Method for determining a density of a harvested material

Abstract

A method for determining a density of a harvested material includes transmitting radar signals into the harvested material from a transmitting unit, receiving the radar signals reflected by the harvested material by a receiving unit, determining a permittivity of the harvested material as a function of the reflected radar signals via an evaluation unit, and determining the density of the harvested material as a function of the determined permittivity via a signal processing unit.

Claims

1. A method for determining a density of a harvested material, comprising: transmitting radar signals into the harvested material from a transmitting unit; receiving the radar signals reflected by the harvested material by a receiving unit; determining a permittivity of the harvested material as a function of the reflected radar signals via an evaluation unit; determining the density of the harvested material as a function of the determined permittivity via a signal processing unit; performing compaction work on the harvested material; and during compaction work, adjusting, via an electronic control unit, subsequent compaction work based on the density determination of the signal processing unit.

2. The method of claim 1, wherein the received reflected radar signals are converted into signals which represent the determined permittivity and are received as input signals by the signal processing unit.

3. The method of claim 1, wherein the signal processing unit receives data which represent at least one of the following items of information: an item of calibration information, an ambient temperature, a moisture content of the harvested material, and an item of information characterizing the harvested material.

4. The method of claim 3, wherein the data are at least partially transmitted from one or more of an operating interface and a data source to the signal processing unit.

5. The method of claim 1, wherein the signal processing unit issues output signals which represent the determined density to the electronic control unit.

6. The method of claim 1, wherein the signal processing unit issues output signals which represent a moisture content of the harvested material.

7. The method of claim 1, further comprising: performing the compaction work by driving an agricultural vehicle over the harvested material; wherein the transmitting unit and the receiving unit are mounted to the agricultural vehicle having a compaction device for performing the compaction work on the harvested material; wherein the step of adjusting the subsequent compaction work via the electronic control unit includes one or both of controlling a driving speed of the agricultural vehicle or controlling a compaction strength of the compaction device.

8. The method of claim 1, further comprising: transmitting and receiving the radar signals on the same side of the harvested material such that a transmission path of the transmitted radar signals and a reflection path of the received reflected radar signals define a transmission and reception area on one side of the harvested material.

9. The method of claim 8, further comprising: performing the compaction work via an agricultural vehicle while transmitting and receiving the radar signals via the agricultural vehicle; wherein the transmitting unit and the receiving unit are mounted to the agricultural vehicle having a compaction device for performing the compaction work on the harvested material.

10. The method of claim 8, further comprising: transmitting and receiving the radar signals via a portable hand-held terminal; wherein the transmitting unit and the receiving unit are mounted to the portable hand-held terminal.

11. An arrangement for determining a density of a harvested material, the arrangement comprising: a transmitting unit which transmits penetrating radar signals into the harvested material; a receiving unit which receives radar signals reflected by the harvested material; an evaluation unit which determines a permittivity of the harvested material as a function of the received reflected radar signals; a signal processing unit which determines the density of the harvested material as a function of the determined permittivity; and an electronic control unit that, during compaction work on the harvested material, adjusts subsequent compaction work based on the density determination of the signal processing unit.

12. The arrangement of claim 11, wherein the electronic control unit includes the signal processing unit for determination of the density of the harvested material.

13. The arrangement of claim 11, wherein a radar sensor system includes the transmitting unit, the receiving unit, and the evaluation unit for determination of the permittivity of the harvested material.

14. The arrangement of claim 11, wherein the arrangement is integrated into a work machine.

15. The arrangement of claim 11, wherein the arrangement is integrated into a portable hand-held terminal.

16. The arrangement of claim 11, wherein the transmitting unit and the receiving unit are mounted to an agricultural vehicle having the electronic control unit and a compaction device for performing the compaction work on the harvested material.

17. The arrangement of claim 16, wherein the electronic control unit adjusts the subsequent compaction work based on the density determination of the signal processing unit by one or both of controlling a driving speed of the agricultural vehicle or controlling a compaction strength of the compaction device.

18. The arrangement of claim 11, wherein the transmitting unit is disposed on the same side of the harvested material as the receiving unit such that a transmission path of the transmitted radar signals and a reflection path of the received reflected radar signals define a transmission and reception area on one side of the harvested material.

19. The arrangement of claim 18, further comprising: an agricultural vehicle having the transmitting unit and the receiving unit mounted thereto, the agricultural vehicle having a compaction device for performing the compaction work on the harvested material; wherein the electronic control unit adjusts the subsequent compaction work based on the density determination of the signal processing unit by one or both of controlling a driving speed of the agricultural vehicle or controlling a compaction strength of the compaction device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The method according to the disclosure and an arrangement for carrying out the method will be explained in more detail below with reference to the accompanying drawings.

