Method for operating a field crop transporter

Abstract

1. A method for operating a field crop transporting machine, in particular a field crop harvesting machine (2), comprising the steps of acquiring sensor data (3a, 3b), calculating mass data by an evaluation device (14) based on the sensor data, and providing yield data (16) calculated on the basis of at least the mass data, wherein the evaluation device (14) generates, based on at least the sensor data (3a, 3b), the mass data and / or the yield data (16), an adjustment signal (18) for adjusting at least one separating element of a separating device (20), the separating device (20) being configured to separate a first part of a harvested material (12) from another part of the harvested material (12).

Description

[Technical field]

[0001] The present invention relates to a method for operating a field crop transporter, in particular a field crop harvester, and to a field crop transporter, in particular a field crop harvester. According to the method, sensor data are acquired by means of at least one optical sensor. The optical sensor is directed towards a measurement area of ​​a crop flow conveyed in a conveying direction by at least one conveying element. On the basis of the sensor data, at least mass data specific for the mass of at least a part of the crop is calculated by an evaluation device. On the basis of the mass data, at least yield data is calculated and provided by the evaluation device. The yield data reproduces at least the mass and / or a value calculated on the basis of the mass.

[0002] Such a method is particularly useful for determining the yield of a crop during harvesting and is known in detail from WO 2018035082. According to this prior art, an optical sensor is arranged on a field crop transporter and contains yield data as field crop mass per harvested area.

[0003] The object of the invention is to improve the quality of the harvested crop with as little constructional effort as possible.

[0004] According to the invention, this problem is solved in that the evaluation device generates an adjustment signal for adjusting at least one separation element based on at least sensor data, mass data and / or yield data. The separation element is included in a separation device, which is in particular included in a field crop transporter. The separation device, in particular the separation element, is designed for separating a first part of the harvest from at least one further part of the harvest. The separation element is arranged upstream or downstream of the measuring area along the flow during operation. Furthermore, the separation element acts mechanically on at least a part of the harvest. Preferably, the separation element is adjusted directly by the adjustment signal.

[0005] Thus, at least a part of the data determined for determining the yield can be used for adjusting the separating device. The adjustment signal is suitable and defined in particular for adjusting the separating properties of the separating device, for example via the sensitivity of the separating device or via the degree of cleanliness and / or the proportion of undamaged crops separated unintentionally, which increases regularly in practice as the degree of cleanliness increases. The adjustment signal is generated or provided in particular continuously by the evaluation device during operation and applied to the separating device and / or changed depending on the sensor data. The inventive configuration of the method thus allows the separating device to be adapted to the properties of the crop to be separated with minimal constructional costs, so that the function of the separating device can be optimally adjusted depending on the results desired by the producer.

[0006] In particular, the optical sensor, the evaluation device and / or the separation device are included in or arranged on the field crop transporter, so that the method according to the invention can preferably be carried out entirely by means of a mobile field crop transporter and, if appropriate, a towing machine coupled to the mobile field crop transporter.

[0007] Field crop transport machines in the sense of the present invention also include transport machines that are configured or suitable for transporting vegetables. Similarly, field crop harvesters also include harvesters that are configured or suitable for harvesting vegetables. In that respect, field crops also include vegetables, i.e. plant parts, in particular tubers, stems and roots.

[0008] The separating device is especially designed to separate contaminants present in the harvest from field crops present in the harvest. Besides the separating element, the separating device preferably comprises another element which cooperates with the separating element. This other element is especially a conveying element or especially another separating element of the same structure as the separating element. Preferably, the first part exclusively comprises usable field crops and the other part exclusively comprises contaminants and / or unusable field crops, for example of a certain size. Contaminants include especially stones, clods, weeds, leaves as well as damaged field crops, the separating device being especially configured to separate one or more of these contaminants. Alternatively or additionally, the contaminants are field crops of undesirable sizes.

