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 controlInfo
- 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
- Authority
- DE
- Germany
- Prior art keywords
- sensor
- weed
- regulation
- under
- controlled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
Landscapes
- 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
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.
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.
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.
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)
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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19904039797 DE4039797A1 (en) | 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 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19904039797 DE4039797A1 (en) | 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 |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4039797A1 true DE4039797A1 (en) | 1991-09-26 |
Family
ID=6420227
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19904039797 Pending DE4039797A1 (en) | 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 |
Country Status (1)
Country | Link |
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DE (1) | DE4039797A1 (en) |
Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4132637A1 (en) * | 1991-10-01 | 1993-04-08 | Walter Prof Dr Kuehbauch | Automatic weed removal on railway track with image recognition control - has tv cameras and processor to compute weed coverage and with spatially controlled spraying of track |
WO1993009660A1 (en) * | 1991-11-21 | 1993-05-27 | Jan Moerk Hansen | Method and apparatus for weeding rows of utility plants |
DE4138307A1 (en) * | 1991-11-21 | 1993-05-27 | Kloeckner Humboldt Deutz Ag | Removal of weeds from cultivated ground - by marking cultivated plants with radioactive isotopes which can be detected by the mechanism and hence are not removed |
DE4339329A1 (en) * | 1993-11-19 | 1995-05-24 | Holzapfel Klaus Dipl Ing Fh | Selective weed destruction appts. |
WO1995026622A1 (en) * | 1994-03-30 | 1995-10-12 | Andreas Hilker | Cultivator for row crops |
DE4413739A1 (en) * | 1994-04-20 | 1995-10-26 | Deutsche Forsch Luft Raumfahrt | Targetted, specific, dosed delivery of feed and cultivation media in agriculture and horticulture |
DE19530356A1 (en) * | 1995-08-18 | 1997-04-10 | Hilker Andreas | Multiple-headed tractor towed machine for mixed cultivation |
FR2752145A1 (en) * | 1996-08-06 | 1998-02-13 | Souslikoff Et Cie | Vine leaf thermal stripper |
DE19549263A1 (en) * | 1995-08-18 | 1998-02-19 | Andreas Hilker | Weed control method for cultivator |
FR2770969A1 (en) * | 1997-11-14 | 1999-05-21 | Cemagref | Electrical selective weedkiller |
WO2000003589A1 (en) * | 1998-07-17 | 2000-01-27 | Ministeriet For Fødevarer, Landbrug Og Fiskeri | A method and an apparatus for severing or damaging unwanted plants |
DE19961442A1 (en) * | 1999-12-20 | 2001-07-12 | Griepentrog Hans Werner | Appliance for controlling agricultural machines based on the position of plants previously determined by employing a GPS system |
WO2002017705A1 (en) * | 2000-08-31 | 2002-03-07 | Wolf-Garten Gmbh & Co. Kg | Method and device for gardening and landscape conservation |
US6795568B1 (en) | 1998-07-17 | 2004-09-21 | Torsana Laser Technologies A/S | Method and an apparatus for severing or damaging unwanted plants |
ES2239904A1 (en) * | 2004-03-25 | 2005-10-01 | Servicios Industriales Y Transportes, S.A. Sintra | System for controlling herbicida treatment on railroad way, has attack computer governing operations and controlling elements of system, where computer sends opportune orders to obtain herbicidas product mixture |
NL2001003C2 (en) * | 2007-11-13 | 2009-05-14 | Univ Wageningen | Tuning fork and striking tool combination, has striking element for striking adjustable guidance element that is in between ends of two legs of tuning fork, where guidance element is at equal distance from ends |
