FR3099886A1 - Device for adapting spraying to the leaf surface - Google Patents

Abstract

Device for adapting the spraying to the leaf surface of the type comprising: a pipe (1) connected to the pipe (57) for supplying the spray mixture to which is connected a manometer (3), a first set of valves (14 ), (16), (18) connected in parallel to said conduit (1), The conduit (1) is divided into two conduits (6) and (9) mounted on two parallel downspouts placed on each side of the row of plant to be treated , A first batch of valves (7a), (7b), (7c) distributed at a substantially equal distance on one of the downspouts each have the inlet connected to the conduit (6), A second batch of valves (8a), ( 8b), (8c) also distributed at a substantially equal distance on the other descent and opposite the valves of the first batch each have the inlet connected to the conduit (9), the valve controls of each batch are electrically associated with two two facing the plant (7a) with (8a), (7b) with (8b) and (7c) with (8c), At the outlet of each valve of the two lots and the most pro che possible of them, are connected nozzles (4a) at the outlet of (7a), (4b) at the outlet of (7b), (4c) at the outlet of (7c) and (5a) at the outlet of (8a), (5b) at the outlet of (8b) and (5c) at the outlet of (8c), allowing since their valves are electrically coupled to form pairs of nozzles, At the outlet of each valve (14), (16), (18) are connected the inlet of reciprocally adjustable flow valves (15), (17) and (19), A conduit (2) connects the outlet of each said adjustable flow valve, and is freely connected to the main tank (6) containing the spray mixture, Upstream of one of the descents relative to the advancement of the sprayer, a set of ultrasonic type sensors (10), (11), (12) is placed parallel to the nozzles, and turned in gaze of the plant so that the plant crosses the detection cone of said sensors perpendicularly. The distance information given by each ultrasound sensor is associated with the control of one or more pairs of nozzles. A computer (13) receives the signal from each ultrasound sensor and controls all the valves of the first set and the two sets, by associating them 3 by 3 as follows: (14, 7a, 8a), ( 16, 7b, 8b) and (18, 7c, 8c) on the one hand and on the other hand, in each association in opposite ways (14 open when (7a) and (8a) are closed and vice versa, and so on. for other associations),

Description

Device for adapting the spray to the leaf surface

Historically, spraying was done with a lance and the plant was sprinkled until runoff. The objective is to protect crops by homogeneously covering the entire plant with an active chemical substance.

Chemical control has worked for a long time, however, in recent years, under environmentalist pressure, the side effects, little taken into account before, are recognized as harmful enough to turn into manifest environmental deterioration decried everywhere. This has given rise to new techniques and uses that are more economical and respectful of the environment. Nevertheless, these processes must be adapted to the crops and remain in line with the objectives set without losing the profitability and sustainability of the farms.

Several solutions are being studied by many companies to develop sensors to recognize plants or even diseases and thus adapt the treatment to the characteristics of the plant. These sensors are more or less complex integrating innovative technologies such as artificial intelligence and other more or less expensive techniques. Their integration on existing sprayers requires very often complex adaptations, putting a brake for the moment on their large-scale distribution and the possibility of equipping the existing fleet of sprayers.

Until now, treatments were carried out according to the surface covered by the sprayer.

To protect plants, it is necessary to dose a precise quantity of active ingredient, which is generally expressed in liters per hectare or liters per hectolitre. As a result, the flow rate of the mixture sprayed at a fixed concentration is a function of the forward speed of the sprayer and the width of the boom. The latest techniques used frequently use electronic regulations also called DPA (flow proportional to progress).

This technique, which focuses on the quantity of product spread according to the surface covered, is widely used and treats the plot uniformly with product by considering a homogeneous distribution of plants.

In specialized crops such as vines and fruit trees, the user of the sprayer considers that the vertical surface is substantially equal or at least proportional to the surface traveled and adjusts his treatment rate accordingly, seeking to spray a quantity of mixture per hectare covered.