[0009] The at least one separating element is in particular configured as a sieve belt, as a closed belt, as a picking roller, as a belt with needles, as a knocking device, in particular as a pivotable ejector of an ejector row, as a robot arm and / or as a comb element which extends from above into the crop during operation. The separating element is preferably a completely different component from the conveying element. The mechanical action is an influence by an object which causes a movement or a suppression of the movement. The separating element in particular mechanically acts on at least one part of the crop such that this part comes into at least stepwise direct contact with the separating element, i.e. touches the separating element. The separating device in particular has a plurality of separating elements, which are preferably identical. In particular the separating device has at least one gap, which is passable for at least a part of the contaminants and which is impassable for the average field crop. The separating element preferably generates a conveying pulse in the direction of the gap.

[0010] The optical sensor is in particular configured as a camera, preferably as an optical camera, particularly preferably as a 3D camera. The optical sensor is directed towards a measurement area through which the transport element passes with the harvest material placed thereon during operation. The measurement area is in particular arranged stationary relative to the machine frame of the field crop transporter. The measurement area is in particular the area detected or covered by the sensor and / or the area from which the sensor data used to calculate the mass data are acquired (the area detected by the sensor may also extend beyond the measurement area). The optical sensor generates sensor data and transmits the sensor data to the evaluation device by wire or wirelessly. Preferably, the field crop transporter contains exactly one sensor.

[0011] The evaluation device in particular includes a calculation unit or a processor and / or a storage unit, in particular at least partially included in the field crop transporter or towing machine. Based on the stored algorithm, the evaluation device calculates mass data using the sensor data. The mass data preferably represents a weight of the harvested product or part of the harvested product, in particular the weight of a field crop. The mass data is calculated in particular by multiplying a volume and a density defined by the evaluation device. Preferably, the data comprises a plurality of weights or masses based on sensor data acquired during different time intervals.

[0012] The yield data is based at least on mass data. The yield data preferably represents at least a defined mass per defined harvested area. In particular, the yield data includes a plurality of this ratio.

[0013] The yield data is provided by the evaluation device, said providing being preferably performed at least visually, and said providing being preferably stored on a storage medium.

[0014] No measures that are not necessary for determining the yield are necessary to generate the regulation signal, so that the effort required for the above-mentioned optimization of the yield or for cleaning the field crop is minimal.

[0015] The method according to the invention is preferably suitable for operating potato or beet harvesters. The harvesters are distinguished by the presence of at least one field crop plough, which penetrates into the ground during operation. The method is also preferably suitable for operating field crop transporters, in particular those having at least one conveyor belt for loading the field crop. Alternatively or additionally, the method is also suitable for operating stationary or mobile field crop cleaning machines.

[0016] The operating parameters or operation of the separating device depend, inter alia, on the adjustment signal. Preferably, the adjustment of the separating device also depends on an input quantity, such as, for example, the field crop type, or the minimum unit of the harvested material after passing through the separating device, to be added by the user. Alternatively or additionally to the cleaning of the harvested material, the separating device can also be configured for size sorting of the field crop.

[0017] The evaluation device is particularly configured to carry out a calibration in the event of an absence of crop on the conveying element, whereby the conveying level of the conveying element is identified, which may change due to contaminants adhering to the conveying element, particularly during operation, and which must be taken into account when determining the crop yield.

[0018] Preferably, the evaluation device uses, at least among other things, sensor data of the same sensor for calculating the mass data and / or providing the yield data, whose sensor data the evaluation device also uses for generating the adjustment signal. This means that when only one optical sensor is used, the adjustment signal and the yield data are based on sensor data acquired by the same sensor. When multiple optical sensors are used, this means that the sensor data of at least one sensor of the multiple sensors forms the basis for generating the adjustment signal and for calculating the above-mentioned data. This ensures that both the adjustment signal and the yield data are based on the best possible database, achieving a particularly simple constructional solution for achieving the above-mentioned advantages. This is best achieved when the evaluation device calls up the same sensor data for generating the adjustment signal and for calculating the yield data.