(2) Functionally equivalent or comparable components here are provided with the same reference signs. In the drawings:

(3) FIG. 1 shows a schematic representation of a radar-based signal processing for determining a density of a harvested material;

(4) FIG. 2 shows a schematic representation of a radar sensor system for determining the density of the harvested material;

(5) FIG. 3 shows a schematic block diagram of functional units for an agricultural machine for carrying out the method according to the disclosure; and

(6) FIG. 4 shows a schematic block diagram of functional units for a mobile terminal for carrying out the method according to the disclosure.

DETAILED DESCRIPTION

(7) The embodiments or implementations disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the present disclosure to these embodiments or implementations.

(8) FIG. 1 shows a radar sensor system 10 for transmitting and receiving radar signals within a transmission and reception area 12. Radar signals are transmitted in the direction of a biomaterial or harvested material 14, which is stored in a silo 16. Depending on a determined density ? of the harvested material 14, it is either further compacted or the compaction work is ended.

(9) To determine the density ? of the harvested material 14, the sensor system 10 first generates specific sensor signals S_s based on the transmitted and received radar signals. The sensor signals S_s are received by a signal processing unit 18 at a signal input 20. The sensor signals S_s or signals derived therefrom are processed together with additional data D in one or more specific algorithms 22. The result of this signal processing is issued at a signal output 24 of the signal processing unit 18 as output signals S_a. Issued output signals S_a represent, for example, the density ? or a moisture content W of the harvested material 14.

(10) The data D received by the signal processing unit 18 at one or more additional signal inputs 20-1 comprise, for example, at least one of the following items of information or quantities: an item of calibration information kal, an ambient temperature T, a moisture content W of the harvested material 14, and an item of information I_e characterizing the harvested material 14.

(11) The aforementioned information or quantities can be partly retrieved from data sources or they can be provided by measurements. As already mentioned, not all of the aforementioned information or quantities necessarily have to be available to the signal processing unit 18. For example, the moisture content W and the information I_e characterizing the harvested material 14 are information which is optionally received by the signal processing unit 18. Furthermore, the data D can optionally also contain other information or quantities not mentioned here.

(12) To determine the density ? and the moisture content W, the following mathematical-physical relationships are taken into account in the signal processing unit 18 or in its algorithms 22:

(13) The disclosure is based on the idea that a permittivity ? of the harvested material 14 can be determined by processing radar signals reflected off the harvested material 14. The permittivity ? is dependent on the moisture content W. To take this dependency into account, the permittivity ? is, as a complex quantity ?=?+j?, divided into a real part ?=a?.sup.2+b?+1 and an imaginary part ?=c?.sup.2+d?. The factors a, b, c, d are material parameters of the harvested material 14 which can be determined empirically, for example, by way of prior calibration measurements (especially with a known density ?).

(14) Proceeding from these real and imaginary parts, it is possible to mathematically solve for the density ? according to the following equation.

(15) $?=\frac{{?}_f{?}^{}-{?}^{}}{{?}_{f}k}$

(16) The factor ?.sub.f is dependent on the aforementioned factors a, b, c, d and is also a frequency-dependent factor with regard to the radar signals used. In addition, the factor ?.sub.f is constant for a given biomaterial or harvested material 14. The quantity k is likewise constant for a given biomaterial or harvested material 14. The values of both of these quantities can, for example, be retrievable from a memory unit of the signal processing unit 18 or be communicated via the information kal or I_e of the signal processing unit 18. Thus, the density ? can also be determined without knowledge of the current moisture content W.

(17) The aforementioned relationships make it possible, with relatively little computational effort in the signal processing unit 18, to also determine the moisture content W in parallel with determining the density ?. The moisture content W can be calculated from the following equation.
W=b.sub.1?+b.sub.2T+b.sub.3

(18) Here T is the aforementioned ambient temperature and b1, b2, b3 are constants. The values of these constants can, for example, be retrievable from a memory unit of the signal processing unit 18 or be communicated via the information kal or I_e of the signal processing unit 18.

(19) The quantity ? can be defined as the following equation.

(20) $?=\sqrt{\frac{{?}^{}}{{?}^{}\left({?}_f{?}^{}-{?}^{}\right)}}$

(21) Since the values of all of the quantities contained in the equation are known by virtue of the relationships described above, the value of the quantity ? can also be calculated.

(22) FIG. 2 shows one exemplary embodiment of the radar sensor system 10. Radar signals 28 are transmitted from a transmitting unit 26 of the sensor system 10 in the direction of the harvested material 14. A portion of the radar signals 28 impinges on a surface 30 of the harvested material 14 (shown schematically as a straight line) and is reflected there. Other portions of the radar signals 28 penetrate deeper into the harvested material 14 and are reflected there. Still other portions of the radar signals 28 are reflected off a boundary surface of the silo 16 (e.g., off a silo base plate 70). A receiving unit 32 of the sensor system 10 receives the reflected radar signals 34. The received radar signals 34 are processed in an evaluation unit in the form of electronics 36 of the sensor system 10. From this processing or signal conversion, the electronics 36 generate signals that are transmitted through one or more internal signal lines 38 to a sensor connection 40, where they are available as sensor signals S_s. The sensor signals S_s are then received as input signals by the signal processing unit 18. The sensor signals S_s can represent the permittivity ?.