It seems obvious that a solution adapting the spraying to the height of the plants would be fairer and would allow a reduction in the consumption of chemical products.

It is to this problem that the present invention intends to respond, which relates to a system making it possible to spray only the actual surface of the plant by adapting the spraying both to the height but also to the deficiencies of the plant with the aim of reducing the dose. estimated according to the stage of the vegetation, at between 30% and 60%.

Indeed, various organizations have carried out work on the quantitative assessment of the distribution of products spread in the air and in the ground. It appears that whatever the sprayer used and the settings made, the losses in the air are greater than the losses in the ground (37% in the air against 10% in the ground), more generally the distribution of mixture is 40 % 20% 40% at the beginning of vegetation and 10% 50% 40% in full vegetation corresponding respectively to the soil plant air spaces.

More precisely, this means that 50% to 80% of the porridge lands next to their target.

One of the first levers for reducing the dose of phytosanitary product is therefore the targeting of plants.

In 2008, section cuts by GPS appeared. When the GPS detects that one of the sections arrives above an area already treated or at the boundary of the plot, it transmits an electrical signal to the solenoid valve controlling the flow of the nozzles of the section which closes without the intervention of the driver. And vice versa when the boom leaves a treated area.

This technique is very widely used in arable farming and is beginning to emerge in specialized cultivation. It essentially makes it possible not to treat uncultivated surfaces (end of row) and to avoid covering the treatments of the ends of the boom when the sprayer treats the following rows.

Gains in pesticide savings vary according to crops and practices and range between 2% and 5%. compared to manual section cuts.

Another way developed in the vineyard to improve the quality of application of plant protection products (quantity and homogeneity of product deposits on the target plant) and to limit drift is containment.

It starts from the observation that specialized crops such as fruit orchards or vines consume a lot of pesticides. Their leaf area is very heterogeneous and variable according to the stage of the vegetation. The height of a vine at the end of the vegetative stage is variable in the same row and shows gaps in various places which can be located at the bottom in the center or at the top of the trellised plant.

For several years, various manufacturers have been offering sprayers with recovery panels, some equipped with air assistance. This makes it possible to use them for general coverage treatments throughout the campaign. But, to date, the use of these machines remains uncommon. indeed, it can impose constraints: purchase cost, use limited to gently sloping topographies, lengthy construction and cleaning times, difficulty in calculating the mixture to be prepared.

Heat recovery panels are the subject of renewed interest... but questions remain about their practicality

Among the systems that have been studied in the context of CIS (Crop Identification System), we find lidar and ultrasonic sensors. These sensors show their ability to detect foliage as shown by the work of Dr. Alexandre Escola i Agusti and the patent filings US4768 713 of 1988 and US4 823 268 of April 1989 which presents the use of ultrasonic distance transducers to determine the amount and vertical distribution of spraying orchard trees.

These studies essentially relate to the recognition of the leaf volume in order to adjust the sprayed dose.

Recent test articles carried out on the subject show the double complexity of developing an algorithm for analyzing the signal received so that the volume thus deduced is in line with the real volume measured in the field, and of developing a algorithm for reducing the dose without degrading the number of impacts on the plant which guarantees the efficiency of the treatment.

The present invention presents a pragmatic dose reduction solution by recognition of the leaf surface of the plant, particularly in a trellised culture. The technique is based on the use of ultrasonic sensors to detect the presence of the plant and their close association with nozzle control. It presents an original solution which focuses on the precision of the targeting of the plant and the quality of the treatment having the same efficiency as the sprayer not equipped with the system.

The system simply adapts to any existing sprayer and guarantees total and exclusive coverage of the leaf surface treated.

The present invention is an alternative for trellised crops both to the closure of sections by GPS and to recovery panels.

To illustrate the advantages of this invention, we will take the example of vine treatments. By analogy, it is possible to apply the advantages described to other types of culture.

