DK179768B1

DK179768B1 - Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof

Info

Publication number: DK179768B1
Application number: DKPA201700751A
Authority: DK
Inventors: Green Ole; Lynge Jacobsen Henrik; Arild Steen Kim; Kirkegaard Nielsen Søren
Original assignee: Agro Intelligence Aps
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2019-05-15
Also published as: WO2019129334A1; EP3731620A1; DK201700751A1

Abstract

The invention relates to a conditioning apparatus (100) for the conditioning of a cut agricultural biomass (2) of an agricultural field (4); said cut biomass (2) comprising a crop of grass and clover, said biomass originates from a specific portion (6) of said agricultural field; wherein said apparatus comprises: -a passageway (8) for passing said biomass (2) through at least a part of said apparatus; -a mechanical conditioning device (10) for providing a mechanical impact to a biomass being fed to said mechanical conditioning device; -a control unit (12) for controlling the operation of said mechanical conditioning device (10); -an estimation device (14) for providing estimation information (16) relating toan estimated magnitude of a specific crop coverage being present in said portion of said agricultural field; wherein said mechanical conditioning device (10) is at least partly arranged within said passageway (8); wherein said mechanical conditioning device (10) comprises adjustment means (18) for adjusting the severity of the mechanical impact subjected to said biomass (2) being fed to said mechanical conditioning device (10) in response to a severity adjustment signal (20) being provided thereto; wherein said control unit (12) is configured to receive said estimation information (16) from said estimation device (14); wherein said control unit (12) is configured to provide said severity adjustment signal (20) to said mechanical conditioning device (10) in response to said estimation information (16), thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass (2).

Description

Apparatus and method for improving the conditioning quality of grass and clover prior to the collecting thereof

Field of the invention

The present invention relates in general to the field of agriculture. More specifically the present invention relates in a first aspect to a conditioning apparatus for the conditioning of cut crop of an agricultural field, wherein said cut crop comprising grass and clover. In a second aspect the present invention relates to the use of such a conditioning apparatus for producing a biomass feedstock for silage. In a third aspect the present invention relates to a method for optimizing the conditioning of a cut crop comprising grass and clover to be used as feedstock in a silage manufacturing process.

Background of the invention

Silage has for hundreds of years been used as fodder for cattle and other animals in farming. Silage is formed from lignocellulosic biomass, such as grass and clover by fermentation where lactic acid forming bacteria participate in the fermentation process.

Silage has the advantage that, when stored under conditions in absence of oxygen, it remains relatively stable without any profound change or deterioration in composition during long periods of time.

Accordingly, silage represents a valuable source of fodder to be fed to animals during those seasons where fresh plants are not readily available.

As mentioned above grass is a common feedstock for the manufacture of silage. However, also clover is a common feedstock for the manufacture of silage.

Grass and clover are usually grown in the same agricultural for the purpose of obtaining a good feed composition as com feed and in respect of nutrient value in the resulting silage they complement each other well.

Accordingly, when producing silage from a grass and clover field, the grass and clover are cut by cutting using a mower. Subsequently, the grass and clover are left in the field for a couple of days where it is being subjected to an appropriate field management, such as performing one or more inversions in order to dry it to a desirable moist content. Hereafter the grass and clover is collected and stacked in a silo.

After the grass and clover have been cut but before any inversion procedures are being performed the grass and clover usually also participated in conditioning process in which the grass and clover is being subjected to a mechanically impact. The purpose of this conditioning process is, by mechanical impact, to crack open the cells of the plant material in order to allow moist within the cells to evaporate or be removed by other means with the view to obtain a faster drying of the grass and clover.

The conditioning process is often performed in connection with the mowing of the field. That is, the agricultural vehicle carrying or towing the mowing apparatus also carries or tows a conditioning apparatus, in which the freshly cut grass and clover is injected into a conditioning part of the apparatus and subjected to the mechanical impact. After this, the conditioned, freshly cut grass and clover is ejected from the conditioning apparatus and left to dry in the agricultural field where it originally grew.

Alternatively, in another cutting and conditioning scheme, the field of grass and clover may first be cut by a mower in a first working operation and subsequently the cut grass and clover may in second working operation be lifted from the ground and processed in a separate conditioning apparatus.

Numerous cycles of growing new batches of grass and clover, cutting it, conditioning it allowing it to partly dry, inverting or tedding it and stacking it in a silo are performed throughout the growth season of the grass and clover.

It has been found that grass, due to its more rough and sturdy structure, compared to clover, needs a more severe mechanical impact in order to ultimately arrive at the same moisture content at the point in time of stacking the biomass in a silo, as in respect of the clover growing in the same area.

Accordingly, most often when harvesting grass and clover for use as feedstock in a silage manufacturing process and using the above process steps of growing, cutting, conditioning, partly drying, inverting, collecting and stacking grass and clover, the grass will at the point in time of stacking the biomass have a higher moisture content than the clover.

A uniform or homogeneous moisture content is needed to ensure the right conditions for an optimum biochemical silage manufacturing process.

GB 2 262 021 A discloses a conditioning apparatus for conditioning cut biomass from an agricultural field. The apparatus disclosed therein comprises a passage for conveying biomass through the apparatus, a conditioning device for imposing a mechanical impact to the biomass, in the form of a plurality of rotating drums, and a control unit for controlling the operation of the apparatus. GB 1 262 021 A does not disclose the inclusion in the apparatus of an estimation device providing estimation information relating to a relative coverage of two different types of crop growing at a specific portion of the agricultural field; nor does this document disclose the use of such an estimation information as an input in the adjustment of the severity imparted to the biomass by the conditioning device.

It is an objective of the present invention to provide apparatuses and methods that will allow manufacturing of a biomass feedstock based on grass and clover which, at the time of stacking in a silo, will be more homogenous as to moisture content.

Brief description of the invention

These objectives are fulfilled according to the first, the second and the third aspect of the present invention.

Accordingly, the first aspect of the present invention relates to a conditioning apparatus for the conditioning of a cut agricultural biomass of an agricultural field; said cut biomass comprising a crop of grass and clover, said biomass originates from a specific portion of said agricultural field; wherein said apparatus comprises:

-a passageway for passing said biomass through at least a part of said apparatus;

-a mechanical conditioning device for providing a mechanical impact to a biomass being fed to said mechanical conditioning device;

-a control unit for controlling the operation of said mechanical conditioning device;

wherein said mechanical conditioning device is at least partly arranged within said passageway;

characterized in that said conditioning apparatus furthermore comprises:

-an estimation device for providing estimation information relating to an estimated magnitude of a specific crop coverage being present in said portion of said agricultural field;

wherein said mechanical conditioning device comprises adjustment means for adjusting the severity of the mechanical impact subjected to said biomass being fed to said mechanical conditioning device in response to a severity adjustment signal being provided thereto;

wherein said control unit is configured to receive said estimation information from said estimation device;

wherein said control unit is configured to provide said severity adjustment signal to said mechanical conditioning device in response to said estimation information, thereby effecting an adjustment of the severity of the mechanical impact being subjected to said biomass.

In a second aspect the present invention relates to a use of a conditioning apparatus according to the first aspect of the present invention in the manufacture of a biomass feedstock based on grass and clover.

In a third aspect the present invention relates to a method for conditioning a biomass comprising grass and clover, said biomass originating from growth at a portion of an agricultural field;

i) subjecting said biomass to a mechanical impact;

ii) providing estimation information relating to an estimated magnitude of a specific crop coverage located in said portion of the agricultural field;

iii) adjusting the severity of the mechanical impact subjected to said biomass on the basis of said estimation information.

The present invention in its various aspects provides for improving the quality of a biomass in the form of grass and clover prior to its use as a feedstock in a silage manufacturing process.

This result is obtained by utilizing a clever conditioning scheme upon conditioning of the biomass in which the grass and clover is being conditioned at a severity which depend on the coverage of a specific crop, either grass or clover, of the grass and clover originating from a specific portion of the agricultural field being conditioned.

Thereby, in the conditioning of the biomass, account is taken to the fact that grass needs a higher degree of severity, as compared to clover, in the conditioning processing in order to arrive at desired moisture content prior to using the biomass as feedstock in a silage manufacturing process.

Accordingly, with the present invention an improved biomass quality, in terms of increased homogeneity of moisture content of the biomass, can be obtained in respect of grass and clover harvested in a grass/clover field

Brief description of the figures

Fig. 1 is side view illustrating an embodiment of a conditioning apparatus of the present invention in operation.

Fig. 2a is a diagram illustrating one embodiment of the working mode of a control system to be used with the conditioning apparatus of the present invention.

Fig. 2b is a diagram illustrating another embodiment of the working mode of a control system to be used with the conditioning apparatus of the present invention.

Fig. 3 is a diagrammatic representation of part of the working mode of an image processing device of the conditioning apparatus of the present invention.

Fig. 4a, 4b and 4c are diagrammatic representations of the concept of learning data and learning images as applied in the present application.

Detailed description of the invention

The first aspect of the present invention

In its first aspect the present invention relates to a conditioning apparatus for the conditioning of a cut agricultural biomass of an agricultural field; said cut biomass comprising a crop of grass and clover, said biomass originates from a specific portion of said agricultural field; wherein said apparatus comprises:

characterized in that said conditioning apparatus furthermore comprises:

The apparatus according to the first aspect of the present invention is accordingly configured for allowing the conditioning of cut biomass originating from an agricultural field, where the severity of the mechanical impact imposed by the conditioning device(s) is adjusted in correspondence with the variation of the grass coverage and/or the clover coverage throughout the field or part thereof.

Thereby, an improved quality of the cut biomass is obtained in that the biomass with have a reduced variation as to moisture content. This may be a great advantage upon using the cut biomass in a process for the manufacture of silage, and may also be an advantage in the use of the biomass as fresh feed for animals.

In the present description and in the appended claims the following definitions shall be adhered to:

Grass: The term “grass” may be defined as any plant belonging to the family Poacea or Gramineae, preferably of the genus Lolium or Phleum, such as Westerwolds Ryegrass, Italian Ryegrass, Hybrid Ryegrass, Perennial Ryegrass, Timothy grass.

