. The probability that each seed will be individually captured increases with increasing image size. With a sufficiently large image area, the evaluation system can thus determine the true number of seeds.In addition to image analysis, regularities can be established to compensate for these measurement errors. This can be achieved by conducting experimental investigations, for example, based on statistical analyses, or by using artificial intelligence. The analysis can be enhanced if certain properties of the seed type are stored in the computer and can be assigned to the seed being processed. For example, the grain shape and surface area are determined using images from the mobile device. This allows for inferences about the drag coefficients. Experiments are used to determine the actual average relative velocities between the grains. For this purpose, the suspension velocity profile can be determined. For example, the deviations are greater for oat grains than for the spherical rapeseed grains.The analysis of the images captured by the mobile device and the measurements from the speed sensor, combined with the principles of the experimental investigation, yields a highly accurate value for the number of seeds per second. The movement speeds of the seeds in pneumatic seed drills depend on the conveying air velocity in the seed tube and the flow velocities of the seeds. In pneumatic seed drills, the movement speeds of the seeds within the seed tube vary considerably. This is due, among other things, to the fact that the seeds are not uniformly shaped and vary in size. Furthermore, the flow profile within the seed tube is uneven. A light, spherical rapeseed seed has a different movement speed than a non-uniformly shaped wheat seed.An oat grain approaching the airflow from the front has a lower velocity than an oat grain approaching it from the side. One measure of the flow characteristics is, for example, the suspension velocity. The velocity and number of grains can be determined from a video recording. Mutual coverage is low in video recordings because the seeds move towards each other. Mutual coverage is lower with pneumatic seed drills than with mechanical seed drills because the high velocity spreads the seed stream. The velocity of the seeds and the number of seeds can be determined from a video recording that captures the movement of individual seeds.

[0038] One or more images can be captured during seed application on agricultural land, for example, during a calibration phase. Image capture can be triggered remotely, either via cable or wirelessly, for example, using a smartwatch connected to a mobile device or a display and control unit connected to a mobile device, such as a terminal, particularly an ISOBUS terminal. Image capture can be triggered automatically or via radio control.

[0039] The generation of images can be triggered by a data connection, for example a cable or radio connection.

[0040] In another preferred embodiment of the method according to the invention, the one or more image recordings are generated by means of the camera of the mobile device through a recording window of a pipe wall enclosing an internal conveying path for the seed of the seed conveying pipe, through which the recording area can be viewed from outside the seed conveying pipe.

[0041] The problem underlying the invention is further solved by a method for adjusting a metering device according to claim 18. With regard to the advantages and modifications of the method according to the invention for adjusting a metering device, reference is therefore first made to the advantages and modifications of the method according to the invention for capturing seeds.

[0042] Setting the calculated application rate can be done automatically via a control unit or manually. The detection of seeds in the seed delivery line, the calculation of the setting values, and the setting itself preferably take place during a calibration phase at the beginning of an application. Soiling of the mobile device is significantly reduced if it is only used for seed detection during the calibration phase. The onboard computer then regulates the application rate after the calibration process according to a specially configured metering function. Alternatively, the mobile device can detect the seeds in the seed delivery line throughout the entire application process. During the calibration phase, the metering can be set so that seed is dispensed only along a single row.To prevent seed from being deposited on the agricultural field during the calibration phase, a bucket can be hung directly below the seed placement device assigned to the row to collect the seed. Alternatively, a seed tube can be swiveled to allow the calibration process to be carried out even while the device is in use. In addition to the mobile device used as a seed counter, a second mobile device can be used. Alternatively, after the calibration process, the mobile device can be removed from its holder and used as an on-board computer on the seed drill. The evaluation result from the seed count function can be used to determine a parameter for the metering function, which depends, among other things, on the rotational speed of the metering unit.The mobile device can perform the following functions: sensor-based grain counter, control of the application rate variation, control of a parallel driving system function, control of a tramline switching system, control of a section control system, calculation regarding refilling and remaining quantity and / or documentation of work data, application rate, also georeferenced, climate data and / or terrain characteristics.

[0043] The mobile device then has one or more applications installed with operating and control functions, enabling it to be used like an on-board computer. It is also possible to implement telemetric data exchange. This creates a two-way communication level between the machine and the central control center.