In the early stages of vegetation few leaves cover the vines. The leaf area is often reduced to the height of the foot and a few tens of centimeters in width. Knowing that the vines are approximately 1 m apart, the ratio between the actual leaf area and the area traveled is at least 1/10.

To treat only the surface of the plant, it is necessary to provide an answer to various key points:

• precise foliage detection,
• the association of the sensors with the nozzles,
• the control of the reaction time of the openings and closings of the nozzles in order to treat nearby discontinuous surfaces (wood of seven vines during the winter, young shoots 1m apart, trellised vine shoots with a few leaves at the start of the season, etc.),
• The discrimination of certain obstacles such as guardians and sons,
• Integration without modifying the characteristics of the sprayer to be equipped.

The invention provides an answer to each of these points and to explain its characteristics we will describe the principle of the majority of the sprayers on which it will be installed, based on fig 1.

A tank (50) contains the mixture to be sprayed essentially consisting of water and active chemical material. The pressure-regulated pump (51) injects the mixture contained in the tank (50) into the line (53) at a pressure which can often vary electronically according to the forward speed of the sprayer. This function is performed by the regulator (52).

On the pipe (53) are connected in parallel valves (54) and (55) which can be 2 or 3 ways and which are connected on one of the outputs, to ramp sections (56) and (57) . The number of boom sections varies according to the devices and can be up to 9 in some cases. For the understanding and clarity of this presentation, Figure 1 only represents 2 ramp sections.

Each boom section is connected to a set of nozzles (58) placed vertically and parallel to the surface of the plant to be treated (60). This technique is called face by face in opposition to the cannons which project the mixture from the tank (50) over the entire height of the plant. This latter technique, which is less precise in terms of targeting and drift than face by face, is gradually being abandoned in vines and fruit growing. The nozzles distributed over the height of the plant are maintained by often wind tunnel elements and form a set called descent.

The sprayer can thus treat several rows of plants at the same time.

During the treatment, the valves (54) and (55) are controlled in such a way that the pipe (53) is connected to the boom sections, thus allowing the mixture to pass from the tank (50) to the nozzles (58).

At the edge of the plot and in the absence of vegetation, the valves (54) and or (55) are closed in order to interrupt the spraying.

In most of the sprayers dedicated to the vine, the boom sections feed several drops which have nozzles in opposition in order to treat the side of a row and by the opposite nozzles the face of the next row. This very widely used hydraulic wiring technique is economically optimal but makes it very imprecise to stop spraying in the absence of vegetation.

detailed description

The system of the invention is in the form of an autonomous device which is inserted into the hydraulic network of the sprayer on the line (56) and (57) of FIG. 1 between the section closing valve and the set of nozzles of the descents (58).

There will be as many kits as rows of plants to be treated simultaneously.

Let us take for our explanation the case where the kit comes to equip the sprayer for the treatment of the row (60a) of figure 1.

The kit will be placed on the duct (57) of Figure 1 and will control the nozzles (58a) surrounding the row (60a).

Fig 2 describes the system that is the subject of the present invention.

To understand the system, the number of nozzles supplied is 6, i.e. 3 per half face of the row to be treated. The number of nozzles equipping a descent depends on the type of plant to be treated.

The device of the present invention is not limited in number of nozzles and adapts to the existing configuration.

Duct 1 in this figure is connected to duct (57) previously described. This conduit on the majority of existing sprayers is pressure regulated according to the forward speed of the sprayer. At constant speed the pressure is fixed.

There will be as many conduits 1 connected as rows to be processed simultaneously.