Preferably, the grass species is a species which traditionally and conventionally has been used as feedstock in a silage manufacturing process.

Clover: The term “clover” may be defined as any plant belonging to the family Fabaceae, preferably of the genus Trifolium, such as red and white clover species.

Preferably, the clover species is a species which traditionally and conventionally has been used as feedstock in a silage manufacturing process.

Crop: The term “crop” is defined as being grass or clover or a mixture thereof.

A specific crop: The term “a specific crop” is defined as either being grass or being clover.

Weed: The term “weed” is being defined as any plant not being grass and not being clover.

Biomass: The term “biomass” is being defined as plant material comprising grass and/or clover and/or weed.

A specific crop coverage: The term “a specific crop coverage” is being defined as that relative area of a portion of an agricultural field covered by that specific crop.

In the present description and in the appended claims the term “coverage” may be expressed as a percentage or as a fraction, or as a ratio in relation to the another type of crop and/or in relation to weed.

In one embodiment of the apparatus according to the first aspect of the present invention the estimation information relating to an estimated magnitude of a specific crop coverage is independently selected from the group comprising:

-coverage of grass; and/or

-coverage of clover; and/or

-coverage of weed; and/or

-a ratio relating to: coverage of grass / coverage of clover; and/or

-a ratio relating to: coverage of grass / coverage of clover / coverage of weed.

Using these definitions of the estimation information will in a reliable manner provide information as to the grass coverage and/or the clover coverage of the agricultural field.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device in such a way that a relatively high estimated magnitude of grass coverage and/or a relatively low estimated magnitude of clover coverage of said portion of said agricultural field corresponds to a relatively high degree of severity of the mechanical impact being provided to said agricultural biomass; whereas a relatively low estimated magnitude of grass coverage and/or a relatively high estimated magnitude of clover coverage corresponds to a relatively low degree of severity of the mechanical impact being provided to said agricultural biomass.

Such a conditioning severity scheme provides for achieving a more homogeneous moisture content in the various parts of a biomass comprising the crop of grass and clover.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device according to a predetermined severity adjustment algorithm.

Hereby the severity of the conditioning can be performed according to a predetermined conditioning scheme.

In one embodiment of the apparatus according to the first aspect of the present invention the predetermined severity adjustment algorithm is based on a correlation between the said estimation information on the one hand and a quantified severity of conditioning on the other hand.

Hereby the severity of the conditioning can be performed, depending on the grass coverage and/or the clover coverage.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is a self-propelled agricultural vehicle.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is an implement to be towed by or suspended on, or otherwise being connected to a self-propelled agricultural vehicle.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is configured to be used together with an agricultural mowing apparatus in a mowing operation, such as in an integrated unit providing for combined mowing and conditioning.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus is configured to be used independent of a mowing apparatus.

These four embodiments provides for great flexibility as to the mode of performing the conditioning of the cut biomass.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus comprises a feeding device for feeding said agricultural biomass into the interior of said passageway.

In one embodiment of the apparatus according to the first aspect of the present invention the feeding device comprises a lifting mechanism for lifting and conveying cut biomass from the surface of the agricultural field and into said passageway.

These two embodiments will aid in conveying the cut biomass into the passageway of the conditioning apparatus, in particular in a situation in which the conditioning device is configured for picking up cut biomass lying in an agricultural field.

In one embodiment of the apparatus according to the first aspect of the present invention the mechanical conditioning device comprises one or more rotating elements which are configured to subject said biomass to said mechanical impact.

Such an embodiment has proven very efficient for providing the conditioning action to the cut biomass.

In one embodiment of the apparatus according to the first aspect of the present invention the adjustment means of said mechanical conditioning device is configured for adjusting said mechanical impact provided to said biomass by means of varying the rotational speed of said one or more rotating elements.

In one embodiment of the apparatus according to the first aspect of the present invention the adjustment means of said mechanical conditioning device is configured for adjusting said mechanical impact by means of varying the compression of said biomass upon passing said one or more rotating elements, such as by varying the mutual distance between two rotating elements, or by varying a cross-sectional area of the passageway for the biomass at a position of one of the rotating elements.

These two embodiments have proven very efficient in providing an adjustable conditioning severity to the cut biomass.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is configured for providing said severity adjustment signal in the form of an electric signal, and wherein the severity of said mechanical conditioning device is being adjusted via an actuator and wherein said mechanical conditioning device comprises a regulator configured for adjusting said actuator in response to said electric signal.

In one embodiment of the apparatus according to the first aspect of the present invention the actuator is being an electric actuator, a pneumatic actuator or a hydraulic actuator.

In one embodiment of the apparatus according to the first aspect of the present invention the actuator is being a hydraulic actuator, and wherein said regulator is being a hydraulic valve.

These embodiments accordingly advise ways of performing the regulation of the severity provided of one or more of the conditioning devices and such types of actuators and regulators efficiently will provide for adjustment of the severity of the conditioning provided by one or more of the conditioning devices.

In one embodiment of the apparatus according to the first aspect of the present invention the mechanical conditioning device comprises a sensor for sensing the current severity setting of said mechanical conditioning device and wherein said sensor is coupled to said control unit for providing information to said control unit relating to a current severity setting of said mechanical conditioning device.

Hereby the control unit may continuously monitor the setting of the severity imparted by one or more of the mechanical conditioning devices.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to display means, such as in the form of a monitor for allowing an operator to monitor the set up and operation of said apparatus.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to input means, such as in the form of an alphanumerical keyboard allowing an operator to set up and program said control unit.

These two embodiments provide for better controlling the operation of the conditioning apparatus.

In one embodiment of the apparatus according to the first aspect of the present invention the estimation device comprises an optical system; wherein said optical system comprises:

an image capturing device configured for capturing images of said portion of said agricultural field;

-an image processing device for analysing an image captured by said image capturing device;

wherein said image processing device, in respect of an image captured by said image capturing device, is configured for analysing said image so as to provide said estimation information.

This embodiment accordingly provides the estimation information while performing the conditioning operation itself.

In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured to perform the following steps:

i) receive information representing an image captured by said image capturing device;

ii) in respect of said representation of said image, performing an image analysis in order to distinguish areas of that image which represents grass and/or clover and/or weed;

iii) summing up all areas determined in step ii) which represent grass and/or summing up all areas determined in step ii) which represent clover and/or summing up all areas determined in step ii) which represent weed;

iv) on the basis of the summing up performed in step iii), providing in respect of said image, said estimation information to be send to said control unit.

Hereby the image processing device may provide to the control unit the magnitude of a specific crop coverage in a specific portion of the agricultural field.

In one embodiment of the apparatus according to the first aspect of the present invention, step ii) is based on analysis of image patch features, such as colour distinction, edge detection of different plant material and morphology of different plant material, use of texture analysis filter(s), or entropy of image patches, making up such image.

In one embodiment of the apparatus according to the first aspect of the present invention is performed by having said image processing device configured for consulting a representation of a set of learning images, wherein each image in the set of learning images comprises a representation of a real image or an artificial image, such as a computer generated image, of a portion of an agricultural field comprising grass and clover and optionally also weed, and wherein distinct elements of said image has been allocated with information relating to which type of plant (grass, clover and optionally weed) that this element represents.

In one embodiment of the apparatus according to the first aspect of the present invention, step ii) is performed by having said image processing device configured for consulting a representation of learning images in the form of a model capable of performing an algorithm in order to distinguish areas of that image which represents grass and/or clover and/or weed.

In one embodiment of the apparatus according to the first aspect of the present invention the model is being configured for utilizing calculated image patch features as defined above.

In one embodiment of the apparatus according to the first aspect of the present invention the calculated image patch features are analyzed utilizing a numerical mathematical model based on support vector machines, k-nearest neighbours, decision trees, adaboost, gaussian mixture models or linear discriminant analysis in order to distinguish areas of that image as being as either grass and/or clover and/or weed.

In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured for utilizing deep learning algorithms and/or artificial intelligence and/or neural network(s).

These techniques for performing the processing of the image processing device provides for providing the estimation information in an efficient way.

In one embodiment of the apparatus according to the first aspect of the present invention the apparatus comprises two or more image capturing devices which collectively are configured for capturing images of two or more portions of said agricultural field; wherein said two or more portions of said agricultural field are arranged relative to each other in a mutual staggered arrangement in a direction perpendicular to the moving direction of said conditioning apparatus;

wherein said image processing device, in respect of an image captured by each of said image capturing devices is configured for analysing said image so as to provide an estimation information relating to an estimated magnitude of a specific crop coverage being present in the portion of the agricultural field corresponding to each said image;

wherein said control unit is being configured to receive said estimation information from said image processing device in respect of each said images;

wherein in respect of each of said images being captured by said two or more image capturing devices said control unit is being configured to provide said severity adjustment signal to said adjustment means of said mechanical conditioning device, which is being responsible for conditioning of biomass originating from the portion of said agricultural field corresponding to that specific image, based on said estimation information.

In one embodiment of the apparatus according to the first aspect of the present invention the number of image capturing devices is 1 - 20, such as 2 - 19, for example 3 - 18, such as 4 17, for example 5 - 16, such as 6 - 15, for example 7 - 14, such as 8 - 13, such as 9 - 12, for example 10 - 11.

Hereby a wide width of the agricultural field may be scanned by the optical system.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is configured for receiving a position indicating signal from a global navigation satellite system (GNSS), such as a GPS signal.

Hereby it is possible, during operation of the conditioning apparatus, to correlate the estimation information to the exact location of one or more of the conditioning devices.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is coupled to a data storage, wherein said control unit is being configured to allocate said estimation information which is being provided in respect of said images being captured; and wherein said control unit is being configured to allocate coordinates relating to a geographical position of said images being captured; and wherein said control unit is being configured for storing on said data storage a correlation between an estimated magnitude of a specific crop coverage at said portion of said agricultural field on the one hand, and the geographical position of said portion of said agricultural field on the other hand; said correlation thereby representing a specific coverage map of said agricultural field or part thereof.