[0019] Preferably, the evaluation device distinguishes between the field crop present in the harvest and at least a portion of contaminants present in the harvest for calculating the mass data and / or the yield data and for generating the adjustment signal. The evaluation device distinguishes between at least a portion of the field crop and / or at least a portion of the contaminants, in particular between the field crop and at least a portion of the contaminants, based on the sensor data.

[0020] Preferably, on the basis of the sensor data, the contours of the individual field crops and / or contaminants in at least one camera image of the sensor are identified. A camera image can be understood as data output from the sensor, in particular raw images, which contain information collected at least at approximately the same time and represent the visual situation from the point of view of the sensor. In particular, each camera image is based on or represented by exactly one datum of the sensor data. In particular, the data or the camera image contains information on resolution, brightness, etc. The contours are compared in particular with stored reference contour shapes. Then, preferably, on the basis of the stored data, in particular regarding the typical size and / or shape of the field crop, the volume of the field crop is determined, and on the basis of this volume, in particular preferably, the mass of the field crop is calculated.

[0021] Alternatively or additionally, the shape and / or position of the surface sections of the field crop or contaminants that are visible by the sensor are identified. In particular, the evaluation device calculates at least the proportion of the field crop in the harvest and / or at least the proportion of the contaminants in the harvest. This makes it possible to determine the quality or purity of the harvest and to adjust the separation device depending on this.

[0022] According to an advantageous embodiment of the invention, the evaluation device calculates at least the number of pieces of the field crop in the harvest based on at least the sensor data. For this purpose, preferably the contours of the individual field crops are also determined. This number allows the size distribution of the field crop to be estimated, in particular taking into account the mass data, and the separating device can be adjusted accordingly. Alternatively or additionally, the evaluation device calculates at least the dimensions of at least a part of the field crop. This dimension is in particular the length, width, height, orientation or volume, and can in particular be directly usable for adjusting the separating device.

[0023] Preferably, the evaluation device generates the adjustment signal in dependence on characteristic data, in particular size data, and / or a characteristic distribution, in particular a size distribution, of the field crop, the characteristic distribution being calculated on the basis of the sensor data, the characteristic data representing a characteristic of at least one component part of a harvested product such as a field crop and being calculated on the basis of the sensor data, and the size data representing a size of the at least one field crop and being calculated on the basis of the sensor data.

[0024] Preferably, the evaluation device calculates the yield data by assigning at least a part of the characteristic or size data or data based on the characteristic or size data or data based on the characteristic or size distribution to the position data or batch data. The position data is determined in particular by a GPS sensor, which is preferably arranged on the field crop transporter. This assignment allows better planning of the unloading of the loaded field crop, since the different quality or size categories have to be unloaded in a targeted and localized manner.

[0025] Preferably, the evaluation device calculates the yield data by at least allocating at least a part of the mass data or data based on the mass data to the location data or batch data. Based on this allocation, the evaluation device preferably outputs how large the yield is in at least a specific part of the field area. The batch data particularly represents the parts of the harvest that are spatially collected and processed, transported by a corresponding transport vehicle and / or loaded into the same container. By allocating the mass data to the batch data, the information contained in the mass data can be specifically allocated to each batch and the order of unloading the batches can be determined based on the yield data or batch data related to the quality of the field crop.

[0026] Particularly preferably, the evaluation device virtually reproduces the farm area in which the field crop transporting machine is used on the basis of the position data.

[0027] Furthermore, the evaluation device divides the virtually reproduced field area into a number of area sections, in particular of at least approximately equal size. In particular, all area sections not adjacent to the outer contour of the virtually reproduced field area are of the same size. The evaluation device preferably assigns at least the mass data or a part of the data based on the mass data to each area section. Thus, not only can the yield of the field area be located and automatically assigned by means of GPS-based field identification, but also alternatively or additionally the mass data can be locally refined.

