DE4039797A1 - Sensor controlled plant cultivation and weed control equipment - uses variety of sensors in conjunction with weed destruction devices under processor control - Google Patents

Sensor controlled plant cultivation and weed control equipment - uses variety of sensors in conjunction with weed destruction devices under processor control

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Publication number
DE4039797A1
DE4039797A1 DE19904039797 DE4039797A DE4039797A1 DE 4039797 A1 DE4039797 A1 DE 4039797A1 DE 19904039797 DE19904039797 DE 19904039797 DE 4039797 A DE4039797 A DE 4039797A DE 4039797 A1 DE4039797 A1 DE 4039797A1
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Germany
Prior art keywords
sensor
weed
regulation
under
controlled
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DE19904039797
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German (de)
Inventor
Manfred Prof Dr Hoffmann
Gerd E F Steffen
Hans Reinert
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Priority to DE19904039797 priority Critical patent/DE4039797A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
    • A01M21/046—Apparatus for destruction by steam, chemicals, burning, or electricity by electricity
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Soil Working Implements (AREA)
  • Guiding Agricultural Machines (AREA)
  • Catching Or Destruction (AREA)

Abstract

The cultivation/weeding device has a sensor (1) adjusted to detect plants (20) and signal to a processor (2), which in turn controls the gas flow from supply (8), by means of a valve (4), to achieve flame jet (3). In particular, the vehicle includes a plant detection sensor mounted in a particular way relation to the active device (3). Vehicle may be tractor mounted. Additionally, vehicle may be self propelled.

Description

Um das Unkraut zwischen den Kulturpflanzen in den Kulturpflanzenreihen zu jäten, müssen die Pflanzen mittels eines Sensors erkannt und deren Standort festgelegt werden. Diese Information wird einem Rechner mitgeteilt, der ein Signal verrechnet und einen Aktor bedarfsgerecht einschaltet.To the weeds between the crops in the To weed rows of crops, the plants must use a Sensors recognized and their location determined. These Information is communicated to a computer that has a signal charged and switches on an actuator as required.

Als Sensor können verschiedene Arten zur Anwendung kommen. Die Wahl hängt hauptsächlich von der Kulturpflanze bzw. zu erkennenden Pflanzen ab.Different types can be used as sensors. The choice mainly depends on the crop or recognizing plants.

Zum Beispiel können Sensoren mit Eigenschaften eingesetzt werden, die entweder den Habitus, einen Formteil, die Pflanzenfeuchtigkeit, die Pflanzentemperatur, die Pflanzenfarbe und so weiter erkennen können.For example, sensors with properties can be used either the habit, a molded part, the Plant moisture, plant temperature, plant color and so on.

Vorteilhaft kann eine Sensorkombination sein.A sensor combination can be advantageous.

Als Aktoren werden im mechanischen Bereich rotierende, nicht rotierende Messer und Wühlvorrichtungen verwendet.In the mechanical field, rotating actuators are not rotating knives and burrs are used.

Im nicht-mechanischen Bereich können Laser, Wasserstrahlen, Flammaktoren, Heißdampfaktoren, Infrarotaktoren, Hochfrequenzaktoren, Blitzschlagaktoren und andere benutzt werden. Durch geeignete Maßnahmen müssen die Aktoren so geführt werden, daß sie das Unkraut ausreichend schädigen.In the non-mechanical area, lasers, water jets, Flame actuators, superheated steam actuators, infrared actuators, High frequency actuators, lightning strike actuators and others are used. The actuators must be guided by suitable measures so that they damage the weeds sufficiently.

Sensor und Aktor stehen in einem geometrischen Zusammenhang. Das kann ein direkter, aber auch ein indirekter Zusammenhang sein. Beim direkten geometrischen Zusammenhang sind Aktor und Sensor innerhalb einer Maschine, bzw. Kombination integriert.Sensor and actuator are geometrically related. This can be a direct, but also an indirect connection. In the case of a direct geometric connection, the actuator and sensor are integrated within a machine or combination.