The device for adapting the spraying of a row of vines to the leaf surface of the type comprising:

• a conduit (1) connected to the spray mixture supply conduit (57) to which a pressure gauge (3) is connected,
• a first set of valves (14), (16), (18) connected in parallel to said conduit (1),
• The conduit (1) is divided into two conduits (6) and (9) mounted on two parallel descents placed on each side of the row of plants to be treated,
• A first batch of valves (7a), (7b), (7c) distributed at a substantially equal distance on one of the descents each have the inlet connected to the conduit (6),
• A second batch of valves (8a), (8b), (8c) also distributed at a substantially equal distance on the other descent and opposite the valves of the first batch each have the inlet connected to the conduit (9),
• the controls of the valves of each batch are electrically associated two by two facing the plant (7a) with (8a), (7b) with (8b) and (7c) with (8c),
• At the outlet of each valve of the two batches and as close as possible to them, nozzles (4a) are connected at the outlet of (7a), (4b) at the outlet of (7b), (4c) at the outlet of (7c) and (5a) at the output of (8a), (5b) at the output of (8b) and (5c) at the output of (8c),

allowing since their valves are electrically coupled to form pairs of nozzles,

• At the outlet of each valve (14), (16), (18) are connected the inlet of reciprocally adjustable flow valves (15), (17) and (19),
• A conduit (2) connects the outlet of each said adjustable flow valve, and is freely connected to the main tank (6) containing the spray mixture,
• Upstream of one of the descents with respect to the progress of the sprayer, a set of ultrasonic type sensors (10), (11), (12) is placed parallel to the nozzles, and turned facing the plant in such a way that the plant passes perpendicularly through the detection cone of said sensors.

• The distance information given by each ultrasonic sensor is associated with the control of one or more pairs of nozzles.
• A computer (13) receives the signal from each ultrasonic sensor and ensures the control of all the valves of the first set and of the two batches, by associating them 3 by 3 as follows: (14, 7a, 8a), ( 16, 7b, 8b) and (18, 7c, 8c)

on the one hand and on the other hand, in each association in opposite ways (14 open when (7a) and (8a) are closed and vice versa, and so on for the other associations),

and characterized in that in the absence of vegetation, the ultrasonic sensors detecting nothing, the valves associated with these sensors are controlled in such a way that the nozzles remain closed and the valves of the first set (14), (16) and (18 ) remain open allowing through the adjustment of the valves (15), (17), (19), a flow equal to the flow generated by the opening of the nozzles,

and that when an ultrasonic sensor detects vegetation (echo of the signal on an obstacle), the computer commands the opening of the pairs of nozzles associated with the sensor by opening the valves connected to the nozzles and closes the associated valves of the first set.

The device also characterized in that the ultrasonic sensors 10), (11), (12), are associated with one or more pairs of nozzles (4a), (5a)), ((4b), (5b)), ( (4c), (5c)), and that this association can be modified by simple parameterization at the level of the computer.

For example, a device comprising 4 pairs of nozzles with 3 ultrasonic sensors could have the following association: first ultrasonic sensor coupled to the first 2 pairs of nozzles, the second sensor coupled to the 3rd pair of nozzles and finally the last sensor coupled to the last pair nozzle.

Each ultrasonic sensor is preferably placed so that the bottom of its detection cone is horizontally at the same height as the bottom of the beam formed by the jet from the lowest nozzle of the pairs of nozzles associated with it,

In a preferred form, the detection cone of each ultrasonic sensor will have the same height as that of the beam of the jet formed by the pairs of nozzles associated with it.

The change of nozzle sensor association makes it possible to adapt the detection windows to the type and stage of the plant to be treated. It is thus possible to concentrate the detection cones at the bottom of the downspouts at the start of the season and assign them to the nozzles at the bottom of the downspouts in order to refine the detection and take into consideration that the nozzles at the top of the downspouts will not be used. during the first treatments.

To better understand the device, imagine for example that the ultrasonic sensor (10) is associated with the pair of nozzles (4a) and (5a).

In this example if the sensor (10) detects the presence of the plant, the computer simultaneously controls the opening of the nozzles associated with the sensor (7a) and (8a) and closes the valve (14) associated with (7a) and (8a) .