Such data storage may be in the form of a data storage of the solid state type, such as based on semiconductor technology, or may be in the form of an electromechanical data storage, such as a hard drive, or may alternatively also be a server based data storage, such as a storage place accessible via the internet.

In this embodiment the estimation information will be stored on a data storage, thereby allowing, in subsequent conditioning operations, to avoid the necessity to use an optical system while performing the conditioning device.

In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device(s) is/are arranged in front of said mechanical conditioning device, relative to the working direction of said conditioning apparatus; and/or wherein said image capturing device(s) is/are arranged at a position corresponding to a distance from said mechanical conditioning device in a direction being perpendicular to the working direction of said conditioning apparatus.

Hereby the image capturing can be performed in respect of biomass which has not yet been cut.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being coupled to a speed sensor for providing information relating to the speed of travel over ground of said agricultural field by said conditioning apparatus.

In one embodiment of the apparatus according to the first aspect of the present invention the control unit is being configured to provide said severity adjustment signal to said mechanical conditioning device at a delay commensurate with the speed of travel over ground of said conditioning apparatus; thereby taking into account the time lapse from the moment in time at which an image of a specific portion of said agricultural field is being captured by said image capturing device to the moment in time at which the mechanical conditioning device arrives at biomass belonging to that specific portion of said agricultural field; so that the biomass of said specific portion of said agricultural field is being conditioned at a severity which is optimum, as based on said image analysis being performed by said image processing device in respect of that specific portion of said agricultural field.

Hereby it can be assured that the severity imparted by the conditioning of the conditioning mechanism(s) will be adjusted according to an optimum adjustment in respect of a specific portion of the agricultural field at the time where the cutting mechanism(s) arrive(s) at that specific position of the agricultural field.

In one embodiment of the apparatus according to the first aspect of the present invention the focus area of said image capturing device(s) of the surface of said agricultural field is having a width, in a direction perpendicular to the direction of movement of said conditioning apparatus, of 50 - 300 cm, such as 100 - 250 cm, for example 150 - 200 cm.

In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device is configured for repeatedly image capturing.

In one embodiment of the apparatus according to the first aspect of the present invention the image capturing device is configured for capturing images at a rate of 0.01 - 60, such as 0.5 40, such as 1 - 30, e.g. 5 - 20, such as 10 - 15 frames per second (fps).

In one embodiment of the apparatus according to the first aspect of the present invention the image processing device is configured for analysing images at a rate of 0.01 - 30, such as 0.5 - 25, such as 1 - 20, e.g. 5 - 18, such as 10 - 15 frames per second (fps).

These rates provides for rapidly updated provision of information and hence provide for a more accurate estimation of the magnitude of a specific crop coverage of part of the field specifically and the field as a whole generally.

In one embodiment of the apparatus according to the first aspect of the present invention the estimation device comprises a data storage, wherein said data storage comprises a correlation between an estimated magnitude of a specific crop coverage of a portion of said agricultural field, on the one hand, and coordinates relating to geographical positions of said portion of the agricultural field, on the other hand; said correlation thereby representing a coverage map of said agricultural field, or a part thereof, disclosing the variation of a specific crop coverage depending on position.

In this embodiment the estimation information may have been provided beforehand and being stored on a data storage, thereby avoiding the necessity to use an optical system while performing the conditioning device.

In one embodiment of the apparatus according to the first aspect of the present invention the coverage map had previously been obtained using an optical system as defined above.

The second aspect of the present invention

The third aspect of the present invention

i) subjecting said biomass to a mechanical impact;

In one embodiment of the method according to the third aspect of the present invention the estimation information relating to an estimated magnitude of a specific crop coverage located in said portion of the agricultural field is independently selected from the group comprising:

-coverage of grass; and/or

-coverage of clover; and/or

-coverage of weed; and/or

-a ratio relating to: coverage of grass / coverage of clover; and/or

In one embodiment of the method according to the third aspect of the present invention the severity of the mechanical impact is provided to said biomass in such a way that a relatively high estimated magnitude of grass coverage and/or a relatively low estimated magnitude of clover coverage originating from said portion of said agricultural field implies providing a relatively high degree of severity of mechanical impact to said biomass; whereas a relatively low estimated magnitude of grass coverage and/or a relatively high estimated magnitude of clover coverage implies providing a relatively low degree of severity of mechanical impact to said biomass.

Such a conditioning severity scheme provides for achieving a more homogeneous moisture content in the various parts of a biomass comprising the crop of grass and clover

In one embodiment of the method according to the third aspect of the present invention the severity of the mechanical impact subjected to said biomass as performed in step iii) is based on a predetermined severity adjustment algorithm.

In one embodiment of the method according to the third aspect of the present invention the predetermined severity adjustment algorithm is based on a correlation between the said estimation information relating to a specific crop coverage of said portion of the agricultural field on the one hand, and a quantified severity on the other hand.

In one embodiment of the method according to the third aspect of the present invention the method is being performed by using an apparatus according to the first aspect of the present invention.

Referring now to the drawings for illustrating the present invention, Fig. 1 shows in a side view of an embodiment of a conditioning apparatus according to the first aspect of present invention.

The conditioning apparatus 100 is being suspended on a tractor 152 by means of suspension means 154.

For illustration purposes the conditioning apparatus 100 is shown in Fig.1 with a cut-away 52 in the outer body of the apparatus. It is seen that the interior of the conditioning apparatus 100 comprises a passageway 8 for passing said biomass 2, where that passageway extends through at least a part of the apparatus.

Within the passageway 8 are arranged a mechanical conditioning device 10 for providing a mechanical impact to a biomass being fed to that mechanical conditioning device. The mechanical conditioning device 10 comprises two elements 22 which are configured to be brought into rotation in a direction counter-directional to each other as indicated by the arrows on the elements 22.

The mechanical conditioning device 10 of the conditioning apparatus 100 also comprises adjustment means 18 (not shown in Fig. 1) for adjusting the severity of the mechanical impact imparted to the biomass 2 being fed to the mechanical conditioning device.

This adjustment is being performed in response to a severity adjustment signal being provided to the mechanical conditioning device as further explained below.

The adjustment means 18 of the mechanical conditioning device 10 may be configured for adjusting said mechanical impact to the biomass 2 by means of varying the rotational speed of said one or more rotating elements 22. Alternatively, the adjustment means 18 of the mechanical conditioning device 10 may be configured for adjusting the mechanical impact by means of varying the compression of the biomass 2 upon passing the two rotating elements 22. This may be brought about by varying the mutual distance between two rotating elements 22.

The conditioning apparatus 100 illustrated in fig. 1 also comprises a cutting knife 156. Accordingly, the apparatus illustrated in Fig. 1 will function as a combined mowing apparatus and conditioning apparatus.

This means that during operation, biomass 2 being cut by the cutting knife 156 will be forced to enter the passageway 8 of the conditioning apparatus where it will be conveyed in the direction shown by the arrows 56, and hence be forced to pass the space between the rotating elements 22 where it will be subjected to a degree of mechanical impact depending on the rotational speed of the rotating elements and on the compression imparted to it as defined by the mutual distance between the two rotating elements 22.

The mechanical impact imparted to the biomass 2 by the mechanical conditioning device 10 of the conditioning apparatus 100 provides for at least a partly disruption of the plant cells, thereby allows the biomass to lose its moisture at a faster rate.

Depending on the degree of severity of the mechanical impact subjected to the biomass, a varying degree of disruption of the plant cells will result.

Also seen in Fig. 1 is that that the conditioning apparatus 100 comprises on optical system 200, comprising an image capturing device 202 which is arranged at a front end of the tractor 152. The optics 212 of the image capturing device 202 is directed towards an area on the ground which represents the focus area F of the optics of the image capturing device. This area F accordingly represents a portion 6 of the agricultural field 4.

During operation of the conditioning apparatus, images 204 are repeatedly being captured by the image capturing device 202. The information representing the images is being processes by an image processing device 206 (not shown in Fig. 1). The image processing device 206 is configured for analysing an image 204 captured by said image capturing device 202, Thereby, the image processing device 206, in respect of an image 204 captured therewith, is configured for analysing said image so as to provide said estimation information 16 and to send this estimation information 16 to a control unit.

The estimation information 16 relates to an estimated magnitude of a specific crop coverage, such as the crop coverage of grass or the crop coverage of clover growing in the portion 6 of the agricultural field as defined by the focus area F.

Based on this estimation information 16, the severity imparted to the biomass 2 may be adjusted in relation to the magnitude of a specific crop coverage, thereby obtaining a more homogeneous moist content of the biomass.

The specific crop coverage of the focus area F which is being estimated by the image processing device may for example relate to the magnitude of coverage of grass in the focus area F. Alternatively, the specific crop coverage of the focus area F may relate to the magnitude of coverage of clover in the focus area F. Still alternatively, the specific crop coverage of the focus area F may relate to a ratio of coverage of grass and clover.

It is seen in Fig. 1 that the distance between the center of the focus area F and the center of the mechanical conditioning device 10 is X.

Assuming that the tractor 152 moves in a direction from left to right at a constant velocity V, it is clear that it takes the time interval “X/V” before biomass located to the focus area F will reach the center of the mechanical conditioning device 10 (ignoring the movement of the biomass 2 in a vertical direction within the passageway 8).

Now, assuming that the whole conditioning apparatus is working in “real time” in the sense that there will be no inherent sluggishness from the point in time where the image capturing device 202 is capturing an image and to the point in time where the mechanical conditioning device 10 has provided a response thereto. In such a situation, a delay D should be introduced, so that the with reference to the time T0 at which an image is captured, the adjustment of the severity imparted by the mechanical conditioning mechanism 10 should be effected at time T = T0 + D = T0 +X/V.

In the case, where some kind of inherent sluggishness is incorporated in the system so that the whole conditioning apparatus is not able to working in “real time”, then again with reference to the time T0 at which an image is captured, the adjustment of the severity imparted by the mechanical conditioning mechanism 10 should be effected at time T = T0 +X/V - S; wherein S is being the duration of the sluggishness.