Beim indirekten geometrischen Zusammenhang wird der Sensor getrennt über das Feld geführt und die charakteristischen Daten und Ereignisse werden in einem Speicher niedergelegt.In the case of an indirect geometric connection, the sensor separately across the field and the characteristic data and events are stored in a memory.

Mit den Daten dieses Speichers wird in einem späteren Arbeitsgang der Aktor gesteuert.The data from this memory will be used in a later operation the actuator is controlled.

Im Falle einer Kulturpflanzenpflege muß um die Kulturpflanze eine Schutzzone gelegt werden.In the case of crop maintenance, a crop must be added to the crop Protection zone.

Dies kann entweder auf elektronischem Wege geschehen, indem dem Standortsignal eine Schutzzone beigeordnet wird oder zum Beispiel dadurch, daß die Keule des Sensors diese Schutzzone beinhaltet. This can be done either electronically by using the Location signal a protection zone is assigned or for example in that the lobe of the sensor contains this protection zone.  

BildbeschreibungImage description

Das Prinzip wird an einem geschleppten Fahrzeug mit Abflammtechnik und einem kapazitiven Sensor dargestellt.The principle is based on a towed vehicle with flame technology and a capacitive sensor.

Bild 1 Image 1

Der Gerätebalken (15) ist am Dreipunktrahmen eines Traktors befestigt (hier nicht gezeichnet). Durch Anheben oder Senken des Dreipunktrahmens am Traktor kann die Höhe des Aktors (3) in gewissen Grenzen korrigiert werden.The implement bar ( 15 ) is attached to the three-point frame of a tractor (not shown here). The height of the actuator ( 3 ) can be corrected within certain limits by raising or lowering the three-point frame on the tractor.

Am Gerätebalken (15) ist die Arbeitseinheit (1 bis 14) befestigt. Für jede Reihe ist eine solche Arbeitseinheit notwendig. Nur der Weggeber (5) wird für alle Reihen einmal benötigt.The work unit ( 1 to 14 ) is attached to the device bar ( 15 ). Such a work unit is necessary for each row. Only the travel sensor ( 5 ) is required once for all rows.

Das Schlepprad (6) garantiert weiterhin die Lage des Aktors (3) z. B. zum Unkraut (21), indem es die Bodenunebenheiten ausgleicht. Der Aktor (3) kann mit Hilfe der Vorrichtung (11), die auf dem Wippbalken (10) beweglich befestigt ist, in den verschiedenen Achsen justiert werden. Über das Gelenk (12) sind der Nachlaufhalter (14) und der Wippbalken (10) miteinander verbunden.The trailing wheel ( 6 ) continues to guarantee the position of the actuator ( 3 ) z. B. weeds ( 21 ) by leveling out the unevenness of the ground. The actuator ( 3 ) can be adjusted in the various axes with the aid of the device ( 11 ) which is movably attached to the seesaw beam ( 10 ). The trailing bracket ( 14 ) and the seesaw beam ( 10 ) are connected to one another via the joint ( 12 ).

Der Sensor (1) ist mit der Vorrichtung (13) am Nachlaufhalter (14) befestigt und wird damit gleichzeitig in seiner Lage justiert.The sensor ( 1 ) is fastened with the device ( 13 ) on the trailing bracket ( 14 ) and its position is adjusted at the same time.

Am Nachlaufhalter (14) sind auch die Elektronik (2) und der Gasvorrat mit Sicherheitseinrichtung (7) befestigt.The electronics ( 2 ) and the gas supply with safety device ( 7 ) are also attached to the trailing bracket ( 14 ).

Pfeil (22) zeigt die Fahrtrichtung bei der Arbeit im Feld. (9) sind die elektrischen Leitungen.Arrow ( 22 ) shows the direction of travel when working in the field. ( 9 ) are the electrical lines.