[0028] Preferably, the crop stream is illuminated in the measurement area with laser light by at least one laser device at least substantially along a line. The main extension direction of the line is in particular arranged at an angle to the conveying direction, preferably at right angles. Due to the fact that the laser light impinges on a non-flat surface of a plurality of crop components, a line profile with varying height results. The line profile, in particular its time course, is in particular the basis for the contour identification. The sensor acquires the light of the laser device scattered and / or reflected by the stream or measures the intensity of this light, preferably with high resolution. The laser device in particular comprises a laser light source and is preferably configured as a line laser. By measuring the scattered and / or reflected light, the surface structure of the crop can be determined in a particularly reliable manner. In this way, in particular defects, damage, soil coverage as well as the structure of the field crop can be identified.

[0029] In one advantageous configuration of the invention, the flow is irradiated with laser light by the laser device at least substantially along at least two lines. These lines extend in a section of an imaginary conveying plane that corresponds to the size of the rest surface provided by the conveying element, preferably without crossing each other. Particularly preferably, these lines extend parallel. In this case, the laser device preferably comprises at least two laser light sources. The main extension directions of the lines are each angled to the conveying direction, preferably arranged at right angles. This allows the above-mentioned characteristics to be determined along the two lines. Preferably, the flow is irradiated with laser light by the laser device at least substantially along at least three lines that are oriented relative to each other as described above.

[0030] Preferably, the evaluation device identifies at least one image segment of at least one of the camera images, which shows at least a part of the background, on the basis of sensor data based on a first camera image and on sensor data based on at least one second camera image. The camera images are preferably taken one after the other by the same sensor. The camera images therefore show substantially identical elements. The at least two camera images or the sensor data based on these camera images are then preferably subtracted from one another and the images are optically subtracted from one another. In particular, the evaluation device corrects at least a part of the sensor data in such a way that the image segment is at least partially removed from the camera image. Preferably, the evaluation device identifies at least one image segment on the basis of distance data which reproduces at least a distance interval, among other things. The distance interval is the interval along which the conveying element travels in the conveying direction between the capture of both camera images. The distance interval is preferably determined via a rotation sensor provided on the conveying element. One of the camera images is in particular optically returned by this distance interval during the subtraction. Since the parallel lines are fixed in position relative to the optical sensor, only the image structures that are made recognizable by the laser device are maintained in the resulting image difference. This makes it possible to determine the different grayscale values ​​or reflection properties particularly reliably. These advantageous features allow the above-mentioned sensor data to be subtracted in a targeted manner. The data base can thus be concentrated on the relevant parts as a whole.

[0031] Particularly preferably, the stream is irradiated along a first of the lines with laser light of a first wavelength and along a second of the lines with laser light of a second wavelength different from the first wavelength. Both wavelengths are in particular ≧400 nm and / or ≦1,000 nm. By means of the different wavelengths, the different characteristics of the crop can be more easily ascertained and thus a more robust database for generating the regulation signals can be achieved. The number of different wavelengths in particular corresponds to the number of lines.

[0032] Preferably, the optical sensor comprises at least one monochromatic camera. The sensor data includes in particular greyscale values ​​and / or depth information. By using a monochromatic camera, which preferably only acquires one brightness or greyscale value per pixel, it is possible to avoid unnecessary data volume and to acquire all relevant information, in particular based on the above-mentioned use of laser light. By using the depth information, additional information can be obtained about the shape and position of the crop on the conveying element.

[0033] The discrimination between at least one field crop and contaminants carried out by the evaluation device is preferably carried out at least on the basis of the degree of reflection and / or backscattering of the laser light by the respective imaged surface, where backscattering has a decisive influence on how deeply the light penetrates into the respective component and how it is scattered within the component. In particular, for this purpose the greyscale values ​​of different pixels are compared, preferably the brightness gradients are compared along a direction angled to the line.

[0034] The separating device is preferably arranged downstream relative to the measuring area and with respect to the crop flow. In particular, the separating device is designed for separating the field crop from the contaminants. Such an arrangement of the separating device allows the separating device to be adjusted to short-term changes in the composition of the crop by means of an adjustment signal. Preferably, the field crop transporter comprises at least one further optical sensor downstream of the separating device, which receives further sensor data for controlling the separation result. This allows the separating device to be adjusted particularly effectively.