Although the apparatus of the first aspect of the present invention has been defined in a way where the image capturing device 202 is carried by the tractor 152, it should be noted that the image capturing device in some specific embodiments may be arranged in a drone which has been configured for flying over the agricultural field and wherein information relating to the captured images or wherein the estimation information is being transferred, such as wirelessly transferred to the data storage 44 of the control unit of the apparatus 100.

In this way, the estimation information relating to the estimated magnitude of a specific crop coverage being present in the various portions of the agricultural field may be stored on and retrieved from a data store while performing the conditioning of the biomass. Such an embodiment is further illustrated below with reference to Fig. 2b.

Fig. 2a schematically illustrates the working mode of a conditioning apparatus 100 according to one embodiment of the first aspect of the present invention. Fig. 2a shows a control system controlled by a control unit 12 and for controlling the conditioning apparatus 100 according to the first aspect of the preset invention.

The control unit 12 is connected to input means 38, such as an alphanumeric keyboard which may be used for setting up and altering the settings of the operation of the control unit 12. A display 36, such as a monitor is also connected to the control unit 12. The display allows an operator to monitor the settings and the operation of part of the control unit and optionally also of the mowing apparatus.

The control unit 12 is connected to the electronically controlled regulator 26 in the form of a hydraulic valve 30 which comprises an input hose 58 for pressurized hydraulic fluid from a hydraulic pump. The hydraulic valve 30 also comprises a return hose 60 for pressurized hydraulic fluid.

Furthermore, the electronically controlled regulator 26 is via hoses 62 and 64 connected to the actuator 24 in the form of a hydraulic actuator 28.

A sensor 32 arranged at the hydraulic actuator 28 is configured for providing the control unit 12 with information 34 relating to the current degree of extraction of that hydraulic actuator 28.

The control unit 12 is also connected to an estimation device 14. The estimation device comprises an optical system 200 comprising the image capturing device 202 shown in Fig. 1. The image capturing device 202 is connected to the image processing device 206.

During use the image capturing device 202 captures an image 204 and directs the information representing such an image to the image processing unit 206. The image processing device 206 processes the image 204 and on the basis of this analysis the image processing device 206 returns to the control unit 12 estimation information 16 relating to an estimated magnitude of a specific crop coverage of the portion 6 of the agricultural field 4 corresponding to the captured image 204.

The control unit 12 has been preprogrammed so as to make sure that the degree of severity imparted by the mechanical conditioning device 10 of the conditioning apparatus 100 is being adjusted depending on the estimation information 16 being provided thereto.

Such a predetermined severity adjustment algorithm may in a simple form and for a given type of grass and a given type of clover growing in a given climate representing a given typical temperature range and a given amount of sunlight and precipitation and growing in a given type of soil be represented by the Table 1 below.

Grass:clover ratio	Optimum severity to be imparted to the biomass
High, e.g. above 60/40	Maximum degree of severity
Medium, e.g. 40/60 - 60/40	Medium degree of severity
Low, e.g. below 40/60	Low degree of severity

Table 1

Table 1 simple sets out in, respect of a number of ranges of grass/clover ratios, which are being estimated, an optimum degree of severity to be imparted to the biomass entering the passageway 8 of the of the cutting mechanism 10 of the cultivation apparatus 100.

Based on such a severity adjustment algorithm the control unit 12 which is continuously being provided with information from the sensor 32 relating to the degree of expansion of the hydraulic actuator 28 will then be able to determine whether or not an adjustment of the adjustment means 18 of the mechanical conditioning mechanism 10 of the conditioning apparatus 100 is needed, and in such a case, whether such an adjustment involves a lowering or a raising of the degree of severity of the conditioning and how much such a lowering or raising amounts to.

Based on this determination the control 12 sends a severity adjustment signal 20 to the hydraulic valve 28, via the regulator 26 in the form of a hydraulic valve 30 which may, in response thereto, effect an expansion or contraction of the hydraulic actuator 38, as the case may be.

The hydraulic actuator 24,28 is coupled to adjustment means 18 of the mechanical conditioning device 10 of the apparatus 100.

Thereby, the hydraulic valve may, via the hydraulic actuator 28, adjust the severity imparted to the biomass 2, for example by varying the rotational speed of said one or more rotating elements 22, or by varying the compression of the biomass 2 upon passing the two rotating elements 22, e.g. by varying the mutual distance between two rotating elements 22, as discussed above.

It is seen in Fig. 2a that the control unit 12 furthermore is coupled to a speed sensor 46 which senses the speed of travel over ground of the conditioning apparatus 100 and provides this speed information 48 to the control unit 12.

It is also seen in Fig. 2a that the control unit 12 is coupled to global navigational satellite system (GNSS) 42, such as a GPS unit and thereby enables providing position indicating information 40 to the control unit.

In Fig. 2b is illustrated an alternative embodiment of a control system for controlling the conditioning apparatus according to the first aspect of the present invention.

The control system illustrated in Fig. 2b comprises the same features as in Fig. 2a, except that instead of providing the estimation device 14 in the form of an optical system 200, the estimation device comprises data storage 300.

The data storage 300 is coupled to the control unit 12 and supplies estimation information 16 relating to an estimated magnitude of a specific crop coverage of various portions of the agricultural field 4.

Accordingly, the data storage 300 comprises embedded therein a coverage map comprising information relating to the magnitude of a specific crop, such as either grass or clover or both, depending on the position of that agricultural field.

The information embedding in the storage 300 could have been provided by the apparatus illustrated in Fig. 2a in which the control unit would furthermore have been coupled to a data storage 44 for storing information relating to a correlation of the estimation information 16 of a portion 6 of the agricultural field 4 on the one hand and the position of that portion 6 on the other hand, during operation of the apparatus shown in Fig. 1.

Accordingly, early in the season an apparatus as illustrated in Fig. 1 and comprising the system illustrated in Fig. 2a may be used for mapping the coverage of a specific crop, and for storing information relating to such a mapping of the data storage 44.

The information of this map may then subsequently throughout part of the season be retrieved and used in an apparatus as illustrated in Fig. 2b.

However, as the specific crop coverage may change relatively rapidly over time during the growth season, it will be desirable, in order to achieve optimum reliability of the estimation information relating to a specific crop coverage, to perform such mapping of the agricultural field regularly.

In such a situation the information relating to the mapping stored in data storage 44 will be transferred to the data storage 300 of the estimation device prior to using the conditioning apparatus for conditioning cut biomass.

The mapping information stored in the data storage 300 is useful during a conditioning operation of an agricultural field in that it has been found out that the severity of subsequent conditioning treatments of the cut grass and clover advantageously may be varied depending on a specific crop coverage being present at a specific portion of the agricultural field.

It should be noted that whereas a numerical correspondence between an estimated magnitude of a specific crop coverage of a portion 6 of the agricultural field 4 corresponding to a captured image 204 on the one hand and an optimum conditioning severity on the other hand will provide for the most optimum increase in overall yield of crop in a grass and clover field during several cycles of growing and cutting, even a qualitative adjustment of the severity of the of the conditioning mechanism 10 of the agricultural mowing apparatus 100 in response to the estimation information 16 will provide significant increases in crop yield.

By the term “qualitative adjustment of severity of the conditioning mechanism” shall be understood a simple conditioning scheme which is conducted according to the following instructions:

- Whenever the crop coverage of grass increases; or the crop coverage of clover decreases, the severity of the mechanical impact of the conditioning mechanism is to be reduced;

- Whenever the crop coverage of grass decreases; or the crop coverage of clover increases, the severity of the mechanical impact of the conditioning mechanism is to be raised.

Accordingly, even in a case where the most optimum severity of the conditioning has not been quantitatively and numerically correlated to a corresponding estimated magnitude of a specific crop coverage, it will be possible to benefit and take great advantage of the present invention.

Fig. 3 is a schematic illustration serving the purpose, at a very general level, of explaining the working mode of the image processing device 206 which may be included in the conditioning apparatus according to the present invention. The image processing device 206 comprises a printed circuit board PCB comprising a plurality of electronic components. For the sake of simplicity only a few of these components are shown in Fig. 3.

The circuit board PCB of the image processing device 206 comprises an input port 250 for providing an electronic signal representing an image 204 originating from the image capturing device 202 of the optical system 200 of the conditioning apparatus.

Additionally, the printed circuit board PCB of the image processing device comprises an output port 252 for providing an electronic signal representing estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in that portion 6 of an agricultural field 4 which corresponds to that specific image 204 being processed by said image processing device 206.

A central processing unit CPU in the circuit board provides for controlling the operation of the image processing device 206.

Also included in the printed circuit board PCB of the image processing device 206 is a graphic processing unit GPU. The graphic processing unit GPU is responsible for performing the operations relating to the image processing.

The circuit board PCB of the image processing device also comprises a data storage 254. The data storage 254 has been supplied with a representation of learning data which will aid the image processing device 206 in providing the estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in that portion 6 of an agricultural field 4 which corresponds to image 204 being processed by said image processing device 202.

It is preferred that the representation of learning data which is stored in the data storage 254 is being in the form of a model of learning data. Such a model of learning data may be computer program product embedded in said data storage 254 and being able to perform an algorithm for image processing of information relating to an image being analyzed by said image processing device 206.

For the purpose of understanding the concept of the image processing device, such an algorithm based on the learning data may obtained by analyzing a set 208 of learning images each of which represents a learning image 210 an agricultural field comprising grass and clover.

The concept of learning images is illustrated in Fig. 4a, 4b and 4c.

Fig. 4a illustrates such a set 208 of learning images 210 which set for the sake of simplicity comprises only five learning images 210.

Fig. 4b illustrates the middle learning image 210 of the five learning images from Fig. 4a.

Fig. 4c is a close-up depiction of a portion 220 of the learning image 210 in Fig. 4b. Such a portion may represent an image patch comprising a relatively limited number of image pixels.