Funktionserklärung am Bild 1Functional explanation on picture 1

Die Arbeitseinheit (1 bis 14) wird mittels eines Traktors durch das Feld geschleppt. Zwischen den Reihen laufen jeweils Arbeitseinheiten (1 bis 14), die am Gerätebalken (15) befestigt sind.The work unit ( 1 to 14 ) is towed through the field by a tractor. Working units ( 1 to 14 ) run between the rows and are attached to the device bar ( 15 ).

Der Sensor (1) ist so justiert, daß er die Pflanze (20) von oben erkennen kann.The sensor ( 1 ) is adjusted so that it can recognize the plant ( 20 ) from above.

Kommt eine Pflanze (20) in den Erkennungskegel (1.1) des Sensors (1), so gibt dieser ein Signal an die Elektronik (2).If a plant ( 20 ) comes into the detection cone ( 1.1 ) of the sensor ( 1 ), it sends a signal to the electronics ( 2 ).

Die Elektronik (2) zählt nun die vom Weggeber (5) kommenden Signale. Ist nun der Aktor (3) an der vorherigen Stelle des Sensors (1) angekommen, stoppt die Elektronik (2) über das Ventil (4) den Gasfluß in der Gasleitung (8).The electronics ( 2 ) now count the signals coming from the travel sensor ( 5 ). If the actuator ( 3 ) has arrived at the previous position of the sensor ( 1 ), the electronics ( 2 ) stops the gas flow in the gas line ( 8 ) via the valve ( 4 ).

Dadurch wird die Kulturpflanze (20) vor den Flammen (3.1) geschützt (Schutzbereich).This protects the crop ( 20 ) from the flames ( 3.1 ) (protected area).

Ist der Aktor (3) an der Pflanze (20) mit der elektronisch gespeicherten Schutzzone vorbei, gibt die Elektronik (2) über das Ventil (4) den Gasfluß wieder frei. Das Unkraut (21) wird wieder durch die Flamme (3.1) geschädigt.When the actuator ( 3 ) passes the plant ( 20 ) with the electronically stored protection zone, the electronics ( 2 ) release the gas flow again via the valve ( 4 ). The weed ( 21 ) is again damaged by the flame ( 3.1 ).

Bild 2 zeigt dieselbe Arbeitseinheit von hinten in Fahrtrichtung blickend. Figure 2 shows the same work unit looking from behind in the direction of travel.

Auflistung der Positionen aus Bild 1 und Bild 2:List of positions from Figure 1 and Figure 2:

 (1) Sensor (Kapazitivsensor)
 (1.1) Erkennungskegel
 (2) Elektronik/Rechner
 (3) Aktor (Abflammdüsen/Fa. Reinert)
 (4) Ventil (Gasventil)
 (5) Weggeber (Impulsgeber)
 (6) Schlepprad
 (7) Gasvorrat mit Sicherheitseinrichtung
 (8) Gasleitung
 (9) Elektrische Leitungen
(10) Wippbalken
(11) Vorrichtung - zur Justierung des Aktors (3)
(12) Gelenk
(13) Vorrichtung - zur Justierung des Sensors (1)
(14) Nachlaufhalter
(15) Gerätebalken
(20) Pflanze - Kulturpflanze
(21) Unkraut
(22) Pfeil für Fahrtrichtung( 1 ) sensor (capacitive sensor)
( 1.1 ) Detection cone
( 2 ) Electronics / calculator
( 3 ) Actuator (flame nozzles / Reinert)
( 4 ) valve (gas valve)
( 5 ) displacement sensor (pulse generator)
( 6 ) trailing wheel
( 7 ) gas supply with safety device
( 8 ) gas pipe
( 9 ) Electrical lines
( 10 ) seesaw beams
( 11 ) Device - for adjusting the actuator ( 3 )
( 12 ) joint
( 13 ) Device - for adjusting the sensor ( 1 )
( 14 ) trailing bracket
( 15 ) Device bar
( 20 ) Plant - crop
( 21 ) weeds
( 22 ) Arrow for direction of travel

Claims (17)