DE102005010686B4 (en) * | 2004-03-16 | 2013-05-08 | Johannes Benninger | Method for planting seedlings and / or for direct or single-seed sowing and for seed and / or plant care |
CZ305287B6 (en) * | 2012-11-02 | 2015-07-15 | Jaro Česká Skalice, S.R.O. | Sprinkler device |
DE102015209888A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
DE102015209891A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
DE102015209879A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
US9565848B2 (en) | 2013-09-13 | 2017-02-14 | Palo Alto Research Center Incorporated | Unwanted plant removal system |
US9609858B2 (en) | 2013-09-13 | 2017-04-04 | Palo Alto Research Center Incorporated | Unwanted plant removal system having variable optics |
US9609859B2 (en) | 2013-09-13 | 2017-04-04 | Palo Alto Research Center Incorporated | Unwanted plant removal system having a stabilization system |
DE102016201280A1 (en) | 2016-01-28 | 2017-08-03 | Robert Bosch Gmbh | Weed control device |
WO2018050138A1 (en) * | 2016-09-16 | 2018-03-22 | Zasso Gmbh | Device for the electrocution of structures in the environment and use of said device |
WO2019144231A1 (en) * | 2018-01-25 | 2019-08-01 | Eleos Robotics Inc. | Autonomous unmanned ground vehicle and handheld device for pest control |
DE102018120755A1 (en) * | 2018-08-24 | 2020-02-27 | naiture GmbH & Co. KG | Carrier system with a carrier and a mobile device for working the soil and / or for manipulating the flora and fauna and method therefor |
WO2020039046A1 (en) | 2018-08-24 | 2020-02-27 | naiture GmbH & Co. KG | Mobile analysis and processing device |
WO2020039045A1 (en) | 2018-08-24 | 2020-02-27 | naiture GmbH & Co. KG | Carrier system comprising a carrier and a mobile device for tilling the soil and/or for manipulating flora and fauna, and method therefor |
EP3837976A1 (en) | 2019-12-17 | 2021-06-23 | Deere & Company | Device for controlling undesirable organisms |
US20210244011A1 (en) * | 2018-05-17 | 2021-08-12 | Morgan Perry | A system for damaging and/or destroying crop of plants, and related methods |
EP4042866A1 (en) * | 2021-02-11 | 2022-08-17 | Hochschule für Wirtschaft und Umwelt Nürtingen-Geislingen (HfWU) | Method and device for targeted delivery of active agent to soil |
US20220264866A1 (en) * | 2021-02-22 | 2022-08-25 | Exel Industries | Thermal weeder |
DE102023104516A1 (en) | 2023-02-24 | 2024-08-29 | Ulrich Sigmund | Semi-autonomous land vehicle with a vehicle control system, method for controlling a semi-autonomous land vehicle and vehicle control method |
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Cited By (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4132637A1 (en) * | 1991-10-01 | 1993-04-08 | Walter Prof Dr Kuehbauch | Automatic weed removal on railway track with image recognition control - has tv cameras and processor to compute weed coverage and with spatially controlled spraying of track |
WO1993009660A1 (en) * | 1991-11-21 | 1993-05-27 | Jan Moerk Hansen | Method and apparatus for weeding rows of utility plants |
DE4138307A1 (en) * | 1991-11-21 | 1993-05-27 | Kloeckner Humboldt Deutz Ag | Removal of weeds from cultivated ground - by marking cultivated plants with radioactive isotopes which can be detected by the mechanism and hence are not removed |
DE4339329A1 (en) * | 1993-11-19 | 1995-05-24 | Holzapfel Klaus Dipl Ing Fh | Selective weed destruction appts. |
WO1995026622A1 (en) * | 1994-03-30 | 1995-10-12 | Andreas Hilker | Cultivator for row crops |
DE4413739A1 (en) * | 1994-04-20 | 1995-10-26 | Deutsche Forsch Luft Raumfahrt | Targetted, specific, dosed delivery of feed and cultivation media in agriculture and horticulture |
DE19549263B4 (en) * | 1995-08-18 | 2005-09-01 | Hilker, Andreas, Dipl.-Agr.-Ing. | Device for regulating weeds during tillage |
DE19530356A1 (en) * | 1995-08-18 | 1997-04-10 | Hilker Andreas | Multiple-headed tractor towed machine for mixed cultivation |