Fig. 4c shows that the learning data in portion 220 of the learning image 210 shown in Fig. 4b comprises an array of different elements of plant material which have been annotated so that each specific element in the learning image shown in Fig. 4c has been provided with information as to which type of plant (grass or clover) that specific element belongs to.

The annotation shown in Fig. 4C illustrates that clover material has been annotated “C”, whereas grass material has been annotated “G”.

Optionally, also information relating to annotations of weed could have been provided in the leaning date of the learning image shown in Fig. 4b. Such a weed annotation could have been “W” for weed.

Accordingly, the learning data represents an array of learning images 208,210 which have been annotated so as to assign the type of plant material (grass, clover and optionally also weed) to each element of each of the images of the learning data.

The set 208 of learning images 210 may be a set of real images or artificial images, such as a computer generated image, of a portion 6 of an agricultural field 4.

Based on such learning data originating from annotated images, a model of learning data may be constructed and such a model of learning data may, as already mentioned, be a computer program product embedded in said data storage 254 and being able to conduct an algorithm for image processing of information relating to an image 204 being analyzed by said image processing device 206.

Now returning to Fig. 3: During operation of the conditioning apparatus100 according to the present invention, when the image processing device via the input port receives information relating to an image 204 captured by the image capturing device 202, the CPU arranges for processing this information and the processing itself is being performed by the graphic processing unit GPU. This is brought about by allowing the model of the learning data stored in the data storage 254 of the image processing device to analyze that image.

In such an analysis operation, the image processing device 206 is assigning various elements of the image to various types of plants such as grass (G), clover (C) and optionally also weed (W).

The analysis performed by the image processing device 206 may be based on colour distinction, edge detection of different plant material and morphology of different plant material, use of texture analysis filter(s), or entropy of image patches, making up the captured image.

Further, the analysis performed by the image processing device may be based utilizing a numerical mathematical model based on support vector machines, k-nearest neighbours, decision trees, adaboost, gaussian mixture models or linear discriminant analysis in order to distinguish areas of that image as being as either grass (G) and/or clover (C) and/or weed (W).

The analysis performed by the image processing device may furthermore involve deep learning algorithms and/or artificial intelligence and/or neural network(s) may be used.

Moreover, in the analysis of the representation of the image 204 received, the image processing device 206 also provides for summing up the area of a specific crop coverage in that image. In this way, the image processing device provides for estimation information 16 relating to an estimated magnitude of a specific crop coverage being present in the portion 6 of the agricultural field 4 corresponding to said image 204.

The estimation information 16 relating to an estimated magnitude of a specific crop coverage may relate to one or more of the following: coverage of grass; and/or coverage of clover; and/or coverage of weed; and/or a ratio relating to: coverage of grass / coverage of clover; and/or a ratio relating to: coverage of grass / coverage of clover / coverage of weed.

It should be noted that image processing analysis have been known for many years and that a person skilled in the art will be able to provide the required equipment and the correct set up of such equipment for performing such analysis.

Special reference is made to the following documents which specifically deal with image processing analysis of images of an agricultural field comprising grass and clover with the purpose of determining a clover grass ratio of a portion of such a field:

A. K. Mortensen et al., J. Imaging 2017, 3, 59; and

S. Skovsen et al., Sensors 2017, 2930.

It should be understood that all features and achievements discussed above and in the appended claims in relation to one aspect of the present invention and embodiments thereof apply equally well to the other aspects of the present invention and embodiments thereof.

List of reference numerals

2	Cut agricultural biomass
4	Agricultural field
6	Specific portion of the agricultural field
8	Passageway of conditioning apparatus
10	Mechanical conditioning device
12	Control unit
14	Estimation device
16	Estimation information
18	Adjustment means
20	Severity adjustment signal
22	Rotating element of mechanical conditioning device
24	Actuator
26	Regulator
28	Hydraulic actuator
30	Hydraulic valve
32	Sensor of mechanical conditioning device
34	Information provided by sensor
36	Display means
38	Input means
40	Position indicating signal
42	Global navigation satellite system (GNSS)

Data storage coupled to control unit

Speed sensor

Information relating to speed over ground of the conditioning apparatus

Conditioning part of apparatus

Cut-away for ease of illustration

Flow direction of biomass

58, 60 Hydraulic hose

62, 64 Hydraulic hose

100 Agricultural mowing apparatus

150 Mowing part of apparatus

152 Tractor

154 Suspension means

156 Cutting knife

200 Optical system

202 Image capturing device

204 Image captured by said image capturing device

206 Image processing device

208 Set of learning images

210 Learning image

212 Optics of Image capturing device

220 Portion or patch of learning image

250 Input port of image processing device

252 Output port of image processing device

254 Data storage of image processing device

300	Data storage of estimation device
PCB	Printed circuit board
CPU	Central processing unit
GPU	Graphic processing unit
V	Velocity
X	Distance

Claims

PatentkravPatent claims

1. Konditioneringsapparat (100) til konditionering af en afskåret biomasse (2) fra en landbrugsmark (4); hvor den afskårne biomasse (2) omfatter en afgrøde af græs og kløver, idet biomassen stammer fra en specifik del (6) på landbrugsmarken; hvor apparatet omfatter:An conditioning apparatus (100) for conditioning a cut biomass (2) from an agricultural field (4); wherein the cut biomass (2) comprises a crop of grass and clover, the biomass originating from a specific part (6) on the agricultural land; wherein the apparatus comprises:

-en passage (8) til at lede biomassen (2) gennem i det mindste en del af apparatet;a passage (8) for passing the biomass (2) through at least a part of the apparatus;

- en mekanisk konditioneringsindretning (10) til tilvejebringelse af en mekanisk påvirkning til en biomasse, som tilføres den mekaniske konditioneringsindretning;- a mechanical conditioning device (10) for providing a mechanical impact to a biomass which is fed to the mechanical conditioning device;

-en styringsenhed (12) til styring af driften af den mekaniske konditioneringsindretning (10);a control unit (12) for controlling the operation of the mechanical conditioning device (10);

hvor den mekaniske konditioneringsindretning (10) i det mindste delvist er arrangeret inden i passagen (8);wherein the mechanical conditioning device (10) is at least partially arranged inside the passage (8);

kendetegnet ved, at konditioneringsapparatet yderligere omfatter:characterized in that the conditioning apparatus further comprises:

-en estimeringsindretning (14) til tilvejebringelse af estimeringsinformation (16) angående en estimeret størrelse af en specifik afgrødedækning, som er til stede i delen af landbrugsmarken;an estimating device (14) for providing estimating information (16) regarding an estimated size of a specific crop cover present in the part of the agricultural land;

hvor den mekaniske konditioneringsindretning (10) omfatter justeringsmidler (18) til justering af aggressiviteten af den mekaniske påvirkning, der påføres biomassen (2), som tilføres den mekaniske konditioneringsindretning (10), som respons på et aggressivitetsjusteringssignal (20), som forsynes dertil;wherein the mechanical conditioning device (10) comprises adjusting means (18) for adjusting the aggressiveness of the mechanical action applied to the biomass (2) supplied to the mechanical conditioning device (10) in response to an aggressiveness adjustment signal (20) supplied thereto;

hvor styringsenheden (12) er konfigureret til at modtage estimeringsinformationen (16) fra estimeringsindretningen (14);wherein the control unit (12) is configured to receive the estimating information (16) from the estimating device (14);

hvor styringsenheden (12) er konfigureret til at tilvejebringe aggressivitetsjusteringssignalet (20) til den mekaniske konditioneringsindretning (10) som respons på estimeringsinformationen (16), idet en justering af aggressiviteten for den mekaniske påvirkning, som påføres biomassen (2), derved bringes i stand.wherein the control unit (12) is configured to provide the aggressiveness adjustment signal (20) to the mechanical conditioning device (10) in response to the estimation information (16), thereby adjusting the aggressiveness of the mechanical action applied to the biomass (2). .

2. Konditioneringsapparat (100) ifølge krav 1, hvor estimeringsinformationen (16) angående en estimeret størrelse af en specifik afgrødedækning uafhængigt er valgt fra gruppen omfattende:The conditioning apparatus (100) of claim 1, wherein the estimating information (16) regarding an estimated size of a specific crop coverage is independently selected from the group consisting of:

-dækning af græs; og/eller-grass cover; and or

-dækning af kløver; og/eller-covering of clover; and or

-dækning af ukrudt; og/eller-weed cover; and or

-et forhold angående: dækning af græs / dækning af kløver; og/eller-a matter concerning: grass cover / clover cover; and or

- et forhold angående: dækning af græs / dækning af kløver / dækning af ukrudt.a matter concerning: grass cover / clover cover / weed cover.

3. Konditioneringsapparat (100) ifølge krav 1 eller 2, hvor styringsenheden (12) er konfigureret til at forsyne aggressivitetsjusteringssignalet (20) til den mekaniske konditioneringsindretning (10) på en sådan måde, at en relativt stor estimeret størrelse af græsdækning og/eller en relativt lille estimeret størrelse af kløverdækning på delen (6) af landbrugsmarken (4) svarer til en relativt høj grad af aggressivitet for den mekaniske påvirkning, som påføres landbrugsbiomassen (2); hvorimod en relativt lille estimeret størrelse af græsdækning og/eller en relativt stor estimeret størrelse af kløverdækning svarer til en relativt lav grad af aggressivitet for den mekaniske påvirkning, som påføres landbrugsbiomassen (2).The conditioning apparatus (100) of claim 1 or 2, wherein the control unit (12) is configured to supply the aggressiveness adjustment signal (20) to the mechanical conditioning device (10) in such a manner that a relatively large estimated amount of grass cover and / or a relatively small estimated size of clover cover on the part (6) of the agricultural land (4) corresponds to a relatively high degree of aggressiveness for the mechanical impact which is applied to the agricultural biomass (2); whereas a relatively small estimated size of grass cover and / or a relatively large estimated size of clover cover corresponds to a relatively low degree of aggressiveness for the mechanical impact applied to the agricultural biomass (2).

4. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 3, hvor styringsenheden (12) er konfigureret til at tilvejebringe aggressivitetsjusteringssignalet (20) til den mekaniske konditioneringsindretning (10) ifølge en forudbestemt aggressivitetsjusteringsalgoritme.The conditioning apparatus (100) of any one of claims 1 to 3, wherein the control unit (12) is configured to provide the aggressiveness adjustment signal (20) to the mechanical conditioning device (10) according to a predetermined aggressiveness adjustment algorithm.

5 trin iii), er baseret på en forudbestemt aggressivitetsjusteringsalgoritme.5 step iii), is based on a predetermined aggressiveness adjustment algorithm.

49. Fremgangsmåde ifølge krav 48, hvor den forudbestemte aggressivitetsjusteringsalgoritme er baseret på en korrelation mellem estimeringsinformationen (16) angående en specifik afgrødedækning for delen (6) af landbrugsmarken (4) på den ene side og en kvantificeret aggressivitet på den anden side.The method of claim 48, wherein the predetermined aggressiveness adjustment algorithm is based on a correlation between the estimation information (16) regarding a specific crop coverage for the part (6) of the agricultural land (4) on the one hand and a quantified aggressiveness on the other hand.

5. Konditioneringsapparat (100) ifølge krav 4, hvor den forudbestemte aggressivitetsjusteringsalgoritme er baseret på en korrelation mellem estimeringsinformationen (16) på den ene side og en kvantificeret aggressivitet på den anden side.The conditioning apparatus (100) of claim 4, wherein the predetermined aggressiveness adjustment algorithm is based on a correlation between the estimation information (16) on the one hand and a quantified aggressiveness on the other hand.

6. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 5, hvor apparatet er et selvkørende landbrugskøretøj.An conditioning apparatus (100) according to any one of claims 1 - 5, wherein the apparatus is a self-propelled agricultural vehicle.

7. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 5, hvor apparatet er et redskab, der skal trækkes af eller ophænges på, eller på anden vis sammenkobles med et selvkørende landbrugskøretøj.An conditioning apparatus (100) according to any one of claims 1 - 5, wherein the apparatus is a tool to be towed or suspended or otherwise coupled to a self-propelled agricultural vehicle.

8. Konditioneringsapparat (100) ifølge et hvilket som helst af de foregående krav, hvor apparatet er konfigureret til at skulle anvendes med et landbrugsmæssigt græsslåningsapparat under græsslåningsarbejde, såsom i en integreret enhed, der muliggør kombineret græsslåning og konditionering.A conditioning apparatus (100) according to any one of the preceding claims, wherein the apparatus is configured to be used with an agricultural lawn mower during lawn mowing work, such as in an integrated unit enabling combined lawn mowing and conditioning.

9. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 7, hvor apparatet er konfigureret til at skulle anvendes uafhængigt af et græsslåningsapparat.An conditioning apparatus (100) according to any one of claims 1 to 7, wherein the apparatus is configured to be used independently of a lawn mower.

10. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 9, hvor apparatet omfatter en tilførselsindretning til tilførsel af landbrugsbiomassen til passagens (8) indre.A conditioning apparatus (100) according to any one of claims 1 to 9, wherein the apparatus comprises a feed device for feeding the agricultural biomass to the interior of the passage (8).

11. Konditioneringsapparat (100) ifølge krav 10, hvor tilførselsindretningen omfatter en løftemekanisme til løft og fremføring af den afskårne biomasse (2) fra overfladen af landbrugsmarken (4) og ind i passagen (8).The conditioning apparatus (100) according to claim 10, wherein the feeding device comprises a lifting mechanism for lifting and conveying the cut biomass (2) from the surface of the agricultural field (4) and into the passage (8).

12. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 11, hvor den mekaniske konditioneringsindretning (10) omfatter et eller flere roterende elementer (22), som er konfigureret til at udsætte biomassen for den mekaniske påvirkning.An conditioning apparatus (100) according to any one of claims 1 to 11, wherein the mechanical conditioning device (10) comprises one or more rotating elements (22) configured to subject the biomass to the mechanical action.

13. Konditioneringsapparat (100) ifølge krav 12, hvor justeringsmidlerne (18) af den mekaniske konditioneringsindretning (10) er konfigureret til justering af den mekaniske påvirkning af biomassen (2) ved at variere rotationshastigheden for en eller flere roterende elementer (22).The conditioning apparatus (100) of claim 12, wherein the adjusting means (18) of the mechanical conditioning device (10) is configured to adjust the mechanical action of the biomass (2) by varying the rotational speed of one or more rotating elements (22).

14. Konditioneringsapparat (100) ifølge krav 12 eller 13, hvor justeringsmidlerne (18) af den mekaniske konditioneringsindretning (10) er konfigureret til justering af den mekaniske påvirkning ved at variere kompressionen af biomassen (2), når den ledes forbi den eller de roterende elementer (22), såsom ved at variere den indbyrdes afstand mellem to roterende elementer (22), eller ved at variere tværsnitsarealet for passagen for biomassen ved en position for en af de roterende elementer (22).The conditioning apparatus (100) according to claim 12 or 13, wherein the adjusting means (18) of the mechanical conditioning device (10) is configured to adjust the mechanical action by varying the compression of the biomass (2) as it is passed past the rotating or elements (22), such as by varying the mutual distance between two rotating elements (22), or by varying the cross-sectional area of the passage of the biomass at a position of one of the rotating elements (22).

15. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 14, hvor styringsenheden (12) er konfigureret til at tilvejebringe aggressivitetsjusteringssignalet (20) i form af et elektrisk signal, og hvor aggressiviteten af den mekaniske konditioneringsindretning (10) justeres via en aktuator (24), og hvor den mekaniske konditioneringsindretning omfatter en regulator (26), som er konfigureret til justering af aktuatoren (24) som respons på det elektriske signal.An conditioning apparatus (100) according to any one of claims 1 to 14, wherein the control unit (12) is configured to provide the aggressiveness adjustment signal (20) in the form of an electrical signal, and wherein the aggressiveness of the mechanical conditioning device (10) is adjusted via an actuator (24), and wherein the mechanical conditioning device comprises a regulator (26) configured to adjust the actuator (24) in response to the electrical signal.

16. Konditioneringsapparat (100) ifølge krav 15, hvor aktuatoren (24) er en elektrisk aktuator, en pneumatisk aktuator eller en hydraulisk aktuator.The conditioning apparatus (100) of claim 15, wherein the actuator (24) is an electric actuator, a pneumatic actuator, or a hydraulic actuator.

17. Konditioneringsapparat (100) ifølge krav 16, hvor aktuatoren (24) er en hydraulisk aktuator (28) og hvor regulatoren (26) er en hydraulisk ventil (30).The conditioning apparatus (100) of claim 16, wherein the actuator (24) is a hydraulic actuator (28) and wherein the regulator (26) is a hydraulic valve (30).

18. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 17, hvor den mekaniske konditioneringsindretning (10) omfatter en sensor (32) til føling af den aktuelle aggressivitetsindstilling for den mekaniske konditioneringsindretning (10) og hvor sensoren (32) er koblet til styringsenheden (12) til tilvejebringelse af information til styringsenheden angående den aktuelle aggressivitetsindstilling for den mekaniske konditioneringsindretning (10).An conditioning apparatus (100) according to any one of claims 1 to 17, wherein the mechanical conditioning device (10) comprises a sensor (32) for sensing the current aggressiveness setting of the mechanical conditioning device (10) and wherein the sensor (32) is coupled to the control unit (12) for providing information to the control unit regarding the current aggressiveness setting of the mechanical conditioning device (10).

19. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 18, hvor styringsenheden (12) er koblet til displaymidler (36), såsom i form af en monitor, for at muliggøre, at en operatør kan overvåge opsætningen og drift af apparatet.A conditioning apparatus (100) according to any one of claims 1 - 18, wherein the control unit (12) is coupled to display means (36), such as in the form of a monitor, to enable an operator to monitor the setup and operation of the device.

20. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 19, hvor styringsenheden (12) er koblet til inputmidler (38), såsom i form af et alfanumerisk tastatur, for at muliggøre, at en operatør kan indstille og programmere styringsenheden (12).An air conditioning apparatus (100) according to any one of claims 1 to 19, wherein the control unit (12) is coupled to input means (38), such as in the form of an alphanumeric keypad, to enable an operator to set and program the control unit (12).

21. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 20, hvor estimeringsindretningen (14) omfatter et optisk system (200), hvor det optiske system omfatter:An conditioning apparatus (100) according to any one of claims 1 to 20, wherein the estimating device (14) comprises an optical system (200), the optical system comprising:

-en billedoptagelsesindretning (202), som er konfigureret til optagelse af billeder (204) af delen (6) af landbrugsmarken (4);an image pickup device (202) configured to take images (204) of the part (6) of the agricultural land (4);

-en billedbehandlingsindretning (206) til analyse af et billede (204), som er optaget af billedoptagelsesindretningen (202);an image processing device (206) for analyzing an image (204) recorded by the image pickup device (202);

hvor billedbehandlingsindretningen (206), med hensyn til et billede (204), som er optaget af billedoptagelsesindretningen (202), er konfigureret til analysering af billedet med henblik på tilvejebringelse af estimeringsinformationen (16).wherein the image processing device (206), with respect to an image (204) recorded by the image capturing device (202), is configured to analyze the image for the purpose of providing the estimating information (16).