[0044] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying drawings. These show: Fig. 1 a seeding unit with a detection system according to the invention in a schematic side view; Fig. 2 A detection system according to the invention in a schematic sectional view; Fig. 2 Another detection system according to the invention in a schematic sectional view; Fig. 3 A section of a seed conveying line according to the invention in a schematic sectional view; Fig. 4 A holding device according to the invention in a schematic view; Fig. 4 Another holding device according to the invention in a schematic view; Fig. 5 A detection system according to the invention in a schematic view; Fig. 6 Images generated by a mobile device, which are evaluated within the framework of the method according to the invention; Fig. 7 Images generated by a mobile device, which are evaluated within the framework of the method according to the invention; Fig.Fig. 8 Image recordings generated by a mobile device, which are evaluated within the framework of the method according to the invention; Fig. 9A A detection system according to the invention in a schematic sectional view; Fig. 9B Another detection system according to the invention in a schematic sectional view; Fig. 9C Another detection system according to the invention in a schematic sectional view; Fig. 10 An image recording generated by a mobile device, which is evaluated within the framework of the method according to the invention; Fig. 11 Another detection system according to the invention in a schematic sectional view; Fig. 12 Another detection system according to the invention in a schematic view; Fig. 13 Another detection system according to the invention in a schematic view; and Fig. 14 The functional scope of a detection system according to the invention in a schematic view.

[0045] The Fig. 1 Figure 1 shows a seeding unit 100 of a seed drill 200. The seeding unit 100 can deposit seeds S onto the soil B of an agricultural area. The depicted seeding unit 100 moves across the agricultural area in the direction of travel F. The seeds S are carried within the hopper 104 and metered into the seed delivery lines 30a and 30b via the metering device 28. The seeds S are conveyed via the seed delivery lines 30a and 30b to the seed coulters 102a and 102b. The seed coulters 102a and 102b are designed as tine coulters. The seeding unit 100 also has a cutting disc 106, which creates a furrow in the soil B. The seed shares 102a, 102b running behind the cutting disc 106 serve to form the opened furrow and to deposit the seed S into the formed furrow.

[0046] The seed conveying line 30a is part of a detection system 10, by means of which seeds S within the seed conveying line 30a can be detected. The detection system 10 also includes a holding device 60, by means of which the mobile terminal 12, also belonging to the detection system 10, is attached to the seed conveying line 30a in a non-destructively detachable manner. With the mobile terminal 12 attached to the holding device 60, it is possible to determine the number of seeds S dispensed per unit of time, for example, in the form of seeds per second. The mobile terminal 12 is a mobile device, namely a smartphone, and serves as a measuring device.

[0047] The Fig. 2A shows an embodiment of a detection system 10 with a seed conveying line 30, a holding device 60 and a mobile terminal 12.

[0048] The holding device 60 has a device receptacle 62 by means of which the mobile device is fixed to the holding device 60. The holding device 60 also includes a fastening device 64 by means of which the holding device 60 is attached to the seed delivery line 30 in a non-destructively detachable manner. The device receptacle 62 is designed to fix the mobile device 12 to the holding device 60 by means of a force-fit and / or positive locking mechanism. For this purpose, the device receptacle 62 can, for example, include one or more device clamping elements. The fastening device 64 of the holding device 60 is designed to fasten the holding device 60 to the seed delivery line 30 by means of a force-fit and / or positive locking mechanism. For this purpose, the fastening device 64 can include one or more line clamping elements.

[0049] The device mount is adjustable such that the relative position of the mobile device 12 fixed in the device mount 62 and the seed delivery line 30 can be changed. The camera 14 of the mobile device 12 can be positioned and aligned relative to the seed delivery line 30 via the adjustable device mount 62. Other mobile devices 12 of a different size and / or shape can also be fixed to the device mount 62. For this purpose, the device clamping elements can, for example, be adjustable within a specific range.

[0050] The seed conveying line 30 has a wall 32 which encloses an internal conveying path 34 for the seed. The wall 32 has a viewing window 36 through which a viewing area 38 located inside the seed conveying line 30 can be viewed from outside the seed conveying line 30. In this way, 2 images A of the viewing area 38 can be generated via the viewing window 36 using the camera 14 of the mobile device 12. Thus, 2 images A of the seed flow can be taken via the viewing window 36 using the mobile device 12.