[0035] Preferably, the evaluation device generates an adjustment signal depending on the position of the identified component to be separated, in particular a contaminant, of the crop with respect to the transverse direction. The transverse direction runs horizontally and perpendicular to the conveying direction. This component can thus be purposefully separated from the remaining crop without generating unnecessary waste in areas displaced along the transverse direction. In particular, based on the adjustment signal, at least one separation element is only moved locally or moved locally with amplified movement compared to other places.

[0036] Preferably, the adjustment signal or the change in the adjustment signal is dependent on the conveying speed of the conveying element. In particular, if the adjustment signal is dependent on the individual crop components to be identified, the evaluation device preferably calculates the time when the identified crop components reach the separation element and thus adapts the settings of the separation element by then. Preferably, the inertia with which the evaluation device reacts in the form of an adjustment signal to different crop amounts, field crop-contamination ratios, etc. is adjustable.

[0037] Particularly preferably, a number of separating elements of the separating device, which are arranged next to each other as viewed in the conveying direction and are formed as ejector elements, can be activated by the adjustment signal. In this case, the activation of one of the ejector elements depends in particular on the position of the identified parts of the harvested product to be separated, in particular on the cross-sectional direction, of the harvested product. The separating device in particular has at least five ejector elements arranged distributed over the width of the conveying element, which ejector elements are formed in particular in the region of the drop stage so as to act on at least one part of the harvested product. By using such a separating device, the separation can be carried out particularly effectively.

[0038] Preferably, the position of a separating edge included in the separating device, in particular formed by a separating element, is adjusted by the adjustment signal in order to separate the field crop from the contaminants. The separating edge is in particular arranged below the ejector element in relation to the vertical direction. The separating edge is optionally formed to circulate during operation. The separating edge is in particular used to provide different partial flows of the parts of the harvested material depending on the flight characteristics of these parts in the falling stage or the action of the ejector element in the falling stage. Such a configuration of the separating device has proven to be particularly effective in the area of ​​field crops.

[0039] The evaluation device preferably calculates the yield data based on at least the operating characteristic data of the field crop transporter, in particular based on the travel speed and / or the position of the field crop plough of the field crop transporter. Reliable yield data that depend on the harvested area fraction can be determined via the travel speed, in particular in the absence of a GPS sensor. In this case, the position of the field crop plough is preferably used to distinguish between an inactive and an active state of the field crop transporter.

[0040] The conveying elements preferably form at least partially lowered field crop receiving areas which are delimited from one another both in the conveying direction and in the transverse direction perpendicular to the conveying direction by longitudinal and transverse separating elements of the conveying elements. In particular, the conveying elements have barrier elements extending both in the transverse direction and in the conveying direction which prevent the field crop from overflowing from one field crop receiving area to another. This allows the different harvested product parts to be distinguished from one another more easily and to be separated intentionally, in particular when using ejector elements.

[0041] The problem is further solved by a field crop transporting machine, in particular a field crop harvesting machine, which has at least one transport element, at least one optical sensor and an evaluation device. According to the invention, the field crop transporting machine is designed to perform the above and / or the below method. This means in particular that the field crop transporting machine comprises a separating device with a separating element.

[0042] The field crop transporter is preferably configured as a potato harvester or as a beet harvester. The field crop transporter preferably has at least one field crop plough which penetrates into the ground during operation. The field crop plough is particularly configured so that during operation the tubers are lifted out of the ground and then removed from the field crop plough by a circulating conveying element, in particular a sieve belt. In particular, downstream of the field crop plough are arranged several successive conveying elements, preferably a storehouse for storing the tubers, into which the flow of harvested material flows during operation until the storehouse is emptied.

[0043] Preferably, the field crop transporting device comprises a plurality of optical sensors, which are directed, in particular, at different, non-overlapping measuring areas, in particular at the transporting elements. Preferably, the field crop transporting device also has a plurality of, in particular different, separating devices, for which different adjustment signals are generated. Preferably, the adjustment signal of each separating device is based on sensor data of exactly one sensor or on sensor data of multiple sensors.