1. Sensorgesteuerte Pflegetechnik und Unkrautregulation, dadurch gekennzeichnet, daß in einem Fahrgestell ein Pflanzenerkennungs-Sensor in einer geometrischen Beziehung mit einem Pflanzenbehandlungs-Aktor eingebaut ist. Dieses Fahrgestell wird von einem Traktor geschleppt.1. Sensor-controlled care technology and weed regulation, characterized in that a plant detection sensor is installed in a geometrical relationship with a plant treatment actuator in a chassis. This chassis is towed by a tractor. 2. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1, dadurch gekennzeichnet, daß das Fahrgestell selbstfahrend ist.2. Sensor-controlled care technology and weed regulation, such as under 1, characterized in that the chassis is self-driving. 3. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 2, dadurch gekennzeichnet, daß der Pflanzenerkennugs-Sensor das Signal für den Pflanzenstandort an einen Rechner weiterleitet.3. Sensor-controlled care technology and weed regulation, such as under 1 to 2, characterized in that the Plant detection sensor the signal for the plant location forwarded to a computer. 4. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 3, dadurch gekennzeichnet, daß der Pflanzenerkennungs-Sensor direkt über dem Aktor sitzt und dadurch den Rechner überflüssig macht bzw. den Rechner für andere Zwecke nutzt.4. Sensor-controlled care technology and weed regulation, such as under 1 to 3, characterized in that the Plant detection sensor sits directly above the actuator and thereby making the calculator superfluous or the calculator for uses other purposes. 5. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 4, dadurch gekennzeichnet, daß der geometrische Zusammenhang des Sensors und Aktors mittels eines Wegemeßsystems gemessen wird. Dieses Wegemeßsystem kann aus einer direkten Messung, z. B. Messung eines abrollenden Rades, oder einem indirekten System, z. B. der Radar-Messung bestehen.5. Sensor-controlled care technology and weed regulation, such as under 1 to 4, characterized in that the geometric Connection of the sensor and actuator by means of a Way measuring system is measured. This measuring system can a direct measurement, e.g. B. measurement of a rolling wheel, or an indirect system, e.g. B. the radar measurement. 6. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 5, dadurch gekennzeichnet, daß dem Signal des Pflanzensensors ein Datensatz beigegeben wird, um für die Pflanze einen individuellen Schonbereich zu sichern.6. Sensor-controlled care technology and weed regulation, such as under 1 to 5, characterized in that the signal of Plant sensor a record is added to for the Plant an individual protection area. 7. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 6, dadurch gekennzeichnet, daß der Sensor eine Erkennungskeule besitzt, die die elektronische Darstellung einer Schonzone unnötig macht. 7. Sensor-controlled maintenance technology and weed regulation, such as under 1 to 6, characterized in that the sensor a Detection club that owns the electronic representation makes a closed zone unnecessary.   8. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 7, dadurch gekennzeichnet, daß der Aktor mittels einer geeigneten Vorrichtung immer in die für das Unkraut notwendige Position geführt wird. Das kann im einfachsten Fall mit einem nachlaufenden Rad oder durch abstandhaltende Vorrichtung bewerkstelligt werden.8. Sensor-controlled maintenance technology and weed regulation, such as under 1 to 7, characterized in that the actuator by means of a suitable device in the weed necessary position is performed. In the simplest case it can with a trailing wheel or by spacing Device are accomplished. 9. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 8, dadurch gekennzeichnet, daß der Sensor zwischen Kulturpflanze und Unkraut unterscheidet. Dieses kann über den Habitus, Formteile, Feuchtigkeit, Farbe usw. geschehen.9. Sensor-controlled care technology and weed regulation, such as under 1 to 8, characterized in that the sensor between Cultivated plant and weed differs. This can affect the habit, molded parts, moisture, color etc. happen. 10. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 9, dadurch gekennzeichnet, daß der Aktor das Unkraut vernichtet oder ausreichend schädigt oder die Kulturpflanze pflegt (Düngung). Beide Funktionen können in einem Arbeitsgang durchgeführt werden. Als Aktoren für die Pflanzenschädigung kommen zur Zeit unter anderem folgende Arten von Aktoren zum Einsatz:
mechanisch: Messer rotierend, nicht-rotierend, wühlend usw.
thermisch: Infrarot, Hochfrequenz usw.
chemisch: flüssig, fest, Granulat usw.
elektrisch: Funkenstrecke usw.
Im Falle einer aktiven Pflanzenpflege werden Aktoren für eine punktuelle Applikation fester, flüssiger oder gasförmiger Wirkstoffe und Düngerstoffe eingesetzt.10. Sensor-controlled care technology and weed regulation, as under 1 to 9, characterized in that the actuator destroys or damages the weeds sufficiently or cares for the crop (fertilization). Both functions can be carried out in one operation. The following types of actuators are currently used as actuators for plant damage:
mechanical: rotating knife, non-rotating, rummaging etc.
thermal: infrared, high frequency, etc.
chemical: liquid, solid, granules etc.
electrical: spark gap etc.
In the case of active plant care, actuators are used for selective application of solid, liquid or gaseous active ingredients and fertilizers. 11. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 10, dadurch gekennzeichnet, daß der Sensor räumlich und zeitlich getrennt vom Aktor über das Feld geführt wird und dabei die Standortsignale der Pflanzen in einem Speicher niederlegt. Der Aktor wird nachträglich über das Feld geführt und von dem vorher ermittelten Werte im Speicher gesteuert.11. Sensor-controlled care technology and weed regulation, such as under 1 to 10, characterized in that the sensor spatially and chronologically separated from the actuator and the location signals of the plants in one Stores memory. The actuator is subsequently guided over the field and by the previously determined values controlled in memory. 12. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 11, dadurch gekennzeichnet, daß ein oder mehrere Aktoren zur Anwendung kommen. Diese können auch Aktoren unterschiedlicher Bauart sein. 12. Sensor-controlled care technology and weed regulation, such as under 1 to 11, characterized in that one or more Actuators are used. These can also be actuators be of different types.   13. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 12, dadurch gekennzeichnet, daß eine oder mehrere Arbeitseinheiten montiert werden.13. Sensor-controlled maintenance technology and weed regulation, such as under 1 to 12, characterized in that one or more Work units are assembled. 14. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 13, dadurch gekennzeichnet, daß der Sensor im Anwendungsgebiet an speziellen Pflanzen justiert wird.14. Sensor-controlled care technology and weed regulation, such as under 1 to 13, characterized in that the sensor in Application area on special plants is adjusted. 15. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 14, dadurch gekennzeichnet, daß der Sensor über vorher in den Rechner eingegebene Kriterien die Pflanze erkennen kann.15. Sensor-controlled care technology and weed regulation, such as under 1 to 14, characterized in that the sensor over previously entered criteria into the computer the plant can recognize. 16. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 15, dadurch gekennzeichnet, daß ein Sensor die Standorte der Pflanzen mehrerer Reihen erkennen kann, diese Standorte durch einen Rechner ausgelesen und zur Abarbeitung durch die Maschine aufbereitet werden.16. Sensor-controlled maintenance technology and weed regulation, such as under 1 to 15, characterized in that a sensor Locations of plants of several rows can recognize this Locations are read out by a computer and processed be processed by the machine. 17. Sensorgesteuerte Pflegetechnik und Unkrautregulation, wie unter 1 bis 16, dadurch gekennzeichnet, daß ein zentraler Rechner und Steuereinheit mehrreihigen Betrieb ermöglicht.17. Sensor-controlled maintenance technology and weed regulation, such as under 1 to 16, characterized in that a central Computer and control unit enables multi-row operation.
DE19904039797 1990-12-13 1990-12-13 Sensor controlled plant cultivation and weed control equipment - uses variety of sensors in conjunction with weed destruction devices under processor control Pending DE4039797A1 (en)

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EP3837976A1 (en) 2019-12-17 2021-06-23 Deere & Company Device for controlling undesirable organisms
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