[0051] The pipe wall 32 is transparent in the area of ​​the recording window 36. Alternatively, the recording window 36 can be designed as a recording opening. The lens or lens system of the camera 14 is located near the recording window 30 and is aligned with the recording area 38 located inside the seed conveying pipe 30.

[0052] The pipe wall 32 of the seed conveying pipe 30 includes an internal pipe wall section 40 visible through the recording window 36. This visible internal pipe wall section 40 has a contrasting color that differs from that of the adjacent internal pipe wall sections 42. Furthermore, the pipe wall section 40 may be radiation-reflecting. The internal pipe wall section 40 visible through the recording window 36 serves as the background for image acquisition A. Thus, the internal pipe wall section 40 visible through the recording window 36 is color-coded to improve image quality.

[0053] The Fig. 2B Figure 10 shows a detection system in which the mounting device 60 is designed as a mounting box. The mobile device 12 is mounted inside the mounting box. The mounting box ensures a secure connection to the seed delivery line 30 and a minimum distance to the seed delivery line. Due to the increased distance between the camera 14 and the recording area 38 inside the seed delivery line 30, sharp images A can be produced with a standard mobile device 12.

[0054] The Fig. 3 Figure 30 shows a seed conveying line 30 in which the cross-sectional area within the receiving area 38 is larger than that of adjacent sections. Several guide elements 44a-44c are arranged within the receiving area 38 to direct and guide the seeds S passing through it. The seed conveying line 30 is thus designed so that the seed flow fans out within the receiving area 38 without altering the seed flow itself. Therefore, with mechanical seed drills, there is no seed backup. With pneumatic seed drills, there is no significant pressure drop. The larger cross-sectional area in the receiving area 38 causes the seed flow to fan out. The individual seeds S are guided over a wider area, resulting in a thinner layer. This significantly reduces the likelihood of seeds S overlapping within the receiving area 38.The guide elements 44a-44c are guide ribs which are arranged on the inner contour of the seed conveying line 30.

[0055] The Fig. 4A Figure 60 shows a holding device 60 by which a mobile device 12 is fixed to a seed conveying line 30. The holding device 60 includes a movement mechanism 66 by means of which the device receptacle 62, and thus the mobile device 12 fixed in the device receptacle 42, can be pivoted between a receiving position and a passive position. The pivoting mechanism by means of which the mobile device 12 can be pivoted can be – as shown in the Fig. 4A - below the device slot 62 or - as in the Fig. 4B - be located above the device mounting 62.

[0056] In the recording position, the mobile device 12 is aligned such that image recordings A of a recording area 38 within the seed conveying line 30 can be generated by means of the camera 14 (see Fig. 4B In the passive position, the camera 14 of the mobile device 12 is positioned laterally spaced from the seed delivery line 30 (see figure). Fig. 4A The camera 14 of the mobile device 12 can therefore only be positioned briefly in the recording position at the recording window 36 of the seed conveying line 30 during one or more recording processes. Afterwards, the mobile device 12 can be swivelled into the passive position and is thus no longer exposed to contamination.

[0057] The Fig. 5 Figure 10 shows a recording system 10 with a distribution unit 108, a mobile terminal 12, a mobile radio transmitter 16, a display and control unit 18 and a control center 20.

[0058] The distribution unit 18 is designed as a distribution head and comprises several seed delivery lines 30, each leading to seed placement devices. A mobile terminal 12 is fixed to one of the seed delivery lines 30 via a holding device 60. The mobile terminal 12 generates images A of the seed flow within the seed delivery line 30. The detection system 10 also includes an evaluation unit, which evaluates the generated images A of the detection area 38 to detect the number of seeds S passing through the detection area 38. The evaluation unit is an electronic data processing device and can be part of the mobile terminal 12, part of the display and control unit 18, or part of a control center computer at the control center 20. The evaluation unit is configured to determine the number of seeds S passing through the detection area 38 per second.

[0059] If the evaluation unit is part of the display and control unit 18 or the control center computer of the control center 20, the image recordings A can be transmitted wirelessly, in particular via mobile network, also using the internet, from the mobile device 12 to the display and control unit 18 or the control center computer. For this purpose, the acquisition system can include a mobile communication transmitter 16, which functions as a base station and thus as a node in a mobile communication network.