[0044] The field crop transporter is in particular configured as a stationary or mobile machine. Preferably, the field crop transporter is a loader or a cleaning machine. In particular, the field crop transporter comprises a travelling mechanism.

[0045] Further details and advantages of the invention can be gleaned from the diagrammatically illustrated embodiments described below. [Brief description of the drawings]

[0046] [Figure 1] 1 is a side view showing a field crop harvester according to the present invention. [Diagram 2] FIG. 3 shows a schematic diagram of a first conveying element equipped with an optical sensor. [Diagram 3] 4a-b show schematic views of a second conveying element equipped with an optical sensor; [Figure 4] 4a-b show schematic views of a second conveying element equipped with an optical sensor; [Diagram 5] FIG. 2 is a schematic diagram showing an image captured by an optical sensor. [Figure 6] FIG. 2 is a schematic diagram showing a separation device. [Figure 7] 1 is a schematic flow chart of one embodiment of the method according to the present invention.

[0047] The features described below of the exemplary embodiment according to the invention may be the subject of the invention either individually or in another combination than that shown or described, but always in combination with at least the features set out in claim 1. Wherever possible, identical reference signs are provided for elements which act functionally in a similar manner.

[0048] The method according to the invention is used in particular in a field crop harvester 2 shown in Figure 1. The field crop harvester 2 comprises several conveying elements 8 and an optical sensor 4, which is only diagrammatically shown in Figure 1. Figure 2 shows the conveying element 8 of the field crop harvester 2, on which the optical sensor 4 is arranged. During operation of the field crop harvester 2, the belt of the conveying element 8 which is closer to the optical sensor 4 is advanced in the conveying direction 10. The optical sensor 4 is directed towards a fixed measuring area 6.

[0049] According to the method according to the invention, sensor data 3a, 3b are acquired by means of an optical sensor 4. The optical sensor 4 is directed towards a measurement area 6, through which a stream of harvested material 12 is moved in a conveying direction 10 by a conveying element 8 (see also Figures 3a to 4b). The harvested material 12 comprises a field crop 22 and contaminants 24, of which the stems are shown exemplarily in Figure 3a.

[0050] The optical sensor 4 is in particular arranged in a cover which is open in the conveying direction 10 for the conveying element 8 (see FIGS. 3 b and 4 b ). In particular, this cover also surrounds the conveying element 8 in the transverse direction 32 .

[0051] Based on the sensor data 3a, 3b the evaluation device 14 calculates at least mass data which are representative of the mass of at least a part of the crop 12. The evaluation device 14 then provides yield data 16 calculated on the basis of at least the mass data. The yield data 16 reproduce at least the mass and / or the values ​​calculated on the basis of the mass. According to the method according to the invention which is diagrammatically shown in Fig. 7, the evaluation device 14 calls up stored base data 15 for calculating the yield data 16, in particular from a memory of the evaluation device 14. The base data 15 comprises, for example, the density of the field crop 22.

[0052] Furthermore, the evaluation device 14 generates an adjustment signal 18 for adjusting at least one separation element of a separation device 20, in particular included in the field crop harvester 2 (see for example FIG. 6). The adjustment signal 18 is generated based on at least the sensor data (3a, 3b), the mass data and / or the yield data 16. The separation device 20 is configured to separate a first part of the harvest 12 from another part of the harvest 12, in this example the first part being a field crop 22 and the other part being a contaminant 24. To calculate the yield data 16 and to generate the adjustment signal 18, the evaluation device 14 uses the sensor data 3a, 3b of the same optical sensor 4 or the sensor data 3a of the first optical sensor 4 and another sensor data 3b of another optical sensor 4 (see FIG. 7). To calculate the mass data, the evaluation device 14 distinguishes the field crop 22 included in the harvest 12 from the contaminant 24 included in the harvest 12. Furthermore, on the basis of the sensor data 3a, 3b, the evaluation device 14 calculates the number and dimensions of the field crops 22 moving through the measurement area 6. The evaluation device 14 calculates the yield data 16 by assigning the mass data to position data determined by means of a GPS sensor (not shown).