The valves (15) (17) (19) make it possible to pair, prior to any valve control, the flow rate of the associated valves of the first set respectively (14), (16), (18) with the flow rate of the associated valves of the second set respectively (7a), (7b), (7c) and (8a), (8b) and (8c).

Thus in our example, the flow passing through (14) is interrupted and is replaced by the flow from the nozzles (4a) and (5a). The valve (15) made it possible to pair these two flows.

As a result, the switching of the valves does not generate any variation in total flow on the pipe (1), the pressure gauge (3) does not move and the sprayer is not obliged to compensate pressure variation in order to spread a planned solution. in liters per hectare.

Another fundamental characteristic of the present invention resides in the placement of the sensors with respect to the nozzles.

Ultrasonic sensors make it possible to know the distance of an obstacle inside a reception cone. The obstacle which reflects the wave is not precisely located at an angle inside the detection cone. For a given distance, the obstacle can be anywhere along the full width of the detection cone. The distance measured is therefore relatively reliable, but the position of the obstacle is imprecise.

Nozzles emit a spray that can be projected or carried by ventilation. The fog thus made up of droplets can be likened to cones or beams whose width is fixed in the horizontal direction and conical in the vertical direction.

In a preferred form of representation, the ultrasonic sensors (10), (11), (12) are placed upstream of the nozzles with respect to the advancement of the sprayer and at a distance calculated according to the speed of the sprayer and the such that the edge of the sensing cone of the sensors is spaced from the edge of the jet beam of the nozzles to allow predictive switching of opening and closing of the nozzles.

This distance is calculated according to both the minimum width of the object to be detected and the switching time of the valves.

In practice, this distance is between 20 and 50 cm.

Thus thin objects such as stakes can be discriminated while larger oaths will be detected.

Similarly, the end of foliage is detected at the exit of the detection cone and the stoppage of the nozzle is precisely localized by integrating the reaction time of the valves.

This principle offers many advantages:

• Reactivity Precision .

All the valves used for the device are preferably fast and of the same type. Their switching time is short and the difference between the opening time and the closing time of the valves is taken into account by the computer in such a way that the switching of the flow rates does not generate any pressure disturbance at the level of the pipe (1 ).

In practice, the valves chosen will have a switching time which will be around ten milliseconds.

High accuracy of the dose applied to the leaf surface is thus obtained coupled with the fact that the computer (13) actuates the opening and closing of the nozzles with a predictive algorithm allowing the discrimination of thin objects passing through the detection cone ultrasonic sensors.

The hysteresis effect of the nozzle controls in relation to the information from the ultrasonic sensors makes it possible to obtain a static precision of less than 5 cm of the surface treated on the X axis of sprayer advancement.

The precision in the Z axis, that is to say vertically, is subject to the number of sensors used and can also be of the order of ten cm in the case where the detection cones interfere in this axis.

• Simplicity, reliability of treatment

The simple device is electrically autonomous and does not disturb the existing hydraulics, thus making it possible to equip any sprayer face by face.

• Adaptability.

The combination of sensors with one or more pairs of nozzles makes it possible to adapt the configuration of the device to the context of the plant to be protected.

Of course, the present invention is not limited to the embodiments described and represented which are provided by way of simple example.

This is how we can consider variants of nozzle sensor combinations corresponding to other crops or treatments.

Claims (9)

Device for adapting the spray to the leaf surface of the type comprising:

• a conduit (1) connected to the spray mixture supply conduit (57) to which a pressure gauge (3) is connected,
• a first set of valves (14), (16), (18) connected in parallel to said conduit (1),
• The conduit (1) is divided into two conduits (6) and (9) mounted on two parallel descents placed on each side of the row of plants to be treated,
• A first batch of valves (7a), (7b), (7c) distributed at a substantially equal distance on one of the descents each have the inlet connected to the conduit (6),
• A second batch of valves (8a), (8b), (8c) also distributed at a substantially equal distance on the other descent and opposite the valves of the first batch each have the inlet connected to the pipe (9),
• the controls of the valves of each batch are electrically associated two by two facing the plant (7a) with (8a), (7b) with (8b) and (7c) with (8c),
• At the outlet of each valve of the two batches and as close as possible to them, nozzles (4a) are connected at the outlet of (7a), (4b) at the outlet of (7b), (4c) at the outlet of (7c) and (5a) at the output of (8a), (5b) at the output of (8b) and (5c) at the output of (8c) allowing since their valves are electrically coupled to form pairs of nozzles,
• At the output of each valve (14), (16), (18) are connected the input of reciprocally adjustable flow valves (15), (17) and (19),
• A conduit (2) connects the outlet of each said adjustable flow valve, and is freely connected to the main tank (6) containing the spray mixture,
• Upstream of one of the descents with respect to the progress of the sprayer, a set of ultrasonic type sensors (10), (11), (12) is placed parallel to the nozzles, and turned facing the plant in such a way that the plant crosses the detection cone of said sensors perpendicularly,
• The distance information given by each ultrasonic sensor is associated with the control of one or more pairs of nozzles.
• A computer (13) receives the signal from each ultrasonic sensor and ensures the control of all the valves of the first set and of the two batches, by associating them 3 by 3 as follows: (14, 7a, 8a), ( 16, 7b, 8b) and (18, 7c, 8c) on the one hand and on the other hand, in each association in opposite ways ((14) open when (7a) and (8a) are closed and vice versa, and so immediately for the other associations),

and characterized in that in the absence of vegetation, the ultrasonic sensors detecting nothing, the valves associated with these sensors are controlled in such a way that the nozzles remain closed and the valves of the first set (14), (16) and (18 ) remain open allowing through the adjustment of the valves (15), (17), (19), a flow equal to the flow generated by the opening of the nozzles,
and that when an ultrasonic sensor detects vegetation (echo of the signal on an obstacle), the computer commands the opening of the pairs of nozzles associated with the sensor by opening the valves connected to the nozzles and closes the associated valves of the first set. Device according to Claim 1, characterized in that the ultrasonic sensors (10), (11), (12) are associated with one or more pairs of nozzles (4a), (5a)), ((4b), (5b) ) , ((4c), (5c)), and that this association can be modified by simple parameter setting at computer level. Device according to Claim 1 and 2, characterized in that each ultrasonic sensor is preferably placed such that the bottom of its detection cone is horizontally at the same height as the bottom of the beam formed by the jet from the lowest nozzle of the pairs of nozzles associated with it, Device according to Claim 1 and 2, characterized in that the detection cone of each ultrasonic sensor has the same height as that of the beam of the jet formed by the pairs of nozzles which are associated with it. Device according to Claim 1, characterized in that the valves (15) (17) (19) allow the flow rate of the associated valves of the first set to be paired beforehand, respectively (14), (16), (18) with the flow rate of the associated valves of the second set, respectively (7a), (7b), (7c) and (8a), (8b) and (8c). Device according to Claim 1, characterized in that the ultrasonic sensors (10), (11), (12) are placed upstream of the nozzles with respect to the progress of the sprayer and at a distance calculated according to the speed of the latter. and such that the edge of the sensing cone of the sensors is spaced from the edge of the jet beam of the nozzles to allow predictive switching of opening and closing of the nozzles. Device according to Claim 1, characterized in that all the valves used for the device are preferably fast and of the same type. Device according to Claim 1, characterized in that the valve switching time is short and the difference between the opening time and the closing time of the valves is taken into account by the computer in such a way that the switching of the flow rates does not generates no pressure disturbance at the conduit (1). Device according to Claim 1, characterized in that the computer (13) actuates the opening and closing of the nozzles with a predictive algorithm allowing the discrimination of thin objects passing through the detection cone of the ultrasonic sensors.