[0060] The Fig. 6 Figure 1 shows three images A1-A3 generated by a mobile device. The images A1-A3 were generated at different times. The evaluation unit records the number of seeds depicted in the images A1-A3 and, taking into account the time interval between the images A1-A3, calculates the number of seeds S passing through the detection area 38 of the seed delivery line 30 per second.

[0061] The Fig. 7 Figure 1 shows further images A1-A5 generated by a camera 14 of a mobile device 12, which were taken at five different times within a time interval of 100 ms. Based on image analysis and the time intervals of images A1-A5, the evaluation unit determines the number of seeds S passing through the recording area 38 within the seed conveying line 30 per second.

[0062] The Fig. 8 The image shows a series of six images (A1-A6) taken in quick succession. Based on the duration of the image sequence and the number of seeds counted in images A1-A6, the evaluation unit of the detection system 10 determines the seed flow in seeds per second. Depending on the seed speed and the timing of the image sequence, individual seeds (S1-S3) may be captured twice. During image analysis, the evaluation unit identifies these duplicate seeds (S1-S3), for example, based on their shape, size, and / or surface area. Using these duplicate seeds (S1-S3), the evaluation unit can directly calculate the seed speed. This allows for a more precise calculation of the seed flow. The evaluation unit can also identify and track individual seeds within images A1-A6.The probability that each seed is individually captured increases with the size of the image area. With a sufficiently large image area, the evaluation device can thus determine the true number of seeds.

[0063] As in the Fig. 9A As shown, the evaluation unit can also be configured to take into account the path difference Δx between the recorded positions of a seed S, resulting from a time difference Δt, when calculating the seed flow. The seed's movement speed can be determined relatively precisely using the time difference Δt and the path difference Δx. The time difference Δt and the path difference Δx can be determined, for example, by evaluating series of images or video recordings.

[0064] The Fig. 9B Figure 1 shows a detection system 10 with a velocity sensor 22. The velocity sensor 22 measures the seed velocities S of the seeds passing through the detection area 38. The evaluation unit analyzes the images from the camera 14 of the mobile device 12 to determine the number of seeds S passing through the detection area 38 during a given time unit, taking into account the seed velocities measured by the velocity sensor 22. The evaluation unit and the velocity sensor 22 can be connected for data transmission. For example, the mobile device 12 can take a single image of the metered seed flow. Simultaneously, the velocity of the seed flow is measured by the velocity sensor 22. The velocity sensor 22 can, for example, be a radar sensor operating on the Doppler principle.Both data packets, the image data and the velocity data, are linked by the evaluation unit so that the number of grains per second can be precisely calculated. The evaluation unit can be integrated into the mobile device 12. Alternatively, the evaluation unit can also be an external electronic data processing device.

[0065] The Fig. 9C This shows that seeds S can cover each other within the reception area. The evaluation unit can be configured to take mutual seed coverage S into account when determining seed flow. Seed coverage can be considered statistically; for example, the evaluation unit can take into account that the coverage rate increases with increasing seed flow.

[0066] The Fig. 10 Figure 3 shows an image A, which displays a motion trail BS of seeds S caused by motion blur. The evaluation unit can be configured to detect a motion trail BS of one or more seeds in one or more images A caused by motion blur and to evaluate the motion trail BS to determine the speed and / or direction of movement of the seeds S passing through the recording area 38. For this purpose, the evaluation unit can examine the trail length SL, the trail width SB, and / or the trail angle SW of the motion trail BS.

[0067] As in the Fig. 11 As shown, image analysis can also be used to determine the velocity vectors V1-V6 of seeds S1-S6. Using these velocity vectors V1-V6, the number of seeds passing through the recording area 38 per second can be determined with extreme precision.

[0068] The Fig. 12 Figure 10 shows a detection system used to determine a target dosage Q. A grain detection application 24, installed on a mobile device positioned on a seed delivery line 30, first determines a measured value m, which represents the seed flow within the seed delivery line 30 in grains per second. Using a calculation formula BF, the measured value m is then multiplied by the number k of seed delivery lines and divided by the driving speed v and the working width b of the seed drill 200.

[0069] A control application 26 can be installed on the mobile device 12, which can communicate with a display and control unit 18.