[0053] The flow of crop 12 is illuminated by the laser device in the measurement area 6 along two lines 26, 28 (see FIG. 5). The lines 26, 28 are parallel at the height of the conveying element 8 and run straight in the horizontal direction 10 and in a transverse direction 32 perpendicular to the conveying direction 10. The optical sensor 4 acquires the light of the laser device scattered and reflected by the flow. In FIG. 5, the lines 26, 28 respectively impinge on the field crop 22 arranged on the left and on the contaminant 24 arranged on the right, which scatter and reflect the light differently from each other.

[0054] The separating device 20, which is regulated by the regulating signal 18, comprises a number of separating elements which are formed as ejector elements 30 arranged next to each other as viewed in the conveying direction 10. The separating elements are arranged downstream of the measuring area along the flow. The activation of one of the ejector elements 30, which means the pivoting of the ejector element 30 towards the left from the position shown in FIG. 6, depends on the position of the identified component part of the harvested material 12 to be separated in the transverse direction 32.

[0055] Furthermore, depending on the adjustment signal, the position of a further separating element included in the separating device 20, which forms a separating edge 34, is adjusted. This separating edge 34 is displaced horizontally in response to the adjustment signal 18 in such a way that the intact field crops 22 land on the right side of the separating edge 34 when the ejector element 30 is not activated, and the contaminants 24 are deflected by the ejector element 30 so that they land on the left side of the separating edge 34.

Claims

1. A method for operating a field crop transporting machine, in particular a field crop harvesting machine (2), comprising the steps of: - acquiring sensor data (3a, 3b) by means of at least one optical sensor (4) directed towards a measurement area (6) of a flow of harvested material (12) conveyed in a conveying direction (10) by at least one conveying element (8); - calculating, by an evaluation device (14), at least mass data characteristic of a mass of at least a portion of the harvested product (12) based on said sensor data; providing, by said evaluation device (14), yield data (16) calculated on the basis of said mass data, at least reproducing at least said mass and / or a value calculated on said mass; In a method having the following structure: the evaluation device (14) generating, based on at least the sensor data (3a, 3b), the mass data and / or the harvest data (16), an adjustment signal (18) for adjusting at least one separating element, in particular a separating device (20) comprised in the field crop transporter (2), which is arranged upstream or downstream of the measuring area along the flow during operation and mechanically acts on at least one part of the harvest, the separating device (20) being configured to separate a first part of the harvest (12) from another part of the harvest (12).

2. 2. The method according to claim 1, wherein the evaluation device (14) uses at least in particular sensor data (3a, 3b) of the same sensors (4) for calculating the mass data and / or for providing the yield data (16) as the evaluation device (14) also uses its sensor data (3a, 3b) for generating the adjustment signal (18).

3. 3. The method according to claim 1 or 2, wherein the evaluation device (14) distinguishes between a field crop (22) contained in the harvest (12) and at least a portion of a contaminant (24) contained in the harvest (12) and in particular calculates at least the proportion of the field crop (22) or the contaminant (24) in the harvest (12) in order to calculate the mass data and generate the adjustment signal.

4. 4. The method according to claim 1, wherein the evaluation device (14) calculates at least the number of field crops (22) contained in the harvest (12) and / or at least the dimensions of at least a portion of the field crops (22) based on at least the sensor data (3a, 3b).

5. 5. The method according to claim 1, wherein the evaluation device (14) generates the adjustment signal (18) depending on characteristic data of the field crop (22) calculated on the basis of the sensor data (3a, 3b) and / or depending on a characteristic distribution calculated on the basis of the sensor data (3a, 3b), the characteristic data indicating a characteristic, in particular the size, of at least one component of the harvested product, in particular the field crop (22).

6. 6. The method according to claim 5, wherein the evaluation device (14) calculates the yield data (16) by assigning at least the characteristic data, or data based on the characteristic data, or the characteristic distribution, or data based on the characteristic distribution, to position data or batch data determined by GPS.

7. 7. The method according to claim 1, wherein the evaluation device (14) calculates the yield data (16) by assigning at least the mass data or data based on the mass data to position data or batch data, in particular determined by a GPS sensor.