DE19549263A1 (en) * | 1995-08-18 | 1998-02-19 | Andreas Hilker | Weed control method for cultivator |
FR2752145A1 (en) * | 1996-08-06 | 1998-02-13 | Souslikoff Et Cie | Vine leaf thermal stripper |
FR2770969A1 (en) * | 1997-11-14 | 1999-05-21 | Cemagref | Electrical selective weedkiller |
WO1999025186A1 (en) | 1997-11-14 | 1999-05-27 | Exel Industries | Device for selective and controlled electric weeding |
WO2000003589A1 (en) * | 1998-07-17 | 2000-01-27 | Ministeriet For Fødevarer, Landbrug Og Fiskeri | A method and an apparatus for severing or damaging unwanted plants |
US6795568B1 (en) | 1998-07-17 | 2004-09-21 | Torsana Laser Technologies A/S | Method and an apparatus for severing or damaging unwanted plants |
DE19961442A1 (en) * | 1999-12-20 | 2001-07-12 | Griepentrog Hans Werner | Appliance for controlling agricultural machines based on the position of plants previously determined by employing a GPS system |
WO2002017705A1 (en) * | 2000-08-31 | 2002-03-07 | Wolf-Garten Gmbh & Co. Kg | Method and device for gardening and landscape conservation |
DE102005010686B4 (en) * | 2004-03-16 | 2013-05-08 | Johannes Benninger | Method for planting seedlings and / or for direct or single-seed sowing and for seed and / or plant care |
DE102005010686B9 (en) * | 2004-03-16 | 2013-07-04 | Johannes Benninger | Method for planting seedlings and / or for direct or single-seed sowing and for seed and / or plant care |
ES2239904A1 (en) * | 2004-03-25 | 2005-10-01 | Servicios Industriales Y Transportes, S.A. Sintra | System for controlling herbicida treatment on railroad way, has attack computer governing operations and controlling elements of system, where computer sends opportune orders to obtain herbicidas product mixture |
NL2001003C2 (en) * | 2007-11-13 | 2009-05-14 | Univ Wageningen | Tuning fork and striking tool combination, has striking element for striking adjustable guidance element that is in between ends of two legs of tuning fork, where guidance element is at equal distance from ends |
CZ305287B6 (en) * | 2012-11-02 | 2015-07-15 | Jaro Česká Skalice, S.R.O. | Sprinkler device |
US10051854B2 (en) | 2013-09-13 | 2018-08-21 | Palo Alto Research Center Incorporated | Unwanted plant removal system having variable optics |
US9565848B2 (en) | 2013-09-13 | 2017-02-14 | Palo Alto Research Center Incorporated | Unwanted plant removal system |
US9609858B2 (en) | 2013-09-13 | 2017-04-04 | Palo Alto Research Center Incorporated | Unwanted plant removal system having variable optics |
US9609859B2 (en) | 2013-09-13 | 2017-04-04 | Palo Alto Research Center Incorporated | Unwanted plant removal system having a stabilization system |
US10548306B2 (en) | 2015-05-29 | 2020-02-04 | Robert Bosch Gmbh | Weed control device |
DE102015209879A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
WO2016193003A1 (en) | 2015-05-29 | 2016-12-08 | Robert Bosch Gmbh | Weed controlling device |
WO2016192996A1 (en) | 2015-05-29 | 2016-12-08 | Robert Bosch Gmbh | Weed controlling device |
WO2016192999A1 (en) | 2015-05-29 | 2016-12-08 | Robert Bosch Gmbh | Weed controlling device |
DE102015209891A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
DE102015209888A1 (en) | 2015-05-29 | 2016-12-01 | Robert Bosch Gmbh | Weed control device |
DE102016201280A1 (en) | 2016-01-28 | 2017-08-03 | Robert Bosch Gmbh | Weed control device |
WO2017129675A1 (en) | 2016-01-28 | 2017-08-03 | Robert Bosch Gmbh | Weed controlling device |
WO2018050138A1 (en) * | 2016-09-16 | 2018-03-22 | Zasso Gmbh | Device for the electrocution of structures in the environment and use of said device |
WO2019144231A1 (en) * | 2018-01-25 | 2019-08-01 | Eleos Robotics Inc. | Autonomous unmanned ground vehicle and handheld device for pest control |
US20210244011A1 (en) * | 2018-05-17 | 2021-08-12 | Morgan Perry | A system for damaging and/or destroying crop of plants, and related methods |
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