[0070] The Fig. 13 This shows that the display and control unit 18 can then control a metering device 28 with a metering drive 29. Based on the calculation formula BF, a target seed flow rate in seeds per second can be determined for the agricultural area N. The metering drive 29 of the metering device 28 is thus adjusted so that the target seed flow rate is achieved within the seed delivery line 30. The metering drive 29 can be an electric, pneumatic, mechanical, or hydraulic drive. Accordingly, the metering device 28 can be driven electrically, pneumatically, mechanically, or hydraulically.

[0071] The Fig. 14 Figure 10 illustrates the functional scope of a data acquisition system. Data acquisition system 10 can be used as a seed counter (see section 1). Furthermore, the application rate of seed can be controlled or adjusted via data acquisition system 10 (see section 2). The seed data determined by data acquisition system 10 can be taken into account during parallel driving, tramline control, and / or section control (see section 3). Additionally, the required refill quantity and / or the resulting residual quantity during an application process can be calculated based on the determined seed flow (see section 4). Moreover, operating data, climate data, and terrain characteristics can be documented. Georeferenced documentation of the application rate is also possible (see section 5). Bezugszeichenliste

[0072] 10 Detection system 12 Mobile terminal 14 Camera 16 Mobile radio transmitter 18 Display and / or control unit 20 Control center 22 Speed ​​sensor 24 Grain detection application 26 Control application 28 Dosing device 29 Dosing drive 30, 30a, 30b Seed conveying line 32 Line wall 34 Conveying path 36 Receiving window 38 Receiving area 40 Wall surface section 42 Wall surface section 44a-44c Guide elements 60 Holding device 62 Device holder 64 Fastening device 66 Movement mechanism 100 Seed unit 102a, 102b Seed coulters 104 Storage container 106 Cutting disc 108 Distribution device 200 Seed drill A, A1-A6 Image captures b Working width B Soil BS Movement track BF Calculation formula F Direction of travel k Number of seed delivery lines m Measured value NN Usable area S, S1-S6 Seeds SLS Track length SBS Track width SW Track angle t Time v Speed ​​V1-V6 Speed ​​vectors Q Target dosage Δt Time difference Δx Distance difference

Claims

1. Detection system (10) for seed grains (S, S1-S6), comprising - a seed conveyor line (30, 30a, 30b); - a mobile terminal (12) which has a camera (14) for generating image captures (A, A1-A6) of a capture region (38) of the seed conveyor line (30, 30a, 30b) located within the seed conveyor line (30, 30a, 30b); and - a holding apparatus (60) for non-destructively releasably fastening the mobile terminal (12) to the seed conveyor line (30, 30a, 30b) and / or a coulter of a seed drill (200); - an evaluation device which is configured to evaluate one or more image captures (A, A1-A6), generated by the camera (14) of the mobile terminal (12), of the capture region (38) in order to detect the seed grains (S, S1-S6) passing through the capture region (38), characterized by a speed measuring sensor (22), by means of which grain speeds of the seed grains (S, S1-S6) passing through the capture region (38) can be measured, the evaluation device being configured to evaluate the one or more image captures (A, A1-A6), generated by the camera (14) of the mobile terminal (12), of the capture region (38) in order to detect the quantity of seed grains (S, S1-S6) passing through the capture region (38) during a unit of time, taking into account the grain speeds measured by means of the speed measuring sensor (22).

2. Detection system (10) according to claim 1, characterized in that a grain detection application (24) for generating and / or managing image captures (A, A1-A6) of the capture region (38) is installed on the mobile terminal (12).

3. Detection system (10) according to claim 1, characterized in that the evaluation device is configured to take one or more current setting parameters of the seed drill (200) into account when detecting the seed grains (S, S1-S6) passing through the capture region (38).

4. Detection system (10) according to claim 1 or 3, characterized in that the evaluation device is configured to detect, in the one or more image captures (A, A1-A6), a movement track (BS), resulting from motion blur, of at least one seed grain and to evaluate the movement track (BS) of the seed grain in order to detect the movement speed and / or the movement direction of the seed grain passing through the capture region (38).

5. Detection system (10) according to claim 1, characterized in that the evaluation device is configured to link image data from the mobile terminal (12) to one or more individual image captures of the metered seed flow, and speed data from the speed measuring sensor (22) to the speed of the seed flow, in particular to calculate the number of grains (S, S1-S6) per second.