8. 8. The method according to claim 7, wherein the evaluation device (14) virtually recreates the agricultural field area in which the field crop transporter (2) is used based on the position data, in particular divides it at least partially into area sections of equal size, and assigns at least a portion of the mass data or data based on the mass data to each area section.

9. 9. The method according to claim 1, further comprising irradiating the flow of harvested product (12) with laser light in the measuring area (6) at least substantially along a line (26, 28) by at least a laser device, the main extension direction of the line (26, 28) being arranged at an angle to the conveying direction (10), and the optical sensor (4) acquiring light of the laser device scattered and / or reflected by the flow.

10. 10. The method according to claim 9, wherein the flow is irradiated with laser light by the laser device at least substantially along two, in particular parallel, lines (26, 28), the main extension direction of the lines (26, 28) being respectively arranged at an angle to the conveying direction (10).

11. 11. The method of claim 10, further comprising irradiating the stream with laser light of a first wavelength along a first one of the lines and irradiating the stream with laser light of a second wavelength different from the first wavelength along a second one of the lines.

12. 12. The method according to claim 1, wherein the optical sensor (4) comprises at least a monochrome camera, and the sensor data (3a, 3b) comprises in particular greyscale values ​​and / or depth information.

13. 13. The method according to claim 1, wherein the evaluation device (14) identifies, based on sensor data (3a, 3b) based on a first camera image and on sensor data (3a, 3b) based on a second camera image, at least one image segment in at least one camera image of the plurality of camera images, which segment represents at least a part of the background, and in particular corrects at least a part of the sensor data (3a, 3b) such that the image segment is at least partially removed from the camera image.

14. 14. The method according to claim 13, wherein the evaluation device (14) identifies the at least one image segment on the basis of distance data represented by a distance section traveled by the conveying element (8) in the conveying direction (10) between the capture of the two camera images.

15. 15. The method according to claim 1, further comprising identifying contours of individual field crops (22) and / or contaminants (24) in at least one camera image of the sensor (4) based on at least the sensor data (3a, 3b) and determining the volume of the field crops (22) and / or contaminants (24) based on stored base data.

16. 16. The method according to claim 1, wherein the evaluation device (14) distinguishes at least the field crop (22) from contaminants (24) based at least on the sensor data (3a, 3b) based at least on the degree of reflection and / or backscattering of the laser light by the respective imaged surfaces.

17. 17. The method according to claim 1, wherein the separating device (20) is arranged downstream in relation to the measurement area (6) and with respect to the flow of the harvested material (12) and is configured in particular for separating field crops (22) and contaminants (24).

18. 18. The method according to claim 1, wherein the evaluation device generates the adjustment signal depending on the position of the components to be identified and separated, in particular contaminants (24), of the harvested product (12) in the lateral direction (32).

19. 20. The method according to claim 18, wherein the adjustment signal (18) enables activation of a plurality of ejector elements (30) of the separating device (20) which are arranged next to each other as viewed in the conveying direction (10).

20. 20. The method according to claim 1, wherein the position of a separating edge (34) included in the separating device (20) for separating the field crop (22) from the contaminants (24), which is arranged below the ejector element (30), in particular in the vertical direction, is adjusted by the adjustment signal (18).

21. 21. The method according to claim 1, wherein the evaluation device (14) calculates the yield data (16) based on at least operational characteristic data of the field crop transporting machine (2), in particular based on the travel speed and / or the position of a field crop plough of the field crop transporting machine (2).

22. 22. The method according to claim 1, wherein the conveying elements (8) form a plurality of at least partially lowered field crop receiving areas, which are delimited from one another both in the conveying direction (10) and also in the transverse direction (32) by the separating elements of the conveying elements (8).

23. A field crop transporter, in particular a field crop harvester (2), having at least one transport element (8), an optical sensor (4) and an evaluation device (14), 23. A field crop transporting machine, characterized in that it is provided with arrangements for carrying out the method according to any one of claims 1 to 22.

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