(23) The electronics 36 are supplied with electrical power via an electrical voltage connection 42.

(24) The sensor system 10 and the signal processing unit 18 form parts of a technical arrangement 44 for determining the density ? and optionally the moisture content W of the harvested material 14. The arrangement 44 may be supplemented with different functional units and have different purposes.

(25) In FIG. 3, the arrangement 44 is integrated into an agricultural machine 46. The latter comprises a tractor 48 and a compaction device 50 coupled at the front thereof. The compaction device 50 is shown schematically as a block, which is representative of different embodiments, e.g., a silage compaction roller. Even though the compaction device 50 in FIG. 1 is mounted at the front of the tractor 48, rear-mounted compaction devices 50 are also conceivable in alternative or supplementary variants. In another variant, the tractor 48 can also be without a separate compaction device 50 and perform the compaction work by means of its tires 52. In other embodiments, the tractor 48 can be replaced by another suitable self-propelled vehicle.

(26) A control unit 54 integrated into the work machine 46, more precisely into the tractor 48 in this exemplary embodiment, includes the signal processing unit 18 or forms the signal processing unit 18. Thus, the control unit 54 forms part of the arrangement 44. The signal processing unit 18 receives various data D for data processing via the control unit 54, for example for determining the density ? and possibly also the moisture content W. Optionally, the control unit 54 or the signal processing unit 18 also receives position data D_pos from a position detection system 56 (e.g., GPS) of the work machine 46.

(27) The data D can be specified manually by an operating interface 58 (e.g., visual display unit, screen, input unit, etc.) integrated into the tractor 48, for example, and/or can be made available to the control unit 54 or to the signal processing unit 18 from an external data source 60 (e.g. external data/computer center) via a wireless data connection 62 (e.g. mobile communications).

(28) The control unit 54 supports automated execution of the method so that the density p and, where applicable, the moisture content W are determined in a controlled manner by the control unit 54.

(29) Furthermore, the control unit 54 can also be used to control a work-related function during compaction work, for example a vehicle or machine function of the work machine 46, as a function of the determined density ? and/or as a function of the determined moisture content W. In this case, the control unit 54 can adjust further compaction work depending on the determined density ? and/or the determined moisture content W, e.g., by controlling the driving speed of the tractor 48 or by controlling the compaction strength of the compaction device 50 coupled to the tractor 48.

(30) In FIG. 4, the arrangement 44 is integrated into a mobile, portable terminal 64. In this embodiment, the operating interface 58 has multiple function buttons 58-1 (e.g., for the on/off, start, save functions) and a visual display unit 58-2 (e.g., LCD display).

(31) In this embodiment, the data D can be manually specified by the function buttons 58-1 and/or can be provided by a data storage device 66 as a data source for the control unit 54 or the signal processing unit 18. Here, the data storage device 66 forms part of the arrangement 44 within the terminal 64.

(32) As already described, the sensor signals S_s from the sensor system 10 are also forwarded to the control unit 54 or to the signal processing unit 18 in the case of the terminal 64.

(33) An energy storage device 68 (e.g., battery, accumulator) integrated into the terminal 64 supplies the electrical or electronic components (such as the sensor system 10 and the control unit 54) of the terminal 64 with electrical power.

(34) The schematic details shown in the drawings are not necessarily to scale.

(35) The terminology used herein is for the purpose of describing example embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, the singular forms a, an, and the are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the any use of the terms has, includes, comprises, or the like, in this specification, identifies the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

(36) Those having ordinary skill in the art will recognize that terms such as above, below, upward, downward, top, bottom, etc., are used descriptively for the figures, and do not represent limitations on the scope of the present disclosure, as defined by the appended claims. Furthermore, the teachings may be described herein in terms of functional and/or logical block components or various processing steps, which may include any number of hardware, software, and/or firmware components configured to perform the specified functions.

(37) Terms of degree, such as generally, substantially, or approximately are understood by those having ordinary skill in the art to refer to reasonable ranges outside of a given value or orientation, for example, general tolerances or positional relationships associated with manufacturing, assembly, and use of the described embodiments or implementations.

(38) As used herein, e.g., is utilized to non-exhaustively list examples and carries the same meaning as alternative illustrative phrases such as including, including, but not limited to, and including without limitation. Unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., and) and that are also preceded by the phrase one or more of or at least one of indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, at least one of A, B, and C or one or more of A, B, and C indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

(39) While the above describes example embodiments or implementations of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.