EP3646106A1 - Système d'observation de zones ayant un rapport d'aspect élevé - Google Patents

Système d'observation de zones ayant un rapport d'aspect élevé

Info

Publication number
EP3646106A1
EP3646106A1 EP18728042.5A EP18728042A EP3646106A1 EP 3646106 A1 EP3646106 A1 EP 3646106A1 EP 18728042 A EP18728042 A EP 18728042A EP 3646106 A1 EP3646106 A1 EP 3646106A1
Authority
EP
European Patent Office
Prior art keywords
area
observation area
evaluation
observation
light
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.)
Withdrawn
Application number
EP18728042.5A
Other languages
German (de)
English (en)
Inventor
Nicolas Houis
Jens Koenig
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3646106A1 publication Critical patent/EP3646106A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • A01B79/00—Methods for working soil
    • A01B79/02—Methods for working soil combined with other agricultural processing, e.g. fertilising, planting
    • 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
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • 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
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

Definitions

  • the present invention relates to a system for the optical observation of high aspect ratio areas, which is used for example for
  • agents for fertilization, growth support and especially for the protection of crops is used. This protection is directed against weed (herbicides), fungi (fungicides), pest (insecticides) and disease infestation.
  • weed herbicides
  • fungi fungicides
  • pest insecticides
  • disease infestation Typically, these agents are applied to the field as an aqueous solution with a hydraulic spray system.
  • the system comprises a collection optics for receiving light from the
  • the collection optics are designed to image partial regions of the observation region while retaining the aspect ratio on corresponding partial regions of the evaluation region. It was recognized that in this way the evaluation area
  • a field of about 0.5 m depth should be observed in the working direction of the field sprayer.
  • a range of 36 mx 0.5 m can be observed.
  • Image sensors limited the working distance to about 1-2 m, so that the
  • Image sensor with today's usual geometry can observe only about an area of 1.5 m x 1 m.
  • at least 24 camera modules would be required to cover the width of 36 m, while at the same time detecting an area twice the depth actually required (1 m instead of 0.5 m). If, for example, two subregions of 1.5 m by 0.5 m each out of the observation area through the collection optics are drawn onto corresponding subregions of the observation field
  • the mapping from the observation area to the evaluation area differs from a mere zooming image in that the aspect ratio of the selected partial area is maintained. This is important for the detection of objects, such as weeds, which is usually disturbed by a distortion.
  • Subareas of the evaluation area overlap each other. However, the subareas of the observation area and the
  • the collection optics comprises at least one splitting element, which directs the light coming from different partial areas of the observation area in different ways.
  • This splitting element may in particular comprise a refractive, dispersive or reflective element.
  • a refractive element such as a lens system or a prism, can break the light coming from different partial areas of the observation area into different partial areas of the evaluation area on the image sensor.
  • the splitting element may also comprise, for example, at least one mirror movable between at least two positions. In the first position, the mirror forms light from a first part of the
  • micromirror deflection units micro-opto-electro-mechanical systems, MOEMS
  • MOEMS micro-opto-electro-mechanical systems
  • the splitting element may be preceded by a wavelength filter, which allows the subregion of the visible wavelength spectrum to pass. This facilitates, for example, the use of diffractive splitting elements.
  • the collecting optics comprises a plurality of optical fibers which receive the light from different partial areas of the observation area. From each light guide, the respectively recorded light can then be imaged onto a corresponding subarea of the evaluation area.
  • the transport of the light via optical fibers is particularly advantageous when long distances have to be overcome, for example half the working width of the field sprayer (18 m) from the outermost edge of the observation area to an image sensor arranged in the middle of the working area. The further the distance, the more demanding is the adjustment of a normal radiation-optical structure.
  • the aspect ratio of the observation area is at least 36, preferably at least 50.
  • an evaluation unit connected downstream of the image sensor is advantageously provided, which is designed to recognize at least one object.
  • This evaluation unit as such can work in a known manner.
  • the system is designed to compose the subareas of the evaluation area in accordance with the arrangement of the subregions of the observation area relative to each other prior to object recognition. The boundaries between these subareas are then irrelevant for the object recognition. There are no mistakes when, for example, a larger weed extends over such a border.
  • the system for observing the working range of an agricultural working machine for the application of spraying means is formed, and the evaluation unit is adapted to recognize at least one weed plant as an object. Especially the detection of
  • the evaluation unit may alternatively or in combination for the detection of at least one pest, and / or at least one pathologically altered crop, be formed. Also, the presence of such objects may give rise to the treatment of a particular location in the working area of the working machine with the spray.
  • evaluation unit can also be designed to handle the
  • the beam path from the observation area to the evaluation area of the image sensor contains a large number of optical elements and depends on many parameters.
  • the beam path is influenced, for example, by the type of image sensor, the working distance, the wavelength range used, the objective as well as possibly existing protective glasses and filters. This makes it difficult to predict the beam path analytically.
  • An advantageous method for producing a system according to the invention therefore starts with a parameterized approach for the splitting element and optimizes the
  • FIG. 1 embodiment of the system 10 with refractive splitting element 5;
  • FIG. 2 embodiment of the system 10 with movable mirror 6 as a splitting element 5;
  • Figure 3 embodiment of the system 10 with optical fibers 8a-8d;
  • FIG. 1 sprayer 20 with working area 21, which is observed by two systems 10.
  • Marked beam paths are only schematic and do not claim to comply with the laws of ray optics. Also the
  • the observation area 1 is illuminated with light 12 from any source.
  • Light 11, which contains the information about objects in the observation area 1, passes through a wavelength filter 7 and reaches a refractive splitting element 5.
  • the light 11 from different sub-areas la-ld of the observation area 1 is refracted by the splitting element 5 on different paths 5a-5d and finally in to the sub-areas la-ld of the observation area 1 corresponding portions 4a-4d of the
  • the image sensor 3 is connected to an evaluation unit 9 for object recognition.
  • FIG. 2 shows a further exemplary embodiment of the system 10.
  • the collection optics 2 here contains a movable mirror 6 as
  • Image sensor 3 reflected. At this time, only this portion 4a of the evaluation area 4 is illuminated. If the mirror 6 has moved on to the second position 62, light 11 is instead reflected from the partial area 1b of the observation area 1 into the corresponding partial area 4b of the evaluation area 4 on the image sensor 3. At this time, only this subarea 4b of the evaluation area 4 is illuminated.
  • the mirror 6 is a micromirror and is movable so fast that the scene in the observation area 1 as a whole does not change in the time required for scanning all four partial areas 1a-1d of the observation area 1. Therefore, the mistake that occurs when assembling the one after the other
  • FIG. 3 shows a further exemplary embodiment of the system 10.
  • the collecting optics 2 here contains four separate coupling-in lenses 2a-2d with which the light from the partial areas 1a-1d of the observation area 1 is coupled into separate optical fibers 8a-8d.
  • the illumination 12 of the observation area 1 is not shown in FIG. 3 for reasons of clarity.
  • the light guides 8a-8d are led to four separate coupling-out lenses 2e-2h. From these coupling-out lenses 2e-2h, the light 11 originating from the various sub-areas 1a passes out on different paths 5a-5d and thus reaches the sub-areas 1a-1d of the observation area 1
  • the advantage of this embodiment is that maximum flexibility in the positioning of the image sensor 3 relative to the observation area 1 exists. at Distances of up to several tens of meters, the transport of light through the light guides 8a-8d is also low loss. To adjust are only the coupling into the optical fibers 8a-8d and the decoupling from the optical fibers 8a-8d, but not the entire transport. By contrast, it would be comparatively
  • FIG. 4 schematically shows the embedding of two systems 10 in a field sprayer