22. Konditioneringsapparat (100) ifølge krav 21, hvor billedbehandlingsindretningen (206) er konfigureret til at gennemføre de følgende trin:The conditioning apparatus (100) of claim 21, wherein the image processing device (206) is configured to perform the following steps:

i) modtage information, som repræsenterer et billede (204), der er optaget af billedoptagelsesindretningen (202);i) receiving information representing an image (204) recorded by the image pickup device (202);

ii) med hensyn repræsentationen af billedet (204), gennemførelse af en billedanalyse med henblik på at skelne områder af billedet (204), som repræsenterer græs (G) og/eller kløver (C) og/eller ukrudt (W);ii) with respect to the representation of the image (204), performing an image analysis in order to distinguish areas of the image (204) which represent grass (G) and / or clover (C) and / or weeds (W);

iii) opsummering af alle områder, der bestemmes i trin ii), og som repræsenterer græs (G); og/eller opsummering af alle områder, der bestemmes i trin ii), og som repræsenterer kløver (C); og/eller opsummering af alle områder, der bestemmes i trin ii), og som repræsenterer ukrudt (W);iii) summarizing all areas determined in step ii) that represent grass (G); and / or summarizing all areas determined in step ii) that represent clover (C); and / or summarizing all areas determined in step ii) that represent weeds (W);

iv) på basis af opsummeringen, som gennemføres i trin iii), tilvejebringe med hensyn til billedet (204), estimeringsinformationen (16), som skal sendes til styringsenheden (12).iv) on the basis of the summary performed in step iii), provide with respect to the image (204), the estimation information (16) to be sent to the control unit (12).

23. Konditioneringsapparat (100) ifølge krav 22, hvor trin ii) er baseret på analyse af billedpatch-features, såsom farveskelnen, kantdetektion for forskelligt plantemateriale og morfologi af forskelligt plantemateriale, anvendelse af teksturanalyse-filter/-filtre, eller entropi af billed-patches, som udgør sådant billede (202).The conditioning apparatus (100) of claim 22, wherein step ii) is based on analysis of image patch features, such as the color difference, edge detection of different plant material and morphology of different plant material, application of texture analysis filter (s), or entropy of image patches which constitute such an image (202).

24. Konditioneringsapparat (100) ifølge krav 22 eller 23, hvor trin ii) gennemføres ved at lade billedbehandlingsindretningen (206) være konfigureret til at konsultere en repræsentation af et sæt (208) læringsbilleder (210), hvor hvert læringsbillede (210) i sættet (208) af læringsbilleder omfatter en repræsentation af et virkeligt billede eller et kunstigt billede, såsom et computergenereret billede, af en del af en landbrugsmark omfattende græs og kløver og eventuelt også ukrudt, og hvor distinkte elementer af billedet er allokeret med information angående hvilken type plante (græs (G), kløver (C), og eventuelt ukrudt (W)), som dette element repræsenterer.The conditioning apparatus (100) of claim 22 or 23, wherein step ii) is performed by allowing the image processing device (206) to be configured to consult a representation of a set (208) of learning images (210), each learning image (210) in the set (208) of learning images comprises a representation of a real image or an artificial image, such as a computer-generated image, of a part of an agricultural field comprising grass and clover and possibly also weeds, and wherein distinct elements of the image are allocated with information regarding which type plant (grass (G), clover (C), and possibly weeds (W)), which this element represents.

25. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 21 - 24, hvor trin ii) gennemføres ved at lade billedbehandlingsindretningen være konfigureret til at konsultere en repræsentation af læringsbilleder i form af en model, der er i stand til at gennemføre en algoritme for at skelne distinkte områder af billedet, som repræsenterer græs (G) og/eller kløver (C) og/eller ukrudt (W).An conditioning apparatus (100) according to any one of claims 21 to 24, wherein step ii) is performed by allowing the image processing device to be configured to consult a representation of learning images in the form of a model capable of performing an algorithm to distinguish distinct areas of the image that represent grass (G) and / or clover (C) and / or weeds (W).

26. Konditioneringsapparat (100) ifølge krav 25, hvor modellen er konfigureret til benyttelse af beregnede billedpatch-features som defineret i krav 23.The conditioning apparatus (100) of claim 25, wherein the model is configured to use computed image patch features as defined in claim 23.

27. Konditioneringsapparat (100) ifølge krav 26, hvor de beregnede billedpatchfeatures analyseres ved benyttelse af en numerisk matematisk model, der er baseret på ”” support vector machines’”, ””k-nearest neighbours””, beslutningstræer, „AdaBoosf”, „Gaussian mixture models”” eller lineær diskriminantanalyse for at kunne skelne områder af dette billede som værende enten græs (G) og/eller kløver (C) og/eller ukrudt (W).The conditioning apparatus (100) of claim 26, wherein the calculated image patch features are analyzed using a numerical mathematical model based on "support vector machines", "k-nearest neighbors", decision trees, "AdaBoosf", Gaussian mixture models or linear discriminant analysis to distinguish areas of this image as either grass (G) and / or clover (C) and / or weeds (W).

28. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 21 - 27, hvor billedbehandlingsindretningen er konfigureret til udnyttelse af en ” deep-learning”-algoritme og/eller kunstig intelligens og/eller neurale netværk.An conditioning apparatus (100) according to any one of claims 21 to 27, wherein the image processing device is configured to utilize a deep-learning algorithm and / or artificial intelligence and / or neural network.

29. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 21 - 28, hvor apparatet omfatter to eller flere billedoptagelsesindretninger (202), som samlet set er konfigureret til optagelse af billeder (204) af to eller flere dele (6) af landbrugsmarken (4); hvor de to eller flere dele af landbrugsmarken er arrangeret indbyrdes forskudt i forhold til hinanden i en retning, der er vinkelret på bevægelsesretningen for konditioneringsapparatet (100);A conditioning apparatus (100) according to any one of claims 21 to 28, wherein the apparatus comprises two or more image pickup devices (202) configured collectively to capture images (204) of two or more parts (6) of the agricultural land. (4); wherein the two or more parts of the agricultural land are arranged mutually offset from each other in a direction perpendicular to the direction of movement of the conditioning apparatus (100);

hvor billedbehandlingsindretningen (206), med hensyn til et billede (204), som optages af hver af billedoptagelsesindretningerne (202), er konfigureret til analyse af billedet med henblik på at tilvejebringe en estimeringsinformation (16) angående en estimeret størrelse af en specifik afgrødedækning, som er til stede i delen (6) af landbrugsmarken (4), svarede til hvert billede (204);wherein the image processing device (206), with respect to an image (204) captured by each of the image capturing devices (202), is configured to analyze the image to provide an estimation information (16) regarding an estimated size of a specific crop coverage, present in the part (6) of the agricultural land (4), corresponding to each image (204);

hvor styringsenheden (12) er konfigureret til at modtage estimeringsinformationen (16) fra billedbehandlingsindretningen (206) med hensyn til hvert af billederne (204);wherein the control unit (12) is configured to receive the estimation information (16) from the image processing device (206) with respect to each of the images (204);

hvor styringsenheden (12), med hensyn til hvert af billederne (204), som optages af de to eller flere billedoptagelsesindretninger (202), er konfigureret til at tilvejebringe aggressivitetsjusteringssignalet (20) til justeringsmidlerne (18) af den mekaniske konditioneringsindretning (10), som er ansvarlig for konditionering af biomassen (2), der stammer fra delen (6) af landbrugsmarken (4) svarende til dette billede (204), baseret på estimeringsinformationen (16).wherein the control unit (12), with respect to each of the images (204) taken up by the two or more image pickup devices (202), is configured to provide the aggressiveness adjustment signal (20) to the adjusting means (18) of the mechanical conditioning device (10), which is responsible for conditioning the biomass (2) originating from the part (6) of the agricultural land (4) corresponding to this image (204), based on the estimation information (16).

30. Konditioneringsapparat (100) ifølge krav 29, hvor antallet af billedoptagelsesindretninger (202), er 1 - 20, såsom 2 - 19, for eksempel 3 - 18, såsom 4 - 17, for eksempel 5 - 16, såsom 6 - 15, for eksempel 7 - 14, såsom 8 - 13, såsom 9 - 12, for eksempel 10 - 11.The conditioning apparatus (100) of claim 29, wherein the number of image pickup devices (202) is 1 - 20, such as 2 - 19, for example 3 - 18, such as 4 - 17, for example 5 - 16, such as 6 - 15, for example 7-14, such as 8-13, such as 9-12, for example 10-11.

31. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 30, hvor styringsenheden (12) er konfigureret til at modtage et positionsindikerende signal (40) fra et globalt navigationssatellitsystem (GNSS) (42), såsom et GPS-signal.The conditioning apparatus (100) of any one of claims 1 to 30, wherein the control unit (12) is configured to receive a position indicating signal (40) from a global navigation satellite system (GNSS) (42), such as a GPS signal.

32. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 31, hvor styringsenheden (12) er koblet til et datalager (44), hvor styringsenheden (12) er konfigureret til at allokere estimeringsinformationen (16), som tilvejebringes med hensyn til billederne (204), som optages; og hvor styringsenheden (12) er konfigureret til at allokere koordinater vedrørende en geografisk position for billederne (204), som optages; og hvor styringsenheden (12) er konfigureret til på datalageret (44) at lagre en korrelation mellem en estimeret størrelse for en specifik afgrødedækning på delen (6) af landbrugsmarken (4) på den ene side, og den geografiske position for delen (6) af landbrugsmarken (4) på den anden side; idet korrelationen dermed repræsenterer et specifikt dækningskort over landbrugsmarken (4) eller en del deraf.The conditioning apparatus (100) of any one of claims 1 to 31, wherein the control unit (12) is coupled to a data store (44), the control unit (12) being configured to allocate the estimation information (16) provided with respect to to the images (204) being recorded; and wherein the controller (12) is configured to allocate coordinates regarding a geographical position of the images (204) being recorded; and wherein the control unit (12) is configured to store on the data store (44) a correlation between an estimated size of a specific crop coverage on the part (6) of the agricultural land (4) on the one hand, and the geographical position of the part (6) of the agricultural land (4) on the other hand; the correlation thus representing a specific coverage map of the agricultural land (4) or part thereof.

33. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 32, hvor billedoptagelsesindretningen/-indretningerne (202) er arrangeret foran den mekaniske konditioneringsindretning (10), i forhold til arbejdsretningen for konditioneringsapparatet (100); og/eller hvor billedoptagelsesindretningen/-indretningerne (202) er arrangeret ved en position svarende til en afstand fra den/de mekaniske konditioneringsindretning(er) (10) i en retning, som er vinkelret på arbejdsretningen for konditioneringsapparatet (100).An conditioning apparatus (100) according to any one of claims 1 to 32, wherein the image pickup device (s) (202) is arranged in front of the mechanical conditioning device (10), relative to the working direction of the conditioning apparatus (100); and / or wherein the image pickup device (s) (202) is arranged at a position corresponding to a distance from the mechanical conditioning device (s) (10) in a direction perpendicular to the working direction of the conditioning apparatus (100).

34. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 33, hvor styringsenheden er koblet til en hastighedssensor (46) til tilvejebringelse af information (48) vedrørende bevægelseshastigheden over jorden af landbrugsmarken (4) for konditioneringsapparatet (100).A conditioning apparatus (100) according to any one of claims 1 to 33, wherein the control unit is coupled to a speed sensor (46) for providing information (48) about the speed of movement above the ground of the agricultural field (4) of the conditioning apparatus (100).

35. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 34, hvor styringsenheden (12) er konfigureret til at tilvejebringe aggressivitetsjusteringssignalet (20) til den mekaniske konditioneringsindretning (10) ved en forsinkelse (D) svarende til bevægelseshastigheden (V) over jorden for konditioneringsapparatet (100); idet der derved tages hensyn til tidsforskydningen (T) fra det tidspunkt hvor et billede (204) af en specifik del (6) af landbrugsmarken (4) optages af billedoptagelsesindretningen (202), til det tidspunkt, hvor den mekaniske konditioneringsindretning (10) ankommer til biomassen (2), som hører til den specifikke del (6) af landbrugsmarken (4); således, at biomassen (2) på den specifikke del (6) af landbrugsmarken (4) bliver konditioneret ved en aggressivitet, som er optimal, sådan som baseret på billedanalysen, som gennemføres af billedbehandlingsindretningen (206) med hensyn til denne specifikke del (6) af landbrugsmarken (4).An conditioning apparatus (100) according to any one of claims 1 to 34, wherein the control unit (12) is configured to provide the aggressiveness adjustment signal (20) to the mechanical conditioning device (10) at a delay (D) corresponding to the speed of movement (V) above ground for the air conditioner (100); taking into account the time shift (T) from the time when an image (204) of a specific part (6) of the agricultural land (4) is taken up by the image pickup device (202), to the time when the mechanical conditioning device (10) arrives to the biomass (2), which belongs to the specific part (6) of the agricultural land (4); so that the biomass (2) on the specific part (6) of the agricultural land (4) is conditioned by an aggressiveness which is optimal, such as based on the image analysis carried out by the image processing device (206) with respect to this specific part (6 ) of agricultural land (4).

36. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 35, hvor fokusområdet (F) for billedoptagelsesindretningen/-indretningerne (202) på overfladen af landbrugsmarken (4) har en bredde, i en retning, der er vinkelret på bevægelsesretningen for konditioneringsapparatet (100), på 50 - 300 cm, såsom 100 - 250 cm, for eksempel 150 - 200 cm.An conditioning apparatus (100) according to any one of claims 1 - 35, wherein the focus area (F) of the image pickup device (s) (202) on the surface of the agricultural field (4) has a width, in a direction perpendicular to the direction of movement for the air conditioner (100), of 50 - 300 cm, such as 100 - 250 cm, for example 150 - 200 cm.

37. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 36, hvor billedoptagelsesindretningen (202) er konfigureret til gentagen billedoptagelse.The conditioning apparatus (100) of any one of claims 1 to 36, wherein the imaging device (202) is configured for repeated imaging.

38. Konditioneringsapparat (100) ifølge krav 37, hvor billedoptagelsesindretningen (202) er konfigureret til optagelse af billeder (204) ved en hastighed på 0,01 - 60, såsom 0,5 - 40, såsom 1 - 30, f.eks. 5 - 20, såsom 10 - 15 billeder per sekund (fps).The conditioning apparatus (100) of claim 37, wherein the image pickup device (202) is configured to record images (204) at a rate of 0.01 - 60, such as 0.5 - 40, such as 1 - 30, e.g. 5 - 20, such as 10 - 15 frames per second (fps).

39. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 38, hvor billedbehandlingsindretningen (206) er konfigureret til analyse af billeder (204) ved en hastighed på 0,01 - 30, såsom 0,5 - 25, såsom 1 - 20, f.eks. 5 - 18, såsom 10 - 15 billeder per sekund (fps).The conditioning apparatus (100) of any one of claims 1 to 38, wherein the image processing device (206) is configured to analyze images (204) at a rate of 0.01 - 30, such as 0.5 - 25, such as 1 - 20, e.g. 5 - 18, such as 10 - 15 frames per second (fps).

40. Konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 - 20, hvor estimeringsindretningen (14) omfatter et datalager (300), hvor datalageret (300) omfatter en korrelation mellem en estimeret størrelse for en specifik afgrødedækning på delen (6) af landbrugsmarken (4) på den ene side, og koordinater angående geografiske positioner for delen (6) af landbrugsmarken (4) på den anden side; idet korrelationen dermed repræsenterer et dækningskort over landbrugsmarken (4) eller en del deraf, idet variationen af en specifik afgrødedækning, afhængigt af position, derved beskrives.The conditioning apparatus (100) according to any one of claims 1 to 20, wherein the estimating device (14) comprises a data store (300), the data store (300) comprising a correlation between an estimated size for a specific crop coverage on the part (6). of the agricultural land (4) on the one hand, and coordinates concerning the geographical positions of the part (6) of the agricultural land (4) on the other hand; the correlation thereby representing a coverage map of the agricultural land (4) or a part thereof, the variation of a specific crop coverage, depending on position, thereby being described.

41. Konditioneringsapparat (100) ifølge krav 40, hvor dækningskortet tidligere er opnået ved benyttelse af et optisk system (200) som defineret i et hvilket som helst af kravene 21 - 39.The conditioning apparatus (100) of claim 40, wherein the coverage board is previously obtained using an optical system (200) as defined in any one of claims 21-39.

42. Anvendelse af et konditioneringsapparat (100) ifølge et hvilket som helst af kravene 1 41 til fremstilling af et biomasseprodukt baseret på græs og kløver.Use of a conditioning apparatus (100) according to any one of claims 41 for the production of a biomass product based on grass and clover.

43. Anvendelse ifølge krav 42 til fremstilling af et biomasseprodukt til anvendelse til fremstilling af ensilage.Use according to claim 42 for the production of a biomass product for use in the production of silage.

44. Anvendelse ifølge krav 42 eller 43 til fremstilling af et biomasseprodukt med forbedret kvalitet hvad angår variation i fugtindhold.Use according to claim 42 or 43 for the production of a biomass product with improved quality in terms of variation in moisture content.

45. Fremgangsmåde til konditionering af en afskåret biomasse (2) omfattende græs og kløver, hvor biomassen stammer fra vækst på en del (6) af en landbrugsmark (4); omfattendeA method of conditioning a cut biomass (2) comprising grass and clover, wherein the biomass is derived from growth on a part (6) of an agricultural field (4); comprehensive

i) påføring af en mekanisk påvirkning til biomassen (2);i) applying a mechanical impact to the biomass (2);

ii) tilvejebringelse af estimeringsinformation (16) angående en estimeret størrelse for en specifik afgrødedækning på delen (6) af landbrugsmarken (4);ii) providing estimation information (16) regarding an estimated size for a specific crop coverage on the part (6) of the agricultural land (4);

iii) justering af aggressiviteten for den mekaniske påvirkning, som påføres biomassen (2) på basis af estimeringsinformationen (16).adjusting the aggressiveness of the mechanical impact applied to the biomass (2) on the basis of the estimation information (16).

46. Fremgangsmåde ifølge krav 45, hvor estimeringsinformationen (16) angående en estimeret størrelse for en specifik afgrødedækning, som forekommer ved delen (6) af landbrugsmarken (4), uafhængigt er valgt fra gruppen omfattende:The method of claim 45, wherein the estimating information (16) regarding an estimated size for a specific crop cover occurring at the part (6) of the agricultural land (4) is independently selected from the group comprising:

-dækning af græs; og/eller-grass cover; and or

-dækning af kløver; og/eller-covering of clover; and or

-dækning af ukrudt; og/eller-weed cover; and or

47. Fremgangsmåde ifølge krav 45 eller 46, hvor aggressiviteten af den mekaniske påvirkning, som påføres biomassen (2), tilvejebringes på en sådan måde, at en relativt stor estimeret størrelse af græsdækning og/eller en relativt lille estimeret størrelse af kløverdækning, som stammer fra delen (6) af landbrugsmarken (4), medfører tilvejebringelse af en relativt høj grad af aggressivitet for den mekaniske påvirkning, som påføres biomassen (2); hvorimod en relativt lille estimeret størrelse af græsdækning og/eller en relativt stor estimeret størrelse af kløverdækning medfører tilvejebringelse af en relativt lav grad af aggressivitet for den mekaniske påvirkning, som påføres biomassen (2).A method according to claim 45 or 46, wherein the aggressiveness of the mechanical impact applied to the biomass (2) is provided in such a way that a relatively large estimated amount of grass cover and / or a relatively small estimated amount of clover cover originating from the part (6) of the agricultural land (4), results in the provision of a relatively high degree of aggressiveness for the mechanical impact which is applied to the biomass (2); whereas a relatively small estimated size of grass cover and / or a relatively large estimated size of clover cover results in the provision of a relatively low degree of aggressiveness for the mechanical impact applied to the biomass (2).

48. Fremgangsmåde ifølge et hvilket som helst af kravene 45 - 47, hvor justeringen af aggressiviteten for den mekaniske påvirkning, som påføres biomassen, og som gennemføres iA method according to any one of claims 45 - 47, wherein the adjustment of the aggressiveness of the mechanical impact applied to the biomass and carried out in

10 50. Fremgangsmåde ifølge et hvilket som helst af kravene 45 - 49, hvor fremgangsmåden gennemføres ved anvendelse af et apparat (100) ifølge et hvilket som helst af kravene 1 - 41.A method according to any one of claims 45 to 49, wherein the method is performed using an apparatus (100) according to any one of claims 1 to 41.