6. Detection system (10) according to any of claims 1 or 5, characterized in that the speed measuring sensor (22) is a radar sensor that operates according to the Doppler principle.

7. Method for detecting seed grains (S, S1-S6) in a seed conveyor line (30, 30a, 30b) of an agricultural seed drill (200) by means of a detection system (10), in particular by means of a detection system (10) according to any of the preceding claims, comprising the steps of: - non-destructively releasably fixing a mobile terminal (12) in a device receptacle (62) of a holding apparatus (60) of the detection system (10); - generating one or more image captures (A, A1-A6) of a capture region (38) of the seed conveyor line (30, 30a, 30b) located within the seed conveyor line (30, 30a, 30b) by means of a camera (14) of the mobile terminal (12) of the detection system (10), at the same time the mobile terminal (12) is fixed in the device holder (62) of the holding apparatus (60), characterized by the step of: - measuring the grain speeds of the seed grains (S, S1-S6) passing through the capture region (38) by means of a speed measuring sensor (22), the one or more image captures (A, A1-A6), generated by the camera (14) of the mobile terminal (12), of the capture region (38) being evaluated in order to detect the quantity of seed grains (S, S1-S6) passing through the capture region (38) during a unit of time, taking into account the grain speeds measured by means of the speed measuring sensor (22).

8. Method according to claim 7, characterized by the step of - evaluating the one or more image captures (A, A1-A6), in particular by means of a grain detection application (24) installed on the mobile terminal (12), in order to detect seed grains (S, S1-S6) passing through the capture region (38) of the seed conveyor line (30, 30a, 30b).

9. Method according to claim 7 or 8, characterized in that, when evaluating the one or more image captures (A, A1-A6), a movement track (BS), resulting from motion blur, of at least one seed grain is detected and the movement track (BS) of the seed grain is evaluated in order to detect the movement speed and / or the movement direction of the seed grain passing through the capture region (38).

10. Method according to any of claims 7 to 9, characterized in that a grain detection application (24) installed on the mobile terminal (12) causes the camera (14) of the mobile terminal (12) to generate the one or more image captures (A, A1-A6).

11. Method according to any of claims 8 to 11, characterized in that a grain detection application (24) installed on the mobile terminal (12) causes the camera (14) of the mobile terminal (12) to take one or more individual captures, one or more series captures and / or one or more video captures of the capture region (38) when generating the one or more image captures (A, A1-A6).

12. Method according to any of claims 8 to 11, characterized in that, when evaluating the one or more image captures (A, A1-A6), the seed flow in grains (S, S1-S6) per second is calculated from the time span of a series of captures and the grains counted in individual images.

13. Method according to any of claims 7 to 12, characterized in that, when evaluating the one or more image captures (A, A1-A6), artificial intelligence is used to compensate for measurement errors.

14. Method according to any of claims 8 to 13, characterized in that the evaluation of the one or more image captures (A, A1-A6) is analyzed on the basis of stored properties of the seed type which are assigned to the conveyed seed.

15. Method according to any of claims 8 to 14, characterized in that, when evaluating the one or more image captures (A, A1-A6), measurement errors are compensated for by established regularities.

16. Method according to any of claims 8 to 10, characterized in that a grain detection application (24) installed on the mobile terminal (12) activates a lighting and / or flashing-light device of the mobile terminal (12) when generating the one or more image captures (A, A1-A6), in order to illuminate the capture region (38).

17. Method according to any of claims 7 to 16, characterized in that the generation of the one or more image captures (A, A1-A6) by means of the camera (14) of the mobile terminal (12) takes place through a capture window (36) of a line wall (32), enclosing an in-line conveying path (34) for the seed, of the seed conveyor line (30, 30a, 30b), via which capture window the capture region (38) can be viewed from outside the seed conveyor line (30, 30a, 30b).

18. Method for setting a metering apparatus (28) of an agricultural seed drill (200), comprising the steps of: - detecting seed grains (S, S1-S6) in a seed conveyor line (30, 30a, 30b) of an agricultural seed drill (200); - calculating setting values for the metering apparatus (28), taking into account a seed flow which is determined on the basis of the seed grains (S, S1-S6) detected in the seed conveyor line (30, 30a, 30b), and - setting the calculated setting values on the metering apparatus (28); characterized in that the detection of the seed grains (S, S1-S6) is carried out according to any of claims 7 to 17.