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

L'invention concerne un système (10) d'observation d'une zone d'observation (1) étendue dans l'espace ayant un rapport d'aspect élevé, comprenant une optique de convergence (2) destinée à accueillir la lumière en provenance de la zone d'observation (1) et un capteur d'image (3) ayant une zone d'interprétation (4). L'optique de convergence (2) est configurée pour représenter sur la zone d'interprétation (4) du capteur d'image (3) la lumière en provenance de la zone d'observation (1). L'optique de convergence (2) est configurée pour réduire des zones partielles (1a-1d) de la zone d'observation (1) en conservant le rapport d'aspect à des zones partielles (4a-4d) correspondant à celles-ci de la zone d'interprétation (4). L'invention concerne également un procédé de fabrication du système (10). Une approche paramétrée est établie pour l'élément de dissociation (5) et les paramètres sont optimisés au moyen du suivi du rayonnement de telle sorte qu'une zone partielle (1a-1d) prévue de la zone d'observation (1) soit représentée sur une zone partielle (4a-4d) prévue de la zone d'interprétation (4).
EP18728042.5A 2017-06-29 2018-05-09 Système d'observation de zones ayant un rapport d'aspect élevé Withdrawn EP3646106A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017211051.1A DE102017211051A1 (de) 2017-06-29 2017-06-29 System zur Beobachtung von Bereichen mit großem Aspektverhältnis
PCT/EP2018/062071 WO2019001819A1 (fr) 2017-06-29 2018-05-09 Système d'observation de zones ayant un rapport d'aspect élevé

Publications (1)

Publication Number Publication Date
EP3646106A1 true EP3646106A1 (fr) 2020-05-06

Family

ID=62455433

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18728042.5A Withdrawn EP3646106A1 (fr) 2017-06-29 2018-05-09 Système d'observation de zones ayant un rapport d'aspect élevé

Country Status (3)

Country Link
EP (1) EP3646106A1 (fr)
DE (1) DE102017211051A1 (fr)
WO (1) WO2019001819A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11632895B2 (en) 2019-05-02 2023-04-25 Deere & Company Residue monitoring and residue-based control
EP4125353A1 (fr) * 2020-04-03 2023-02-08 Precision Planting LLC Systèmes et procédés agricoles
CN113557816B (zh) * 2021-08-06 2023-08-29 苏州家宜居家日用品有限公司 一种沙漠机械化种植的方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3786181A (en) * 1971-09-07 1974-01-15 Potter Instrument Co Inc Optical line scanner and facsimile system
FR2739944B1 (fr) * 1995-10-11 1997-12-19 Telecommunications Sa Systeme optique pour des vues a grand champ
DE102009039602B3 (de) 2009-09-01 2011-04-07 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Suche und Erkennung von in landwirtschaftlichen Feldern und Wiesen versteckten Tieren
DE202013009198U1 (de) * 2013-10-18 2013-12-02 Sick Ag Vorrichtung zum Umlenken und zur Verbreiterung des Sichtbereichs
DE102014100829A1 (de) 2014-01-24 2015-07-30 Horsch Leeb Application Systems Gmbh Verfahren zum gesteuerten und/oder geregelten Ausbringen von Pflanzenschutzmittel sowie landwirtschaftliche Verteilmaschine zur Anwendung des Verfahrens

Also Published As

Publication number Publication date
WO2019001819A1 (fr) 2019-01-03
DE102017211051A1 (de) 2019-01-03

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